CN210307799U

CN210307799U - Connecting rod device suitable for controlling and limiting joint freedom degree of humanoid robot

Info

Publication number: CN210307799U
Application number: CN201720058572.4U
Authority: CN
Inventors: 马建廷; 王泽峰; 桂琪珍; 黄明珠
Original assignee: Nanjing Tuobu Intelligent Technology Co ltd
Current assignee: Nanjing Tuobu Intelligent Technology Co ltd
Priority date: 2017-01-18
Filing date: 2017-01-18
Publication date: 2020-04-14
Anticipated expiration: 2027-01-18

Abstract

The utility model discloses a link means suitable for humanoid robot joint degree of freedom control and restriction, the device by constitute four connecting rods of parallelogram structure, the ball of four tie points of parallelogram articulated with perpendicular to each side ascending rotation in limit side of quadrangle, sliding connection constitute, the device's characterized in that realizes its pivoted in three-dimensional space when, can realize the control to its rotation range again. The utility model discloses can realize the wrench movement of robot or ectoskeleton joint department, can retrain articular amplitude of rotation simultaneously, realize reliable and stable connection, reach the effect of damping and vibration isolation.

Description

Connecting rod device suitable for controlling and limiting joint freedom degree of humanoid robot

Technical Field

The invention relates to the design of a mechanical structure, in particular to a connecting rod device suitable for controlling and limiting the freedom degree of a joint of a humanoid robot.

Background

In current power assisted exoskeleton devices, the emphasis is on the design of the support mechanism and control of the lower limbs, and the design is imperfect in terms of mechanical structure and motion flexibility, such as the consideration of the hip structure and the torsional freedom of the thigh. When the power-assisted exoskeleton device provides power for people to walk forwards or the robot walks according to instructions, the generated speed and acceleration can cause vibration and impact phenomena, and the adverse effect is generated on a mechanical device, so that the work of vibration reduction and vibration isolation is more and more important. Some existing power-assisted exoskeleton devices and robots only consider the power-assisted function and the walking function, and do not consider vibration reduction and vibration isolation; some designs the power assisting function and the walking function separately, and the shock absorption and the vibration isolation, so that the device is complex and high in cost.

Disclosure of Invention

The invention aims to provide a connecting rod device suitable for controlling and limiting the joint freedom degree of a humanoid robot, which can meet the power-assisted requirement of a hip, has the effects of vibration reduction and vibration isolation, can realize the twisting freedom degree of a thigh, restricts the rotation range of the hip and the thigh, and realizes stable and reliable connection.

The purpose of the invention is realized by the following steps: a linkage arrangement for controlling and limiting the freedom of joints in a humanoid robot, the back frame of the robot or mechanical exoskeleton being coupled to a hip link, a first hip link being coupled to both the hip link and a hip parallelogram arrangement which is in turn coupled to the hip; a first thigh connecting plate and a second thigh connecting plate of the robot or the mechanical exoskeleton are connected through a leg parallelogram structure, meanwhile, a thigh side plate is fixedly connected with the leg parallelogram structure, and a thigh connecting block is connected with the leg parallelogram structure.

The hip connecting block rotates to drive the first connecting rod of the hip to rotate by taking the center of the hip connecting block as an axis, and simultaneously drives the hip parallelogram structure to twist by taking the hip pin as the axis, so that the hip is twisted, and the rotation range of the hip can be controlled; the leg parallelogram structure can realize the twisting of the inner side and the outer side according to the force given by the thigh side plate, and simultaneously drives the first connecting plate and the second connecting plate of the thigh to twist, so that the free rotation of the leg can control the rotation range of the thigh. The hip parallelogram structure is connected with the hip and the back frame, and simultaneously separates the hip and the back frame to play a role in vibration isolation; the parallelogram connecting rod device has a vibration damping function due to the structural characteristics of the parallelogram connecting rod device, so that the vibration damping device has the function of damping the hip and the thigh during power-assisted walking.

Drawings

Figure 1 is a perspective view, at 45 degrees from perspective, of the overall construction of a case in which the device of the present invention is used at a robotic or exoskeleton hip structure;

FIG. 2 is a perspective view of the overall structure of the present invention in a 45 degree perspective of the use of the device in a robot or exoskeleton crotch joint configuration;

figure 3 is a front view of the device of the present invention in a robotic or exoskeleton hip use case;

figure 4 is a top plan view of the overall structure of a use case of the device of the present invention at a robotic or exoskeleton hip structure;

FIG. 5 is a front view of the device of the present invention in use in a situation where the robot or exoskeleton is connected in the crotch to the thigh joints;

FIG. 6 is a top view of the overall structure of the case of the device of the present invention in use at the crotch to thigh joints of a robot or exoskeleton;

FIG. 7 is a schematic diagram of the relative positions of the back frame, motor and transmission of the device of the present invention in the case of a robotic or exoskeleton hip use;

figure 8 is a schematic diagram of the structure of the back frame, motor and transmission linkage and transmission of the device of the present invention in the case of a robotic or exoskeleton hip use.

The names of the numbers in the figures are 100, a back frame, 101, a hip connecting block, 102, a hip first connecting rod, 103, a hip parallelogram structure, 104, a hip, 105, a hip right-angle ball joint bearing, 106, a hip pin, 107, a hip second connecting rod, 200, a thigh first connecting plate of an exoskeleton, 201, a thigh second connecting plate, 202, a leg parallelogram structure, 203, a thigh side plate, 204, a thigh connecting block, 205, a leg right-angle ball joint bearing, 206, a thigh side rod, 300, a motor, 301 and a transmission mechanism.

Detailed Description

The method of the present invention will be described in further detail with reference to the accompanying drawings.

As can be seen in conjunction with figures 1 and 2, the back frame of the robotic or mechanical exoskeleton is connected to a hip link, the hip first link is connected to both the hip link and a hip parallelogram structure, which is in turn connected to the hip; the hip connecting block rotates to drive the hip first connecting rod to rotate by taking the center of the hip connecting block as an axis, and simultaneously, the hip parallelogram structure is driven to twist by taking the hip pin as the axis, so that the twisting of the hip is realized, and the rotating range of the hip can be controlled. A thigh first connecting plate and a thigh second connecting plate of the exoskeleton are connected by a leg parallelogram structure, meanwhile, a thigh side plate is fixedly connected with the leg parallelogram structure, and a thigh connecting block is connected with the leg parallelogram structure; the leg parallelogram structure can realize the twisting of the inner side and the outer side according to the force given by the thigh side plate, and simultaneously drives the first connecting plate and the second connecting plate of the thigh to twist, so that the free rotation of the leg can control the rotation range of the thigh. The hip parallelogram structure is connected with the hip and the back frame, and simultaneously separates the hip and the back frame to play a role in vibration isolation; the parallelogram connecting rod device has a vibration damping function due to the structural characteristics of the parallelogram connecting rod device, so that the vibration damping device has the function of damping the hip and the thigh during power-assisted walking.

As can be seen by combining fig. 3 and 4, the hip connecting rod is connected with the hip through the hip right-angle ball joint bearing, the hip second connecting rod is fixedly connected with the hip pin through a screw, and the hip pin is connected with the redundant back frame; the rotation freedom degree of the hip pin and the hip second connecting rod with the center as the shaft is realized, and the space movement freedom of the hip second connecting rod is limited; under the action of the hip right-angle ball joint bearing, the hip second connecting rod rotates to drive the hip to twist; due to the fixation of the length of each side of the hip parallelogram structure and the limitation of the rotation range of the hip first link, the hip can be controlled to twist within a specific range.

As can be seen by combining fig. 5 and 6, the first thigh connecting plate is fixedly connected with the thigh side lever through the leg right-angle ball joint bearing, the thigh side plate is fixed on the thigh side lever, and the thigh connecting block and the thigh side lever are also fixedly connected through the leg right-angle ball joint bearing; the thigh middle connecting rod penetrates through the thigh connecting block and is connected with the thigh first connecting plate and the thigh second connecting plate in an excessive manner; the rotation freedom degree of the thigh connecting block, the thigh first connecting plate and the thigh second connecting plate with the thigh middle connecting rod as a shaft is realized, and the space movement freedom of the thigh connecting block, the thigh first connecting plate and the thigh second connecting plate is limited; under the action of the leg right-angle ball joint bearing, the thigh connecting block, the thigh first connecting plate and the thigh second connecting plate rotate to drive the thigh side rod and the thigh side plate to twist; due to the fact that the length of each side of the leg parallelogram structure is fixed, the leg frame is controlled to twist within a specific range.

As can be seen from fig. 7 and 8, the motor in the back frame drives the hip joint block to rotate around the center of the hip joint block through the transmission structure, and since the position of the right-angle ball joint bearing on the hip joint block deviates from the center of the hip joint block, when the hip joint block rotates, the right-angle ball joint bearing on the hip joint block performs circular motion around the length from the axis of the hip joint block as a radius.

Claims

1. A connecting rod device suitable for controlling and limiting the joint freedom degree of a humanoid robot is characterized by comprising four connecting rods forming a parallelogram structure and a ball hinge of four connecting points of the parallelogram; a back frame (100) of the robot or the mechanical exoskeleton is connected with a hip connecting block (101), a hip first connecting rod (102) is simultaneously connected with the hip connecting block (101) and a hip parallelogram structure (103), and the hip parallelogram structure (103) is connected with a hip (104); a first thigh connecting plate (200) and a second thigh connecting plate (201) of the robot or the mechanical exoskeleton are connected through a leg parallelogram structure (202), and a thigh side plate (203) is fixedly connected with the leg parallelogram structure (202).

2. The linkage arrangement adapted for joint degree of freedom control and restriction of a humanoid robot as claimed in claim 1, wherein said hip parallelogram structure includes a hip right-angle ball joint bearing, a hip pin, a hip second link; the hip connecting rod is connected with the hip through a hip right-angle ball joint bearing, the hip second connecting rod is fixedly connected with the hip pin through a screw, and meanwhile, the hip pin is excessively connected with the back frame; the rotation freedom degree of the hip pin and the hip second connecting rod with the center as the shaft is realized, and the space movement freedom of the hip second connecting rod is limited; under the action of the hip right-angle ball joint bearing, the hip second connecting rod rotates to drive the hip to twist; due to the fixation of the lengths of all sides of the hip parallelogram structure and the limitation of the rotation range of the first hip connecting rod, the hip is controlled to twist in a specific range, namely the hip joint is rotated along the transverse plane direction, the forward leg lifting or the backward stepping of the machine is realized, and the rotation angle of the machine is limited.

3. The linkage device suitable for controlling and limiting the degree of freedom of joints of the humanoid robot as claimed in claim 1, wherein the leg parallelogram structure comprises a leg right-angle ball joint bearing, a thigh side lever, a thigh middle connecting rod and a thigh connecting block; the thigh connecting block is fixedly connected with the thigh side rod through a leg right-angle ball joint bearing; the thigh middle connecting rod penetrates through the thigh connecting block and is connected with the thigh first connecting plate and the thigh second connecting plate in an excessive manner; the rotation freedom degree of the thigh connecting block, the thigh first connecting plate and the thigh second connecting plate with the thigh middle connecting rod as a shaft is realized, and the space movement freedom of the thigh connecting block, the thigh first connecting plate and the thigh second connecting plate is limited; under the action of the leg right-angle ball joint bearing, the thigh connecting block, the thigh first connecting plate and the thigh second connecting plate rotate to drive the thigh side rod and the thigh side plate to twist; the length of each side of the leg parallelogram structure is fixed, so that the leg frame is controlled to twist in a specific range, namely, the thigh rotates along the Z-axis direction of the longitudinal section, the thigh can rotate towards the outer side or the inner side of the machine body, and the movement angle of the outer side or the inner side of the machine body is controlled at the same time.

4. The link device for controlling and limiting the degree of freedom of a joint of a humanoid robot as claimed in claim 1, wherein the motor in the back frame drives the hip joint block to rotate around the center of the hip joint block through the transmission structure, and since the position of the right-angle ball joint bearing on the hip joint block deviates from the center of the hip joint block, when the hip joint block rotates, the right-angle ball joint bearing on the hip joint block makes a circular motion around the length from the axis of the hip joint block as a radius, thereby driving the first hip link connected with the right-angle ball joint bearing on the hip joint block to make a planar motion; the other end of the first hip connecting rod is also connected with a second hip upper connecting rod through a right-angle ball joint bearing, and meanwhile, the second hip connecting rod is limited in the degree of freedom of transverse translation by a hip pin in the center, so that the first hip connecting rod does planar movement and directly drives the second hip upper connecting rod to rotate by taking the hip pin in the center as an axis, and the parallelogram structure of the hip is driven to twist by taking the hip pin as an axis, and the movement of the hip is realized.