CN211076125U - Position and force control hydraulic biped robot lower limb mechanism - Google Patents
Position and force control hydraulic biped robot lower limb mechanism Download PDFInfo
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- CN211076125U CN211076125U CN201922274258.1U CN201922274258U CN211076125U CN 211076125 U CN211076125 U CN 211076125U CN 201922274258 U CN201922274258 U CN 201922274258U CN 211076125 U CN211076125 U CN 211076125U
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Abstract
The utility model relates to the field of robots, in particular to a position and force control hydraulic biped robot lower limb mechanism, which comprises a foot, a shank, thighs and a main support frame, wherein two sides of the main support frame are respectively connected with two thighs through a hip joint front swing side swing rotating assembly, and the two thighs are also respectively connected with the hip joint front swing side swing rotating assembly through thigh hydraulic cylinders; the lower ends of the two thighs are respectively connected with the two shanks through knee joints, and the two shanks are also respectively connected with the two thighs through knee joint hydraulic cylinders; the lower ends of the two shanks are connected with the two feet through ankle joint cross shafts respectively, and the two feet are also connected with the two shanks through ankle joint hydraulic cylinders respectively. The utility model provides a hydraulic drive biped robot carry out position and force feedback control problem simultaneously, the sole has four soles to draw pressure sensor, can calculate the Zero Moment Point (ZMP) of robot, ensures the stability that the robot walked.
Description
Technical Field
The utility model relates to a robot field specifically is a position, two sufficient robot low limbs mechanism of force-controlled hydraulic pressure.
Background
In complex environments such as the field, mountainous areas, hills, battlefields and the like, the biped robot can actively adjust the body height, adapt to complex and changeable terrains and different ground conditions, can span obstacles and gullies, and has stronger environmental adaptability than wheeled, tracked and multi-legged robots. The biped robot can simulate the walking gait of human, has low energy consumption, can realize the walking mode of multiple working conditions and multiple tasks, and greatly improves the overall motion performance in the biped walking field.
Although the biped robot has great advantages in moving in a complex environment in the field, the robot may be out of balance or even fall down due to external interference or unpredictable obstacles and the like in walking, jumping, running, performing tasks and the like. The robot body structure or components may be damaged by falling down, and the safety hidden danger is formed to the surrounding environment and people, so that the expected target task cannot be smoothly completed. Therefore, dynamic balance control of biped robots remains a difficult point and a hot point of research. The hydraulic under-actuated biped robot has strong flexibility and environmental adaptability and sufficient power, can replace soldiers to fight, can be used as a logistics support to transport materials in a battlefield, and can also replace manpower to carry out work in dangerous environments such as earthquake rescue, fire emergency, construction site, mine exploitation and the like.
Hydraulically driven biped robots have been demonstrated by the excellent stability and high dynamic performance of Pet Man, Big Dog and Atlas, boston power corporation, usa, to enable existing legged robotics to step over a new step.
Chinese patent (application number: 201210021783.2) discloses a hydraulic drive biped robot lower limb mechanism with load bearing capacity; a hydraulically driven lower limb mechanism of a biped robot disclosed in Chinese patent application No. 20151001925. X; chinese patent application No. 201711391356.2 discloses a hydraulically driven lower limb mechanism of a biped robot. The utility model discloses the existence degree of freedom that is more than different degree is less, the not compact shortcoming of structure enough. Therefore, in view of the above current situation, there is an urgent need to develop a position and force controlled hydraulic bipedal robot lower limb mechanism to overcome the shortcomings in the current practical application.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the utility model is to provide a position, power accuse hydraulic pressure biped robot low limbs mechanism to solve the problem that provides among the above-mentioned background art.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
a position and force control hydraulic biped robot lower limb mechanism comprises a foot, a shank, thighs and a main support frame, wherein two sides of the main support frame are respectively connected with the two thighs through a hip joint forward swing and side swing rotating assembly, and the two thighs are also respectively connected with the hip joint forward swing and side swing rotating assembly through thigh hydraulic cylinders; the lower ends of the two thighs are respectively connected with the two shanks through knee joints, and the two shanks are also respectively connected with the two thighs through knee joint hydraulic cylinders; the lower ends of the two shanks are connected with the two feet through ankle joint cross shafts respectively, and the two feet are connected with the two shanks through ankle joint hydraulic cylinders respectively.
As a further aspect of the present invention: the hip joint forward swing and side swing rotating assembly comprises a hip joint forward swing shaft, a hip joint cross hinge, a hip joint side swing shaft, a hip joint side swing hydraulic cylinder, a hip joint rotating shaft and a hip joint rotating hydraulic cylinder, the upper end of the thigh is connected with the hip joint cross hinge through the hip joint forward swing shaft, one end of the thigh hydraulic cylinder is hinged on the thigh, the other end of the thigh hydraulic cylinder is hinged on the hip joint cross hinge, the hip joint cross hinge is also connected with the hip joint rotating shaft through the hip joint side swing shaft, the upper end of the hip joint rotating shaft is arranged on the main support frame, the upper end of the hip joint side swing hydraulic cylinder is hinged on the hip joint rotating shaft, the lower end of the hip joint side swing hydraulic cylinder is hinged on the hip joint hinge, and the hip joint rotating shaft is also hinged with the hip joint rotating hydraulic cylinder, the hip joint rotating hydraulic cylinder is horizontally arranged, and the other end of the hip joint rotating hydraulic cylinder is arranged on the main support frame.
As a further aspect of the present invention: a hip joint rotation angle sensor is also arranged on the hip joint rotating shaft; a hip joint rotary pull pressure sensor is also arranged on the hip joint rotary hydraulic cylinder; a hip joint side swing angle sensor is also arranged on the hip joint side swing shaft; the hip joint side swing hydraulic cylinder is also provided with a hip joint side swing pull pressure sensor; a hip joint forward swing angle sensor is also arranged on the hip joint forward swing shaft; and the thigh hydraulic cylinder is also provided with a hip joint forward swing pull pressure sensor.
As a further aspect of the present invention: the upper end of the knee joint hydraulic cylinder is hinged to the thigh, and the lower end of the knee joint hydraulic cylinder is hinged to the shank.
As a further aspect of the present invention: a knee joint angle sensor is also arranged on the knee joint; and a knee joint pulling pressure sensor is also arranged on the knee joint hydraulic cylinder.
As a further aspect of the present invention: the upper end of the ankle joint hydraulic cylinder is hinged to the shank, and the lower end of the ankle joint hydraulic cylinder is hinged to the foot.
As a further aspect of the present invention: an ankle joint pulling pressure sensor is also arranged on the ankle joint hydraulic cylinder; an ankle joint dorsiflexion angle sensor and an ankle joint eversion angle sensor are respectively arranged on the ankle joint cross shaft; at least four plantar tension and pressure sensors are further mounted at the bottom of the foot.
As a further aspect of the present invention: an electro-hydraulic servo valve and a hydraulic valve block which work in a matched mode are further arranged on the shank, and the ankle joint hydraulic cylinder, the knee joint hydraulic cylinder, the thigh hydraulic cylinder, the hip joint side-swinging hydraulic cylinder and the hip joint rotating hydraulic cylinder are respectively connected with the electro-hydraulic servo valve.
Compared with the prior art, the utility model discloses the beneficial effect of embodiment is:
the lower limb mechanism of the position and force control hydraulic biped robot is provided with 12 DoFs (hip joints 3 DoF), knee joints 1DoF and ankle joints 2DoF (wherein the inward and outward turning is under-actuated), each rotating joint is provided with an angle sensor for position feedback control, each driving hydraulic cylinder is provided with a pull pressure sensor for force feedback control, the force feedback control can be carried out, the simulation is high, and the motion flexibility is greatly improved; the hydraulic drive is adopted, so that the hydraulic power transmission device has strong load capacity and anti-interference capacity, sufficient power and high speed; four sole pull pressure sensors are distributed on the soles, so that the device can adapt to a complex ground environment and is beneficial to realizing ZMP (zero moment point) control.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic diagram of a routine walking state implemented by the present invention.
In the figure: 1-foot, 2-ankle joint cross shaft, 3-shank, 4-ankle joint hydraulic cylinder, 5-electrohydraulic servo valve, 6-hydraulic valve block, 7-knee joint, 8-thigh, 9-knee joint hydraulic cylinder, 10-thigh hydraulic cylinder, 11-hip joint forward swing shaft, 12-hip joint cross hinge, 13-hip joint side swing shaft, 14-hip joint side swing hydraulic cylinder, 15-hip joint rotating shaft, 16-hip joint rotating hydraulic cylinder, 17-main support frame, 18-hip joint rotating angle sensor, 19-hip joint rotating pull pressure sensor, 20-hip joint side swing angle sensor, 21-hip joint side swing pull pressure sensor, 22-hip joint forward swing angle sensor, 23-hip joint forward swing pull pressure sensor, 24-knee joint pull pressure sensor, 25-knee joint angle sensor, 26-ankle joint pull pressure sensor, 27-ankle joint dorsiflexion angle sensor, 28-ankle joint varus and valgus angle sensor, and 29-plantar pull pressure sensor.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
Example 1
Referring to fig. 1-2, in an embodiment of the present invention, a position and force control hydraulic biped robot lower limb mechanism includes a foot 1, a shank 3, a thigh 8 and a main support frame 17, two sides of the main support frame 17 are respectively connected to two thighs 8 through a hip joint forward swing side swing rotation assembly, and two thighs 8 are also respectively connected to the hip joint forward swing side swing rotation assembly through a thigh hydraulic cylinder 10; the lower ends of the two thighs 8 are respectively connected with the two shanks 3 through knee joints 7, and the two shanks 3 are also respectively connected with the two thighs 8 through knee joint hydraulic cylinders 9; the lower ends of the two shanks 3 are respectively connected with the two feet 1 through ankle joint cross shafts 2, and the two feet 1 are also respectively connected with the two shanks 3 through ankle joint hydraulic cylinders 4.
Example 2
Referring to fig. 1-2, the present embodiment is different from embodiment 1 in that:
in this embodiment, the hip joint forward swing and side swing rotating assembly includes a hip joint forward swing shaft 11, a hip joint cross hinge 12, a hip joint side swing shaft 13, a hip joint side swing hydraulic cylinder 14, a hip joint rotating shaft 15 and a hip joint rotating hydraulic cylinder 16, the upper end of the thigh 8 is connected with the hip joint cross hinge 12 through the hip joint forward swing shaft 11, one end of the thigh hydraulic cylinder 10 is hinged on the thigh 8, the other end of the thigh hydraulic cylinder 10 is hinged on the hip joint cross hinge 12, the hip joint cross hinge 12 is further connected with the hip joint rotating shaft 15 through the hip joint side swing shaft 13, the upper end of the hip joint rotating shaft 15 is mounted on the main support frame 17, the upper end of the hip joint side swing hydraulic cylinder 14 is hinged on the hip joint rotating shaft 15, the lower end of the hip joint side swing hydraulic cylinder 14 is hinged on the hip joint cross hinge 12, the hip joint rotating shaft 15 is also hinged with the hip joint rotating hydraulic cylinder 16, the hip joint rotating hydraulic cylinder 16 is horizontally arranged, and the other end of the hip joint rotating hydraulic cylinder 16 is installed on the main support frame 17.
Further, a hip joint rotation angle sensor 18 is further mounted on the hip joint rotation shaft 15; the hip joint rotating hydraulic cylinder 16 is also provided with a hip joint rotating pull pressure sensor 19; a hip joint side swing angle sensor 20 is also arranged on the hip joint side swing shaft 13; the hip joint side swing hydraulic cylinder 14 is also provided with a hip joint side swing pull pressure sensor 21; a hip joint forward swing angle sensor 22 is further mounted on the hip joint forward swing shaft 11; the thigh hydraulic cylinder 10 is also provided with a hip joint forward swing pull pressure sensor 23.
In this embodiment, the upper end of the knee joint hydraulic cylinder 9 is hinged to the thigh 8, and the lower end of the knee joint hydraulic cylinder 9 is hinged to the shank 3.
Further, a knee joint angle sensor 25 is also mounted on the knee joint 7; and a knee joint pulling pressure sensor 24 is also arranged on the knee joint hydraulic cylinder 9.
In this embodiment, the upper end of the ankle joint hydraulic cylinder 4 is hinged to the lower leg 3, and the lower end of the ankle joint hydraulic cylinder 4 is hinged to the foot 1.
Further, an ankle joint pulling pressure sensor 26 is also mounted on the ankle joint hydraulic cylinder 4; an ankle joint dorsiflexion angle sensor 27 and an ankle joint varus and valgus angle sensor 28 are respectively arranged on the ankle joint cross shaft 2; at least four plantar tension pressure sensors 29 are also mounted on the bottom of the foot 1.
In this embodiment, the shank 3 is further provided with an electro-hydraulic servo valve 5 and a hydraulic valve block 6 which work cooperatively, and the ankle joint hydraulic cylinder 4, the knee joint hydraulic cylinder 9, the thigh hydraulic cylinder 10, the hip joint side swing hydraulic cylinder 14 and the hip joint rotation hydraulic cylinder 16 are respectively connected with the electro-hydraulic servo valve 5.
The position and force control hydraulic biped robot lower limb mechanism solves the problem of simultaneous position and force feedback control of a hydraulically driven biped robot, four sole pull pressure sensors 29 are arranged at the bottom of a foot 1, the Zero Moment Point (ZMP) of the robot can be calculated, and the walking stability of the robot is ensured.
The utility model has 12DoF of hip joint 3DoF, knee joint 1DoF and ankle joint 2DoF (wherein the eversion is under-actuated), each rotary joint is provided with an angle sensor which can perform position feedback control, each driving hydraulic cylinder is provided with a tension pressure sensor which can perform force feedback control, and the motion flexibility is greatly improved; the hydraulic drive is adopted, so that the hydraulic power transmission device has strong load capacity and anti-interference capacity, sufficient power and high speed; four sole pull pressure sensors 29 are distributed at the bottom of the foot 1, so that the foot can adapt to a complex ground environment, and ZMP (zero moment point) control is facilitated.
The above is only the preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, without departing from the concept of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.
Claims (8)
1. The utility model provides a position, power control hydraulic pressure biped robot low limbs mechanism, includes foot (1), shank (3), thigh (8) and main tributary strut (17), its characterized in that:
two sides of the main supporting frame (17) are respectively connected with the two thighs (8) through a hip joint forward swing and side swing rotating assembly, and the two thighs (8) are also respectively connected with the hip joint forward swing and side swing rotating assembly through thigh hydraulic cylinders (10);
the lower ends of the two thighs (8) are respectively connected with the two shanks (3) through knee joints (7), and the two shanks (3) are also respectively connected with the two thighs (8) through knee joint hydraulic cylinders (9);
the lower ends of the two shanks (3) are connected with the two feet (1) through ankle joint cross shafts (2) respectively, and the two feet (1) are connected with the two shanks (3) through ankle joint hydraulic cylinders (4) respectively.
2. The position-force control hydraulic biped robot lower limb mechanism according to claim 1, wherein the hip joint forward swing and side swing rotating assembly comprises a hip joint forward swing shaft (11), a hip joint cross hinge (12), a hip joint side swing shaft (13), a hip joint side swing hydraulic cylinder (14), a hip joint rotating shaft (15) and a hip joint rotating hydraulic cylinder (16), the upper end of the thigh (8) is connected with the hip joint cross hinge (12) through the hip joint forward swing shaft (11), one end of the thigh hydraulic cylinder (10) is hinged on the thigh (8), the other end of the thigh hydraulic cylinder (10) is hinged on the hip joint cross hinge (12), the hip joint hinge (12) is further connected with the hip joint rotating shaft (15) through the hip joint side swing shaft (13), the upper end of the hip joint rotating shaft (15) is mounted on the main supporting frame (17), the upper end of the hip joint side swing hydraulic cylinder (14) is hinged to the hip joint rotating shaft (15), the lower end of the hip joint side swing hydraulic cylinder (14) is hinged to the hip joint cross hinge (12), the hip joint rotating shaft (15) is further hinged to the hip joint rotating hydraulic cylinder (16), the hip joint rotating hydraulic cylinder (16) is horizontally arranged, and the other end of the hip joint rotating hydraulic cylinder (16) is installed on the main support frame (17).
3. The lower limb mechanism of the position and force controlled hydraulic biped robot according to claim 2, wherein the hip joint rotation shaft (15) is further provided with a hip joint rotation angle sensor (18);
a hip joint rotary pull pressure sensor (19) is also arranged on the hip joint rotary hydraulic cylinder (16);
a hip joint side swing angle sensor (20) is also arranged on the hip joint side swing shaft (13);
the hip joint side swing hydraulic cylinder (14) is also provided with a hip joint side swing pull pressure sensor (21);
a hip joint forward swing angle sensor (22) is also arranged on the hip joint forward swing shaft (11);
and a hip joint forward swing pulling pressure sensor (23) is also arranged on the thigh hydraulic cylinder (10).
4. The position and force controlled hydraulic biped robot lower limb mechanism according to claim 2, characterized in that the upper end of the knee joint hydraulic cylinder (9) is hinged on the thigh (8), and the lower end of the knee joint hydraulic cylinder (9) is hinged on the shank (3).
5. The position and force controlled hydraulic biped robot lower limb mechanism according to claim 4, characterized in that a knee joint angle sensor (25) is further mounted on the knee joint (7);
and a knee joint pulling pressure sensor (24) is also arranged on the knee joint hydraulic cylinder (9).
6. The position and force controlled hydraulic biped robot lower limb mechanism according to claim 4, characterized in that the upper end of the ankle joint hydraulic cylinder (4) is hinged on the lower leg (3), and the lower end of the ankle joint hydraulic cylinder (4) is hinged on the foot (1).
7. The position and force controlled hydraulic biped robot lower limb mechanism according to claim 6, characterized in that the ankle joint hydraulic cylinder (4) is further provided with an ankle joint pulling and pressing force sensor (26);
an ankle joint dorsiflexion angle sensor (27) and an ankle joint varus and valgus angle sensor (28) are respectively arranged on the ankle joint cross shaft (2);
the bottom of the foot (1) is also provided with at least four plantar pulling pressure sensors (29).
8. The position and force control hydraulic biped robot lower limb mechanism according to claim 6, characterized in that the shank (3) is further provided with an electro-hydraulic servo valve (5) and a hydraulic valve block (6) which work cooperatively, and the ankle joint hydraulic cylinder (4), the knee joint hydraulic cylinder (9), the thigh hydraulic cylinder (10), the hip joint side swing hydraulic cylinder (14) and the hip joint rotation hydraulic cylinder (16) are respectively connected with the electro-hydraulic servo valve (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922274258.1U CN211076125U (en) | 2019-12-17 | 2019-12-17 | Position and force control hydraulic biped robot lower limb mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922274258.1U CN211076125U (en) | 2019-12-17 | 2019-12-17 | Position and force control hydraulic biped robot lower limb mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959633A (en) * | 2020-08-27 | 2020-11-20 | 燕山大学 | Hydraulic drive type foot type bionic humanoid robot |
| CN112925205A (en) * | 2021-01-25 | 2021-06-08 | 河南大学 | Net distribution optimization method for gait pattern generation of biped robot |
| CN112999020A (en) * | 2021-02-19 | 2021-06-22 | 曾超平 | Exoskeleton robot |
| CN114084246A (en) * | 2021-12-14 | 2022-02-25 | 浙江大学湖州研究院 | Lower limb of humanoid robot facing space microgravity environment |
| CN115531144A (en) * | 2022-10-14 | 2022-12-30 | 哈尔滨理工大学 | Standing power-assisted lower limb exoskeleton robot |
-
2019
- 2019-12-17 CN CN201922274258.1U patent/CN211076125U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959633A (en) * | 2020-08-27 | 2020-11-20 | 燕山大学 | Hydraulic drive type foot type bionic humanoid robot |
| CN111959633B (en) * | 2020-08-27 | 2022-06-07 | 燕山大学 | Hydraulic drive type foot type bionic humanoid robot |
| CN112925205A (en) * | 2021-01-25 | 2021-06-08 | 河南大学 | Net distribution optimization method for gait pattern generation of biped robot |
| CN112925205B (en) * | 2021-01-25 | 2022-03-29 | 河南大学 | Net distribution optimization method for gait pattern generation of biped robot |
| CN112999020A (en) * | 2021-02-19 | 2021-06-22 | 曾超平 | Exoskeleton robot |
| CN112999020B (en) * | 2021-02-19 | 2023-09-15 | 陕西捷赛达医疗设备有限公司 | Exoskeleton robot |
| CN114084246A (en) * | 2021-12-14 | 2022-02-25 | 浙江大学湖州研究院 | Lower limb of humanoid robot facing space microgravity environment |
| CN114084246B (en) * | 2021-12-14 | 2023-06-06 | 浙江大学湖州研究院 | Humanoid robot lower limb oriented to space microgravity environment |
| CN115531144A (en) * | 2022-10-14 | 2022-12-30 | 哈尔滨理工大学 | Standing power-assisted lower limb exoskeleton robot |
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