CN214267810U

CN214267810U - Biped robot with multiple motion modes

Info

Publication number: CN214267810U
Application number: CN202023126719.XU
Authority: CN
Inventors: 张波; 刘健; 吴爽; 肖轩; 薛永江; 袁经仑
Original assignee: Tianjin Polytechnic University
Current assignee: Tianjin Polytechnic University
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-09-24
Anticipated expiration: 2030-12-25

Abstract

The utility model relates to a biped robot with multiple motion modes, which belongs to the technical field of robots and is characterized by comprising a four-crank mechanical leg mechanism, a robot body box body, a leg box body, a coaxial transmission system, a hinge gear transmission system and a power motor; the coaxial transmission system is output by a power motor and is decelerated to an inner sleeve shaft and an outer sleeve shaft through a synchronous belt, two bent levers of a four-bent-lever mechanical leg are respectively connected with the inner sleeve shaft and the outer sleeve shaft in the coaxial transmission system and are fixed on a leg box body; the lower plate of the machine body is connected with the lower plate of the leg box body by a hinge gear transmission system, and the output of a power motor at the machine body is transmitted and reduced to a hinge sleeve at the leg box body by a pair of gears; the total number of the power motors is 6; the leg motor is controlled to drive the four-crank-rod mechanical leg mechanism to deform in structure, and the motor at the position of the machine body is controlled to realize the rotary swing of the leg box body. Through the coordination control of 6 motors, the biped robot can realize wheel, foot and claw type movement and conversion and left and right stepping movement.

Description

Biped robot with multiple motion modes

Technical Field

The utility model relates to a biped robot with many motion modes, especially a biped robot that the leg can realize wheeled rotation, sufficient formula walking, claw formula snatchs and the body can control the motion of stepping belongs to the robot field.

Background

With the progress of scientific technology, the rapid development of additive technology, reverse engineering, intelligent driving and control and other technologies, the research and development of robots are greatly advanced, wherein a humanoid biped robot is loved by people by the flexible motion capability and strong environmental adaptability of the humanoid biped robot, and the design of the biped robot at present is characterized in that a revolute pair is used for simulating hip joints, knee joints and ankle joints of people, and a power execution device is used for simulating muscles of a human body to realize the support, stable control and different movement gaits of the body. However, most biped robots have the problems of complicated structure, large energy consumption, poor environmental adaptability, single motion form and the like, for example, the biped walking device described in the patent [201721844602.0] has a simple structure, and realizes a basic foot type walking function by driving a speed reducing mechanism to move at a foot end through a motor; the adjustable biped rod bionic monowheel disclosed in the patent [201710212253.9] drives a gear to drive a leg to rotate through a hydraulic motor, so as to drive the foot rod to rotate, and a walking function can be realized in a complex ground environment, but the walking function is realized through multi-stage transmission, and the structure is complicated; as the legged biped robot described in patent [20201084738.8], the legged biped robot realizes the legged walking function through the design of multi-stage joints, and has a complex structure and inconvenient operation. Therefore, the biped robot with the simple structure, the strong functionality and the convenient control is beneficial to widening the application scene of the robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a biped robot with many motion methods, the biped robot of many motion methods of step movement about shank collection wheel, sufficient, claw integral type conversion motion and the body.

The utility model provides a technical scheme that its technical problem adopted is: a biped robot with multiple movement modes comprises a four-crank-rod mechanical leg mechanism, a coaxial transmission system, a leg box body, a machine body box body, a hinge gear transmission system and 6 power motors; the four-crank-rod mechanical leg mechanism and the coaxial transmission system realize leg integrated conversion motion of the biped robot; the hinge gear transmission system realizes the left and right stepping movement of the body of the biped robot.

The four-bent-rod mechanical leg mechanism comprises two 120-degree arc bent rods and two composite bent rods with 60-degree arcs and straight lines, wherein the two 120-degree arc bent rods have the same radius, the radii and the lengths of the two composite bent rods are equal, the straight line sections are the radius lengths, the composite bent rods and the 120-degree arc bent rods have the same radius and the length ratio of (6+ pi)/4 pi, one ends of the two 120-degree arc bent rods are connected, the other ends of the two 120-degree arc bent rods are respectively connected with a transition port in the middle of the bent rods, ports at the straight lines of the composite bent rods are respectively connected with an inner transmission shaft and an outer transmission shaft which are coaxially transmitted, and are fixed on the leg box body, two power motors respectively drive two belt wheels in a coaxial power system, and power is transmitted to the inner transmission shaft and the outer transmission shaft through the speed reduction of a synchronous belt; under different environmental conditions and application scenes, the motor at the leg part is controlled to drive the four-crank-rod mechanical leg mechanism to generate structural deformation, so that a full-circle wheel type structure, a foot type structure with an upper opening and a claw type structure with a lower opening are formed, the conversion and the movement of three types of movement are realized, and the leg type leg mechanism is suitable for different environmental conditions or completes corresponding gait movement.

The hinge gear transmission system comprises three hinges, a transmission shaft and a group of transmission gears; the power motor is fixed at the bottom of the machine body box body, three hinges are sequentially fixed at the bottom of the machine body box body and the bottom of the leg box body, the transmission shaft and the three hinges are coaxially locked, and a pair of gears is used between the transmission shaft and the power motor for transmission speed reduction. The hinge synchronous rotation with the transmission shaft locking is realized by controlling the power motor at the bottom of the machine body box body to drive the transmission shaft to rotate through gear transmission, the hinge and the leg box body are integrated to rotate angularly around the machine body box body of the fixed power motor, the leg box bodies at the left side and the right side are rotated at intervals in the same direction, the left leg and the right leg are sequentially lifted and contacted with the ground, and the whole biped robot moves in the left-right direction, so that the left-right walking motion of the biped robot is realized.

Through the coordinated control of 6 power motors, the biped robot can realize wheel, foot and claw type movement and conversion and left and right stepping movement, and the movement flexibility and adaptability of the biped robot are further enhanced.

The utility model has the advantages that: the device has the advantages of simple structure, low energy consumption and strong functionality, and can realize different movement gaits and adapt to complex application scenes by controlling 6 power motors.

Drawings

Fig. 1 is a schematic view of the overall structure of the biped robot with multiple movement modes.

Fig. 2 is a schematic structural diagram of the mechanical leg wheel type embodiment of the biped robot with multiple motion modes according to the present invention.

Fig. 3 is a schematic structural diagram of a mechanical leg foot type embodiment of the biped robot with multiple movement modes according to the present invention.

Fig. 4 is a schematic structural diagram of the claw-type embodiment of the mechanical leg of the biped robot with multiple movement modes according to the present invention.

Fig. 5 is a schematic structural diagram of the overall left-right walking motion embodiment of the biped robot with multiple motion modes.

Detailed Description

The invention will be further described with reference to the following examples and accompanying drawings:

the utility model relates to a biped robot of many motion modes (see attached figure 1 ~ 5), including four curved bar machinery leg mechanisms 1 (contain two compound curved bar 1-1 and 1-2, two circular arc curved bar 1-3 and 1-4), shank box 2, gear drive 3, shank motor power 4, fuselage box 5, coaxial transmission system 6, hinge sleeve 7, fuselage department motor power 8.

Specific embodiments of the present invention are given below. The specific examples are provided only for the purpose of further illustrating the present invention and are not to be construed as limiting the claims of the present invention.

Example 1:

the motion mode of the biped robot related to this embodiment is a wheel type rotation structure, as shown in fig. 2, two power motors 4 of the leg are controlled to drive a composite curved bar 1-1 and a composite curved bar 1-2 in a four-curved-bar mechanical leg mechanism driven by a synchronous belt to rotate respectively, so that an included angle between straight ends of the two composite curved bars is 240 °, after the four-curved-bar mechanical leg mechanism 1 moves correspondingly, the four-curved-bar mechanical leg mechanism forms a full circle wheel, and the power motors 4 are controlled to drive the four-curved-bar mechanical leg mechanism 1 to rotate integrally, so as to realize the wheel type rotation motion of the biped robot.

Example 2:

the motion mode of the biped robot related to this embodiment is a foot type walking structure, as shown in fig. 3, two power motors 4 of the leg portion are controlled to drive a composite curved rod 1-1 and a composite curved rod 1-2 in a four-curved-rod mechanical leg mechanism driven by a synchronous belt to respectively rotate, so that an included angle between straight ends of the two composite curved rods is less than 240 degrees and 120 degrees, and an arc curved rod 1-3 or 1-4 contacts the ground, after the four-curved-rod mechanical leg mechanism 1 moves correspondingly, the four curved rods of the four-curved-rod mechanical leg mechanism 1 form a four-curved-rod structure with an opening at the upper portion, the power motors 4 are controlled to drive the four curved rods, and the power motors 4 are controlled to drive the four-curved-rod mechanical leg mechanism 1 to integrally swing in a reciprocating manner, so as to realize the foot type walking motion of the biped robot.

Example 3:

the motion mode of the biped robot related to this embodiment is a claw type grabbing structure, as shown in fig. 4, two power motors 4 of the leg are controlled to drive a composite curved rod 1-1 and a composite curved rod 1-2 in a four-curved-rod mechanical leg mechanism driven by a synchronous belt to rotate respectively, so that two arc curved rods 1-3 and 1-4 with an included angle of 235 degrees and an included angle of 120 degrees are positioned at the upper part of the two composite curved rods, after the four-curved-rod mechanical leg mechanism 1 moves correspondingly, an opening is just formed at the lower part of the four-curved-rod mechanical leg mechanism 1 at this time, and then the power motors 4 are controlled to drive the four-curved-rod mechanical leg mechanism 1 to perform clamping action, so that claw type grabbing motion of the biped robot is realized.

Example 4:

the motion mode of biped robot that this embodiment relates to is for controlling the motion structure of moving one's steps, as shown in fig. 5, control fuselage bottom of the case department power motor 8 drive by gear 3 driven hinge 7 rotatory, hinge 7 takes place the angular rotation with shank box 2 an organic whole fuselage box 5 round fixed fuselage department power motor 8, the rotatory swing of equidirectional interval control takes place for both sides shank box 2 about, make about four curved bar robotic leg mechanisms 1 lift up and touch ground in proper order, biped robot is whole to controlling one's direction removal, thereby realize the left and right sides of biped robot and move one's steps.

Claims

1. A biped robot with multiple movement modes is characterized in that: the four-crank-rod mechanical leg mechanism comprises a four-crank-rod mechanical leg mechanism, a coaxial transmission system, a leg box body, a machine body box body, a hinge gear transmission system and 6 power motors; the four-bent-rod mechanical leg mechanism comprises two 120-degree arc bent rods and two composite bent rods with 60-degree arcs and straight lines, wherein the two 120-degree arc bent rods have the same radius, the two composite bent rods have the same radius and length, the straight line sections have the radius length, the composite bent rods have the same radius as the 120-degree arc bent rods and the length ratio of the composite bent rods to the 120-degree arc bent rods is (6+ pi)/4 pi, one ends of the two 120-degree arc bent rods are connected, the other ends of the two 120-degree arc bent rods are respectively connected with a transition port in the middle of the bent rods, ports at the straight lines of the composite bent rods are respectively connected with an inner transmission shaft and an outer transmission shaft which are coaxially transmitted, and are fixed on the leg box body, two power motors respectively drive two belt wheels in a coaxial power system, and transmit power to the inner transmission shaft and the outer transmission shaft through speed reduction of a synchronous belt.

2. The biped robot with multiple movement patterns according to claim 1, wherein: the hinge gear transmission system comprises three hinges, a transmission shaft and a group of transmission gears; the power motor is fixed at the bottom of the machine body box body, three hinges are sequentially fixed at the bottom of the machine body box body and the bottom of the leg box body, the transmission shaft and the three hinges are coaxially locked, and a pair of gears is used between the transmission shaft and the power motor for transmission speed reduction.

3. The biped robot with multiple movement patterns according to claim 1, wherein: the two power motors of the leg control box body drive the inner shaft and the outer shaft which are driven by the synchronous belt to rotate, the inner shaft and the outer shaft rotate with the two composite bent rods, so that the included angle of straight line sections of the two composite bent rods is 240 degrees, after the four-bent-rod mechanical leg mechanism moves correspondingly, the four bent rods of the four-bent-rod mechanical leg mechanism just form a whole round wheel, and the power motors are controlled to drive the four-bent-rod mechanical leg mechanism to rotate integrally, so that the wheel type rotary motion of the biped robot is realized.

4. The biped robot with multiple movement patterns according to claim 1, wherein: the leg box is controlled to drive the inner shaft and the outer shaft driven by the synchronous belt to rotate, the inner shaft and the outer shaft rotate with the two composite bent levers, so that the included angle of straight line sections of the two composite bent levers is smaller than 240 degrees and the two 120-degree bent levers contact the ground, after the four-bent-lever mechanical legs move correspondingly, the four bent levers of the four-bent-lever mechanical leg mechanism form a four-bent-lever structure with an opening at the upper part, and then the power motors are controlled to drive the four-bent-lever mechanical leg mechanism to swing integrally in a reciprocating mode, so that the foot type walking movement of the biped robot is achieved.

5. The biped robot with multiple movement patterns according to claim 1, wherein: two power motors of the control leg box body drive an inner shaft and an outer shaft which are driven by a synchronous belt to rotate, the inner shaft and the outer shaft rotate with the composite bent rods, so that included angles of straight line sections of the two composite bent rods are 235 degrees and 120 degrees of bent rods are positioned on the upper portion, after the four-bent-rod mechanical legs move correspondingly, an opening is just formed in the lower portion of the four-bent-rod mechanical leg mechanism, the power motors are controlled to drive the two composite bent rods of the four-bent-rod mechanical leg mechanism to move in a clamping mode, and therefore claw type grabbing movement of the biped robot is achieved.

6. The biped robot with multiple movement patterns according to claim 1, wherein: the hinge synchronous rotation with the transmission shaft locking is realized by controlling the power motor at the bottom of the machine body box body to drive the transmission shaft to rotate through gear transmission, the hinge and the leg box body are integrated to rotate angularly around the machine body box body of the fixed power motor, the leg box bodies at the left side and the right side are rotated at intervals in the same direction, the left leg and the right leg are sequentially lifted and contacted with the ground, and the whole biped robot moves in the left-right direction, so that the left-right walking motion of the biped robot is realized.