CN218258450U

CN218258450U - Mechanical leg of biped robot and biped robot

Info

Publication number: CN218258450U
Application number: CN202222702040.3U
Authority: CN
Inventors: 耿宇; 左学勇
Original assignee: Beijing Qiao Artificial Intelligence Technology Co ltd
Current assignee: Beijing Qiao Artificial Intelligence Technology Co ltd
Priority date: 2022-10-13
Filing date: 2022-10-13
Publication date: 2023-01-10
Anticipated expiration: 2032-10-13

Abstract

The utility model relates to a robotechnology field especially relates to a mechanical leg and biped robot of biped robot, and wherein mechanical leg has mutual articulated thigh and shank and articulates in the sole of shank lower extreme, include: lift leg drive assembly, the crooked subassembly of shank and sole action subassembly, lift the upper end that leg drive assembly is located the thigh for drive the thigh swing back and forth, the crooked subassembly of shank is located around the thigh, is used for driving the shank and carries out bending motion, and sole action subassembly is located the shank rear side, is used for driving sole pitching around, the utility model discloses a drive assembly all adopt servo motor as the power supply, and response speed is fast, and the action is nimble more and accurate, and action process is stable, through the cooperation of lifting leg drive assembly, the crooked subassembly of shank and sole action subassembly, satisfies biped robot's walking, and the action is more accurate and stable, easily controls.

Description

Mechanical leg of biped robot and biped robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a biped robot's mechanical leg and biped robot.

Background

With the rapid development of robots, the application fields of the robots are more and more extensive, and the functions required to be realized by the robots are more and more, and the functions to be satisfied by the robots are the motions of the robots, and particularly in the legged robots, how to realize the walking state of the robots capable of simulating the legs of the animals is an important research direction.

Most of existing foot robots are provided with actuators at joints of legs, which can drive thighs in leg structures of the robots to rotate relative to hip joints or drive shanks to rotate relative to knee joints, but the leg structures of the robots are low in degree of freedom and inflexible, and when the robots walk, motion control precision is low and motion processes are unstable.

The information disclosed in this background section is only for enhancement of understanding of the general background of the disclosure and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is already known to a person skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that will solve is: the mechanical leg of the biped robot can flexibly move, walk, and move more accurately and stably, and is easy to control.

In order to achieve the above purpose, the utility model adopts the technical scheme that: a mechanical leg of a biped robot having a thigh and a calf hinged to each other and a sole hinged to a lower end of the calf, comprising:

the leg lifting driving assembly is positioned at the upper end of a thigh and comprises a first motor and a first gear meshed with an output shaft of the first motor, the first motor is fixed on the trunk of a body, the first gear is fixed on a rotating seat at the upper end of the thigh, and the first motor outputs torque to drive the thigh to swing back and forth;

the leg bending assembly is positioned on the front side of a thigh and comprises a second motor and a first telescopic assembly, the first telescopic assembly comprises a first screw rod and a first sleeve, the upper end of the first sleeve is rotatably connected with the front side of the thigh, the output shaft of the second motor is connected with the first screw rod, and the second motor outputs torque to drive a shank to bend;

the sole action assembly is positioned on the rear side of the lower leg and comprises a third motor and a second telescopic assembly, the second telescopic assembly comprises a second lead screw and a second sleeve, the top of the third motor is rotatably connected to the rear side of the lower leg, the second sleeve is rotatably connected to the rear end of the sole, the output shaft of the third motor is connected with the second lead screw, and the third motor outputs torque to drive the sole to pitch forwards and backwards.

The leg swing device comprises a leg swing driving assembly, wherein the leg swing driving assembly comprises a fourth motor and a sector gear meshed with an output shaft of the fourth motor, a support is fixedly arranged at the upper end of the thigh, the fourth motor is fixed on a rotary seat, the sector gear is fixed on the support, the rotary seat is rotatably connected with the support, and the fourth motor outputs torque to drive the thigh to swing left and right.

Further, the support includes the bottom plate and is located respectively the riser of bottom plate front and back both sides, the bottom of riser with bottom plate tip fixed connection.

Furthermore, the thigh and the shank are rotatably connected through a first rotating shaft, the lower end of the first sleeve is rotatably connected with the shank through a second rotating shaft, the top of the third motor is rotatably connected with the shank through a third rotating shaft, the second rotating shaft is higher than the first rotating shaft and is horizontally provided with a gap, and the third rotating shaft is lower than the first rotating shaft and is horizontally provided with a gap.

Further, the third motor is connected to the rear side of the lower leg through a base.

Furthermore, a connecting frame is arranged between the second sleeve and the sole, a rotating seat is arranged at the bottom of the connecting frame, a bottom rotating shaft is arranged at the rear end of the sole, and the rotating seat is rotatably connected to the bottom rotating shaft through a bearing.

Further, the first telescopic assembly and the second telescopic assembly both adopt ball screws.

Further, the first motor, the second motor, the third motor and the fourth motor are all servo motors.

The utility model also discloses a biped robot adopts aforementioned mechanical leg.

The utility model has the advantages that: the utility model provides a mechanical leg, similar with human limb leg action, through the cooperation of lifting leg drive assembly, the crooked subassembly of shank and sole action subassembly, satisfy biped robot's walking, the utility model discloses a mechanical leg, all drive assemblies all adopt servo motor as the power supply, and response speed is fast, and the action is nimble more and accurate, and the action process is stable.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of a mechanical leg of a biped robot according to an embodiment of the present invention;

FIG. 2 is an enlarged view of FIG. 1 at A;

fig. 3 is a schematic structural view of a mechanical leg of a biped robot at another angle according to an embodiment of the present invention;

FIG. 4 is an enlarged view of FIG. 3 at B;

FIG. 5 is an enlarged view of FIG. 3 at C;

fig. 6 is a side view of a mechanical leg of a biped robot according to an embodiment of the present invention.

Reference numerals: 1. a thigh; 2. a lower leg; 3. a sole of a foot; 4. a first motor; 6. a rotating base; 7. a second motor; 8. a first telescoping assembly; 9. a third motor; 10. a second telescoping assembly; 11. a fourth motor; 12. a sector gear; 13. a support; 14. a base plate; 15. a vertical plate; 16. a first rotating shaft; 17. a second rotating shaft; 18. a third rotating shaft; 19. a base; 20. a connecting frame; 21. a rotating seat; 22. a bottom rotating shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

As shown in fig. 1-6 biped robot's mechanical leg, dispose two legs on every robot, equal with the human body, be used for playing skeleton bearing structure including thigh 1, shank 2 and sole 3 in every mechanical leg, thigh 1 lower extreme and shank 2 upper ends rotate through first pivot 16 and connect, and shank 2 lower extreme and sole 2 upper ends also adopt similar hinge structure, in order to realize mechanical leg's upright walking, the utility model discloses in design lift leg drive assembly, the crooked subassembly of shank and sole action subassembly to realize mechanical leg's walking function, it is specific:

as shown in fig. 1-4, the leg-lifting driving assembly is located at the upper end of the thigh 1, and includes a first motor 4 and a first gear engaged with an output shaft of the first motor 4, the first motor 4 is fixed on the body trunk, the first gear is fixed on a rotary seat 6 at the upper end of the thigh 1, the first gear may be a sector gear, a disc-shaped gear, or a ring gear, teeth of the ring gear are disposed at an inner ring, and the above-mentioned gears of various forms are all applicable to the mechanical leg, wherein the first gear is fixed on the rotary seat 6, the length direction of the output shaft of the first motor 4 is the left-right direction of the mechanical leg, and the first motor 4 outputs torque to drive the thigh 1 to swing back and forth, thereby realizing leg-lifting action;

as shown in fig. 1 and 2, the leg bending assembly is located on the front side of the thigh 1 and comprises a second motor 7 and a first telescopic assembly 8, the first telescopic assembly 8 can be directly obtained from the prior art, specifically adopts a ball screw, the first telescopic assembly 8 comprises a first screw rod and a first sleeve, a nut is arranged in the first sleeve, the upper end of the first sleeve is rotatably connected with the front side of the thigh 1, the position change of the first sleeve is realized through the positive rotation and the negative rotation of the first screw rod and the first sleeve, when the first sleeve moves away from the second motor 7, the shank 2 is bent, when the first sleeve moves close to the second motor 7, the bending angle of the shank 2 is gradually reduced, the output shaft of the second motor 7 is connected with the first screw rod, and the output torque of the second motor 7 drives the shank 2 to realize the leg bending action;

as shown in fig. 3 and 5, the sole motion assembly, located behind the lower leg 2, includes a third motor 9 and a second telescopic assembly 10, the second telescopic assembly 10 also adopts a ball screw in the prior art, the second telescopic assembly 10 includes a second screw and a second sleeve, the top of the third motor 9 is rotatably connected to the rear side of the lower leg 2, the second sleeve is rotatably connected to the rear end of the sole 3, the output shaft of the third motor 9 is connected to the second screw, the third motor 9 drives the second screw to rotate, the second screw and the second sleeve rotate in forward and reverse directions, so as to adjust the distance between the rear end of the sole 3 and the third motor 9, so as to drive the sole 3 to pitch forward and backward, and adapt to different road surfaces.

In order to realize the steering of the robot, as shown in fig. 3 and 4, the robot further comprises a leg swing driving assembly, the leg swing driving assembly comprises a fourth motor 11 and a sector gear 12 engaged with an output shaft of the fourth motor 11, a support 13 is fixedly arranged at the upper end of the thigh 1, the fourth motor 11 is fixed on a rotary seat 6, the sector gear 12 is fixed on the support 13, the rotary seat 6 is rotatably connected with the support 13, the length direction of the output shaft of the fourth motor 11 is the front and back direction of the human body, the fourth motor 11 outputs torque through the output shaft, and the sector gear 12, the support 13, the thigh 1, the shank 2 and the sole 3 are driven to be integrally twisted through matching with the sector gear 12, so that the steering of the advancing direction of the human body is realized.

As a specific disclosure of the above embodiment, the support 13 includes a bottom plate 14 and vertical plates 15 respectively located at the front and rear sides of the bottom plate 14, the bottoms of the vertical plates 15 are fixedly connected to the end of the bottom plate 14, the sector gear 12 is fixed inside the vertical plate 15 on one side, a pin is arranged between the top of the vertical plate 15 and the rotating seat 6, and the pin is fixedly connected to the vertical plate 15 and is rotatably connected to the rotating seat through a bearing.

Preferably, as for the above embodiment, the thigh 1 and the calf 2 are rotatably connected by using a first rotating shaft 16, the lower end of the first sleeve is rotatably connected with the calf 2 by using a second rotating shaft 17, the top of the third motor 9 is rotatably connected with the calf 2 by using a third rotating shaft 18, the second rotating shaft 17 is higher than the first rotating shaft 16 and is horizontally provided with a space, the third rotating shaft 18 is lower than the first rotating shaft 16 and is also horizontally provided with a space, here, the first rotating shaft 16 can be regarded as a fulcrum, the distance between the second rotating shaft 17 and the first rotating shaft 16 and the distance between the third rotating shaft 18 and the first rotating shaft 16 are regarded as force arms, and the first telescopic assembly 8 and the second telescopic assembly 10 are matched to realize the position movement of the second rotating shaft 17 and the third rotating shaft 18, so as to realize the bending of the leg and the pitching of the sole.

More specifically, as shown in fig. 5, the third motor 9 is connected to the rear side of the lower leg 2 via a base 19.

In order to realize the movable connection, the sole 3 can complete the pitching motion, a connecting frame 20 is arranged between the second sleeve and the sole 3, a rotating seat 21 is arranged at the bottom of the connecting frame 20, a bottom rotating shaft 22 is arranged at the rear end of the sole 3, and the rotating seat 21 is rotatably connected to the bottom rotating shaft 22 through a bearing.

In order to realize accurate control of the action, the first motor 4, the second motor 7, the third motor 9 and the fourth motor 11 are all servo motors, and the servo motors act according to instructions sent by the controller, so that the control precision is high, and the action is more accurate.

The utility model also discloses a biped robot adopts aforementioned mechanical leg as two legs of biped robot, and concrete using-way and result of use refer to aforementioned content.

It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A mechanical leg of a biped robot, having a thigh (1) and a lower leg (2) articulated to each other and a sole (3) articulated to the lower end of said lower leg (2), characterized by comprising:

the leg lifting driving assembly is positioned at the upper end of a thigh (1) and comprises a first motor (4) and a first gear meshed with an output shaft of the first motor (4), the first motor (4) is fixed on the trunk of a body, the first gear is fixed on a rotating seat (6) at the upper end of the thigh (1), and the first motor (4) outputs torque to drive the thigh (1) to swing back and forth;

the leg bending assembly is positioned on the front side of the thigh (1) and comprises a second motor (7) and a first telescopic assembly (8), the first telescopic assembly (8) comprises a first screw rod and a first sleeve, the upper end of the first sleeve is rotatably connected with the front side of the thigh (1), an output shaft of the second motor (7) is connected with the first screw rod, and the second motor (7) outputs torque to drive the shank (2) to bend;

the sole action assembly is located at the rear side of the lower leg (2) and comprises a third motor (9) and a second telescopic assembly (10), the second telescopic assembly (10) comprises a second lead screw and a second sleeve, the top of the third motor (9) is rotatably connected to the rear side of the lower leg (2), the second sleeve is rotatably connected to the rear end of the sole (3), an output shaft of the third motor (9) is connected with the second lead screw, and the third motor (9) outputs torque to drive the sole (3) to pitch forwards and backwards.

2. The mechanical leg of the biped robot according to claim 1, further comprising a leg swing driving assembly, wherein the leg swing driving assembly comprises a fourth motor (11) and a sector gear (12) engaged with an output shaft of the fourth motor (11), a support (13) is fixedly arranged at the upper end of the thigh (1), the fourth motor (11) is fixed on the rotary base (6), the sector gear (12) is fixed on the support (13), the rotary base (6) is rotatably connected with the support (13), and the fourth motor (11) outputs torque to drive the thigh (1) to swing left and right.

3. The mechanical leg of the biped robot according to claim 2, wherein the support (13) comprises a bottom plate (14) and vertical plates (15) respectively positioned at the front side and the rear side of the bottom plate (14), and the bottoms of the vertical plates (15) are fixedly connected with the ends of the bottom plate (14).

4. The mechanical leg of the biped robot according to claim 1, wherein the thigh (1) and the calf (2) are rotatably connected by a first rotating shaft (16), the lower end of the first sleeve is rotatably connected with the calf (2) by a second rotating shaft (17), the top of the third motor (9) is rotatably connected with the calf (2) by a third rotating shaft (18), the second rotating shaft (17) is higher than the first rotating shaft (16) and is provided with a space between the levels, and the third rotating shaft (18) is lower than the first rotating shaft (16) and is also provided with a space between the levels.

5. The robotic leg of a biped robot according to claim 1, characterized in that the third motor (9) is connected to the rear side of the lower leg (2) by a base (19).

6. The mechanical leg of the biped robot according to claim 1, wherein a connecting frame (20) is arranged between the second sleeve and the sole (3), a rotating base (21) is arranged at the bottom of the connecting frame (20), a bottom rotating shaft (22) is arranged at the rear end of the sole (3), and the rotating base (21) is rotatably connected to the bottom rotating shaft (22) through a bearing.

7. The robotic leg of the biped robot according to claim 1, characterized in that the first telescopic assembly (8) and the second telescopic assembly (10) both employ ball screws.

8. The robotic leg of a biped robot according to claim 2, characterized in that the first motor (4), the second motor (7), the third motor (9) and the fourth motor (11) are all servo motors.

9. A biped robot, characterized in that the mechanical leg according to any one of claims 1-8 is used.