WO2018170638A1 - 一种机械人的下肢行走机构系统 - Google Patents

一种机械人的下肢行走机构系统 Download PDF

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Publication number
WO2018170638A1
WO2018170638A1 PCT/CN2017/077188 CN2017077188W WO2018170638A1 WO 2018170638 A1 WO2018170638 A1 WO 2018170638A1 CN 2017077188 W CN2017077188 W CN 2017077188W WO 2018170638 A1 WO2018170638 A1 WO 2018170638A1
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rod
electric telescopic
telescopic rod
arm
shaped arm
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PCT/CN2017/077188
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English (en)
French (fr)
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肖丽芳
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深圳市方鹏科技有限公司
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Priority to PCT/CN2017/077188 priority Critical patent/WO2018170638A1/zh
Publication of WO2018170638A1 publication Critical patent/WO2018170638A1/zh

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  • the present invention relates to a lower limb walking mechanism system for a robot.
  • Robots generally consist of actuators, drives, detection devices and control systems, and complex machinery. That is to say, the robot body has a space open chain link mechanism, and the motion pair (rotation pair or moving pair) is often called a joint, and the number of joints is usually the degree of freedom of the robot. According to the difference between the joint configuration type and the motion coordinate form, the robot actuator can be divided into a rectangular coordinate type, a cylindrical coordinate type, a polar coordinate type, and a joint coordinate type.
  • the relevant parts of the robot body are often referred to as a base, a waist, an arm, a wrist, a hand (clamp or end effector), and a walking part (for a mobile robot).
  • the driving device is a mechanism that drives the movement of the actuator, and the robot is operated by the power element in accordance with a command signal from the control system. It inputs the electrical signal, and the output is the line and angular displacement.
  • the driving devices used by the robot are mainly electric driving devices, such as stepping motors, servo motors, etc., and hydraulic and pneumatic driving devices are also used.
  • One is centralized control, that is, the entire control of the robot is done by a microcomputer.
  • the other is distributed (level) control, that is, multiple microcomputers are used to share the control of the robot. For example, when the upper and lower levels of microcomputers are used to complete the control of the robot, the host is often responsible for system management, communication, and kinematics.
  • each joint corresponds to a CPU, performs interpolation operation and servo control processing, realizes given motion, and feeds back information to the host.
  • the control mode of the robot can be divided into point control, continuous track control and force (torque) control.
  • a robotic lower limb walking mechanism system is provided.
  • the present invention solves the above technical problems and adopts the following technical solution: a lower limb walking of a robot
  • the mechanical system is mainly composed of: a foot pedal, an arm, an L-shaped arm a, an L-shaped arm b, a linkage rod a, a linkage rod b, a linkage rod c, an electric telescopic rod a, an electric telescopic rod b, and an electric motor.
  • a telescopic rod c and a wall fixing plate wherein the bottom end of the arm is articulated with the foot pedal and the linkage rod b, and the end of the upper horizontal extension position of the arm and the end of the linkage rod b are electrically extended and contracted.
  • Rod a is mainly composed of: a foot pedal, an arm, an L-shaped arm a, an L-shaped arm b, a linkage rod a, a linkage rod b, a linkage rod c, an electric telescopic rod a, an electric telesco
  • the top end of the arm is fixed with a linkage rod c, and the top end of the arm rod is movably articulated with the L-shaped arm rod a; the end of the L-shaped arm rod a and the end of the linkage rod c are hinged with an electric telescopic rod b .
  • An L-shaped arm b is fixedly inserted into the slot of the L-shaped arm a, and the L-shaped arm b and the linkage rod a are hingedly connected, and the end of the linkage rod a is fixed on the end of the support of the wall fixing plate.
  • An electric telescopic rod c is hinged between the end of the L-shaped arm b and the end of the wall of the wall fixing plate.
  • the electric telescopic rod a, the electric telescopic rod b, and the electric telescopic rod c are controlled by a computer. Further, the wall fixing plate is fixed to the wall surface by bolts. Further, the depth of the L-shaped arm b that is inverted and inserted in the slot of the L-shaped arm a can be adjusted. Further, the foot pedal, the arm, the L-shaped arm a, the L-shaped arm b, the linkage rod a, the linkage rod b, the linkage rod c, the electric telescopic rod a, the electric telescopic rod b, the electric telescopic rod
  • the c is a right leg mechanism device, and the left leg mechanism device is mirror-symmetrical.
  • the structure is simple and the assembly is easy; the mode of manually adjusting the lifting and lowering of the components by the electric combination can be compiled for the different robots according to the programming control of the computer.
  • FIG. 1 is a view showing the overall structure of a lower limb walking mechanism system of a robot.
  • a robotic lower limb walking mechanism system the main structure of which is: foot pedal 1, arm 2, L-shaped arm a3, L-shaped arm b4, linkage rod a5, linkage rod b6, linkage rod c7 , electric telescopic rod a8, electric telescopic rod b9, electric
  • the telescopic rod c10 and the wall fixing plate 11 are movably hinged to the bottom end of the arm 2 and the foot pedal 1 and the linkage rod b6.
  • An L-shaped arm b4 is fixedly inserted into the slot of the L-shaped arm a3, and the L-shaped arm b4 and the linkage rod a5 are movably hinged, and the end of the linkage rod a5 is fixed to the end of the pillar of the wall fixing plate 11
  • An electric telescopic rod c10 is hinged between the end of the L-shaped arm b4 and the end of the wall of the wall fixing plate 11.
  • the electric telescopic rod a8, the electric telescopic rod b9, and the electric telescopic rod c10 are controlled by a computer.
  • the wall fixing plate 11 is fixed to the wall surface by bolts.
  • the depth of the L-shaped arm b4 fixed in the groove of the L-shaped arm a3 can be adjusted.
  • the right leg mechanism device is constructed, and the left leg mechanism device is mirror-symmetrical.
  • the application of the present invention protects the mechanical parts of the whole mechanism movement.
  • the core is to divide the lower limbs of the robot into three major mechanisms of motion according to the physiological structure: the waist, the knee joint, and the ankle joint.
  • the corresponding waist is the range of the electric telescopic rod c10; the corresponding knee joint is the range of the electric telescopic rod b9; the corresponding electric telescopic rod a8 is the ankle joint.
  • the basic principles, main features, and advantages of the present invention are shown and described above. Does not involve electronic control part protection. It should be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, and that the present invention is only described in the foregoing description and the description of the present invention, without departing from the spirit and scope of the invention. Various changes and modifications are intended to be included within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and their equivalents.

Abstract

一种机械人的下肢行走机构系统，臂杆（2）底端与脚踏板（1）、联动杆b（6）三者相活动铰接，臂杆（2）中上段横向延伸位置末端与联动杆b（6）一末端之间铰接有电动伸缩杆a（8）。臂杆（2）顶端固定有联动杆c（7），臂杆（2）顶端与L形臂杆a（3）之间活动铰接。L形臂杆a（3）末端与联动杆c（7）一末端之间铰接有电动伸缩杆b（9）。L形臂杆a（3）槽内倒插固定有L形臂杆b（4），L形臂杆b（4）与联动杆a（5）之间活动铰接，联动杆a（5）末端固定于墙面固定板（11）的撑柱末端上。L形臂杆b（4）末端与墙面固定板（11）的撑柱末端之间铰接有电动伸缩杆c（10）。该系统结构简单、装配容易；采用电动组合手动调节零部件升降的模式，在计算机的编程控制下，能够针对不同的机器人，编译出适合其的运动。

Description

一种机械人的下肢行走机构系统 技术领域
本发明涉及一种机械人的下肢行走机构系统。
背景技术
机器人一般由执行机构、驱动装置、检测装置和控制系统和复杂机械等组成。即机器人本体，其臂部一般采用空间开链连杆机构，其中的运动副(转动副或移动副)常称为关节，关节个数通常即为机器人的自由度数。根据关节配置型式和运动坐标形式的不同，机器人执行机构可分为直角坐标式、圆柱坐标式、极坐标式和关节坐标式等类型。出于拟人化的考虑，常将机器人本体的有关部位分别称为基座、腰部、臂部、腕部、手部(夹持器或末端执行器)和行走部(对于移动机器人)等。驱动装置，是驱使执行机构运动的机构，按照控制系统发出的指令信号，借助于动力元件使机器人进行动作。它输入的是电信号，输出的是线、角位移量。机器人使用的驱动装置主要是电力驱动装置，如步进电机、伺服电机等，此外也有采用液压、气动等驱动装置。一种是集中式控制，即机器人的全部控制由一台微型计算机完成。另一种是分散(级)式控制，即采用多台微机来分担机器人的控制，如当采用上、下两级微机共同完成机器人的控制时，主机常用于负责系统的管理、通讯、运动学和动力学计算，并向下级微机发送指令信息；作为下级从机，各关节分别对应一个CPU，进行插补运算和伺服控制处理，实现给定的运动，并向主机反馈信息。根据作业任务要求的不同，机器人的控制方式又可分为点位控制、连续轨迹控制和力(力矩)控制。
技术问题
提供一种机械人的下肢行走机构系统。
问题的解决方案
技术解决方案
本发明解决其上述的技术问题所采用以下的技术方案：一种机械人的下肢行走 机构系统，其主要构造有：脚踏板、臂杆、L形臂杆a、L形臂杆b、联动杆a、联动杆b、联动杆c、电动伸缩杆a、电动伸缩杆b、电动伸缩杆c、墙面固定板，所述的臂杆底端与脚踏板、联动杆b三者相活动铰接，臂杆中上段横向延伸位置末端与联动杆b一末端之间铰接有电动伸缩杆a。所述的臂杆顶端固定有联动杆c，臂杆顶端与L形臂杆a之间相活动铰接；所述的L形臂杆a末端与联动杆c一末端之间铰接有电动伸缩杆b。所述的L形臂杆a槽内倒插固定有L形臂杆b，L形臂杆b与联动杆a之间相活动铰接，联动杆a末端固定于墙面固定板的撑柱末端上；所述的L形臂杆b末端与墙面固定板的撑柱末端之间铰接有电动伸缩杆c。进一步地，所述的电动伸缩杆a、电动伸缩杆b、电动伸缩杆c受控于计算机。进一步地，所述的墙面固定板通过螺栓固定于墙面上。进一步地，所述的L形臂杆a槽内倒插固定的L形臂杆b深度可调节。进一步地，所述的脚踏板、臂杆、L形臂杆a、L形臂杆b、联动杆a、联动杆b、联动杆c、电动伸缩杆a、电动伸缩杆b、电动伸缩杆c构成的为右腿机构装置，与之镜像对称的为左腿机构装置。
发明的有益效果
有益效果
结构简单、装配容易；采用电动组合手动调节零部件升降的模式，在计算机的编程控制下，能够针对不同的机器人，编译出适合其运动。
对附图的简要说明
附图说明
图1为本发明一种机械人的下肢行走机构系统整体结构图。图中1-脚踏板，2-臂杆，3-L形臂杆a，4-L形臂杆b，5-联动杆a，6-联动杆b，7-联动杆c，8-电动伸缩杆a，9-电动伸缩杆b，10-电动伸缩杆c，11-墙面固定板。
发明实施例
本发明的实施方式
下面结合附图1对本发明的具体实施方式做一个详细的说明。实施例：一种机械人的下肢行走机构系统，其主要构造有：脚踏板1、臂杆2、L形臂杆a3、L形臂杆b4、联动杆a5、联动杆b6、联动杆c7、电动伸缩杆a8、电动伸缩杆b9、电动 伸缩杆c10、墙面固定板11，所述的臂杆2底端与脚踏板1、联动杆b6三者相活动铰接，臂杆2中上段横向延伸位置末端与联动杆b6一末端之间铰接有电动伸缩杆a8。所述的臂杆2顶端固定有联动杆c7，臂杆2顶端与L形臂杆a3之间相活动铰接；所述的L形臂杆a3末端与联动杆c7一末端之间铰接有电动伸缩杆b9。所述的L形臂杆a3槽内倒插固定有L形臂杆b4，L形臂杆b4与联动杆a5之间相活动铰接，联动杆a5末端固定于墙面固定板11的撑柱末端上；所述的L形臂杆b4末端与墙面固定板11的撑柱末端之间铰接有电动伸缩杆c10。所述的电动伸缩杆a8、电动伸缩杆b9、电动伸缩杆c10受控于计算机。所述的墙面固定板11通过螺栓固定于墙面上。所述的L形臂杆a3槽内倒插固定的L形臂杆b4深度可调节。所述的脚踏板1、臂杆2、L形臂杆a3、L形臂杆b4、联动杆a5、联动杆b6、联动杆c7、电动伸缩杆a8、电动伸缩杆b9、电动伸缩杆c10构成的为右腿机构装置，与之镜像对称的为左腿机构装置。本发明的申请保护为整个机构运动的机件部分，核心在于将机器人的下肢按照生理的结构上分为三大机构运动范围：腰部、膝关节、踝关节。与之对应的腰部为电动伸缩杆c10区间范围运动；与之对应的膝关节为电动伸缩杆b9区间范围运动；与之对应的电动伸缩杆a8为踝关节。以上显示和描述了本发明的基本原理、主要特征和本发明的优点。不涉及电控部分保护。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (5)

  1. 一种机械人的下肢行走机构系统，其主要构造有：脚踏板(1)、臂杆(2)、L形臂杆a(3)、L形臂杆b(4)、联动杆a(5)、联动杆b(6)、联动杆c(7)、电动伸缩杆a(8)、电动伸缩杆b(9)、电动伸缩杆c(10)、墙面固定板(11)，其特征在于：臂杆(2)底端与脚踏板(1)、联动杆b(6)三者相活动铰接，臂杆(2)中上段横向延伸位置末端与联动杆b(6)一末端之间铰接有电动伸缩杆a(8)。所述的臂杆(2)顶端固定有联动杆c(7)，臂杆(2)顶端与L形臂杆a(3)之间相活动铰接；所述的L形臂杆a(3)末端与联动杆c(7)一末端之间铰接有电动伸缩杆b(9)。所述的L形臂杆a(3)槽内倒插固定有L形臂杆b(4)，L形臂杆b(4)与联动杆a(5)之间相活动铰接，联动杆a(5)末端固定于墙面固定板(11)的撑柱末端上；所述的L形臂杆b(4)末端与墙面固定板(11)的撑柱末端之间铰接有电动伸缩杆c(10)。
  2. 根据权利要求1所述的一种机械人的下肢行走机构系统，其特征在于所述的电动伸缩杆a(8)、电动伸缩杆b(9)、电动伸缩杆c(10)受控于计算机。
  3. 根据权利要求1所述的一种机械人的下肢行走机构系统，其特征在于所述的墙面固定板(11)通过螺栓固定于墙面上。
  4. 根据权利要求1所述的一种机械人的下肢行走机构系统，其特征在于所述的L形臂杆a(3)槽内倒插固定的L形臂杆b(4)深度可调节
  5. 根据权利要求1所述的一种机械人的下肢行走机构系统，其特征在于所述的脚踏板(1)、臂杆(2)、L形臂杆a(3)、L形臂杆b(4)、联动杆a(5)、联动杆b(6)、联动杆c(7)、电动伸缩杆a(8)、电动伸缩杆b(9)、电动伸缩杆c(10)构成的为右腿机构装置，与之镜像对称的为左腿机构装置。
PCT/CN2017/077188 2017-03-18 2017-03-18 一种机械人的下肢行走机构系统 WO2018170638A1 (zh)

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CN110696939A (zh) * 2019-11-12 2020-01-17 杨晨光 一种智能机器人行走组件
CN112483769A (zh) * 2020-11-27 2021-03-12 国网山东省电力公司建设公司 一种gis管道内部探视装置
CN112590967A (zh) * 2020-12-30 2021-04-02 深圳市优必选科技股份有限公司 腿部结构及机器人

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