WO2023005032A1 - Joint unit module and leg robot - Google Patents

Joint unit module and leg robot Download PDF

Info

Publication number
WO2023005032A1
WO2023005032A1 PCT/CN2021/127153 CN2021127153W WO2023005032A1 WO 2023005032 A1 WO2023005032 A1 WO 2023005032A1 CN 2021127153 W CN2021127153 W CN 2021127153W WO 2023005032 A1 WO2023005032 A1 WO 2023005032A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering gear
hip
thigh
knee
front steering
Prior art date
Application number
PCT/CN2021/127153
Other languages
French (fr)
Chinese (zh)
Inventor
丁宏钰
汪文广
黄亮
胡毅森
Original Assignee
深圳市优必选科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市优必选科技股份有限公司 filed Critical 深圳市优必选科技股份有限公司
Publication of WO2023005032A1 publication Critical patent/WO2023005032A1/en

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Definitions

  • the present application belongs to the technical field of intelligent machinery, and more specifically relates to a joint unit module and a leg robot.
  • Legged robots can be used in various application scenarios such as humanoid robots and industrial robots.
  • Traditional leg robots usually connect the servos sequentially through a series scheme to form a leg of the robot, resulting in the traditional leg robot having the knee servo set at the knee joint and the ankle servo set at the ankle.
  • the purpose of the embodiment of the present application is to provide a joint unit module and a legged robot, so as to solve the technical problems in the prior art that the center of mass of the robot is low and the torque required by the steering gear is large.
  • the technical solution adopted by this application is to provide a joint unit module, including a hip steering gear for rotating the legs, a hip steering gear for sideways swinging the legs, and a hip steering gear for using The front hip steering gear for swinging the thigh structure back and forth, the knee front steering gear for swinging the lower leg structure back and forth, the thigh connecting rod structure, the thigh structure connected to the output shaft of the hip front steering gear, the first The fixed frame and the second fixed frame, the hip steering gear, the hip side steering gear, the hip front steering gear and the knee front steering gear are all arranged at the hip joint, and one end of the thigh link structure It is fixed on the output shaft of the steering gear in front of the knee, and the other end is used for rotating connection with the lower leg structure, the output shaft of the hip steering gear is fixedly connected with the first fixing frame, and the hip side steering gear
  • the outer shell of the hip is fixed on the first fixed frame, and the output shaft of the hip side steering gear is fixedly connected with the second fixed frame
  • the first fixing frame includes two oppositely arranged first fixing plates and a second fixing plate connecting the two first fixing plates, so that the first fixing frame is U-shaped, so The output shaft of the hip steering gear is fixedly connected to the second fixing plate, and the shell of the hip steering gear is fixed on one of the first fixing plates.
  • the second fixing frame includes two opposite third fixing plates and two opposite fourth fixing plates, one of the third fixing plates and one of the fourth fixing plates , the other third fixing plate and the other fourth fixing plate are sequentially connected, so that the second fixing frame is in a frame shape, and the output shaft of the hip side steering gear is connected to one of the third fixing plates Fixedly connected, the other third fixed plate is rotationally connected with one of the first fixed plates, and the hip side steering gear and the knee front steering gear are respectively fixed to the two fourth fixed plates.
  • the front hip steering gear and the knee front steering gear are arranged coaxially.
  • the output shafts of the front steering gear of the hip and the steering gear in front of the knee are set in the same direction, and the output shaft of the front steering gear of the hip is set away from the front steering gear of the knee; the thigh structure
  • the number of components is two and they move synchronously.
  • the thigh link structure is arranged between the two thigh structures, and the shell of the front steering gear of the hip and one of the thigh structures pass through the first bearing Support, between the shell of the steering gear in front of the knee and the other thigh structure is supported by a second bearing.
  • the output shaft of the front steering gear of the knee is connected to the shell of the front steering gear of the hip through a supporting bearing.
  • the thigh connecting rod structure includes a first crankshaft and a first connecting rod, one end of the first crankshaft is fixed to the output shaft of the knee front steering gear, and the other end of the first crankshaft is connected to the The first connecting rod is rotatably connected, and an end of the first connecting rod far away from the first crankshaft is used for rotatably connecting with the lower leg structure.
  • the present application also provides a leg robot, including the joint unit module described above, and a lower leg structure that is rotatably connected to the upper leg link structure.
  • the leg robot further includes an ankle servo fixed to the thigh structure, and a shank link structure connected to the output shaft of the ankle rudder, and the shank link structure is used for Drive the foot plate to rotate back and forth.
  • the number of the thigh structures is two and they move synchronously.
  • the thigh structure is supported by a first bearing, and the knee steering gear shell and another thigh structure are supported by a second bearing;
  • the ankle steering gear is two in number and coaxially arranged , the two ankle steering gears are respectively fixed to the two thigh structural members.
  • the beneficial effects of the joint unit module and the leg robot provided by the present application are: compared with the prior art, in the joint unit module of the present application, the front steering gear of the knee drives the movement of the lower leg structure through the thigh link structure, so that the knee front
  • the steering gear does not need to be installed at the knee joint.
  • the knee front steering gear, hip steering gear, hip side steering gear and hip front steering gear are all installed at the hip joint.
  • the structure of the joint steering gear is more concentrated and compact. The required installation space is smaller, and the second is to make the height of the steering gear in front of the knee higher, which can improve the center of mass of the leg robot and reduce the torque required by the steering gear.
  • Fig. 1 is the three-dimensional structure diagram of the joint unit module provided by the embodiment of the present application.
  • Fig. 2 is an exploded structure diagram of the joint unit module provided by the embodiment of the present application.
  • Fig. 3 is a sectional view of the joint unit module provided by the embodiment of the present application.
  • FIG. 4 is a three-dimensional structural diagram of a legged robot provided in an embodiment of the present application.
  • Fig. 5 is a longitudinal sectional view of the legged robot provided by the embodiment of the present application.
  • Fig. 6 is a cross-sectional view of the legged robot provided by the embodiment of the present application at the knee joint.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as “first” and “second” may explicitly or implicitly include one or more of these features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • the joint unit module includes a hip steering gear 11, a hip side steering gear 12, a hip front steering gear 13, a knee front steering gear 14, and a thigh link Structure 18 , thigh structure 17 , first mount 15 and second mount 16 .
  • the hip steering gear 11 is used to realize the rotation of the hip joint, so that the whole leg rotates with the hip joint;
  • the hip side steering gear 12 is used to realize the side swing of the hip joint, so that the whole leg swings sideways with the hip joint;
  • the thigh structure 17 Fixed at the output shaft of the front steering gear 13 of the hip, the front steering gear 13 of the hip is used to swing the thigh structure 17 back and forth, of course, when the thigh structure 17 swings, the calf structure 22 swings together with the thigh structure 17;
  • the front steering gear 14 is used to make the calf structure 22 swing back and forth, and one end of the thigh link structure 18 is fixed on the output shaft of the knee front steering gear 14, and the other end of the thigh link structure 18 is used to be connected with the calf structure 22, so that , when the steering gear 14 in front of the knee works, the rotation of the thigh link structure 18 drives the shank structure 22 to rotate, so that the shank structure 22 swings back and forth
  • the front steering gear 14 does not need to be arranged at the knee joint, but can be arranged at the hip joint to increase the center of mass of the joint unit module and reduce the required power of the steering gear.
  • the hip steering gear 11, the hip side steering gear 12, the hip front steering gear 13, and the knee front steering gear 14 are all located at the hip joint, which makes the layout of the joint unit module more compact, and the mass of the leg structure is smaller. The overall volume will also be smaller.
  • the output shaft of the hip steering gear 11 is fixedly connected to the first fixed frame 15, and the housing of the hip steering gear 11 can be fixed on the external structure;
  • the shell of the hip side steering gear 12 is fixed on the first fixed frame 15 , the output shaft of the hip side steering gear 12 is fixedly connected with the second fixed frame 16;
  • the hip steering gear 11 works, the first fixed mount 15, the hip side steering gear 12, the second fixed mount 16, the front steering gear 13 of the hip, the front steering gear 14 of the knee, the thigh structure 17 and the thigh connecting rod structure 18 together Rotate, even if the whole leg rotates together;
  • the hip side steering gear 12 works, the second fixed frame 16, the hip front steering gear 13, the knee front steering gear 14, the thigh structure 17 and the thigh connecting rod structure 18 sideways together, Even if the entire leg is sideways together.
  • the knee front steering gear 14 drives the calf structure 22 to move through the thigh link structure 18, so that the knee front steering gear 14 does not need to be installed at the knee joint, and the knee front steering gear 14 and the hip steering gear
  • the steering gear 11, the hip side steering gear 12 and the hip front steering gear 13 are all arranged at the hip joint.
  • One is to make the structure of the joint steering gear more concentrated, the structure is more compact, and the required installation space is smaller.
  • the second is to make the knee front steering gear 14 is set at a higher height, which can improve the center of mass of the legged robot and reduce the torque required by the steering gear.
  • this joint unit module can be applied to hip joints, and can also be applied to joint structures such as knee joints, shoulder joints, and elbow joints.
  • joint structures such as knee joints, shoulder joints, and elbow joints.
  • front knee steering gear 14, thigh structure 17, and thigh link structure 18 do not limit the specific application position of the joint unit module.
  • the first fixing frame 15 includes two first fixing plates 151 and one second fixing plate 152, and two first fixing plates 152 are respectively connected to two sides of the second fixing plate 152.
  • Fixed plate 151 The two first fixing plates 151 are arranged opposite to each other, so that the first fixing frame 15 is U-shaped. Specifically, the two first fixing plates 151 may be arranged parallel to each other.
  • the output shaft of the hip steering gear 11 is fixedly connected to the second fixing plate 152 . Referring to FIG. 2 , the hip steering gear 11 is arranged on the top of the first fixing frame 15 .
  • the shell of the hip side steering gear 12 is fixed on one of the first fixing plates 151 , and the output shaft of the hip side steering gear 12 can pass through the first fixing plate 151 and be connected with the second fixing bracket 16 to fix the second fixing bracket 16 .
  • the first fixed mount 15 was U-shaped, a space was formed inside it, so that the second fixed mount 16, the hip steering gear 11, the knee front steering gear 14, etc. could be arranged in the space, so that the steering gears at the hip joints were distributed more compact.
  • the second fixing frame 16 includes two third fixing plates 161 and two fourth fixing plates 162, the two third fixing plates 161 are arranged oppositely, and the two third fixing plates 161 are arranged opposite to each other.
  • Four fixed plates 162 are arranged oppositely, wherein one of the third fixed plates 161, one of the fourth fixed plates 162, another third fixed plate 161 and another fourth fixed plate 162 are sequentially connected, so that the second fixed frame 16 is frame-shaped .
  • the two third fixing plates 161 can be arranged parallel to each other, and the two fourth fixing plates 162 can also be arranged parallel to each other.
  • the second fixing frame 16 is disposed inside the first fixing frame 15 , and the two third fixing plates 161 can be respectively disposed adjacent to the two first fixing plates 151 , and the first fixing plate 151 and the third fixing plate 161 can be parallel to each other.
  • the output shaft of the hip side steering gear 12 is fixedly connected with one of the third fixing plates 161. Specifically, the hip side steering gear 12 is fixed on the outside of one of the first fixing plates 151, and one of the third fixing plates 161 is arranged on the third fixing plate 151.
  • the output shaft of the hip side steering gear 12 passes through the first fixed plate 151 and is fixedly connected to the third fixed plate 161, and another third fixed plate 161 is also arranged on the inner side of another first fixed plate 151 , and is rotatably connected with the first fixing plate 151 , specifically, the rotatable connection of the two can be realized through a bearing.
  • the hip side steering gear 12 and the knee front steering gear 14 are respectively fixed on two fourth fixing plates 162 .
  • one of the third fixing plates 161 of the second fixing bracket 16 is connected to the output shaft of the hip side steering gear 12, and the hip side steering gear 12 Support, another third fixed plate 161 of the second fixed frame 16 is rotationally connected with the first fixed plate 151, and is supported by the first fixed plate 151, thus forming support for both sides of the second fixed frame 16, so that the second fixed frame
  • the rotation of frame 16, hip front steering gear 13, knee front steering gear 14 etc. is more stable.
  • the output shafts of the front steering gear 13 of the hip and the steering gear 14 of the knee are set towards the same direction, that is, the output shaft of one of the steering gears is set towards the inside of the joint module, and the output shaft of the other steering gear is set toward the inside of the joint module.
  • the output shaft is arranged towards the outside of the joint module.
  • the thigh structure 17 and the thigh link structure 18 are separated by a certain distance, and will not be concentrated at the same position of the joint module, which facilitates the structural layout of the thigh structure 17 and the thigh link structure 18 .
  • the output shaft of the front steering gear 13 of the hip is set against the front steering gear 14 of the knee, that is, the output shaft of the front steering gear 13 of the hip is set towards the outside of the joint unit module, and the front steering gear of the knee is set toward the outside of the joint unit module.
  • the output shaft of the machine 14 is set towards the inside of the joint unit module.
  • the thigh structure 17 is connected to the output shaft of the hip front servo 13, so the thigh structure 17 is also arranged on the outside of the joint unit module, and the thigh link structure 18 is connected to the output shaft of the knee front servo 14, so the thigh link
  • the structure 18 is also disposed inside the joint unit module.
  • the number of thigh structural parts 17 can be selected as two, and the two thigh structural parts 17 are fixed to each other. between 17 pieces.
  • One of the thigh structure parts 17 is fixed on the output shaft of the front steering gear 13 of the hip and is supported by the first bearing 191 between the outer shell of the front steering gear 13 of the hip, and the other thigh structure part 17 and the outer shell of the knee front steering gear 14 The space is supported by the second bearing 192.
  • the two thigh structures 17 form support on both sides of the front steering gear 13 and the knee steering gear 14, which increases the bearing capacity of the hip front steering gear 13 and the knee front steering gear 14. bending moment.
  • the thigh structure 17 fixed on its output shaft rotates, and at the same time drives the other thigh structure 17 to rotate, and the two thigh structures 17 are respectively supported by the first bearing 191 and the second bearing 192 .
  • the first bearing 191 can be supported on the side of the front steering gear 13 facing away from the knee steering gear 14
  • the second bearing 192 can be supported on the side of the knee front steering gear 14 facing away from the hip front steering gear 13, so that the first The distance between the first bearing 191 and the second bearing 192 is large enough so that it can withstand a larger bending moment.
  • the output shafts of the front steering gear 13 of the hip and the steering gear 14 of the knee are set towards the same direction, and the output shaft of the front steering gear 13 of the hip is set against the front steering gear 14, the output shaft of the front steering gear 14 of the knee is facing towards the front of the hip
  • the steering gear 13 is connected by a support bearing 193 between the output shaft of the steering gear 14 in front of the knee and the shell of the steering gear 13 in front of the hip.
  • the steering gear 14 in front of the knee works, its output shaft rotates. Under the support of the support bearing 193, the output shaft of the steering gear 14 in front of the knee rotates without affecting the position of the steering gear 13 in front of the hip. Therefore, the front steering gear 13 can be supported without affecting the operation of the knee steering gear 14 . In this way, when the hip front steering gear 13 or the knee front steering gear 14 is subjected to a bending moment, the above-mentioned second fixing frame 16 and the support bearing 193 can share the bending moment.
  • the output shaft of the front steering gear 13 of the hip is set facing the front steering gear 14 of the knee, that is, the output shaft of the front steering gear 13 of the hip is set towards the inside of the joint module, and the output shaft of the front steering gear 14 of the knee is set towards the joint unit module external settings.
  • the thigh structure 17 is connected to the output shaft of the hip front servo 13, so the thigh structure 17 is also arranged inside the joint unit module, and the thigh link structure 18 is connected to the output shaft of the knee front servo 14, so the thigh link
  • the structure 18 is also arranged on the outside of the joint unit module.
  • the number of thigh link structures 18 can be selected as two, and the two thigh link structures 18 move synchronously.
  • first crankshafts 181 of the two thigh link structures 18 can be fixed to each other, so that the two thigh link structures 18 can move synchronously.
  • the two thigh link structures 18 are respectively arranged on opposite sides of the joint unit module, and the thigh structure 17 is arranged between the two thigh link structures 18 .
  • One of the thigh connecting rod structures 18 is fixed on the output shaft of the steering gear 14 before the knee and is supported by the third bearing between the shell of the steering gear 14 before the knee, and the other thigh connecting rod structure 18 and the shell of the steering gear 13 before the hip Supported by the fourth bearing, like this, two thigh connecting rod structures 18 form both sides support to the front steering gear 13 of the hip and the steering gear 14 before the knee, which increases the bearing capacity of the front steering gear 13 of the hip and the front steering gear 14 of the knee. the bending moment.
  • the thigh connecting rod structure 18 fixed to its output shaft rotates, and at the same time drives another thigh connecting rod structure 18 to rotate, and the two thigh connecting rod structures 18 are respectively supported by the third bearing and the fourth bearing. support.
  • the third bearing can be supported on the side of the front steering gear 14 of the knee facing away from the front steering gear 13 of the hip
  • the fourth bearing can be supported on the side of the front steering gear 13 of the hip facing away from the front steering gear 14 of the knee, so that the third bearing
  • the distance between the bearing and the fourth bearing is large enough to be able to withstand higher bending moments.
  • the output shafts of the hip front steering gear 13 and the knee front steering gear 14 are set towards the same direction, and the output shaft of the hip front steering gear 13 is set facing the knee front steering gear 14, the output shaft of the hip front steering gear 13 is facing the knee front steering gear Machine 14, the output shaft of the steering gear 13 in front of the hip and the shell of the steering gear 14 in front of the knee are connected by a support bearing.
  • the front steering gear 13 of the hip is working, its output shaft rotates, and under the supporting effect of the supporting bearing, the output shaft of the front steering gear 13 of the hip rotates without affecting the position of the front steering gear 14 of the knee. Therefore, under the premise of not affecting the operation of the hip forward steering gear 13, the knee forward steering gear 14 can be supported. In this way, when the front steering gear 13 of the hip or the front steering gear 14 of the knee is subjected to a bending moment, the above-mentioned second fixing frame 16 and the support bearing can share the bending moment.
  • the output shafts of the front steering gear 13 of the hip and the steering gear 14 of the knee are set in opposite directions, and the output shaft of the front steering gear 13 of the hip is set away from the front steering gear 14 of the knee.
  • the output shaft of the front steering gear 14 is arranged away from the front steering gear 13 of the hip, that is, the output shafts of the front steering gear 13 of the hip and the output shafts of the front steering gear 14 of the knee are both set towards the outside of the joint module.
  • the thigh structure 17 is fixed on the output shaft of the front steering gear 13 of the hip, the thigh structure 17 is arranged on one side of the joint module, and because the thigh link structure 18 is fixed on the output shaft of the knee front steering gear 14, the thigh The connecting rod structure 18 is disposed on the other side of the joint module.
  • the fifth bearing is supported between the shell of the front steering gear 13 of the hip and the thigh structure 17, and the sixth bearing is supported between the shell of the front steering gear 14 of the knee and the thigh structure 17, so that the front steering gear 13 of the hip and the front steering gear of the knee
  • the machine 14 is supported by the fifth bearing and the sixth bearing at the same time, forming a double-sided support, which can improve the bending moment that the joint unit module can bear.
  • the fifth bearing and the sixth bearing are also respectively arranged on both sides of the joint module, and the distance between them is relatively far, which can further improve the joint strength.
  • the thigh link structure 18 includes a first crankshaft 181 and a first link 182 .
  • One end of the first crankshaft 181 is fixed to the output shaft of the front steering gear 14, and the first crankshaft 181 can be sleeved and fixed on the output of the front steering gear 14, and the specific fixing method is not limited here.
  • the other end of the first crankshaft 181 is rotatably connected with the first connecting rod 182 , and the end of the first connecting rod 182 away from the first crankshaft 181 is used for rotatably connecting with the calf structure 22 .
  • the first crankshaft 181 rotates accordingly, the rotation of the first crankshaft 181 drives the first connecting rod 182 to rotate, and the first connecting rod 182 drives the calf structure 22 to rotate.
  • the rotational connection between the first link 182 and the lower leg structure 22 is the knee joint.
  • the knee servo 14 can be arranged at the hip joint, and the center of mass of the joint module can be raised.
  • the hip steering gear 11 , the hip side steering gear 12 , the hip front steering gear 13 and the knee front steering gear 14 all include a casing, a motor, a reducer and a planet carrier, Both the motor and the reducer are arranged in the casing, the reducer is connected to the output end of the motor, and the planet carrier is connected to the output end of the reducer.
  • the motor can be outer rotor motor, inner rotor motor, hollow cup motor, etc.; the reducer can be one-stage or multi-stage planetary reducer, cylindrical gear reducer, harmonic reducer, cycloid reducer.
  • the planet carrier is arranged on the outer side of the shell, the output shaft of the hip steering gear 11 is fixed to the corresponding planet carrier, and the first fixed frame 15 is fixed on the planet carrier; the output shaft of the hip side steering gear 12 is fixed to the corresponding planet carrier , the second fixed mount 16 is then fixed on the planet carrier; the output shaft of the front steering gear 13 of the hip is fixed to its corresponding planet carrier, the thigh structure 17 is then fixed on the planet carrier, and the output shaft of the front steering gear 14 of the knee is fixed to its corresponding planet carrier.
  • the corresponding planet carrier is fixed, and the thigh link structure 18 is fixed on the planet carrier.
  • the legged robot includes the joint unit module in any one of the above-mentioned embodiments.
  • the joint unit module can be used at the hip joint or the knee joint of the legged robot.
  • the leg robot also includes a lower leg structure 22 , one end of the lower leg structure 22 is rotatably connected to the thigh link structure 18 , the rotational joint is a knee joint, and the other end of the lower leg structure 22 is used to connect with the foot plate 25 .
  • the front knee steering gear 14 drives the calf structure 22 to move through the thigh link structure 18, so that the knee front steering gear 14 does not need to be installed at the knee joint, and the knee front steering gear
  • the steering gear 14, the hip turning steering gear 11, the hip side steering gear 12 and the hip front steering gear 13 are all arranged at the hip joint, one is to make the structure of the joint steering gear more concentrated, the structure is more compact, and the required installation space is smaller. It is to make the height of the front steering gear 14 set higher, which can improve the center of mass of the leg robot and reduce the required moment of the steering gear.
  • the output shafts of the front hip steering gear 13 and the knee front steering gear 14 are set in the same direction, and the output shaft of the hip front steering gear 13 is set away from the knee front steering gear 14, that is, the hip front steering gear 14 is set against the knee front steering gear 14.
  • the output shaft of the steering gear 13 is set towards the outside of the joint unit module, and the output shaft of the front knee steering gear 14 is set towards the inside of the joint module.
  • the thigh structure 17 is connected to the output shaft of the hip front servo 13, so the thigh structure 17 is also arranged on the outside of the joint module, and the thigh link structure 18 is connected to the output shaft of the knee front servo 14, so the thigh link structure 18 is also arranged inside the joint unit module.
  • the number of thigh structures 17 can be two, and the two thigh structures 17 move synchronously, the two thigh structures 17 are respectively arranged on opposite sides of the joint module, and the thigh link structure 18 is arranged on Between the two thigh structures 17 .
  • One of the thigh structure parts 17 is fixed on the output shaft of the front steering gear 13 of the hip and is supported by the first bearing 191 between the outer shell of the front steering gear 13 of the hip, and the other thigh structure part 17 and the outer shell of the knee front steering gear 14 The space is supported by the second bearing 192.
  • the two thigh structures 17 form support on both sides of the front steering gear 13 and the knee steering gear 14, which increases the bearing capacity of the hip front steering gear 13 and the knee front steering gear 14. bending moment.
  • the legged robot also includes an ankle steering gear 21 and a calf link structure 23, the output shaft of the ankle steering gear 21 is connected with the calf link structure 23, and another part of the calf link structure 23 is One end is used to rotate and connect with the foot plate 25.
  • the ankle steering gear 21 works, the calf link structure 23 rotates, and the foot plate 25 also rotates back and forth correspondingly.
  • the ankle steering gear 21 can be arranged at the knee joint instead of the ankle joint, and the center of mass of the leg robot can be improved.
  • each ankle steering gear 21 is correspondingly connected to one calf link structure 23 .
  • the two ankle steering gears 21 are coaxial and fixedly arranged, so that the two ankle steering gears 21 are mutually fixed and supported, so that the knee joint can bear a larger bending moment.
  • the output shafts of the two ankle servos 21 are coaxially arranged, the space occupied by the knee joint is smaller and the structure is more compact.
  • a bearing hole is opened on the lower leg structural member 22, and the bearing hole is arranged coaxially with the rotation axis of the lower leg structural member 22 along the knee joint.
  • the seventh bearing 26 is fixed in the bearing hole, and the inner ring of the seventh bearing 26 is fixed to the shell of the ankle steering gear 21, so that the seventh bearing 26 supports the shells of the two ankle steering gears 21.
  • the calf structure 22 is wrapped around the outer shell of part of the ankle steering gear 21 , so as to facilitate the connection between the calf structure 22 and the thigh link structure 18 .
  • the number of the first bearings 191 may be two, which are arranged sequentially along the rotation center axis of the knee joint, which can form better support for the ankle steering gear 21 and can withstand a larger bending moment.
  • the joint module further includes a steering gear connecting frame 24 , and the two ankle steering gears 21 are fixed on the steering gear connecting frame 24 .
  • the shells of the two ankle steering gears 21 are respectively fixed on both sides of the steering gear connecting frame 24 .
  • Both ends of the steering gear connecting frame 24 are respectively fixedly connected to the two thigh structures 17 , and the shells of the two ankle steering gears 21 can be respectively fixed on the two thigh structures 17 .
  • the structure of the ankle steering gear 21 may be the same as that of the front hip steering gear 13 .
  • the calf linkage structure 23 includes a second crankshaft 231 and a second connecting rod 232, one end of the second crankshaft 231 is connected to the output shaft of the ankle servo 21, and the other end of the second crankshaft 231 is connected to the second connecting rod 232.
  • Rotationally connected the end of the second connecting rod 232 away from the second crankshaft 231 is rotatably connected to the foot plate 25 .
  • the second crankshaft 231 rotates, driving the second connecting rod 232 to rotate, and the rotation of the second connecting rod 232 causes the foot plate 25 to rotate accordingly.
  • the synchronous movement of the two calf link structures 23 can make the movement of the foot plate 25 more stable.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A joint unit module, comprising a hip rotation servo motor (11), a hip side servo motor (12), a hip front servo motor (13), a knee front servo motor (14), a thigh connecting rod structure (18), a thigh structural member (17), a first fixing frame (15) and a second fixing frame (16), wherein the hip rotation servo motor (11), the hip side servo motor (12), the hip front servo motor (13) and the knee front servo motor (14) are all arranged at a hip joint; one end of the thigh connecting rod structure (18) is fixed to an output shaft of the knee front servo motor (14); an output shaft of the hip rotation servo motor (11) is fixedly connected to the first fixing frame (15); a shell of the hip side servo motor (12) is fixed to the first fixing frame (15), and an output shaft of the hip side servo motor (12) is fixedly connected to the second fixing frame (16); and the hip front servo motor (13) and the knee front servo motor (14) are both fixedly arranged at the second fixing frame (16). A leg robot, comprising the joint unit module. The structures of the joint unit module and the leg robot are compact, the centers of mass thereof are improved, and the torque required by the servo motors is reduced.

Description

关节单元模组及腿部机器人Joint unit module and legged robot
本申请要求于2021年07月30日在中国专利局提交的、申请号为202110875751.8的中国专利申请的优先权,其全部内容通过引用结合在本申请中。This application claims priority to a Chinese patent application with application number 202110875751.8 filed at the China Patent Office on July 30, 2021, the entire contents of which are incorporated herein by reference.
技术领域technical field
本申请属于智能机械技术领域,更具体地说,是涉及一种关节单元模组及腿部机器人。The present application belongs to the technical field of intelligent machinery, and more specifically relates to a joint unit module and a leg robot.
背景技术Background technique
腿部机器人可用于人形机器人、工业机器人等各种应用场景中。传统腿部机器人多是通过串联方案把各个舵机顺序连接起来组成机器人的一条腿,导致了传统腿部机器人的膝关节舵机设置在膝关节处,脚踝舵机设置于脚踝处,如此导致机器人的质心低、转动惯量大、舵机力矩大、运动控制困难等问题。Legged robots can be used in various application scenarios such as humanoid robots and industrial robots. Traditional leg robots usually connect the servos sequentially through a series scheme to form a leg of the robot, resulting in the traditional leg robot having the knee servo set at the knee joint and the ankle servo set at the ankle. Low center of mass, large moment of inertia, large steering gear torque, and difficult motion control.
技术问题technical problem
本申请实施例的目的在于提供一种关节单元模组及腿部机器人,以解决现有技术中存在的机器人质心低、舵机所需力矩大的技术问题。The purpose of the embodiment of the present application is to provide a joint unit module and a legged robot, so as to solve the technical problems in the prior art that the center of mass of the robot is low and the torque required by the steering gear is large.
技术解决方案technical solution
为实现上述目的,本申请采用的技术方案是:提供一种关节单元模组,包括用于使腿部旋转的髋转舵机、用于使腿部侧摆的髋侧舵机、用于使大腿结构件前后摆动的髋前舵机、用于使小腿结构件前后摆动的膝前舵机、大腿连杆结构、连接于所述髋前舵机的输出轴的所述大腿结构件、第一固定架和第二固定架,所述髋转舵机、所述髋侧舵机、所述髋前舵机和所述膝前舵机均设于髋关节处,所述大腿连杆结构的一端固定于所述膝前舵机的输出轴,另一端用于与所述小腿结构件转动连接,所述髋转舵机的输出轴与所述第一固定架固定连接,所述髋侧舵机的外壳固定在所述第一固定架上,且所述髋侧舵机的输出轴与所述第二固定架固定连接,所述髋前舵机和所述膝前舵机均固定设置于所述第二固定架。In order to achieve the above purpose, the technical solution adopted by this application is to provide a joint unit module, including a hip steering gear for rotating the legs, a hip steering gear for sideways swinging the legs, and a hip steering gear for using The front hip steering gear for swinging the thigh structure back and forth, the knee front steering gear for swinging the lower leg structure back and forth, the thigh connecting rod structure, the thigh structure connected to the output shaft of the hip front steering gear, the first The fixed frame and the second fixed frame, the hip steering gear, the hip side steering gear, the hip front steering gear and the knee front steering gear are all arranged at the hip joint, and one end of the thigh link structure It is fixed on the output shaft of the steering gear in front of the knee, and the other end is used for rotating connection with the lower leg structure, the output shaft of the hip steering gear is fixedly connected with the first fixing frame, and the hip side steering gear The outer shell of the hip is fixed on the first fixed frame, and the output shaft of the hip side steering gear is fixedly connected with the second fixed frame, and the front hip steering gear and the knee front steering gear are both fixedly arranged on the Describe the second mount.
在一个实施例中,所述第一固定架包括两个相对设置的第一固定板以及连接两个所述第一固定板的第二固定板,使所述第一固定架呈U形,所述髋转舵机的输出轴与所述第二固定板固定连接,所述髋侧舵机的外壳固定在其中一个所述第一固定板上。In one embodiment, the first fixing frame includes two oppositely arranged first fixing plates and a second fixing plate connecting the two first fixing plates, so that the first fixing frame is U-shaped, so The output shaft of the hip steering gear is fixedly connected to the second fixing plate, and the shell of the hip steering gear is fixed on one of the first fixing plates.
在一个实施例中,所述第二固定架包括两个相对设置的第三固定板以及两个相对设置的第四固定板,其中一个所述第三固定板、其中一个所述第四固定板、另一个所述第三固定板和另一个所述第四固定板依次连接,使所述第二固定架呈框形,所述髋侧舵机的输出轴与其中一个所述第三固定板固定连接,另一个所述第三固定板与其中一个所述第一固定板转动连接,所述髋侧舵机和所述膝前舵机分别固定于两个所述第四固定板。In one embodiment, the second fixing frame includes two opposite third fixing plates and two opposite fourth fixing plates, one of the third fixing plates and one of the fourth fixing plates , the other third fixing plate and the other fourth fixing plate are sequentially connected, so that the second fixing frame is in a frame shape, and the output shaft of the hip side steering gear is connected to one of the third fixing plates Fixedly connected, the other third fixed plate is rotationally connected with one of the first fixed plates, and the hip side steering gear and the knee front steering gear are respectively fixed to the two fourth fixed plates.
在一个实施例中,所述髋前舵机和所述膝前舵机同轴设置。In one embodiment, the front hip steering gear and the knee front steering gear are arranged coaxially.
在一个实施例中,所述髋前舵机和所述膝前舵机的输出轴朝向同一方向设置,所述髋前舵机的输出轴背向所述膝前舵机设置;所述大腿结构件的数量为两个且同步运动,所述大腿连杆结构设于两个所述大腿结构件之间,所述髋前舵机的外壳和其中一个所述大腿结构件之间通过第一轴承支撑,所述膝前舵机的外壳和另一个所述大腿结构件之间通过第二轴承支撑。In one embodiment, the output shafts of the front steering gear of the hip and the steering gear in front of the knee are set in the same direction, and the output shaft of the front steering gear of the hip is set away from the front steering gear of the knee; the thigh structure The number of components is two and they move synchronously. The thigh link structure is arranged between the two thigh structures, and the shell of the front steering gear of the hip and one of the thigh structures pass through the first bearing Support, between the shell of the steering gear in front of the knee and the other thigh structure is supported by a second bearing.
在一个实施例中,所述膝前舵机的输出轴和所述髋前舵机的外壳通过支撑轴承连接。In one embodiment, the output shaft of the front steering gear of the knee is connected to the shell of the front steering gear of the hip through a supporting bearing.
在一个实施例中,所述大腿连杆结构包括第一曲轴和第一连杆,所述第一曲轴的一端固定于所述膝前舵机的输出轴,所述第一曲轴的另一端与所述第一连杆转动连接,所述第一连杆的远离所述第一曲轴的一端用于与所述小腿结构件转动连接。In one embodiment, the thigh connecting rod structure includes a first crankshaft and a first connecting rod, one end of the first crankshaft is fixed to the output shaft of the knee front steering gear, and the other end of the first crankshaft is connected to the The first connecting rod is rotatably connected, and an end of the first connecting rod far away from the first crankshaft is used for rotatably connecting with the lower leg structure.
本申请还提供一种腿部机器人,包括上述的关节单元模组,还包括与所述大腿连杆结构转动连接的小腿结构件。The present application also provides a leg robot, including the joint unit module described above, and a lower leg structure that is rotatably connected to the upper leg link structure.
在一个实施例中,所述腿部机器人还包括固定于所述大腿结构件的脚踝舵机,以及连接于所述脚踝舵机的输出轴的小腿连杆结构,所述小腿连杆结构用于驱动脚板前后转动。In one embodiment, the leg robot further includes an ankle servo fixed to the thigh structure, and a shank link structure connected to the output shaft of the ankle rudder, and the shank link structure is used for Drive the foot plate to rotate back and forth.
在一个实施例中,所述大腿结构件的数量为两个且同步运动,所述大腿连杆结构设于两个所述大腿结构件之间,所述髋前舵机的外壳和其中一个所述大腿结构件之间通过第一轴承支撑,所述膝前舵机的外壳和另一个所述大腿结构件之间通过第二轴承支撑;所述脚踝舵机的数量为两个且同轴设置,两个所述脚踝舵机分别固定于两个所述大腿结构件。In one embodiment, the number of the thigh structures is two and they move synchronously. The thigh structure is supported by a first bearing, and the knee steering gear shell and another thigh structure are supported by a second bearing; the ankle steering gear is two in number and coaxially arranged , the two ankle steering gears are respectively fixed to the two thigh structural members.
有益效果Beneficial effect
本申请提供的关节单元模组及腿部机器人的有益效果在于:与现有技术相比,本申请关节单元模组中,膝前舵机通过大腿连杆结构驱动小腿结构件运动,使膝前舵机无需安装在膝关节处,膝前舵机、髋转舵机、髋侧舵机和髋前舵机均设置在髋关节处,一是使得关节舵机结构更加集中,结构更加紧凑,所需的安装空间更小,二是使得膝前舵机设置的高度较高,能够提高腿部机器人的质心,减小舵机所需的力矩。The beneficial effects of the joint unit module and the leg robot provided by the present application are: compared with the prior art, in the joint unit module of the present application, the front steering gear of the knee drives the movement of the lower leg structure through the thigh link structure, so that the knee front The steering gear does not need to be installed at the knee joint. The knee front steering gear, hip steering gear, hip side steering gear and hip front steering gear are all installed at the hip joint. First, the structure of the joint steering gear is more concentrated and compact. The required installation space is smaller, and the second is to make the height of the steering gear in front of the knee higher, which can improve the center of mass of the leg robot and reduce the torque required by the steering gear.
附图说明Description of drawings
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.
图1为本申请实施例提供的关节单元模组的立体结构图;Fig. 1 is the three-dimensional structure diagram of the joint unit module provided by the embodiment of the present application;
图2为本申请实施例提供的关节单元模组的爆炸结构图;Fig. 2 is an exploded structure diagram of the joint unit module provided by the embodiment of the present application;
图3为本申请实施例提供的关节单元模组的剖视图;Fig. 3 is a sectional view of the joint unit module provided by the embodiment of the present application;
图4为本申请实施例提供的腿部机器人的立体结构图;FIG. 4 is a three-dimensional structural diagram of a legged robot provided in an embodiment of the present application;
图5为本申请实施例提供的腿部机器人的纵剖图;Fig. 5 is a longitudinal sectional view of the legged robot provided by the embodiment of the present application;
图6为本申请实施例提供的腿部机器人在膝关节处的剖视图。Fig. 6 is a cross-sectional view of the legged robot provided by the embodiment of the present application at the knee joint.
其中,图中各附图标记:Wherein, each reference sign in the figure:
11-髋转舵机;12-髋侧舵机;13-髋前舵机;14-膝前舵机;15-第一固定架;151-第一固定板;152-第二固定板;16-第二固定架;161-第三固定板;162-第四固定板;17-大腿结构件;18-大腿连杆结构;181-第一曲轴;182-第一连杆;191-第一轴承;192-第二轴承;193-支撑轴承;21-脚踝舵机;22-小腿结构件;23-小腿连杆结构;231-第二曲轴;232-第二连杆;24-舵机连接架;25-脚板;26-第七轴承。11-hip steering gear; 12-hip side steering gear; 13-hip front steering gear; 14-knee front steering gear; 15-first fixing frame; 151-first fixing plate; 152-second fixing plate; 16 - the second fixed frame; 161 - the third fixed plate; 162 - the fourth fixed plate; 17 - the thigh structure; 18 - the thigh connecting rod structure; 181 - the first crankshaft; 182 - the first connecting rod; 191 - the first Bearing; 192-second bearing; 193-support bearing; 21-ankle steering gear; 22-calf structure; 23-calf connecting rod structure; 231-second crankshaft; 232-second connecting rod; Frame; 25-foot plate; 26-the seventh bearing.
本发明的实施方式Embodiments of the present invention
为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚明白,以下结合附图及实施例,对本申请进行进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本申请,并不用于限定本申请。In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
需要说明的是,当元件被称为“固定于”或“设置于”另一个元件,它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件,它可以是直接连接到另一个元件或间接连接至该另一个元件上。It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.
需要理解的是,术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本申请和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本申请的限制。It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying No device or element must have a particular orientation, be constructed, and operate in a particular orientation, and thus should not be construed as limiting the application.
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.
现对本申请实施例提供的关节单元模组进行说明。Now, the joint unit module provided by the embodiment of the present application will be described.
在本申请的其中一个实施例中,请参阅图1及图2,关节单元模组包括髋转舵机11、髋侧舵机12、髋前舵机13、膝前舵机14、大腿连杆结构18、大腿结构件17、第一固定架15和第二固定架16。髋转舵机11用于实现髋关节的旋转,使整个腿部随髋关节旋转;髋侧舵机12用于实现髋关节的侧摆,使整个腿部随髋关节侧摆;大腿结构件17固定于髋前舵机13的输出轴处,髋前舵机13用于使大腿结构件17前后摆动,当然,在大腿结构件17摆动时,小腿结构件22随大腿结构件17一同摆动;膝前舵机14用于使小腿结构件22前后摆动,大腿连杆结构18的一端固定于膝前舵机14的输出轴,大腿连杆结构18的另一端用于与小腿结构件22连接,这样,在膝前舵机14工作时,大腿连杆结构18的转动带动小腿结构件22旋转,实现小腿结构件22前后摆动。由于大腿连杆结构18的设置,使得膝前舵机14无需设置在膝关节处,可以将其设置在髋关节处,以提高关节单元模组的质心,减小舵机所需的动力。另外,髋转舵机11、髋侧舵机12、髋前舵机13和膝前舵机14均设于髋关节处,使得该关节单元模组的布局更加紧凑,腿部结构质量较小,整体体积也会更小。具体地,髋转舵机11的输出轴和第一固定架15固定连接,髋转舵机11的壳体可固定于外部结构上;髋侧舵机12的外壳固定在第一固定架15上,髋侧舵机12的输出轴与第二固定架16固定连接;髋前舵机13和膝前舵机14则均固定于第二固定架16上。在髋转舵机11工作时,第一固定架15、髋侧舵机12、第二固定架16、髋前舵机13、膝前舵机14、大腿结构件17和大腿连杆结构18一同旋转,即使整个腿部一同旋转;在髋侧舵机12工作时,第二固定架16、髋前舵机13、膝前舵机14、大腿结构件17和大腿连杆结构18一同侧摆,即使整个腿部一同侧摆。In one embodiment of the present application, please refer to Fig. 1 and Fig. 2, the joint unit module includes a hip steering gear 11, a hip side steering gear 12, a hip front steering gear 13, a knee front steering gear 14, and a thigh link Structure 18 , thigh structure 17 , first mount 15 and second mount 16 . The hip steering gear 11 is used to realize the rotation of the hip joint, so that the whole leg rotates with the hip joint; the hip side steering gear 12 is used to realize the side swing of the hip joint, so that the whole leg swings sideways with the hip joint; the thigh structure 17 Fixed at the output shaft of the front steering gear 13 of the hip, the front steering gear 13 of the hip is used to swing the thigh structure 17 back and forth, of course, when the thigh structure 17 swings, the calf structure 22 swings together with the thigh structure 17; The front steering gear 14 is used to make the calf structure 22 swing back and forth, and one end of the thigh link structure 18 is fixed on the output shaft of the knee front steering gear 14, and the other end of the thigh link structure 18 is used to be connected with the calf structure 22, so that , when the steering gear 14 in front of the knee works, the rotation of the thigh link structure 18 drives the shank structure 22 to rotate, so that the shank structure 22 swings back and forth. Due to the setting of the thigh link structure 18, the front steering gear 14 does not need to be arranged at the knee joint, but can be arranged at the hip joint to increase the center of mass of the joint unit module and reduce the required power of the steering gear. In addition, the hip steering gear 11, the hip side steering gear 12, the hip front steering gear 13, and the knee front steering gear 14 are all located at the hip joint, which makes the layout of the joint unit module more compact, and the mass of the leg structure is smaller. The overall volume will also be smaller. Specifically, the output shaft of the hip steering gear 11 is fixedly connected to the first fixed frame 15, and the housing of the hip steering gear 11 can be fixed on the external structure; the shell of the hip side steering gear 12 is fixed on the first fixed frame 15 , the output shaft of the hip side steering gear 12 is fixedly connected with the second fixed frame 16; When the hip steering gear 11 works, the first fixed mount 15, the hip side steering gear 12, the second fixed mount 16, the front steering gear 13 of the hip, the front steering gear 14 of the knee, the thigh structure 17 and the thigh connecting rod structure 18 together Rotate, even if the whole leg rotates together; when the hip side steering gear 12 works, the second fixed frame 16, the hip front steering gear 13, the knee front steering gear 14, the thigh structure 17 and the thigh connecting rod structure 18 sideways together, Even if the entire leg is sideways together.
上述实施例中的关节单元模组,膝前舵机14通过大腿连杆结构18驱动小腿结构件22运动,使膝前舵机14无需安装在膝关节处,膝前舵机14、髋转舵机11、髋侧舵机12和髋前舵机13均设置在髋关节处,一是使得关节舵机结构更加集中,结构更加紧凑,所需的安装空间更小,二是使得膝前舵机14设置的高度较高,能够提高腿部机器人的质心,减小舵机所需的力矩。In the joint unit module in the above-mentioned embodiment, the knee front steering gear 14 drives the calf structure 22 to move through the thigh link structure 18, so that the knee front steering gear 14 does not need to be installed at the knee joint, and the knee front steering gear 14 and the hip steering gear The steering gear 11, the hip side steering gear 12 and the hip front steering gear 13 are all arranged at the hip joint. One is to make the structure of the joint steering gear more concentrated, the structure is more compact, and the required installation space is smaller. The second is to make the knee front steering gear 14 is set at a higher height, which can improve the center of mass of the legged robot and reduce the torque required by the steering gear.
需要说明的是,该关节单元模组可以应用于髋关节,也可以应用于膝关节、肩关节、肘关节等关节结构中,髋转舵机11、髋侧舵机12、髋前舵机13、膝前舵机14、大腿结构件17以及大腿连杆结构18等名称并不限制该关节单元模组的具体应用位置。It should be noted that this joint unit module can be applied to hip joints, and can also be applied to joint structures such as knee joints, shoulder joints, and elbow joints. , front knee steering gear 14, thigh structure 17, and thigh link structure 18 do not limit the specific application position of the joint unit module.
在本申请的其中一个实施例中,请参阅图2,第一固定架15包括两个第一固定板151和一个第二固定板152,第二固定板152的两侧分别连接两个第一固定板151。两个第一固定板151相对设置,使第一固定架15呈U形。具体地,两个第一固定板151可相互平行设置。髋转舵机11的输出轴和第二固定板152固定连接,结合图2,髋转舵机11设置于第一固定架15的顶部。髋侧舵机12的外壳固定在其中一个第一固定板151上,髋侧舵机12的输出轴可穿过第一固定板151与第二固定架16连接,以固定第二固定架16。第一固定架15呈U形时,其内部形成有空间,使得第二固定架16、髋转舵机11、膝前舵机14等可以设置在该空间内,使髋关节处的舵机分布更为紧凑。In one of the embodiments of the present application, referring to FIG. 2 , the first fixing frame 15 includes two first fixing plates 151 and one second fixing plate 152, and two first fixing plates 152 are respectively connected to two sides of the second fixing plate 152. Fixed plate 151 . The two first fixing plates 151 are arranged opposite to each other, so that the first fixing frame 15 is U-shaped. Specifically, the two first fixing plates 151 may be arranged parallel to each other. The output shaft of the hip steering gear 11 is fixedly connected to the second fixing plate 152 . Referring to FIG. 2 , the hip steering gear 11 is arranged on the top of the first fixing frame 15 . The shell of the hip side steering gear 12 is fixed on one of the first fixing plates 151 , and the output shaft of the hip side steering gear 12 can pass through the first fixing plate 151 and be connected with the second fixing bracket 16 to fix the second fixing bracket 16 . When the first fixed mount 15 was U-shaped, a space was formed inside it, so that the second fixed mount 16, the hip steering gear 11, the knee front steering gear 14, etc. could be arranged in the space, so that the steering gears at the hip joints were distributed more compact.
在本申请的其中一个实施例中,请参阅图2,第二固定架16包括两个第三固定板161和两个第四固定板162,两个第三固定板161相对设置,两个第四固定板162相对设置,其中一个第三固定板161、其中一个第四固定板162、另一个第三固定板161和另一个第四固定板162依次连接,使第二固定架16呈框形。其中,两个第三固定板161可相互平行设置,两个第四固定板162也可相互平行设置。第二固定架16设置于第一固定架15的内部,两个第三固定板161可分别邻近两个第一固定板151设置,第一固定板151可与第三固定板161相互平行。髋侧舵机12的输出轴与其中一个第三固定板161固定连接,具体而言,髋侧舵机12固定在其中一个第一固定板151的外侧,其中一个第三固定板161设置于第一固定板151的内侧,髋侧舵机12的输出轴穿过第一固定板151与第三固定板161固定连接,另一个第三固定板161也设置于另一个第一固定板151的内侧,且与该第一固定板151转 动连接,具体可通过轴承实现两者的转动连接。髋侧舵机12和膝前舵机14则分别固定于两个第四固定板162。在该实施例中,髋侧舵机12驱动第二固定架16旋转时,第二固定架16的其中一个第三固定板161连接于髋侧舵机12的输出轴,由髋侧舵机12支撑,第二固定架16的另一个第三固定板161与第一固定板151转动连接,由第一固定板151支撑,由此形成对第二固定架16两侧的支撑,使得第二固定架16、髋前舵机13、膝前舵机14等的旋转更加平稳。In one of the embodiments of the present application, referring to FIG. 2 , the second fixing frame 16 includes two third fixing plates 161 and two fourth fixing plates 162, the two third fixing plates 161 are arranged oppositely, and the two third fixing plates 161 are arranged opposite to each other. Four fixed plates 162 are arranged oppositely, wherein one of the third fixed plates 161, one of the fourth fixed plates 162, another third fixed plate 161 and another fourth fixed plate 162 are sequentially connected, so that the second fixed frame 16 is frame-shaped . Wherein, the two third fixing plates 161 can be arranged parallel to each other, and the two fourth fixing plates 162 can also be arranged parallel to each other. The second fixing frame 16 is disposed inside the first fixing frame 15 , and the two third fixing plates 161 can be respectively disposed adjacent to the two first fixing plates 151 , and the first fixing plate 151 and the third fixing plate 161 can be parallel to each other. The output shaft of the hip side steering gear 12 is fixedly connected with one of the third fixing plates 161. Specifically, the hip side steering gear 12 is fixed on the outside of one of the first fixing plates 151, and one of the third fixing plates 161 is arranged on the third fixing plate 151. On the inner side of a fixed plate 151, the output shaft of the hip side steering gear 12 passes through the first fixed plate 151 and is fixedly connected to the third fixed plate 161, and another third fixed plate 161 is also arranged on the inner side of another first fixed plate 151 , and is rotatably connected with the first fixing plate 151 , specifically, the rotatable connection of the two can be realized through a bearing. The hip side steering gear 12 and the knee front steering gear 14 are respectively fixed on two fourth fixing plates 162 . In this embodiment, when the hip side steering gear 12 drives the second fixing frame 16 to rotate, one of the third fixing plates 161 of the second fixing bracket 16 is connected to the output shaft of the hip side steering gear 12, and the hip side steering gear 12 Support, another third fixed plate 161 of the second fixed frame 16 is rotationally connected with the first fixed plate 151, and is supported by the first fixed plate 151, thus forming support for both sides of the second fixed frame 16, so that the second fixed frame The rotation of frame 16, hip front steering gear 13, knee front steering gear 14 etc. is more stable.
在本申请的其中一个实施例中,髋前舵机13和膝前舵机14的输出轴朝向同一方向设置,即其中一个舵机的输出轴朝关节模组的内部设置,另一个舵机的输出轴朝关节模组的外部设置。在该实施例中,大腿结构件17和大腿连杆结构18相隔一定距离,不会集中在关节模组的同一个位置,方便大腿结构件17和大腿连杆结构18的结构布局。In one of the embodiments of the present application, the output shafts of the front steering gear 13 of the hip and the steering gear 14 of the knee are set towards the same direction, that is, the output shaft of one of the steering gears is set towards the inside of the joint module, and the output shaft of the other steering gear is set toward the inside of the joint module. The output shaft is arranged towards the outside of the joint module. In this embodiment, the thigh structure 17 and the thigh link structure 18 are separated by a certain distance, and will not be concentrated at the same position of the joint module, which facilitates the structural layout of the thigh structure 17 and the thigh link structure 18 .
可选地,请参阅图1至图3,髋前舵机13的输出轴背向膝前舵机14设置,即髋前舵机13的输出轴朝向关节单元模组的外部设置,膝前舵机14的输出轴朝向关节单元模组的内部设置。大腿结构件17连接于髋前舵机13的输出轴,因此大腿结构件17也设置于关节单元模组的外侧,大腿连杆结构18连接于膝前舵机14的输出轴,因此大腿连杆结构18也设置于关节单元模组的内部。大腿结构件17的数量可选为两个,且两个大腿结构件17相互固定,两个大腿结构件17分别设置在关节模组的相对两侧,大腿连杆结构18设置在两个大腿结构件17之间。其中一个大腿结构件17固定于髋前舵机13的输出轴且与该髋前舵机13的外壳之间通过第一轴承191支撑,另一个大腿结构件17和膝前舵机14的外壳之间通过第二轴承192支撑,这样,两个大腿结构件17对髋前舵机13和膝前舵机14形成两侧支撑,增大了髋前舵机13和膝前舵机14可承受的弯矩。髋前舵机13在工作时,固定于其输出轴的大腿结构件17转动,同时带动另一个大腿结构件17转动,两个大腿结构件17分别受到第一轴承191和第二轴承192的支撑。其中,第一轴承191可支撑于髋前舵机13的背向膝前舵机14一侧,第二轴承192可支撑于膝前舵机14的背向髋前舵机13一侧,使第一轴承191和第二轴承192之间的间距足够大,因此能够承受更大的弯矩。Optionally, referring to Fig. 1 to Fig. 3, the output shaft of the front steering gear 13 of the hip is set against the front steering gear 14 of the knee, that is, the output shaft of the front steering gear 13 of the hip is set towards the outside of the joint unit module, and the front steering gear of the knee is set toward the outside of the joint unit module. The output shaft of the machine 14 is set towards the inside of the joint unit module. The thigh structure 17 is connected to the output shaft of the hip front servo 13, so the thigh structure 17 is also arranged on the outside of the joint unit module, and the thigh link structure 18 is connected to the output shaft of the knee front servo 14, so the thigh link The structure 18 is also disposed inside the joint unit module. The number of thigh structural parts 17 can be selected as two, and the two thigh structural parts 17 are fixed to each other. between 17 pieces. One of the thigh structure parts 17 is fixed on the output shaft of the front steering gear 13 of the hip and is supported by the first bearing 191 between the outer shell of the front steering gear 13 of the hip, and the other thigh structure part 17 and the outer shell of the knee front steering gear 14 The space is supported by the second bearing 192. In this way, the two thigh structures 17 form support on both sides of the front steering gear 13 and the knee steering gear 14, which increases the bearing capacity of the hip front steering gear 13 and the knee front steering gear 14. bending moment. When the hip front steering gear 13 is working, the thigh structure 17 fixed on its output shaft rotates, and at the same time drives the other thigh structure 17 to rotate, and the two thigh structures 17 are respectively supported by the first bearing 191 and the second bearing 192 . Wherein, the first bearing 191 can be supported on the side of the front steering gear 13 facing away from the knee steering gear 14, and the second bearing 192 can be supported on the side of the knee front steering gear 14 facing away from the hip front steering gear 13, so that the first The distance between the first bearing 191 and the second bearing 192 is large enough so that it can withstand a larger bending moment.
当髋前舵机13和膝前舵机14的输出轴朝向同一方向设置,且髋前舵机13的输出轴背向膝前舵机14设置时,膝前舵机14的输出轴朝向髋前舵机13,膝前舵机14的输出轴和髋前舵机13的外壳之间通过支撑轴承193连接。在膝前舵机14工作时,其输出轴转动,在支撑轴承193的支撑作用下,膝前舵机14的输出轴转动,并不会影响髋前舵机13的位置。因此,在不影响膝前舵机14工作的前提下,能够对髋前舵机13进行支撑。这样,在髋前舵机13或者膝前舵机14受到弯矩作用时,上述的第二固定架16和支撑轴承193可以共同承担弯矩。When the output shafts of the front steering gear 13 of the hip and the steering gear 14 of the knee are set towards the same direction, and the output shaft of the front steering gear 13 of the hip is set against the front steering gear 14, the output shaft of the front steering gear 14 of the knee is facing towards the front of the hip The steering gear 13 is connected by a support bearing 193 between the output shaft of the steering gear 14 in front of the knee and the shell of the steering gear 13 in front of the hip. When the steering gear 14 in front of the knee works, its output shaft rotates. Under the support of the support bearing 193, the output shaft of the steering gear 14 in front of the knee rotates without affecting the position of the steering gear 13 in front of the hip. Therefore, the front steering gear 13 can be supported without affecting the operation of the knee steering gear 14 . In this way, when the hip front steering gear 13 or the knee front steering gear 14 is subjected to a bending moment, the above-mentioned second fixing frame 16 and the support bearing 193 can share the bending moment.
可选地,髋前舵机13的输出轴面向膝前舵机14设置,即髋前舵机13的输出轴朝向关节模组的内部设置,膝前舵机14的输出轴朝向关节单元模组的外部设置。大腿结构件17连接于髋前舵机13的输出轴,因此大腿结构件17也设置于关节单元模组的内部,大腿连杆结构18连接于膝前舵机14的输出轴,因此大腿连杆结构18也设置于关节单元模组的外侧。大腿连杆结构18的数量可选为两个,且两个大腿连杆结构18同步运动。具体而言,可将两个大腿连杆结构18的第一曲轴181相互固定,使两个大腿连杆结构18同步运动。两个大腿连杆结构18分别设置在关节单元模组的相对两侧,大腿结构件17设置在两个大腿连杆结构18之间。其中一个大腿连杆结构18固定于膝前舵机14的输出轴且与该膝前舵机14的外壳之间通过第三轴承支撑,另一个大腿连杆结构18和髋前舵机13的外壳之间通过第四轴承支撑,这样,两个大腿连杆结构18对髋前舵机13和膝前舵机14形成两侧支撑,增大了髋前舵机13和膝前舵机14可承受的弯矩。膝前舵机14在工作时,固定于其输出轴的大腿连杆结构18转动,同时带动另一个大腿连杆结构18转动,两个大腿连杆结构18分别受到第三轴承和第四轴承的支撑。其中,第三轴承可支撑于膝前舵机14的背向髋前舵机13一侧,第四轴承可支撑于髋前舵机13的背向膝前舵机14一侧,使第三轴承和第四轴承之间的间距足够大,因此能够承受更大的弯矩。Optionally, the output shaft of the front steering gear 13 of the hip is set facing the front steering gear 14 of the knee, that is, the output shaft of the front steering gear 13 of the hip is set towards the inside of the joint module, and the output shaft of the front steering gear 14 of the knee is set towards the joint unit module external settings. The thigh structure 17 is connected to the output shaft of the hip front servo 13, so the thigh structure 17 is also arranged inside the joint unit module, and the thigh link structure 18 is connected to the output shaft of the knee front servo 14, so the thigh link The structure 18 is also arranged on the outside of the joint unit module. The number of thigh link structures 18 can be selected as two, and the two thigh link structures 18 move synchronously. Specifically, the first crankshafts 181 of the two thigh link structures 18 can be fixed to each other, so that the two thigh link structures 18 can move synchronously. The two thigh link structures 18 are respectively arranged on opposite sides of the joint unit module, and the thigh structure 17 is arranged between the two thigh link structures 18 . One of the thigh connecting rod structures 18 is fixed on the output shaft of the steering gear 14 before the knee and is supported by the third bearing between the shell of the steering gear 14 before the knee, and the other thigh connecting rod structure 18 and the shell of the steering gear 13 before the hip Supported by the fourth bearing, like this, two thigh connecting rod structures 18 form both sides support to the front steering gear 13 of the hip and the steering gear 14 before the knee, which increases the bearing capacity of the front steering gear 13 of the hip and the front steering gear 14 of the knee. the bending moment. When the knee front steering gear 14 is working, the thigh connecting rod structure 18 fixed to its output shaft rotates, and at the same time drives another thigh connecting rod structure 18 to rotate, and the two thigh connecting rod structures 18 are respectively supported by the third bearing and the fourth bearing. support. Wherein, the third bearing can be supported on the side of the front steering gear 14 of the knee facing away from the front steering gear 13 of the hip, and the fourth bearing can be supported on the side of the front steering gear 13 of the hip facing away from the front steering gear 14 of the knee, so that the third bearing The distance between the bearing and the fourth bearing is large enough to be able to withstand higher bending moments.
当髋前舵机13和膝前舵机14的输出轴朝向同一方向设置,且髋前舵机13的输出轴面向膝前舵机14设置时,髋前舵机13的输出轴朝向膝前舵机14,髋前舵机13的输出轴和膝前舵机14的外壳之间通过支撑轴承连接。在髋前舵机13工作时,其输出轴转动,在支撑轴承的支撑作用下,髋前舵机13的输出轴转动,并不会影响膝前舵机14的位置。因此,在不影响髋前舵机13工作的前提下,能够对膝前舵机14进行支撑。这样,在髋前舵机13或者膝前舵机14受到弯矩作用时,上述的第二固定架16和支撑轴承可以共同承担弯矩。When the output shafts of the hip front steering gear 13 and the knee front steering gear 14 are set towards the same direction, and the output shaft of the hip front steering gear 13 is set facing the knee front steering gear 14, the output shaft of the hip front steering gear 13 is facing the knee front steering gear Machine 14, the output shaft of the steering gear 13 in front of the hip and the shell of the steering gear 14 in front of the knee are connected by a support bearing. When the front steering gear 13 of the hip is working, its output shaft rotates, and under the supporting effect of the supporting bearing, the output shaft of the front steering gear 13 of the hip rotates without affecting the position of the front steering gear 14 of the knee. Therefore, under the premise of not affecting the operation of the hip forward steering gear 13, the knee forward steering gear 14 can be supported. In this way, when the front steering gear 13 of the hip or the front steering gear 14 of the knee is subjected to a bending moment, the above-mentioned second fixing frame 16 and the support bearing can share the bending moment.
在本申请的其中一个实施例中,髋前舵机13和膝前舵机14的输出轴朝向相反方向设置,且所述髋前舵机13的输出轴背向膝前舵机14设置,膝前舵机14的输出轴背向髋前舵机13设置,即髋前舵机13的输出轴和膝前舵机14的输出轴均朝向关节模组的外部设置。由于大腿结构件17固定于髋前舵机13的输出轴,因此大腿结构件17设置于关节模组的其中一侧,由于大腿连杆结构18固定于膝前舵机14的输出轴,因此大腿连杆结构18设置于关节模组的另外一侧。髋前舵机13的外壳和大腿结构件17之间通过第五轴承支撑,膝前舵机14的外壳和大腿结构件17之间通过第六轴承支撑,使得髋前舵机13和膝前舵机14同时有第五轴承和第六轴承支撑,形成双侧支撑,可以提高该关节单元模组可承受的弯矩。由于大腿结构件17和大腿连杆结构18分别设置于关节模组的两侧,则第五轴承和第六轴承也分别设置于关节模组的两侧,相距距离较远,可进一步提高该关节模组可承受的弯矩。In one of the embodiments of the present application, the output shafts of the front steering gear 13 of the hip and the steering gear 14 of the knee are set in opposite directions, and the output shaft of the front steering gear 13 of the hip is set away from the front steering gear 14 of the knee. The output shaft of the front steering gear 14 is arranged away from the front steering gear 13 of the hip, that is, the output shafts of the front steering gear 13 of the hip and the output shafts of the front steering gear 14 of the knee are both set towards the outside of the joint module. Since the thigh structure 17 is fixed on the output shaft of the front steering gear 13 of the hip, the thigh structure 17 is arranged on one side of the joint module, and because the thigh link structure 18 is fixed on the output shaft of the knee front steering gear 14, the thigh The connecting rod structure 18 is disposed on the other side of the joint module. The fifth bearing is supported between the shell of the front steering gear 13 of the hip and the thigh structure 17, and the sixth bearing is supported between the shell of the front steering gear 14 of the knee and the thigh structure 17, so that the front steering gear 13 of the hip and the front steering gear of the knee The machine 14 is supported by the fifth bearing and the sixth bearing at the same time, forming a double-sided support, which can improve the bending moment that the joint unit module can bear. Since the thigh structure 17 and the thigh connecting rod structure 18 are respectively arranged on both sides of the joint module, the fifth bearing and the sixth bearing are also respectively arranged on both sides of the joint module, and the distance between them is relatively far, which can further improve the joint strength. The bending moment that the module can bear.
在本申请的其中一个实施例中,请参阅图3,大腿连杆结构18包括第一曲轴181和第一连杆182。第一曲轴181的一端固定于膝前舵机14的输出轴,第一曲轴181可套设固定在膝前舵机14的输出上,其具体固定方式此处不作限定。第一曲轴181的另一端与第一连杆182转动连接,第一连杆182的远离第一曲轴181的一端则用于与小腿结构件22转动连接。在膝前舵机14工作时,第一曲轴181相应转动,第一曲轴181的旋转带动第一连杆182转动,第一连杆182带动小腿结构件22转动。第一连杆182和小腿结构件22的转动连接处为膝关节。通过第一曲轴181和第一连杆182的转动,可以将膝前舵机14设置于髋关节处,提高关节模组的质心。In one embodiment of the present application, please refer to FIG. 3 , the thigh link structure 18 includes a first crankshaft 181 and a first link 182 . One end of the first crankshaft 181 is fixed to the output shaft of the front steering gear 14, and the first crankshaft 181 can be sleeved and fixed on the output of the front steering gear 14, and the specific fixing method is not limited here. The other end of the first crankshaft 181 is rotatably connected with the first connecting rod 182 , and the end of the first connecting rod 182 away from the first crankshaft 181 is used for rotatably connecting with the calf structure 22 . When the knee front steering gear 14 is working, the first crankshaft 181 rotates accordingly, the rotation of the first crankshaft 181 drives the first connecting rod 182 to rotate, and the first connecting rod 182 drives the calf structure 22 to rotate. The rotational connection between the first link 182 and the lower leg structure 22 is the knee joint. Through the rotation of the first crankshaft 181 and the first connecting rod 182, the knee servo 14 can be arranged at the hip joint, and the center of mass of the joint module can be raised.
在本申请的其中一个实施例中,请参阅图3,髋转舵机11、髋侧舵机12、髋前舵机13和膝前舵机14均包括外壳、电机、减速器以及行星架,电机和减速器均设置于外壳内,减速器连接于电机的输出端,行星架连接于减速器的输出端。电机可以是外转子电机、内转子电机、空心杯电机等;减速器可以是一级或者多级行星减速器、圆柱齿轮减速器、谐波减速器、摆线针轮减速器。行星架设置于外壳的外侧,髋转舵机11的输出轴与对应的行星架固定,第一固定架15则固定在该行星架上;髋侧舵机12的输出轴与对应的行星架固定,第二固定架16则固定在该行星架上;髋前舵机13的输出轴与其对应的行星架固定,大腿结构件17则固定在该行星架上,膝前舵机14的输出轴与其对应的行星架固定,大腿连杆结构18则固定在该行星架上。In one of the embodiments of the present application, please refer to FIG. 3 , the hip steering gear 11 , the hip side steering gear 12 , the hip front steering gear 13 and the knee front steering gear 14 all include a casing, a motor, a reducer and a planet carrier, Both the motor and the reducer are arranged in the casing, the reducer is connected to the output end of the motor, and the planet carrier is connected to the output end of the reducer. The motor can be outer rotor motor, inner rotor motor, hollow cup motor, etc.; the reducer can be one-stage or multi-stage planetary reducer, cylindrical gear reducer, harmonic reducer, cycloid reducer. The planet carrier is arranged on the outer side of the shell, the output shaft of the hip steering gear 11 is fixed to the corresponding planet carrier, and the first fixed frame 15 is fixed on the planet carrier; the output shaft of the hip side steering gear 12 is fixed to the corresponding planet carrier , the second fixed mount 16 is then fixed on the planet carrier; the output shaft of the front steering gear 13 of the hip is fixed to its corresponding planet carrier, the thigh structure 17 is then fixed on the planet carrier, and the output shaft of the front steering gear 14 of the knee is fixed to its corresponding planet carrier. The corresponding planet carrier is fixed, and the thigh link structure 18 is fixed on the planet carrier.
本申请还提供一种腿部机器人,请参阅图4及图5,腿部机器人包括上述任一实施例中的关节单元模组。该关节单元模组可用于腿部机器人的髋关节处或者膝关节处。腿部机器人还包括小腿结构件22,小腿结构件22的一端与大腿连杆结构18转动连接,转动连接处为膝关节,小腿结构件22的另一端用于与脚板25连接。The present application also provides a legged robot, please refer to FIG. 4 and FIG. 5 , the legged robot includes the joint unit module in any one of the above-mentioned embodiments. The joint unit module can be used at the hip joint or the knee joint of the legged robot. The leg robot also includes a lower leg structure 22 , one end of the lower leg structure 22 is rotatably connected to the thigh link structure 18 , the rotational joint is a knee joint, and the other end of the lower leg structure 22 is used to connect with the foot plate 25 .
本申请提供的腿部机器人,上述的关节单元模组中,膝前舵机14通过大腿连杆结构18驱动小腿结构件22运动,使膝前舵机14无需安装在膝关节处,膝前舵机14、髋转舵机11、髋侧舵机12和髋前舵机13均设置在髋关节处,一是使得关节舵机结构更加集中,结构更加紧凑,所需的安装空间更小,二是使得膝前舵机14设置的高度较高,能够提高腿部机器人的质心,减小舵机所需的力矩。In the leg robot provided by the present application, in the above-mentioned joint unit module, the front knee steering gear 14 drives the calf structure 22 to move through the thigh link structure 18, so that the knee front steering gear 14 does not need to be installed at the knee joint, and the knee front steering gear The steering gear 14, the hip turning steering gear 11, the hip side steering gear 12 and the hip front steering gear 13 are all arranged at the hip joint, one is to make the structure of the joint steering gear more concentrated, the structure is more compact, and the required installation space is smaller. It is to make the height of the front steering gear 14 set higher, which can improve the center of mass of the leg robot and reduce the required moment of the steering gear.
在本申请的其中一个实施例中,髋前舵机13和膝前舵机14的输出轴朝向同一方向设置,且髋前舵机13的输出轴背向膝前舵机14设置,即髋前舵机13的输出轴朝向关节单元模组的外部设置,膝前舵机14的输出轴朝向关节模组的内部设置。大腿结构件17连接于髋前舵机13的输出轴,因此大腿结构件17也设置于关节模组的外侧,大腿连杆结构18连 接于膝前舵机14的输出轴,因此大腿连杆结构18也设置于关节单元模组的内部。In one of the embodiments of the present application, the output shafts of the front hip steering gear 13 and the knee front steering gear 14 are set in the same direction, and the output shaft of the hip front steering gear 13 is set away from the knee front steering gear 14, that is, the hip front steering gear 14 is set against the knee front steering gear 14. The output shaft of the steering gear 13 is set towards the outside of the joint unit module, and the output shaft of the front knee steering gear 14 is set towards the inside of the joint module. The thigh structure 17 is connected to the output shaft of the hip front servo 13, so the thigh structure 17 is also arranged on the outside of the joint module, and the thigh link structure 18 is connected to the output shaft of the knee front servo 14, so the thigh link structure 18 is also arranged inside the joint unit module.
可选地,大腿结构件17的数量可选为两个,且两个大腿结构件17同步运动,两个大腿结构件17分别设置在关节模组的相对两侧,大腿连杆结构18设置在两个大腿结构件17之间。其中一个大腿结构件17固定于髋前舵机13的输出轴且与该髋前舵机13的外壳之间通过第一轴承191支撑,另一个大腿结构件17和膝前舵机14的外壳之间通过第二轴承192支撑,这样,两个大腿结构件17对髋前舵机13和膝前舵机14形成两侧支撑,增大了髋前舵机13和膝前舵机14可承受的弯矩。Optionally, the number of thigh structures 17 can be two, and the two thigh structures 17 move synchronously, the two thigh structures 17 are respectively arranged on opposite sides of the joint module, and the thigh link structure 18 is arranged on Between the two thigh structures 17 . One of the thigh structure parts 17 is fixed on the output shaft of the front steering gear 13 of the hip and is supported by the first bearing 191 between the outer shell of the front steering gear 13 of the hip, and the other thigh structure part 17 and the outer shell of the knee front steering gear 14 The space is supported by the second bearing 192. In this way, the two thigh structures 17 form support on both sides of the front steering gear 13 and the knee steering gear 14, which increases the bearing capacity of the hip front steering gear 13 and the knee front steering gear 14. bending moment.
可选地,请参阅图4及图6,腿部机器人还包括脚踝舵机21和小腿连杆结构23,脚踝舵机21的输出轴与小腿连杆结构23连接,小腿连杆结构23的另一端用于与脚板25转动连接,在脚踝舵机21工作时,小腿连杆结构23转动,脚板25也相应前后转动。如此,脚踝舵机21可以设置在膝关节处,无需设置在脚踝关节处,可以提高腿部机器人的质心。Optionally, referring to Fig. 4 and Fig. 6, the legged robot also includes an ankle steering gear 21 and a calf link structure 23, the output shaft of the ankle steering gear 21 is connected with the calf link structure 23, and another part of the calf link structure 23 is One end is used to rotate and connect with the foot plate 25. When the ankle steering gear 21 works, the calf link structure 23 rotates, and the foot plate 25 also rotates back and forth correspondingly. In this way, the ankle steering gear 21 can be arranged at the knee joint instead of the ankle joint, and the center of mass of the leg robot can be improved.
可选地,脚踝舵机21的数量为两个,小腿连杆结构23的数量也为两个,每个脚踝舵机21的输出轴对应与一个小腿连杆结构23连接。两个脚踝舵机21同轴且固定设置,使得两个脚踝舵机21相互固定和支撑,从而使得膝关节处能够承受更大的弯矩。而且当两个脚踝舵机21的输出轴同轴设置时,占用膝关节的空间更小,结构更加紧凑。Optionally, there are two ankle steering gears 21 and two calf link structures 23 , and the output shaft of each ankle steering gear 21 is correspondingly connected to one calf link structure 23 . The two ankle steering gears 21 are coaxial and fixedly arranged, so that the two ankle steering gears 21 are mutually fixed and supported, so that the knee joint can bear a larger bending moment. And when the output shafts of the two ankle servos 21 are coaxially arranged, the space occupied by the knee joint is smaller and the structure is more compact.
其中,小腿结构件22上开设有轴承孔,轴承孔与小腿结构件22沿膝关节转动的转动轴线同轴设置。轴承孔内固定有第七轴承26,第七轴承26的内圈和脚踝舵机21的外壳固定,使得第七轴承26对两个脚踝舵机21的外壳形成支撑。在该实施例中,小腿结构件22包裹于部分脚踝舵机21的外壳的外部,便于小腿结构件22和大腿连杆结构18连接。第一轴承191的数量可为两个,沿膝关节的转动中心轴依次排列,可以对脚踝舵机21形成更好的支撑,能够承受的弯矩也更大。Wherein, a bearing hole is opened on the lower leg structural member 22, and the bearing hole is arranged coaxially with the rotation axis of the lower leg structural member 22 along the knee joint. The seventh bearing 26 is fixed in the bearing hole, and the inner ring of the seventh bearing 26 is fixed to the shell of the ankle steering gear 21, so that the seventh bearing 26 supports the shells of the two ankle steering gears 21. In this embodiment, the calf structure 22 is wrapped around the outer shell of part of the ankle steering gear 21 , so as to facilitate the connection between the calf structure 22 and the thigh link structure 18 . The number of the first bearings 191 may be two, which are arranged sequentially along the rotation center axis of the knee joint, which can form better support for the ankle steering gear 21 and can withstand a larger bending moment.
可选地,请参阅图3及图4,关节模组还包括舵机连接架24,两个脚踝舵机21均固定在舵机连接架24上。两个脚踝舵机21的外壳分别固定在舵机连接架24的两侧。舵机连接架24的两端分别与两个大腿结构件17固定连接,两个脚踝舵机21的外壳可分别固定在两个大腿结构件17上。Optionally, please refer to FIG. 3 and FIG. 4 , the joint module further includes a steering gear connecting frame 24 , and the two ankle steering gears 21 are fixed on the steering gear connecting frame 24 . The shells of the two ankle steering gears 21 are respectively fixed on both sides of the steering gear connecting frame 24 . Both ends of the steering gear connecting frame 24 are respectively fixedly connected to the two thigh structures 17 , and the shells of the two ankle steering gears 21 can be respectively fixed on the two thigh structures 17 .
可选地,脚踝舵机21的结构可选为与髋前舵机13的结构相同。Optionally, the structure of the ankle steering gear 21 may be the same as that of the front hip steering gear 13 .
可选地,小腿连杆结构23包括第二曲轴231和第二连杆232,第二曲轴231的一端连接于脚踝舵机21的输出轴,第二曲轴231的另一端与第二连杆232转动连接,第二连杆232的远离第二曲轴231的一端转动连接于脚板25。在脚踝舵机21工作时,第二曲轴231转动,带动第二连杆232转动,第二连杆232的转动使脚板25相应转动。两个小腿连杆结构23同步运动能够使脚板25的运动更加平稳。Optionally, the calf linkage structure 23 includes a second crankshaft 231 and a second connecting rod 232, one end of the second crankshaft 231 is connected to the output shaft of the ankle servo 21, and the other end of the second crankshaft 231 is connected to the second connecting rod 232. Rotationally connected, the end of the second connecting rod 232 away from the second crankshaft 231 is rotatably connected to the foot plate 25 . When the ankle steering gear 21 is working, the second crankshaft 231 rotates, driving the second connecting rod 232 to rotate, and the rotation of the second connecting rod 232 causes the foot plate 25 to rotate accordingly. The synchronous movement of the two calf link structures 23 can make the movement of the foot plate 25 more stable.
以上所述仅为本申请的较佳实施例而已,并不用以限制本申请,凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本申请的保护范围之内。The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application should be included in the protection of the application. within range.

Claims (10)

  1. 一种关节单元模组,其特征在于:包括用于使腿部旋转的髋转舵机、用于使腿部侧摆的髋侧舵机、用于使大腿结构件前后摆动的髋前舵机、用于使小腿结构件前后摆动的膝前舵机、大腿连杆结构、连接于所述髋前舵机的输出轴的所述大腿结构件、第一固定架和第二固定架,所述髋转舵机、所述髋侧舵机、所述髋前舵机和所述膝前舵机均设于髋关节处,所述大腿连杆结构的一端固定于所述膝前舵机的输出轴,另一端用于与所述小腿结构件转动连接,所述髋转舵机的输出轴与所述第一固定架固定连接,所述髋侧舵机的外壳固定在所述第一固定架上,且所述髋侧舵机的输出轴与所述第二固定架固定连接,所述髋前舵机和所述膝前舵机均固定设置于所述第二固定架。A joint unit module, characterized in that it includes a hip steering gear used to rotate the legs, a hip side steering gear used to swing the legs sideways, and a hip front steering gear used to swing the thigh structure back and forth , the knee front steering gear for swinging the calf structure back and forth, the thigh link structure, the thigh structure connected to the output shaft of the hip front steering gear, the first fixing frame and the second fixing frame, the The hip steering gear, the hip side steering gear, the hip front steering gear and the knee front steering gear are all arranged at the hip joint, and one end of the thigh link structure is fixed to the output of the knee front steering gear shaft, the other end of which is used for rotational connection with the lower leg structure, the output shaft of the hip steering gear is fixedly connected to the first fixing frame, and the outer shell of the hip side steering gear is fixed on the first fixing bracket above, and the output shaft of the hip side steering gear is fixedly connected to the second fixing frame, and the front hip steering gear and the knee front steering gear are both fixedly arranged on the second fixing frame.
  2. 如权利要求1所述的关节单元模组,其特征在于:所述第一固定架包括两个相对设置的第一固定板以及连接两个所述第一固定板的第二固定板,使所述第一固定架呈U形,所述髋转舵机的输出轴与所述第二固定板固定连接,所述髋侧舵机的外壳固定在其中一个所述第一固定板上。The joint unit module according to claim 1, wherein the first fixing frame includes two first fixing plates opposite to each other and a second fixing plate connecting the two first fixing plates, so that the The first fixing frame is U-shaped, the output shaft of the hip steering gear is fixedly connected to the second fixing plate, and the shell of the hip steering gear is fixed on one of the first fixing plates.
  3. 如权利要求2所述的关节单元模组,其特征在于:所述第二固定架包括两个相对设置的第三固定板以及两个相对设置的第四固定板,其中一个所述第三固定板、其中一个所述第四固定板、另一个所述第三固定板和另一个所述第四固定板依次连接,使所述第二固定架呈框形,所述髋侧舵机的输出轴与其中一个所述第三固定板固定连接,另一个所述第三固定板与其中一个所述第一固定板转动连接,所述髋侧舵机和所述膝前舵机分别固定于两个所述第四固定板。The joint unit module according to claim 2, wherein the second fixing frame includes two opposite third fixing plates and two opposite fourth fixing plates, one of the third fixing plates plate, one of the fourth fixing plates, the other third fixing plate and the other fourth fixing plate are connected in sequence, so that the second fixing frame is in the shape of a frame, and the output of the hip side steering gear The shaft is fixedly connected with one of the third fixed plates, and the other third fixed plate is rotationally connected with one of the first fixed plates, and the hip side steering gear and the knee front steering gear are respectively fixed on two the fourth fixed plate.
  4. 如权利要求1所述的关节单元模组,其特征在于:所述髋前舵机和所述膝前舵机同轴设置。The joint unit module according to claim 1, wherein the front steering gear of the hip and the front steering gear of the knee are arranged coaxially.
  5. 如权利要求4所述的关节单元模组,其特征在于:所述髋前舵机和所述膝前舵机的输出轴朝向同一方向设置,所述髋前舵机的输出轴背向所述膝前舵机设置;所述大腿结构件的数量为两个且同步运动,所述大腿连杆结构设于两个所述大腿结构件之间,所述髋前舵机的外壳和其中一个所述大腿结构件之间通过第一轴承支撑,所述膝前舵机的外壳和另一个所述大腿结构件之间通过第二轴承支撑。The joint unit module according to claim 4, characterized in that: the output shafts of the front hip steering gear and the knee front steering gear are set in the same direction, and the output shafts of the hip front steering gear face away from the The steering gear in front of the knee is set; the number of the thigh structures is two and they move synchronously, the thigh link structure is arranged between the two thigh structures, the outer shell of the hip front steering gear and one of them The thigh structure is supported by a first bearing, and the knee front steering gear shell and another thigh structure are supported by a second bearing.
  6. 如权利要求5所述的关节单元模组,其特征在于:所述膝前舵机的输出轴和所述髋前舵机的外壳通过支撑轴承连接。The joint unit module according to claim 5, wherein the output shaft of the front steering gear of the knee is connected to the shell of the front steering gear of the hip through a supporting bearing.
  7. 如权利要求1所述的关节单元模组,其特征在于:所述大腿连杆结构包括第一曲轴和第一连杆,所述第一曲轴的一端固定于所述膝前舵机的输出轴,所述第一曲轴的另一端与所述第一连杆转动连接,所述第一连杆的远离所述第一曲轴的一端用于与所述小腿结构件转动连接。The joint unit module according to claim 1, wherein the thigh connecting rod structure includes a first crankshaft and a first connecting rod, and one end of the first crankshaft is fixed to the output shaft of the front knee servo , the other end of the first crankshaft is rotatably connected with the first connecting rod, and the end of the first connecting rod far away from the first crankshaft is used for rotatably connecting with the lower leg structure.
  8. 腿部机器人,其特征在于:包括权利要求1-7任一项所述的关节单元模组,还包括与所述大腿连杆结构转动连接的小腿结构件。The leg robot is characterized in that it includes the joint unit module according to any one of claims 1-7, and further includes a lower leg structure that is rotatably connected to the thigh link structure.
  9. 如权利要求8所述的腿部机器人,其特征在于:所述腿部机器人还包括固定于所述大腿结构件的脚踝舵机,以及连接于所述脚踝舵机的输出轴的小腿连杆结构,所述小腿连杆结构用于驱动脚板前后转动。The legged robot according to claim 8, characterized in that: the legged robot further comprises an ankle steering gear fixed to the thigh structure, and a lower leg link structure connected to the output shaft of the ankle steering gear , the shank link structure is used to drive the foot plate to rotate back and forth.
  10. 如权利要求9所述的腿部机器人,其特征在于:所述大腿结构件的数量为两个且同步运动,所述大腿连杆结构设于两个所述大腿结构件之间,所述髋前舵机的外壳和其中一个所述大腿结构件之间通过第一轴承支撑,所述膝前舵机的外壳和另一个所述大腿结构件之间通过第二轴承支撑;所述脚踝舵机的数量为两个且同轴设置,两个所述脚踝舵机分别固定于两个所述大腿结构件。The leg robot according to claim 9, characterized in that: the number of the thigh structures is two and they move synchronously, the thigh link structure is arranged between the two thigh structures, and the hip The shell of the front steering gear and one of the thigh structures are supported by a first bearing, and the shell of the knee front steering gear and another thigh structure are supported by a second bearing; the ankle steering gear The quantity is two and coaxially arranged, and the two ankle servos are respectively fixed to the two thigh structures.
PCT/CN2021/127153 2021-07-30 2021-10-28 Joint unit module and leg robot WO2023005032A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110875751.8 2021-07-30
CN202110875751.8A CN113460188A (en) 2021-07-30 2021-07-30 Joint unit module and leg robot

Publications (1)

Publication Number Publication Date
WO2023005032A1 true WO2023005032A1 (en) 2023-02-02

Family

ID=77883532

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/127153 WO2023005032A1 (en) 2021-07-30 2021-10-28 Joint unit module and leg robot

Country Status (2)

Country Link
CN (1) CN113460188A (en)
WO (1) WO2023005032A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113460188A (en) * 2021-07-30 2021-10-01 深圳市优必选科技股份有限公司 Joint unit module and leg robot

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5159988A (en) * 1989-12-14 1992-11-03 Honda Giken Kogyo Kabushiki Kaisha Articulated structure for legged walking robot
US20090294187A1 (en) * 2008-05-30 2009-12-03 Samsung Electronics Co., Ltd. Walking robot
US20110297461A1 (en) * 2010-06-04 2011-12-08 Honda Motor Co., Ltd. Legged mobile robot
CN205311732U (en) * 2016-01-22 2016-06-15 南京农业大学 Four -footed robot that vision was tracked
CN110979505A (en) * 2019-12-30 2020-04-10 深圳市优必选科技股份有限公司 Hip joint structure and humanoid robot
CN210310636U (en) * 2019-06-24 2020-04-14 南京工程学院 Lightweight quadruped robot with joint force control function
CN211592759U (en) * 2019-12-30 2020-09-29 深圳市优必选科技股份有限公司 Hip joint structure and humanoid robot
CN213768776U (en) * 2020-08-25 2021-07-23 深圳市优必选科技股份有限公司 Leg mechanism and humanoid robot
CN113460188A (en) * 2021-07-30 2021-10-01 深圳市优必选科技股份有限公司 Joint unit module and leg robot

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5159988A (en) * 1989-12-14 1992-11-03 Honda Giken Kogyo Kabushiki Kaisha Articulated structure for legged walking robot
US20090294187A1 (en) * 2008-05-30 2009-12-03 Samsung Electronics Co., Ltd. Walking robot
US20110297461A1 (en) * 2010-06-04 2011-12-08 Honda Motor Co., Ltd. Legged mobile robot
CN205311732U (en) * 2016-01-22 2016-06-15 南京农业大学 Four -footed robot that vision was tracked
CN210310636U (en) * 2019-06-24 2020-04-14 南京工程学院 Lightweight quadruped robot with joint force control function
CN110979505A (en) * 2019-12-30 2020-04-10 深圳市优必选科技股份有限公司 Hip joint structure and humanoid robot
CN211592759U (en) * 2019-12-30 2020-09-29 深圳市优必选科技股份有限公司 Hip joint structure and humanoid robot
CN213768776U (en) * 2020-08-25 2021-07-23 深圳市优必选科技股份有限公司 Leg mechanism and humanoid robot
CN113460188A (en) * 2021-07-30 2021-10-01 深圳市优必选科技股份有限公司 Joint unit module and leg robot

Also Published As

Publication number Publication date
CN113460188A (en) 2021-10-01

Similar Documents

Publication Publication Date Title
WO2023005033A1 (en) Joint module and robot leg
CN106182071B (en) The flexible differential driving joint module of two degrees of freedom rotation
CN110588833B (en) High-load three-section leg structure suitable for electric foot type robot
CN112046637B (en) Leg mechanism and humanoid robot
WO2023005032A1 (en) Joint unit module and leg robot
WO2021003866A1 (en) Supporting structure for robot joints and robot
WO2021189675A1 (en) Parallel-drive joint used for super-dynamic bionic robot, and robot
CN106584501A (en) Two-degree-of-freedom joint mechanism
CN103802125B (en) A kind of rotary joint module of single-degree-of-freedom
CN112208665B (en) Joint driving mechanism and robot
CN112247976B (en) Five-degree-of-freedom non-planar surface additive manufacturing robot
CN112643660A (en) Ankle joint structure and robot
CN110539293B (en) Four-degree-of-freedom parallel mechanism
CN210361383U (en) Two-degree-of-freedom hip joint of anthropomorphic robot and anthropomorphic robot
CN215322953U (en) Joint unit module and leg robot
CN215322951U (en) Joint module and robot leg
CN210361381U (en) Robot joint supporting structure and robot
CN213566217U (en) Joint driving mechanism and robot
CN201946205U (en) Teaching instrument of robot forearm structure
CN206551012U (en) A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure
CN207290086U (en) A kind of new serial-parallel mirror mechanical arm
CN217728783U (en) Synchronous belt driven industrial robot wrist
CN215358522U (en) Multi-degree-of-freedom ankle joint structure of lower limb exoskeleton robot
CN112092941B (en) Parallel leg structure for bionic robot and bionic robot
CN112339880B (en) Hip structure and humanoid robot

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21951604

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE