WO2023201982A1 - 基于线传动的腿部结构及机器人 - Google Patents

基于线传动的腿部结构及机器人 Download PDF

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Publication number
WO2023201982A1
WO2023201982A1 PCT/CN2022/119858 CN2022119858W WO2023201982A1 WO 2023201982 A1 WO2023201982 A1 WO 2023201982A1 CN 2022119858 W CN2022119858 W CN 2022119858W WO 2023201982 A1 WO2023201982 A1 WO 2023201982A1
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Prior art keywords
driving
driving device
connecting rod
rod
leg structure
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PCT/CN2022/119858
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English (en)
French (fr)
Inventor
郁亚南
朱志龙
廖铉泓
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东莞市本末科技有限公司
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Publication of WO2023201982A1 publication Critical patent/WO2023201982A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles 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
    • B62D57/028—Vehicles 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 having wheels and mechanical legs

Definitions

  • the invention relates to the field of robot technology, and in particular to a leg structure and a robot based on line transmission.
  • Robots are intelligent machines that can work semi- or fully autonomously. Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, and serve human life. Expand or extend the scope of human activities and abilities.
  • Existing robots generally include racks and mobile wheels.
  • Some robots include The leg structure cooperates with the moving wheel set to realize various actions, and during the action process, the leg structure and the driving element need to cooperate to make various actions.
  • the present invention provides a second driving device connected to a pull cord drive plate, and the pull cord drive disk cooperates with the drive pull cord to drive the second link to move, so that the second link is connected to the first link.
  • the rod connection position is movable to realize the driving of the robot's leg joint activities and drive the stable leg structure and robot based on line transmission.
  • a leg structure based on wire drive including a first driving device, a driving bracket connected to the first driving device, a second driving device connected to the driving bracket, a pull cord driving plate connected to the second driving device, The first connecting rod of the pull rope driving plate, the second connecting rod connected to the first connecting rod, and the third driving device installed on the second connecting rod; the pulling rope driving plate is connected to the driving pull rope, and the driving The pull rope is connected to one end of the second connecting rod.
  • the present invention connects a rope drive plate to the second driving device, and the rope drive plate cooperates with the drive rope to drive the second link to move, so that the second link and the third link are connected.
  • One connecting rod moves in position to realize the drive of the robot's leg joints.
  • the drive is stable, the structure is reliable, and the motor load is reduced.
  • a first driving device, a driving bracket connected to the first driving device, a second driving device connected to the driving bracket, a pull cord drive plate connected to the second drive device, and a third pull cord drive plate connected to the pull cord drive plate are provided.
  • the first drive device drives the first link to move
  • the second drive device drives the rope drive plate to drive the second link to move
  • the third drive device is used to drive the leg structure to move, so that the overall structure moves stably.
  • Figure 1 is a schematic three-dimensional structural diagram of the leg structure based on wire transmission of the present invention.
  • Figure 2 is a schematic three-dimensional structural diagram of the leg structure based on line transmission in Figure 1 from another perspective.
  • Figure 3 is an exploded structural diagram of the leg structure based on line transmission in Figure 1.
  • Figure 4 is an exploded structural diagram of the leg structure based on line transmission in Figure 1 from another perspective.
  • first driving device 1 first base 11, first rotor housing 12, driving bracket 2, first connecting panel 21, second connecting panel 22, connecting beam 23, second driving device 3, third
  • the third driving device 7 the third base 71 , the third rotor housing 72 and the wheel sleeve 73 .
  • a leg structure based on wire transmission includes a first driving device 1, a driving bracket 2 connected to the first driving device 1, a second driving device 3 connected to the driving bracket 2,
  • the rope drive plate 4 connected to the second driving device 3, the first link 5 connected to the rope drive plate 4, the second link 6 connected to the first link 5, and the second link 6 installed on The third driving device 7;
  • the pull cord drive plate 4 is connected to a drive pull cord 41, and the drive pull cord 41 is connected to one end of the second connecting rod 6.
  • the first driving device 1 is an external rotor motor.
  • the first driving device 1 includes a first base 11 and a first rotor housing 12 connected to the first base 11.
  • the second driving device 3 is an outer rotor motor.
  • the second driving device 3 includes a second base 31 and a second rotor housing 32 connected to the second base 31.
  • the outer rotor is used as the driving force of the robot leg structure, and the structural driving stability is good.
  • the driving bracket 2 includes a first connection panel 21, a second connection panel 22, and a connection beam 23.
  • the connection beam 23 connects the first connection panel 21 and the second connection panel 22.
  • the first connection panel 21 is connected to the first connection beam 23.
  • the base 11 is connected, and the second connection panel 22 is connected to the second base 31.
  • the first connection panel 21 and the second connection panel 22 are fixedly connected through the connecting beam 23, and the structure is reliable.
  • the connection panel and the base are connected. Connection, the base is a fixed installation structure to facilitate connection with the robot's frame.
  • the pull cord drive plate 4 is fixedly installed on the second rotor housing 32.
  • the pull cord drive disk 4 is provided with a storage slot 42.
  • the drive pull cord 41 is wound around the storage slot 42, and the pull cord drive is driven by the second rotor housing 32.
  • the disk 4 rotates, and the pull cord driving disk 4 drives the storage groove 42 to drive the storage and unwinding of the pull cord 41 .
  • the first connecting rod 5 includes a first rod 51 and a second rod 52. One end of the first rod 51 is connected to the first rotor housing 12 and the other end is connected to the second connecting rod 6.
  • the second rod 51 One end of 52 is connected to the pull rope driving plate 4, and the other end is connected to the second connecting rod 6; a connecting column 53 is provided between the first rod 51 and the second rod 52, and the second rod 52 is provided with a third A rotating shaft 521.
  • the first rotating shaft 521 is connected to the cable drive plate 4.
  • the first rod 51 and the second rod 52 cooperate to ensure the stability of the link movement, especially for the movement of the robot leg structure. It is reliable and has good stability.
  • the rotating shaft is set to coordinate the rotation and the rotation is stable.
  • a first movable guide groove 61 and a second movable guide groove 62 are respectively provided on both sides of the second connecting rod 6.
  • the first rod 51 is provided with a second rotating shaft 511, and the second rotating shaft 511 is connected to the first movable guide groove.
  • Groove 61, the second rod 52 is provided with a third rotating shaft 522, the third rotating shaft 522 is connected to the second movable guide groove 62, and the movable guide groove is provided to cooperate with the rotating shaft for the movement of the rod, so that the structural movement is stable and reliable.
  • the second link 6 is movably hinged with a first connecting piece 63 and a second connecting piece 64 on both sides of the first link 5.
  • the first connecting piece 63 and the second connecting piece 64 are connected to both sides of the driving pull rope 41 respectively.
  • Two connecting pieces are provided to connect the two ends of the driving rope 41 respectively. Under the action of the pulling rope driving disk 4, the pulling is driven to realize the action of the second link 6, and the pulling rope driving disk 4 is wound with at least One lap to further ensure stability.
  • the second connecting rod 6 is provided with a movable installation position 65, and the third driving device 7 is installed at the movable installation position 65.
  • the third driving device 7 is an external rotor motor, and the third driving device 7 includes The third base 71, and the third rotor shell 72 rotatably connected to the third base 71, the third rotor shell 72 is equipped with a wheel sleeve 73, and the third base 71 is installed at the mobile installation position 65;
  • the third driving device 7 is a hub motor, which drives the leg structure to move under the action of the hub motor.
  • a kind of robot adopts the above leg structure, so that the connection position of the second link 6 and the first link 5 is movable, realizing the drive of the joint movement of the robot's leg, the drive is stable, the structure is reliable, and the motor load is reduced.
  • a rope drive plate 4 is connected to the second driving device 3, and the rope drive plate 4 cooperates with the drive rope 41 to drive the second link 6 to move, so that the second link 6 and the first link 5 Connect position activities to realize the drive of robot leg joint activities.
  • the drive is stable, the structure is reliable, and the motor load is reduced.
  • a first driving device 1 a driving bracket 2 connected to the first driving device 1, a second driving device 3 connected to the driving bracket 2, a pull cord driving disk 4 connected to the second driving device 3, and a
  • the first drive device 1 drives the first link 5 to move
  • the second drive device 3 drives the pull rope 41 and the drive plate 4 drives the second link 6 to move
  • the third drive device 7 is used to drive the leg structure to move.
  • the overall structure Movement is stable.

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

Abstract

一种基于线传动的腿部结构及机器人，腿部结构包括第一驱动装置(1)、连接于第一驱动装置(1)的驱动支架(2)、连接于驱动支架(2)的第二驱动装置(3)、连接于第二驱动装置(3)的拉绳驱动盘(4)、连接于拉绳驱动盘(4)的第一连杆(5)、连接于第一连杆(5)的第二连杆(6)、及安装于第二连杆(6)的第三驱动装置(7)；拉绳驱动盘(4)连接有驱动拉绳(41)，驱动拉绳(41)与第二连杆(6)一端连接。该腿部结构在第二驱动装置(3)上连接了拉绳驱动盘(4)，通过拉绳驱动盘(4)配合驱动拉绳(41)用于驱动第二连杆(6)活动，使得第二连杆(6)与第一连杆(5)连接位置活动，实现机器人腿部关节活动的驱动，驱动稳定。

Description

基于线传动的腿部结构及机器人
相关申请的交叉引用。
本申请要求于2022年04月19日提交中国专利局，申请号为202210411132.8，发明名称为“基于线传动的腿部结构及机器人”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。
技术领域
本发明涉及机器人技术领域，特别是涉及一种基于线传动的腿部结构及机器人。
 背景技术
机器人是一种能够半自主或全自主工作的智能机器，机器人具有感知、决策、执行等基本特征，可以辅助甚至替代人类完成危险、繁重、复杂的工作，提高工作效率与质量,服务人类生活，扩大或延伸人的活动及能力范围。
随着科技的进步，机器人的应用越来越普遍化，比如清洁机器人、货运机器人、巡检机器人等等，可实现智能控制，现有的机器人一般包括机架和移动轮组，一些机器人包含有腿部结构与移动轮组配合实现各种动作，而在动作过程中需要腿部结构和驱动元件配合来做出各种动作。
 技术问题
现有的机器人腿部结构大都结构单一，在做出各种动作时稳定性较差，故可针对现有的机器人结构做进一步改进。
 技术解决方案
为解决上述问题，本发明提供一种在第二驱动装置上连接了拉绳驱动盘，通过拉绳驱动盘配合驱动拉绳用于驱动第二连杆活动，使得第二连杆与第一连杆连接位置活动，实现机器人腿部关节活动的驱动，驱动稳定的基于线传动的腿部结构及机器人。
上述目的可采用下列技术方案来实现。
一种基于线传动的腿部结构，包括第一驱动装置、连接于第一驱动装置的驱动支架、连接于驱动支架的第二驱动装置、连接于第二驱动装置的拉绳驱动盘、连接于拉绳驱动盘的第一连杆、连接于第一连杆的第二连杆、及安装于第二连杆的第三驱动装置；所述拉绳驱动盘连接有驱动拉绳，所述驱动拉绳与第二连杆一端连接。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
 有益效果
相比现有的机器人腿部结构，本发明在第二驱动装置上连接了拉绳驱动盘，通过拉绳驱动盘配合驱动拉绳用于驱动第二连杆活动，使得第二连杆与第一连杆连接位置活动，实现机器人腿部关节活动的驱动，驱动稳定，结构可靠，减少电机负载。具体是，设置了第一驱动装置、连接于第一驱动装置的驱动支架、连接于驱动支架的第二驱动装置、连接于第二驱动装置的拉绳驱动盘、连接于拉绳驱动盘的第一连杆、连接于第一连杆的第二连杆、及安装于第二连杆的第三驱动装置；所述拉绳驱动盘连接有驱动拉绳，所述驱动拉绳与第二连杆一端连接。通过第一驱动装置驱动第一连杆活动，第二驱动装置驱动拉绳驱动盘带动第二连杆活动，而第三驱动装置用于带动腿部结构移动，整体结构移动稳定。
 附图说明
为了更好地描述和说明这里公开的那些发明的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的发明、目前描述的实施例和/或示例以及目前理解的这些发明的最佳模式中的任何一者的范围的限制。
在附图中。
图1 为本发明基于线传动的腿部结构的立体结构示意图。
图2 为图1中基于线传动的腿部结构另一视角的立体结构示意图。
图3 为图1中基于线传动的腿部结构的爆炸结构示意图。
图4 为图1中基于线传动的腿部结构另一视角的爆炸结构示意图。
附图标记说明：第一驱动装置1、第一基座11、第一转子外壳12、驱动支架2、第一连接面板21、第二连接面板22、连接横梁23、第二驱动装置3、第二基座31、第二转子外壳32、拉绳驱动盘4、驱动拉绳41、收纳槽42、第一连杆5、第一杆件51、第二转轴511、第二杆件52、第一转轴521、第三转轴522、连接柱53、第二连杆6、第一活动导槽61、第二活动导槽62、第一连接件63、第二连接件64、移动安装位65、第三驱动装置7、第三基座71、第三转子外壳72、轮套73。
 本发明的实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
如图1~图4所示，一种基于线传动的腿部结构，包括第一驱动装置1、连接于第一驱动装置1的驱动支架2、连接于驱动支架2的第二驱动装置3、连接于第二驱动装置3的拉绳驱动盘4、连接于拉绳驱动盘4的第一连杆5、连接于第一连杆5的第二连杆6、及安装于第二连杆6的第三驱动装置7；所述拉绳驱动盘4连接有驱动拉绳41，所述驱动拉绳41与第二连杆6一端连接。
第一驱动装置1为外转子电机，所述第一驱动装置1包括第一基座11、连接于第一基座11的第一转子外壳12，所述第二驱动装置3为外转子电机，所述第二驱动装置3包括第二基座31、连接于第二基座31的第二转子外壳32，采用外转子作为机器人腿部结构的驱动，结构驱动稳定性好。
驱动支架2包括第一连接面板21、第二连接面板22、及连接横梁23，所述连接横梁23将第一连接面板21和第二连接面板22连接，所述第一连接面板21与第一基座11连接，所述第二连接面板22与第二基座31连接，通过连接横梁23配合第一连接面板21和第二连接面板22进行固定连接，结构可靠，同时将连接面板与基座连接，基座为固定安装结构，方便与机器人的机架连接。
拉绳驱动盘4固定安装于第二转子外壳32，所述拉绳驱动盘4开设有收纳槽42，所述驱动拉绳41绕设于收纳槽42，通过第二转子外壳32带动拉绳驱动盘4旋转，拉绳驱动盘4带动收纳槽42用于驱动拉绳41的收纳和放卷。
第一连杆5包括第一杆件51及第二杆件52，所述第一杆件51一端与第一转子外壳12连接、另一端与第二连杆6连接，所述第二杆件52一端与拉绳驱动盘4连接、另一端与第二连杆6连接;所述第一杆件51与第二杆件52之间设置连接柱53，所述第二杆件52设有第一转轴521，所述第一转轴521与拉绳驱动盘4连接，通过第一杆件51和第二杆件52配合，保证连杆活动的稳定性，尤其作用为机器人腿部结构活动，结构可靠，稳定性好，同时设置转轴配合旋转，旋转稳定。
第二连杆6两侧分别开设有第一活动导槽61和第二活动导槽62，所述第一杆件51设有第二转轴511，所述第二转轴511连接于第一活动导槽61，所述第二杆件52设有第三转轴522，所述第三转轴522连接于第二活动导槽62，设置活动导槽配合转轴用于杆件活动，结构活动稳定可靠。
第二连杆6位于第一连杆5两侧可活动铰接有第一连接件63和第二连接件64，所述第一连接件63和第二连接件64分别与驱动拉绳41的两端连接，设置两个连接件分别配合驱动拉绳41的两端连接，在拉绳驱动盘4的作用下带动拉伸，实现第二连杆6的动作，并且拉绳驱动盘4上缠绕至少一圈，进一步保证稳定性。
第二连杆6设有移动安装位65，所述第三驱动装置7安装于所述移动安装位65，进一步改进为，第三驱动装置7为外转子电机，所述第三驱动装置7包括第三基座71、及可旋转连接第三基座71的第三转子外壳72，所述第三转子外壳72套设有轮套73，所述第三基座71安装于移动安装位65；第三驱动装置7为轮毂电机，在轮毂电机的作用下带动腿部结构移动。
一种机器人，采用以上腿部结构的机器人，使得第二连杆6与第一连杆5连接位置活动，实现机器人腿部关节活动的驱动，驱动稳定，结构可靠，减少电机负载。
本发明在第二驱动装置3上连接了拉绳驱动盘4，通过拉绳驱动盘4配合驱动拉绳41用于驱动第二连杆6活动，使得第二连杆6与第一连杆5连接位置活动，实现机器人腿部关节活动的驱动，驱动稳定，结构可靠，减少电机负载。具体是，设置了第一驱动装置1、连接于第一驱动装置1的驱动支架2、连接于驱动支架2的第二驱动装置3、连接于第二驱动装置3的拉绳驱动盘4、连接于拉绳驱动盘4的第一连杆5、连接于第一连杆5的第二连杆6、及安装于第二连杆6的第三驱动装置7；所述拉绳驱动盘4连接有驱动拉绳41，所述驱动拉绳41与第二连杆6一端连接。通过第一驱动装置1驱动第一连杆5活动，第二驱动装置3驱动拉绳41驱动盘4带动第二连杆6活动，而第三驱动装置7用于带动腿部结构移动，整体结构移动稳定。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种基于线传动的腿部结构，其特征在于：包括第一驱动装置、连接于第一驱动装置的驱动支架、连接于驱动支架的第二驱动装置、连接于第二驱动装置的拉绳驱动盘、连接于拉绳驱动盘的第一连杆、连接于第一连杆的第二连杆、及安装于第二连杆的第三驱动装置；所述拉绳驱动盘连接有驱动拉绳，所述驱动拉绳与第二连杆一端连接。
  2. 根据权利要求1所述的基于线传动的腿部结构，其特征在于：所述第一驱动装置为外转子电机，所述第一驱动装置包括第一基座、连接于第一基座的第一转子外壳，所述第二驱动装置为外转子电机，所述第二驱动装置包括第二基座、连接于第二基座的第二转子外壳。
  3. 根据权利要求2所述的基于线传动的腿部结构，其特征在于：所述驱动支架包括第一连接面板、第二连接面板、及连接横梁，所述连接横梁将第一连接面板和第二连接面板连接，所述第一连接面板与第一基座连接，所述第二连接面板与第二基座连接。
  4. 根据权利要求3所述的基于线传动的腿部结构，其特征在于：所述拉绳驱动盘固定安装于第二转子外壳，所述拉绳驱动盘开设有收纳槽，所述驱动拉绳绕设于收纳槽。
  5. 根据权利要求4所述的基于线传动的腿部结构，其特征在于：所述第一连杆包括第一杆件及第二杆件，所述第一杆件一端与第一转子外壳连接、另一端与第二连杆连接，所述第二杆件一端与拉绳驱动盘连接、另一端与第二连杆连接;所述第一杆件与第二杆件之间设置连接柱，所述第二杆件设有第一转轴，所述第一转轴与拉绳驱动盘连接。
  6. 根据权利要求5所述的基于线传动的腿部结构，其特征在于：所述第二连杆两侧分别开设有第一活动导槽和第二活动导槽，所述第一杆件设有第二转轴，所述第二转轴连接于第一活动导槽，所述第二杆件设有第三转轴，所述第三转轴连接于第二活动导槽。
  7. 根据权利要求6所述的基于线传动的腿部结构，其特征在于：所述第二连杆位于第一连杆两侧可活动铰接有第一连接件和第二连接件，所述第一连接件和第二连接件分别与驱动拉绳的两端连接。
  8. 根据权利要求7所述的基于线传动的腿部结构，其特征在于：所述第二连杆设有移动安装位，所述第三驱动装置安装于所述移动安装位。
  9. 根据权利要求8所述的基于线传动的腿部结构，其特征在于：所述第三驱动装置为外转子电机，所述第三驱动装置包括第三基座、及可旋转连接第三基座的第三转子外壳，所述第三转子外壳套设有轮套，所述第三基座安装于移动安装位。
  10. 一种机器人，其特征在于：包括权利要求1~9任意一项所述的基于线传动的腿部结构。
PCT/CN2022/119858 2022-04-19 2022-09-20 基于线传动的腿部结构及机器人 WO2023201982A1 (zh)

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CN214776235U (zh) * 2021-03-17 2021-11-19 四川大学锦城学院 一种仿生青蛙机器人腿部结构
CN217456166U (zh) * 2022-04-19 2022-09-20 东莞市本末科技有限公司 一种基于线传动的腿部结构及机器人

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US4666361A (en) * 1984-03-07 1987-05-19 Hitachi, Ltd. Arm driving apparatus
JP2007000957A (ja) * 2005-06-22 2007-01-11 Oki Electric Ind Co Ltd 脚式ロボット
JP2012125847A (ja) * 2010-12-13 2012-07-05 Canon Inc 関節駆動装置
KR20150139056A (ko) * 2014-06-02 2015-12-11 대우조선해양 주식회사 리니어 엑추에이터를 적용한 착용로봇
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