CN108791563A - A kind of legged type robot list leg device and legged type robot - Google Patents
A kind of legged type robot list leg device and legged type robot Download PDFInfo
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- CN108791563A CN108791563A CN201810614931.9A CN201810614931A CN108791563A CN 108791563 A CN108791563 A CN 108791563A CN 201810614931 A CN201810614931 A CN 201810614931A CN 108791563 A CN108791563 A CN 108791563A
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- 210000001624 hip Anatomy 0.000 claims abstract description 47
- 210000000689 upper leg Anatomy 0.000 claims abstract description 33
- 210000004394 hip joint Anatomy 0.000 claims abstract description 21
- 210000003127 knee Anatomy 0.000 claims abstract description 15
- 244000309466 calf Species 0.000 claims abstract description 14
- 210000000629 knee joint Anatomy 0.000 claims abstract description 9
- 210000002414 leg Anatomy 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
本发明公开了一种足式机器人单腿装置及机器人，用于解决现有足式机器人单腿结构存在结构复杂、成本高的问题，其包括髋部件、大腿部件与小腿部件；髋部件通过髋连接件连接髋部驱动机构并形成髋关节；髋部件和大腿部件通过第一转动副连接并形成胯关节；大腿部件与小腿部件通过第二转动副连接并形成膝关节；髋部件通过髋腿连接件与大腿部件相连；髋部件由髋部驱动机构驱动，使得大腿部件绕X轴转动；大腿部件由胯部驱动机构驱动，绕Y轴转动；大腿部件上的膝部驱动机构与小腿部件通过小腿连接件连接；小腿部件由膝部驱动机构驱动，绕Y轴转动；髋部驱动机构、胯部驱动机构和膝部驱动机构结构相同均为滚珠丝杠驱动单元。
The invention discloses a footed robot single-leg device and a robot, which are used to solve the problems of complex structure and high cost in the existing footed robot single-leg structure, which includes a hip part, a thigh part and a lower leg part; The connecting piece connects the hip drive mechanism and forms the hip joint; the hip part and the thigh part are connected through the first rotating pair and form the hip joint; the thigh part and the calf part are connected through the second rotating pair and form the knee joint; the hip part is connected through the hip leg The hip part is driven by the hip drive mechanism to make the thigh part rotate around the X axis; the thigh part is driven by the hip drive mechanism to rotate around the Y axis; the knee drive mechanism on the thigh part is connected to the lower leg part through the calf The connecting parts are connected; the calf part is driven by the knee driving mechanism and rotates around the Y axis; the hip driving mechanism, the crotch driving mechanism and the knee driving mechanism have the same structure and are all ball screw driving units.
Description
技术领域technical field
本发明属于机器人的技术领域，涉及一种足式机器人单腿装置及足式机器人。The invention belongs to the technical field of robots, and relates to a footed robot single-leg device and a footed robot.
背景技术Background technique
目前，陆地行走机器人的行走机构主要包括轮式，履带式和足式。足式机器人与轮式和履带式机器人的最大不同点在于，其在行走过程中与地面的接触特性为非连续性接触，所以足式机器人具有很好的环境适应性，可以行走在复杂的地形条件下，可广泛应用于军、民及娱乐领域。足式机器人的腿部结构是机器人的重要的组成部分，对足式机器人的运动起着非常重要的作用。At present, the walking mechanism of land walking robot mainly includes wheel type, crawler type and foot type. The biggest difference between legged robots and wheeled and tracked robots is that their contact with the ground is discontinuous during walking, so legged robots have good environmental adaptability and can walk on complex terrain Under certain conditions, it can be widely used in military, civilian and entertainment fields. The leg structure of the legged robot is an important part of the robot and plays a very important role in the movement of the legged robot.
现有的足式机器人有液压驱动、电驱动、气动驱动等。液压驱动需要复杂的液压系统，气动驱动具有动作不平滑难控制的特点，电驱动多采用特制电机输出较大力矩对足式机器人进行驱动。公告号为CN103287523B名称为一种弹性足与轮式运动机构结合的复合变形移动机器人的专利中提到了采用滚珠丝杠驱动的方式，但其结构比较复杂。Existing legged robots have hydraulic drive, electric drive, pneumatic drive and so on. Hydraulic drive requires a complex hydraulic system. Pneumatic drive has the characteristics of uneven movement and difficult control. Electric drive mostly uses a special motor to output a large torque to drive the legged robot. The notification number is CN103287523B, and the patent of a compound deformation mobile robot with an elastic foot and a wheeled motion mechanism mentions the method of driving by a ball screw, but its structure is relatively complicated.
综上，现有足式机器人单腿结构存在结构复杂、成本高的问题，因此，有必要亟需一种结构简单、成本低的足式机器人单腿结构。To sum up, the existing legged robot single-leg structure has the problems of complex structure and high cost. Therefore, it is necessary to urgently need a legged robot single-leg structure with simple structure and low cost.
发明内容Contents of the invention
本发明的目的在于克服现有技术的不足，提供一种足式机器人单腿装置及足式机器人，用于解决现有足式机器人单腿结构存在结构复杂、成本高的问题。该足式机器人单腿装置是一种高效的足式机器人腿部结构，能用较小驱动力驱动较大的负载。The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a footed robot single-leg device and a footed robot, which are used to solve the problems of complex structure and high cost in the existing footed robot single-leg structure. The footed robot single-leg device is an efficient leg structure of the footed robot, which can drive a large load with a small driving force.
为实现上述发明目的，本发明提供了的技术方案如下：For realizing the foregoing invention object, the technical scheme that the present invention provides is as follows:
一方面，本发明提供了一种足式机器人单腿装置，包括髋部件、大腿部件与小腿部件；所述髋部件通过髋连接件连接髋部驱动机构并形成髋关节；所述髋部件和大腿部件通过第一转动副连接并形成胯关节；所述大腿部件与小腿部件通过第二转动副连接并形成膝关节；In one aspect, the present invention provides a legged robot single-leg device, comprising a hip component, a thigh component and a lower leg component; the hip component is connected to a hip drive mechanism through a hip connector and forms a hip joint; the hip component and the thigh The parts are connected through a first rotation pair to form a hip joint; the thigh parts and lower leg parts are connected through a second rotation pair to form a knee joint;
所述髋部件由髋部驱动机构驱动，使得髋关节绕X轴转动；所述髋部件上的胯部驱动机构与大腿部件通过髋腿连接件连接；The hip part is driven by the hip driving mechanism, so that the hip joint rotates around the X axis; the crotch driving mechanism on the hip part is connected with the thigh part through the hip-leg connector;
所述大腿部件由胯部驱动机构驱动，使得胯关节绕Y轴转动；大腿部件上的膝部驱动机构与小腿部件通过小腿连接件连接；The thigh part is driven by the crotch drive mechanism, so that the hip joint rotates around the Y axis; the knee drive mechanism on the thigh part is connected with the calf part through the calf connector;
所述小腿部件由膝部驱动机构驱动，使得膝关节绕Y轴转动；The lower leg part is driven by the knee drive mechanism, so that the knee joint rotates around the Y axis;
所述髋部驱动机构、胯部驱动机构和膝部驱动机构结构相同均为滚珠丝杠驱动单元。The hip driving mechanism, the crotch driving mechanism and the knee driving mechanism have the same structure and are all ball screw driving units.
本发明的有益效果：本发明采用模块化的设计思路，髋部驱动机构、胯部驱动机构均设置在髋部件上，所述膝部驱动机构设置在大腿部件上，且髋部驱动机构、胯部驱动机构和膝部驱动机构结构相同均包括滚珠丝杠驱动单元，同时通过滚珠丝杠的作用将电机的转矩转化为髋腿连接件和小腿连接件的推(拉)力，本发明结构简单、零件复用率高、成本低。Beneficial effects of the present invention: the present invention adopts a modular design idea, the hip driving mechanism and the crotch driving mechanism are all arranged on the hip part, the knee driving mechanism is arranged on the thigh part, and the hip driving mechanism, crotch The head drive mechanism and the knee drive mechanism have the same structure and both include a ball screw drive unit, and at the same time, the torque of the motor is converted into the push (pull) force of the hip-leg connector and the calf connector through the action of the ball screw. The structure of the present invention Simple, high part reuse rate, low cost.
进一步，所述滚珠丝杠驱动单元包括：Further, the ball screw drive unit includes:
电机、第一轴承套件、第二轴承套件、同步带轮、滚珠丝杆、丝杠螺母、丝杠螺母导杆；Motor, first bearing set, second bearing set, synchronous pulley, ball screw, lead screw nut, lead screw nut guide rod;
其中，所述同步带轮包括同步带、第一同步轮和第二同步轮；Wherein, the synchronous pulley includes a synchronous belt, a first synchronous wheel and a second synchronous wheel;
所述第一轴承套件包括第一轴承座、第一轴承座内的第一通孔、第二通孔，以及第二通孔内设置的角接触球轴承；所述第二轴承套件包括第二轴承座、第二轴承座内的第三通孔、以及第三通孔内设置的角接触球轴承；The first bearing set includes a first bearing seat, a first through hole in the first bearing seat, a second through hole, and an angular contact ball bearing arranged in the second through hole; the second bearing set includes a second The bearing seat, the third through hole in the second bearing seat, and the angular contact ball bearing arranged in the third through hole;
所述电机输出轴贯穿第一轴承套件的第一通孔与第一同步轮同轴相连；所述滚珠丝杆的一端贯穿第一轴承套件的第二通孔与第二同步轮同轴相连，另一端贯穿固定在第二轴承套件的第二通孔中；The motor output shaft passes through the first through hole of the first bearing set and is coaxially connected with the first synchronous wheel; one end of the ball screw passes through the second through hole of the first bearing set and is coaxially connected with the second synchronous wheel, The other end is fixed through the second through hole of the second bearing assembly;
所述丝杠螺母套设在所述滚珠丝杆和丝杠螺母导杆上，所述丝杠螺母导杆两端分别固定在所述第一轴承座和第二轴承座上，所述丝杠螺母上安装有连杆连接件，所述连杆连接件的侧面与丝杠螺母锁紧为一体，所述连杆连接件下方设有销孔。The screw nut is sleeved on the ball screw and the screw nut guide rod, and the two ends of the screw nut guide rod are respectively fixed on the first bearing seat and the second bearing seat. A connecting rod connecting piece is installed on the nut, and the side of the connecting rod connecting piece is locked as a whole with the lead screw nut, and a pin hole is arranged under the connecting rod connecting piece.
采用上述进一步方案的有益效果是：滚珠丝杠两端都有单个的角接触球轴承支撑。电机通过同步带驱动滚珠丝杠进行转动，滚珠丝杠转动过后，丝杠上的螺母由于光轴导杆锁定了其旋转自由度，所以其只能做直线运动，当驱动器控制电机做正反转运动时，螺母便在电机上做来回的直线运动，从而带动连杆连接件一起运动，而同步带传动则让整个系统具有一定的缓冲能力。The beneficial effect of adopting the above further solution is that both ends of the ball screw are supported by a single angular contact ball bearing. The motor drives the ball screw to rotate through the synchronous belt. After the ball screw rotates, the nut on the screw locks its degree of freedom of rotation due to the optical axis guide rod, so it can only move in a straight line. When the driver controls the motor to do forward and reverse When moving, the nut makes a linear motion back and forth on the motor, thereby driving the connecting rods to move together, and the synchronous belt drive makes the whole system have a certain buffering capacity.
进一步，所述髋连接件包括第三连杆、第五销钉副及第六销钉副；所述髋连接件的第三连杆的一端通过第五销钉副与连杆连接件下方的销孔连接，所述第三连杆的另一端通过第六销钉副与髋部件连接；所述髋腿连接件包括第一连杆、第一销钉副及第二销钉副；所述第一连杆的一端通过第一销钉副与连杆连接件下方的销孔连接，另一端通过第二销钉副与大腿部件连接；所述小腿连接件包括第二连杆、第三销钉副及第四销钉副；所述第二连杆的一端通过第三销钉副与连杆连接件下方的销孔连接，另一端通过第四销钉副与小腿部件连接。Further, the hip link includes a third link, a fifth pin pair and a sixth pin pair; one end of the third link of the hip link is connected to the pin hole below the link link through the fifth pin pair , the other end of the third connecting rod is connected to the hip part through the sixth pin pair; the hip-leg connector includes a first connecting rod, a first pin pair and a second pin pair; one end of the first connecting rod The first pin pair is connected to the pin hole below the connecting rod connector, and the other end is connected to the thigh part through the second pin pair; the lower leg connector includes the second connecting rod, the third pin pair and the fourth pin pair; One end of the second connecting rod is connected to the pin hole below the connecting rod connector through the third pin pair, and the other end is connected to the lower leg part through the fourth pin pair.
采用上述进一步方案的有益效果是：所有关节都采用销钉副进行连接，丝杠螺母上设计了连杆连接件，连杆连接件的侧面与丝杠螺母锁紧为一体，连杆连接件的下方有销孔，并通过销钉副连接连杆的一端，连杆的另一端也通过销钉副连接到需要动作的大腿、小腿或大腿、髋关节。当电机推动丝杠螺母来回运动之时，丝杠螺母带动连杆连接件运动，进而带动大腿部件、小腿部件、髋关节绕其旋转中心即髋关节或膝关节运动。The beneficial effect of adopting the above-mentioned further scheme is: all joints are connected by pin pairs, a connecting rod connecting piece is designed on the screw nut, the side of the connecting rod connecting piece is locked with the screw nut as a whole, and the bottom of the connecting rod connecting piece There is a pin hole, and one end of the connecting rod is connected by a pin pair, and the other end of the connecting rod is also connected to the thigh, calf or thigh, or the hip joint that needs to be moved by a pin pair. When the motor pushes the lead screw nut to move back and forth, the lead screw nut drives the connecting rod to move, and then drives the thigh parts, calf parts, and hip joints to move around their centers of rotation, that is, the hip joint or knee joint.
第二方面，本发明还提供了一种足式机器人，上述所述的足式机器人单腿装置。In a second aspect, the present invention also provides a legged robot, the above-mentioned single-legged device for a legged robot.
附图说明Description of drawings
图1是本发明单腿装置结构整体示意图；Fig. 1 is an overall schematic diagram of the structure of the single-leg device of the present invention;
图2是本发明滚珠丝杠驱动单元示意图。Fig. 2 is a schematic diagram of the ball screw driving unit of the present invention.
图中：1-髋部驱动机构、2-胯部驱动机构、3-膝部驱动机构、4-第一转动副、5-第二转动副、6-第二连杆、7-第四销钉副、8-第三销钉副、9-第二销钉副、10-第一连杆、11-第一销钉副、12-髋部件、13-大腿部件、14-小腿部件、15-第三连杆、16-第五销钉副、17-第一轴承座、18-角接触球轴承、19-滚珠丝杆、20-丝杠螺母、21-丝杠螺母导杆、22-第二轴承座、23-连杆连接件、24-销孔、25-电机、26-同步带轮。In the figure: 1-hip driving mechanism, 2-crotch driving mechanism, 3-knee driving mechanism, 4-first rotating pair, 5-second rotating pair, 6-second connecting rod, 7-fourth pin Pair, 8-third pin pair, 9-second pin pair, 10-first link, 11-first pin pair, 12-hip part, 13-thigh part, 14-calf part, 15-third link Rod, 16-fifth pin pair, 17-first bearing seat, 18-angular contact ball bearing, 19-ball screw, 20-screw nut, 21-screw nut guide rod, 22-second bearing seat, 23-connecting rod connector, 24-pin hole, 25-motor, 26-synchronous pulley.
具体实施方式Detailed ways
下面结合附图对本发明的具体实施方式进行描述，以便本领域的技术人员更好地理解本发明。需要特别提醒注意的是，在以下的描述中，当已知功能和设计的详细描述也许会淡化本发明的主要内容时，这些描述在这里将被忽略。Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings, so that those skilled in the art can better understand the present invention. It should be noted that in the following description, when detailed descriptions of known functions and designs may dilute the main content of the present invention, these descriptions will be omitted here.
如图1所示，本发明提供一种足式机器人单腿装置，包括髋部件12、大腿部件13与小腿部件14；所述髋部件12通过髋连接件连接髋部驱动机构1并形成髋关节；所述髋部件12和大腿部件13通过第一转动副4连接并形成胯关节；所述大腿部件13与小腿部件14通过第二转动副5连接并形成膝关节。其中髋关节为绕X轴旋转的自由度；胯关节为绕Y轴旋转自由度；膝关节为绕Y轴旋转的自由度；As shown in Figure 1, the present invention provides a legged robot single-leg device, including a hip part 12, a thigh part 13 and a calf part 14; the hip part 12 is connected to the hip drive mechanism 1 through a hip connector and forms a hip joint The hip part 12 and the thigh part 13 are connected through the first rotation pair 4 to form a hip joint; the thigh part 13 and the calf part 14 are connected through the second rotation pair 5 to form a knee joint. Among them, the hip joint is the degree of freedom of rotation around the X axis; the hip joint is the degree of freedom of rotation around the Y axis; the knee joint is the degree of freedom of rotation around the Y axis;
所述髋部件12由髋部驱动机构1驱动，使得髋关节绕X轴转动；所述髋部件12上的胯部驱动机构2与大腿部件13通过髋腿连接件连接；The hip component 12 is driven by the hip drive mechanism 1, so that the hip joint rotates around the X axis; the crotch drive mechanism 2 on the hip component 12 is connected with the thigh component 13 through a hip-leg connector;
所述大腿部件13由胯部驱动机构2驱动，使得胯关节绕Y轴转动；大腿部件13上的膝部驱动机构3与小腿部件14通过小腿连接件连接；The thigh part 13 is driven by the crotch drive mechanism 2, so that the crotch joint rotates around the Y axis; the knee drive mechanism 3 on the thigh part 13 is connected with the calf part 14 through the calf connector;
所述小腿部件14由膝部驱动机构3驱动，使得膝关节绕Y轴转动；The lower leg part 14 is driven by the knee drive mechanism 3, so that the knee joint rotates around the Y axis;
所述髋部驱动机构、胯部驱动机构和膝部驱动机构结构相同均为滚珠丝杠驱动单元。The hip driving mechanism, the crotch driving mechanism and the knee driving mechanism have the same structure and are all ball screw driving units.
如图2所示，滚珠丝杠驱动单元包括：As shown in Figure 2, the ball screw drive unit includes:
电机25、第一轴承套件、第二轴承套件、同步带轮16、滚珠丝杆19、丝杠螺母20、丝杠螺母导杆21；Motor 25, first bearing set, second bearing set, synchronous pulley 16, ball screw 19, lead screw nut 20, lead screw nut guide rod 21;
其中，同步带轮16包括同步带、第一同步轮和第二同步轮；Wherein, the synchronous pulley 16 comprises a synchronous belt, a first synchronous wheel and a second synchronous wheel;
第一轴承套件包括第一轴承座17、第一轴承座17内的第一通孔、第二通孔，以及第二通孔内设置的角接触球轴承18，第二轴承套件包括第二轴承座22、第二轴承座22内的第三通孔、以及第三通孔内设置的角接触球轴承18；The first bearing set includes a first bearing seat 17, a first through hole in the first bearing seat 17, a second through hole, and an angular contact ball bearing 18 arranged in the second through hole, and the second bearing set includes a second bearing The third through hole in the seat 22, the second bearing seat 22, and the angular contact ball bearing 18 arranged in the third through hole;
电机25输出轴贯穿第一轴承套件的第一通孔与第一同步轮同轴相连；滚珠丝杆19的一端贯穿第一轴承套件的第二通孔与第二同步轮同轴相连；滚珠丝杆19的另一端贯穿固定在第二轴承套件的第三通孔中；The output shaft of the motor 25 passes through the first through hole of the first bearing assembly and is coaxially connected with the first synchronous wheel; one end of the ball screw 19 passes through the second through hole of the first bearing assembly and is coaxially connected with the second synchronous wheel; The other end of rod 19 penetrates and is fixed in the third through hole of the second bearing assembly;
丝杠螺母20套设在所述滚珠丝杆19和丝杠螺母导杆21上，所述丝杠螺母导杆21两端分别固定在所述第一轴承座17和第二轴承座22上。所述丝杠螺母20上安装有连杆连接件23，所述连杆连接件23的侧面与丝杠螺母20锁紧为一体，所述连杆连接件23下方设有销孔24。The screw nut 20 is sleeved on the ball screw 19 and the screw nut guide rod 21 , and the two ends of the screw nut guide rod 21 are respectively fixed on the first bearing seat 17 and the second bearing seat 22 . A connecting rod connecting piece 23 is installed on the screw nut 20 , the side of the connecting rod connecting piece 23 is locked together with the screw nut 20 , and a pin hole 24 is arranged under the connecting rod connecting piece 23 .
本发明所述的滚珠丝杆驱动单元，可极大的增大电机输出的扭矩，降低了本发明对电机扭矩的需求。The ball screw driving unit of the present invention can greatly increase the torque output by the motor, and reduce the requirement of the present invention for the motor torque.
本发明中虽然各驱动机构包含的滚珠丝杠驱动单元结构相同，但对于滚珠丝杠驱动单元中各部件大小根据具体需求设定，不一定相同。In the present invention, although the ball screw drive units included in each drive mechanism have the same structure, the sizes of the components in the ball screw drive units are set according to specific requirements and are not necessarily the same.
所述髋连接件包括第三连杆15、第五销钉副16及第六销钉副(图中未画出)；所述髋连接件的第三连杆15的一端通过第五销钉副16与连杆连接件23下方的销孔连接，所述第三连杆15的另一端通过第六销钉副与髋部件12连接；所述髋腿连接件包括第一连杆10、第一销钉副11及第二销钉副9；所述髋腿连接件的第一连杆10的一端通过第一销钉副11与连杆连接件23下方的销孔连接，所述第一连杆10的另一端通过第二销钉副9与大腿部件13连接；所述小腿连接件包括第二连杆6、第三销钉副3及第四销钉副7；所述小腿连接件的第二连杆6的一端通过第三销钉副与连杆连接件23下方的销孔连接，所述第二连杆6的另一端通过第四销钉副7与小腿部件14连接。Described hip connector comprises the 3rd connecting rod 15, the 5th pin pair 16 and the 6th pin pair (not shown in the figure); One end of the 3rd connecting rod 15 of described hip connector passes the 5th pin pair 16 and The pin-hole connection below the connecting rod connector 23, the other end of the third connecting rod 15 is connected with the hip part 12 through the sixth pin pair; the hip-leg connector includes the first connecting rod 10, the first pin pair 11 and the second pin pair 9; one end of the first link 10 of the hip-leg link is connected with the pin hole below the link link 23 through the first pin pair 11, and the other end of the first link 10 is passed through The second pin pair 9 is connected with the thigh member 13; the shank connector includes the second connecting rod 6, the 3rd pin pair 3 and the 4th pin pair 7; one end of the second connecting rod 6 of the shank connector passes through the second The three pin pairs are connected to the pin holes below the connecting rod connector 23 , and the other end of the second connecting rod 6 is connected to the lower leg member 14 through the fourth pin pair 7 .
本发明单腿装置的具体工作过程如下：The specific working process of the single-leg device of the present invention is as follows:
四足机器人直线行走时，由胯部驱动机构2驱动大腿部件13绕第一转动副4转动，由膝部驱动机构3驱动小腿部件14绕第二转动副5转动，两个转动运动的合运动使得单腿足端形成一个类似于半椭圆的轨迹，以驱动机器人行走。When the quadruped robot walks in a straight line, the thigh part 13 is driven by the crotch driving mechanism 2 to rotate around the first rotating pair 4, and the lower leg part 14 is driven to rotate around the second rotating pair 5 by the knee driving mechanism 3. Make the single-leg foot end form a trajectory similar to a semi-ellipse to drive the robot to walk.
四足机器人转弯时，由髋部驱动机构1驱动整个大腿部件13绕髋关节的X轴转动，以实现机器人在X轴方向的位移，实现转弯。When the quadruped robot turns, the hip driving mechanism 1 drives the entire thigh part 13 to rotate around the X-axis of the hip joint, so as to realize the displacement of the robot in the X-axis direction and turn.
另外，本发明提供了一种足式机器人，基于上述足式机器人单腿装置。In addition, the present invention provides a legged robot based on the single-leg device of the legged robot.
尽管上面对本发明说明性的具体实施方式进行了描述，以便于本技术领域的技术人员理解本发明，但应该清楚，本发明不限于具体实施方式的范围，对本技术领域的普通技术人员来讲，只要各种变化在所附的权利要求限定和确定的本发明的精神和范围内，这些变化是显而易见的，一切利用本发明构思的发明创造均在保护之列。Although the illustrative specific embodiments of the present invention have been described above, so that those skilled in the art can understand the present invention, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, As long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.
Claims (4)
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| CN111038613A (en) * | 2019-12-30 | 2020-04-21 | 广东省智能制造研究所 | A single-leg mechanism and a legged robot |
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| CN110406612A (en) * | 2019-08-19 | 2019-11-05 | 上海交通大学 | Robot leg structure and robot |
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| CN111959636A (en) * | 2020-09-18 | 2020-11-20 | 长沙紫宸科技开发有限公司 | Multi-joint bionic robotic leg with multi-mechanism combined joints and multi-level control modules |
| CN112141236A (en) * | 2020-09-25 | 2020-12-29 | 昆明理工大学 | A wheel-footed robot leg system with shock absorption |
| CN112319209A (en) * | 2020-11-18 | 2021-02-05 | 内蒙古第一机械集团股份有限公司 | Driving device suitable for leg joint movement of robot |
| CN112389562A (en) * | 2020-11-23 | 2021-02-23 | 武汉理工大学 | Middle leg and foot mechanism and wheel-foot type robot thereof |
| CN112706853A (en) * | 2021-01-25 | 2021-04-27 | 之江实验室 | Reconfigurable biped robot with multi-connecting-rod structure |
| CN114603579A (en) * | 2022-04-19 | 2022-06-10 | 贵州工程应用技术学院 | Four-foot bionic fire-fighting robot |
| CN115091501A (en) * | 2022-06-06 | 2022-09-23 | 北京工业大学 | Knee joint structure with dynamically adjustable speed ratio in high-explosive jumping motion |
| CN119682876A (en) * | 2024-12-18 | 2025-03-25 | 长安大学 | Leg structure with bevel gear drive and leg-foot type robot |
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