CN110406613B - Multi-degree-of-freedom light single-leg mechanism - Google Patents
Multi-degree-of-freedom light single-leg mechanism Download PDFInfo
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- CN110406613B CN110406613B CN201910803724.2A CN201910803724A CN110406613B CN 110406613 B CN110406613 B CN 110406613B CN 201910803724 A CN201910803724 A CN 201910803724A CN 110406613 B CN110406613 B CN 110406613B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 210000002414 leg Anatomy 0.000 claims abstract description 100
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 34
- 210000000629 knee joint Anatomy 0.000 claims abstract description 29
- 210000004394 hip joint Anatomy 0.000 claims abstract description 25
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 230000001360 synchronised effect Effects 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 10
- 210000002683 foot Anatomy 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 24
- 230000003068 static effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 20
- 229910000838 Al alloy Inorganic materials 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
- 239000004677 Nylon Substances 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- UQMRAFJOBWOFNS-UHFFFAOYSA-N butyl 2-(2,4-dichlorophenoxy)acetate Chemical compound CCCCOC(=O)COC1=CC=C(Cl)C=C1Cl UQMRAFJOBWOFNS-UHFFFAOYSA-N 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011796 hollow space material Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
A multi-degree-of-freedom light single-leg mechanism comprises a hip joint module, a knee joint module, an ankle joint module, a shank joint and a foot end; the hip joint module, the knee joint module, the ankle joint module, the shank joint and the foot end are connected in sequence; the whole single-leg design mode of the invention not only greatly increases the adaptability of the robot legs to complex terrains, improves the dynamic and static stability of the robot, but also improves the whole bearing capacity and control precision of the robot; the multi-degree-of-freedom single leg is flexible in movement and light in weight; the mounting position of the driving motor is closer to the body, so that the problem of large moment of inertia easily generated by the tail end joint is solved, and the movement of the driving mechanism is facilitated; the single leg has a large range of motion working space in terms of mechanism motion and power.
Description
Technical Field
The invention belongs to the technical field of robot walking mechanisms, and particularly relates to a multi-degree-of-freedom light single-leg mechanism.
Background
With the increasing degree of social intelligence, in some situations it is necessary to replace humans with machines to reach places where humans cannot reach and special situations where human life may be compromised. Terrain irregularities and bumpiness are common features of these environments. Thereby limiting the application of wheeled robots and tracked robots. The wheel type moving mode has advantages when running on relatively flat terrain, but the energy consumption is greatly increased when running on uneven ground, and the effect of the wheels is also seriously lost on soft ground or severely rugged terrain, so that the moving efficiency is greatly reduced. In order to improve the adaptability of the wheels to soft ground and uneven ground, a crawler-type moving mode is generated, but the mobility of the crawler-type moving mode on the uneven ground is still poor, and the machine body shakes seriously when the vehicle runs. Compared with a wheeled and crawler-type mobile robot, the foot-type robot has unique and superior performance on rugged road surfaces.
Legs are an important component of a robot for supporting the body and walking movements. At present, most of bionic single-leg mechanisms are three-degree-of-freedom, and the gravity center of the body needs to be correspondingly adjusted according to the relief state of the terrain, so that four-degree-of-freedom legs can show more advantages than three-degree-of-freedom legs when the body is used for traversing complex and rugged terrain. In addition, as the leg design of most four-degree-of-freedom leg-foot robots is that a driving power source is arranged at each joint, the rear primary leg rod and the motor thereof bring excessive leg lifting load to the front primary leg rod motor, so that the whole leg and even the whole body mechanism are heavy, limited in movement and poor in maneuverability, and are difficult to adapt to complex terrains.
In the design of leg rod transmission mechanisms, the leg transmission mechanisms adopted by many foot robots at present are link mechanisms, and the reciprocating swing (leg lifting and leg falling movement) of driven leg rods can be obtained. However, the driving rod connected with the motor end also mostly adopts reciprocating swing, and the driven leg rod is driven to move by transmitting motion and power through the middle connecting rod, so that the energy consumption of the motor is increased and the transmission is not accurate enough due to the longer middle motion chain. In addition, some leg designs expose the drive links directly to the outside, which makes the drive mechanism vulnerable to impact from the outside environment, causing the moving components to be easily damaged.
In the design of leg rod structure, the leg rod structure of most robots at present adopts solid rods or solid plates, so that the design can meet the strength requirement and the bearing requirement of the robots, but the overall weight of the robots can be increased, excessive energy consumption of motors is wasted, and the robots are heavy and have poor maneuverability when moving.
At present, the movable angle of each leg rod of many leg robots is smaller, about 60-120 degrees because of the limitation of the structural shape and the transmission mechanism configuration. Such small moveable angles can reduce the working space of the movement of the single leg mechanism, which is detrimental to the movement of the robot. In addition, the folding of the adjacent leg rods cannot reach the minimum angle, so that the package must be disassembled during transportation, and the package must be reinstalled after reaching the use place, so that the transportation is inconvenient, and the circuit connection lines and parts in the robot are easy to damage during disassembly and assembly.
In the design of motors, most hexapod robots currently adopt traditional market supply motors, and the appearance, volume structure and torque of the traditional motors can not meet the requirements of the robots on output torque, such as large enough, minimum volume, lightest weight and fitting of the appearance of the robots.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom light single-leg mechanism so as to solve the problems.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a multi-degree-of-freedom light single-leg mechanism comprises a hip joint module, a knee joint module, an ankle joint module, a shank joint and a foot end; the hip joint module, the knee joint module, the ankle joint module, the shank joint and the foot end are connected in sequence;
The shank comprises a supporting rod and a first belt wheel, wherein the first belt wheel is arranged in one end of the supporting rod through a belt wheel mounting shaft, and the other end of the supporting rod is fixedly connected with the foot end;
The ankle joint module comprises a support shell, a synchronous belt, a first motor, a second belt wheel and a second motor output shaft; one end of the supporting shell is hinged with one end of the supporting rod, which is provided with a first belt wheel, a second belt wheel is fixedly arranged in the other end of the supporting shell through a second motor output shaft, and the two belt wheels are connected through a synchronous belt; the two sides of one end of the support shell, which is provided with the second belt wheel, are respectively provided with a first motor and a second motor; the first motor can drive the ankle joint module to rotate relative to the knee joint module, and the second motor can drive the second belt wheel to rotate; the mounting positions of the first motor (12) and the second motor (13) are close to the body, so that the problem of large moment of inertia easily generated by the tail end joint is solved, and the movement of the driving mechanism is facilitated; the synchronous belt transmission is adopted, so that the joint has a larger rotation angle, the angle control of the shank is more flexible, and the synchronous belt transmission is more accurate and easy to control.
The knee joint module comprises a support side plate, a third motor and a third motor output shaft; a third motor is arranged in one end of the support side plate through a third motor output shaft, the other end of the support side plate is sleeved at the end part of the support shell of the ankle joint module, and the support side plate is hinged with the support shell; the first motor and the second motor are fixedly arranged on the supporting side plate;
The hip joint module comprises a mounting frame, a fourth motor and a skeleton plate; the two skeleton plates are arranged in parallel, one ends of the two skeleton plates are respectively arranged in gaps between two sides of the third motor and the supporting side plates, and the third motor is fixed on the skeleton plates; a fourth motor is arranged between the other ends of the two framework plates, and a mounting frame is arranged in a gap between the fourth motor and the framework plates.
Further, the support shell comprises a left shell body and a right shell body, the left shell body and the right shell body are arranged in parallel and are respectively arranged on two sides of the end part of the support rod, the end part of the support rod is provided with a groove, a belt wheel installation shaft is arranged in the groove, two ends of the belt wheel installation shaft are respectively provided with a shaft ring, the shaft rings are fixedly connected with the left shell body or the right shell body, a bearing is arranged on the belt wheel installation shaft, and a first belt wheel is arranged on the bearing.
Further, the support side plate comprises a left side plate and a right side plate, the left side plate and the right side plate are arranged in parallel, and the left side plate and the right side plate are fixedly connected through a middle shell; one end of the left side plate and one end of the right side plate are respectively arranged between the first motor and the support shell and between the second motor and the support shell, and an output shaft of the first motor is fixedly connected with the support shell.
Further, the skeleton board includes left skeleton and right skeleton, fixed connection between left skeleton and the right skeleton, and the other end of supporting the curb plate is the recess form, is provided with the third motor output shaft in the recess, and the third motor setting is on the third motor output shaft.
Further, be provided with a plurality of bolt holes on the mounting bracket, the mounting bracket is connected with the robot body.
Further, the foot end comprises a support leg and a rubber sleeve; one end of the supporting leg is fixedly connected with the supporting rod, the other end is fixedly connected with the rubber sleeve.
Further, the first motor, the second motor, the third motor and the fourth motor all comprise a shell, a stator, a rotor, a planet carrier, a planetary reducer and a central shaft sleeve; the stator is coaxially arranged in the shell, the stator is coaxially arranged in the stator, the stator is connected with the planet carrier, and the planet carrier is connected with the planetary reducer; the planetary reducer on the first motor is connected with a sun gear shaft which is connected with the supporting shell; the planetary reducer on the second motor is connected with the output shaft of the second motor.
Each single leg is designed into a structural leg rod, and each section of leg rod is designed into different cross-sectional shapes according to the stressed size and direction of the leg rod, so that the weight is reduced, the bearing strength and the rigidity are not lost, the leg rod has strong bearing capacity, the exercise function is finished, and the weight can be reduced, and the maneuverability is ensured.
Compared with the prior art, the invention has the following technical effects:
the whole single-leg design mode of the invention not only greatly increases the adaptability of the robot legs to complex terrains, improves the dynamic and static stability of the robot, but also improves the whole bearing capacity and control precision of the robot;
the multi-degree-of-freedom single leg is flexible in movement and light in weight; the mounting position of the driving motor is closer to the body, so that the problem of large moment of inertia easily generated by the tail end joint is solved, and the movement of the driving mechanism is facilitated; the single leg has a large range of motion working space in terms of mechanism motion and power.
Each joint motor is simple in structure and mutually independent to form a unit, and independent motor modules are formed, so that interchangeability is achieved, and cost reduction is facilitated. Each joint has a larger working space, can be contracted and folded into the size of about 1/3 of the original length, can reduce the volume of the robot, and is convenient to carry.
The invention designs the leg rod which has the advantages of least material consumption, light weight and good strength under the same volume. The leg comprises four sections of leg rods, each section of leg rod is made of aluminum alloy, the section of the leg rod of the shank 4 is I-shaped, the section of the leg rod of the ankle joint module 3 is I-shaped, the section of the leg rod of the knee joint module 2 is I-shaped, and the section of the leg rod of the hip joint module 1 is I-shaped.
The invention designs a reducer motor which is integrated into a leg structure to obtain a motion joint (hip joint, knee joint and ankle joint) with small volume and high power density and a single leg mechanism with light weight and flexibility. The motor structure can make the leg joint more compact, and simultaneously meet certain bearing performance, and has small volume, high precision, large torque and high efficiency.
The invention performs light design on the motors, and concentrates the layout of each motor to the body as much as possible, so that the design can reduce the inertia of legs and improve the movement flexibility.
The invention relates to a structural leg bar. In order to reduce the weight without losing the bearing capacity strength and rigidity, each leg rod design is designed according to the size direction of the stress (driving force and resistance force) and the shape of the connecting joint piece, so that the sport function and the attractive effect can be achieved.
Drawings
FIG. 1 is a side view of a single leg model of the modular design of the present invention;
FIG. 2 is a schematic view of the single leg foot end and shank structure of the present invention;
FIG. 3 is a schematic view of a single leg ankle module according to the present invention;
FIG. 4 is a schematic view of a single leg knee module according to the present invention;
FIG. 5 is a schematic view of a single leg hip module of the present invention;
FIG. 6 is a schematic view of a single leg tibial joint transmission of the present invention;
FIG. 7 is a schematic view of a single leg ankle joint transmission of the present invention;
Fig. 8 is a schematic view of a cross-sectional configuration of a single leg shank 4-leg rod of the present invention;
FIG. 9 is a schematic diagram showing the cross-sectional configuration of the leg bar of the single-leg ankle module 3 of the invention;
FIG. 10 is a schematic view of a cross-sectional view of a leg bar of a single leg knee module 2 of the present invention;
FIG. 11 is a schematic diagram of a cross-sectional configuration of a leg bar of a single leg hip module 1 of the present invention;
Description of the reference numerals
The meaning represented by each number in fig. 1 is:
1-hip joint module, 2-knee joint module, 3-ankle joint module, 4-shank joint and 5-foot end.
The meaning represented by each number in fig. 2 is:
6-belt wheel mounting shaft, 7-first belt wheel, 8-supporting rod, 9-supporting leg and 10-rubber sleeve.
The meaning represented by each number in fig. 3 is:
11-second belt wheel, 12-first motor, 13-second motor, 14-second motor output shaft, 15-left shell, 16-right shell, 17-synchronous belt.
The meaning represented by each number in fig. 4 is:
18-third motor, 19-third motor output shaft, 20-middle shell, 21-left side plate, 22-right side plate.
The meaning represented by each number in fig. 5 is:
23-mounting frame, 24-fourth motor, 25-left skeleton and 26-right skeleton.
The meaning represented by each number in fig. 6 is:
27-bearings and 28-shaft rings.
The meaning represented by each number in fig. 7 is:
29-shell, 30-stator, 31-rotor, 33-central shaft sleeve, 35-sun gear shaft, 37-planet carrier, 40-shell and 45-planet carrier.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1 to 11, a multi-degree-of-freedom light single leg mechanism comprises a hip joint module 1, a knee joint module 2, an ankle joint module 3, a shank 4 and a foot end 5; the hip joint module 1, the knee joint module 2, the ankle joint module 3, the shank 4 and the foot end 5 are connected in sequence;
The shank 4 comprises a supporting rod 8 and a first belt pulley 7, wherein the first belt pulley 7 is arranged in one end of the supporting rod 8 through a belt pulley mounting shaft, and the other end of the supporting rod is fixedly connected with the foot end 5;
The ankle joint module 3 includes a support housing, a timing belt 17, a first motor 12, a second motor 13, a second pulley 11, and a second motor output shaft 14; one end of the supporting shell is hinged with one end of the supporting rod 8 provided with the first belt wheel 7, a second belt wheel 11 is fixedly arranged in the other end of the supporting shell through a second motor output shaft 14, and the two belt wheels are connected through a synchronous belt 17; the two sides of one end of the supporting shell, which is provided with a second belt wheel 11, are respectively provided with a first motor 12 and a second motor 13; the first motor 12 can drive the ankle joint module 3 to rotate relative to the knee joint module 2, and the second motor 13 can drive the second belt wheel 11 to rotate;
The knee joint module 2 comprises a support side plate, a third motor 18 and a third motor output shaft 19; a third motor 18 is arranged in one end of the supporting side plate through a third motor output shaft 19, the other end of the supporting side plate is sleeved at the end part of the supporting shell of the ankle joint module 3, and the supporting side plate is hinged with the supporting shell; the first motor 12 and the second motor 13 are fixedly arranged on the supporting side plate;
The hip joint module 1 comprises a mounting frame 23, a fourth motor 24 and a bone plate; the two skeleton plates are arranged in parallel, one ends of the two skeleton plates are respectively arranged in gaps between two sides of the third motor 18 and the supporting side plates, and the third motor is fixed on the skeleton plates; a fourth motor 24 is arranged between the other ends of the two framework plates, and a mounting frame 23 is arranged in a gap between the fourth motor 24 and the framework plates.
The support shell comprises a left shell 15 and a right shell 16, the left shell 15 and the right shell 16 are arranged in parallel and are respectively arranged on two sides of the end part of the support rod 8, the end part of the support rod 8 is provided with a groove, a belt wheel installation shaft 6 is arranged in the groove, the two ends of the belt wheel installation shaft 6 are respectively provided with a shaft collar 28, the shaft collars 28 are fixedly connected with the left shell 15 or the right shell 16, a bearing is arranged on the belt wheel installation shaft 6, and the first belt wheel 7 is arranged on the bearing.
The support side plate comprises a left side plate 21 and a right side plate 22, the left side plate 21 and the right side plate 22 are arranged in parallel, and the left side plate 21 and the right side plate 22 are fixedly connected through a middle shell 20; one ends of the left side plate 21 and the right side plate 22 are respectively disposed between the first motor 12 and the support housing, and between the second motor 13 and the support housing, and an output shaft of the first motor 12 is fixedly connected with the support housing.
The skeleton board includes left skeleton 25 and right skeleton 26, fixed connection between left skeleton 25 and the right skeleton 26, and the other end of supporting the curb plate is the recess form, is provided with third motor output shaft 19 in the recess, and the third motor setting is on third motor output shaft 19.
Be provided with a plurality of bolt holes on the mounting bracket 23, mounting bracket 23 is connected with the robot body.
The foot end 5 comprises a support leg 9 and a rubber sleeve 10; one end of the supporting leg 9 is fixedly connected with the supporting rod 8, and the other end is fixedly connected with the rubber sleeve 10.
The first motor 12, the second motor 13, the third motor 18 and the fourth motor 24 each comprise a housing, a stator 30, a rotor 31, a planet carrier 27, a planetary reducer and a central hub 33; the stator 30 is coaxially arranged in the shell, the stator is coaxially arranged in the stator 30, the stator is connected with the planet carrier, and the planet carrier is connected with the planetary reducer; the planetary reducer on the first motor is connected with a sun gear shaft which is connected with the supporting shell; the planetary reducer on the second motor is connected to the second motor output shaft 14.
A four-degree-of-freedom light single-leg mechanism for a bionic six-foot robot comprises a mechanical system and a motion control system. Wherein the mechanical system comprises a mechanical structure and a transmission system; the mechanical structure is compact and mainly comprises the following steps: the light motor module, the simplified structure leg rod and the belt transmission leg foot structure, and the foldable leg rod structure; the transmission system comprises a hip joint module 1, a knee joint module 2, an ankle joint module 3 and a shank joint 4. The motion control system comprises a first motor, a second motor, a third motor and a fourth motor.
The single leg is a four-joint mechanism consisting of four drivers and four connecting rods, the grounding rubber sleeve 10 of the foot end 5 is made of wear-resistant rubber with decorative patterns, and friction force can be remarkably increased, wherein the supporting rod 8 of the shank 4 and the foot end 5 are fixed together through special glue, the upper end of the shank is arranged between the left shell 15 and the right shell 16 through a belt pulley 7 mounting shaft 6, and the belt pulley 7 is arranged on the belt pulley 7 mounting shaft 6 through a bearing 27;
At the ankle joint, the left shell 15 is connected with the second motor output shaft 14 through a bearing, the right shell 16 is connected with the second motor shell 40 through a bolt, the first motor shell 29 is connected with the central shaft sleeve 33 through a bearing, a planetary reducer is arranged between the planet carrier 37 and the bearing, the rotor 31 rotates to drive the planet wheel to rotate, the planet wheel drives the sun wheel to rotate, the sun wheel is arranged on the sun wheel shaft 35, the sun wheel transmits torque through the sun wheel shaft 35, and then the angle of the ankle joint module 3 relative to the knee joint module 2 is controlled. The rotor of the second motor transmits torque to the planet gears through a planetary gear reducer, the planetary gear reducer drives the second motor transmission shaft 14 to rotate, the second motor transmission shaft 14 is connected with the right side plate 22 through a bearing, the belt pulley 11 is connected with the second motor transmission shaft 14 through a key, the rotation of the second motor transmission shaft 14 drives the belt pulley 11 to rotate, and the belt pulley 11 drives the belt pulley 7 through the synchronous belt 17, so that the angle of the shank relative to the ankle joint is controlled;
at the knee joint module 2, the middle shell 20 is fixedly connected between the left side plate 21 and the right side plate 22 through 6 set screws, the upper ends of the left side plate 21 and the right side plate 22 are connected with a third motor output shaft 19, and the third motor controls the angle of the knee joint module 2 relative to the hip joint module 1 through rotation;
At the hip joint module 1, a left skeleton 25 is installed between the third motor 18 and the left side plate 21, a right skeleton 26 is installed between the third motor 18 and the right side plate 22, the upper ends of the left skeleton 25 and the right skeleton 26 are connected with a fourth motor 24, the upper ends of a mounting frame 23 are installed between the left skeleton 25 and the fourth motor 24, the lower ends of the mounting frame 23 are installed between the right skeleton 26 and the fourth motor 24, the axis of an output shaft of the fourth motor is perpendicular to the axis of the output shaft of the third motor, and mainly controlled is rotation of leg structures in a horizontal plane, and the mounting frame 23 is connected with a robot body through screws.
The first motor 12 directly drives the angle of the ankle joint module relative to the knee joint module through an output shaft; the second motor drives the synchronous pulley 11 through the output shaft 14, and the synchronous pulley 11 drives the synchronous pulley 7 through the synchronous belt 17, so that the angle of the shank 4 relative to the ankle joint module is controlled; the third motor 18 directly drives the angle of the knee joint module 2 relative to the hip joint module through an output shaft 19; the fourth motor 24 drives the hip joint module 1 through an output shaft to control the angle of the whole leg in the horizontal plane. Thus, as long as the rotation angle of each driver is determined, the shank 4 and the foot 5 are spatially determined, that is, the single leg is controllable, and then the corresponding trajectory is made by the algorithm at the end of the single leg, thereby completing the control of the single leg.
The foot end 5 is a spherical structure consisting of the support legs 9 and the grounding rubber sleeve 10, the support legs 9 are made of nylon, the nylon has high mechanical strength and high toughness, has higher tensile strength and compressive strength, has outstanding fatigue resistance, and can still maintain the original mechanical strength after repeated bending. The grounding rubber sleeve 10 is made of wear-resistant rubber, so that the service life of the grounding rubber sleeve can be prolonged, patterns are engraved on the surface of the grounding rubber sleeve, which is in contact with the ground, so that the friction force can be obviously increased when the grounding rubber sleeve is in contact with the ground, the occurrence of slipping is reduced, and the movement of a robot is more accurate.
The shank 4 is composed of a supporting rod 8, a belt wheel 7 and a belt wheel installation shaft 6, the supporting rod 8 is an I-shaped thin plate, grooves are formed in two sides of the thin plate, and the minimum material is used on the basis of meeting the strength requirement, so that the overall weight of the robot is reduced, and the structure of the robot is light. The synchronous belt transmission can enable the joint to have a larger rotation angle which can reach 300 degrees at maximum, the advantage increases the working space, the control of the shank is more flexible, and the synchronous belt transmission is more accurate and easy to control. The synchronous belt transmission also has the advantages of gear and belt transmission, is suitable as a transmission system of the robot, can relieve the impact in the motion to a certain extent, reduces the rotational inertia of legs, is stable, and can absorb vibration and reduce noise.
The ankle joint module 3 consists of a belt wheel 11, a first motor 12, a second motor 13, a second motor output shaft 14, a left shell 15, a right shell 16 and a synchronous belt 17, wherein the two shells are connected through screws, the left shell and the right shell are of a half-I-shaped structure, and the left shell and the right shell are provided with rectangular holes. The first motor 12 directly drives the angle of the ankle joint module 3 relative to the knee joint module 2 through an output shaft, the second motor drives the synchronous pulley 11 through an output shaft 14, and the synchronous pulley 11 drives the synchronous pulley 7 through a synchronous belt 17, so that the angle of the shank joint relative to the ankle joint is controlled, and the first motor 12 and the second motor 13 do independent movement. The joint angle can reach 300 deg.
The knee joint module 2 is composed of a third motor 18, a third motor output shaft 19, a middle shell 20, a left side plate 21 and a right side plate 22, wherein the middle shell is arranged between the left side plate and the right side plate and is connected with the left side plate and the right side plate through 6 set screws, and the left side plate and the right side plate are of a half I-shaped structure, so that the weight is reduced under the condition of meeting the strength requirement. The third motor 18 directly drives the knee joint module 2 through the output shaft 19, and controls the angle of the knee joint module 2 relative to the hip joint module 1. The joint angle can reach 300 deg.
The hip joint module 1 consists of a mounting frame 23, a fourth motor 24, a left framework 25 and a right framework 26, wherein the two frameworks are connected through screws, grooves are formed in the upper end and the lower end of the framework, and the weight is reduced under the condition of meeting the strength requirement. The hip joint module is connected with the robot body through a mounting frame 23, and a fourth motor 24 controls the angle of the hip joint module 1 in the horizontal plane through an output shaft. The joint angle can reach 300 deg.
The motor of the speed reducer consists of a high-power-density direct-current brushless motor and an independently designed planetary gear speed reducer, and the brushless motor is a hollow motor and consists of an annular stator and a rotor. The planetary reducer is designed in the hollow space of the rotor to obtain the motion joint (hip joint, knee joint and ankle joint) with small volume and high power density. And the leg structure can be simplified, and the leg joint is small in size and compact in structure by utilizing the structure of the speed reducer motor, and simultaneously, the enough bearing performance is met.
The leg rods are important components of a single leg, one single leg comprises four sections of leg rods, each section of leg rod is made of aluminum alloy, and in order to reduce the weight, the leg rods are designed to be hollow or grooved; in addition, in order to lighten the weight and not lose bearing strength and rigidity, each leg rod design is designed into a structural member leg rod according to the size direction of stress (driving force and resistance force) and the shape of a connecting joint part, so that the sports function can be finished and the attractive effect can be finished. Based on the above, the section of the shank 4 leg bar of the single leg is designed to be I-shaped, the section of the leg bar of the ankle joint module 3 is designed to be I-shaped, the section of the leg bar of the knee joint module 2 is designed to be I-shaped, and the section of the leg bar of the hip joint module 1 is designed to be I-shaped. The leg bar is manufactured by adopting the structural shape, so that the leg bar with the lightest weight can be obtained under the same volume of the material, and the leg bar with the best strength under the same volume of the material can be obtained.
The whole leg part of a single leg can be folded to enable the robot to reach the minimum volume, wherein the shank 4 and the foot end 5 can be folded at the shank joint to go to the ankle joint module 3, and the shank 4 and the foot end 5 can be folded together with the ankle joint module 3 to be folded at the knee joint module 2 and the hip joint module 1 through the ankle joint, so that the robot is convenient to transport, and the damage to parts caused by back and forth disassembly and assembly is reduced.
The single leg is mainly made of aluminum alloy, the relative density of the aluminum alloy is smaller, the single leg is lighter than metal materials such as stainless steel and 45 steel under the condition of meeting the requirement of certain design strength, the requirement of the robot leg rod structure on light weight can be met, the aluminum alloy is low in price, easy to machine and form, and the machining precision is high.
Claims (5)
1. The multi-degree-of-freedom light single-leg mechanism is characterized by comprising a hip joint module (1), a knee joint module (2), an ankle joint module (3), a shank joint (4) and a foot end (5); the hip joint module (1), the knee joint module (2), the ankle joint module (3), the shank joint (4) and the foot end (5) are connected in sequence;
the shank (4) comprises a supporting rod (8) and a first belt wheel (7), wherein the first belt wheel (7) is arranged in one end of the supporting rod (8) through a belt wheel mounting shaft, and the other end of the supporting rod is fixedly connected with the foot end (5);
The ankle joint module (3) comprises a support shell, a synchronous belt (17), a first motor (12), a second motor (13), a second belt wheel (11) and a second motor output shaft (14); one end of the supporting shell is hinged with one end of the supporting rod (8) provided with a first belt wheel (7), a second belt wheel (11) is fixedly arranged in the other end of the supporting shell through a second motor output shaft (14), and the two belt wheels are connected through a synchronous belt (17); the two sides of the support shell, which are provided with the second belt wheel (11), are respectively provided with a first motor (12) and a second motor (13); the first motor (12) can drive the ankle joint module (3) to rotate relative to the knee joint module (2), and the second motor (13) can drive the second belt wheel (11) to rotate;
The knee joint module (2) comprises a support side plate, a third motor (18) and a third motor output shaft (19); a third motor (18) is arranged in one end of the supporting side plate through a third motor output shaft (19), the other end of the supporting side plate is sleeved at the end part of the supporting shell of the ankle joint module (3), and the supporting side plate is hinged with the supporting shell; the first motor (12) and the second motor (13) are fixedly arranged on the supporting side plate;
The hip joint module (1) comprises a mounting frame (23), a fourth motor (24) and a framework plate; the two skeleton plates are arranged in parallel, one ends of the two skeleton plates are respectively arranged in gaps between two sides of the third motor (18) and the supporting side plates, and the third motor is fixed on the skeleton plates; a fourth motor (24) is arranged between the other ends of the two framework plates, and a mounting frame (23) is arranged in a gap between the fourth motor (24) and the framework plates;
The support shell comprises a left shell (15) and a right shell (16), the left shell (15) and the right shell (16) are arranged in parallel and are respectively arranged on two sides of the end part of the support rod (8), a groove is formed in the end part of the support rod (8), a belt wheel installation shaft (6) is arranged in the groove, shaft rings (28) are arranged at two ends of the belt wheel installation shaft (6), the shaft rings (28) are fixedly connected with the left shell (15) or the right shell (16), a bearing is arranged on the belt wheel installation shaft (6), and a first belt wheel (7) is arranged on the bearing;
The support side plate comprises a left side plate (21) and a right side plate (22), the left side plate (21) and the right side plate (22) are arranged in parallel, and the left side plate (21) and the right side plate (22) are fixedly connected through a middle shell (20); one ends of the left side plate (21) and the right side plate (22) are respectively arranged between the first motor (12) and the support shell and between the second motor (13) and the support shell, and an output shaft of the first motor (12) is fixedly connected with the support shell.
2. The multi-degree-of-freedom light single-leg mechanism according to claim 1, wherein the framework plate comprises a left framework (25) and a right framework (26), the left framework (25) and the right framework (26) are fixedly connected, the other end of the supporting side plate is in a groove shape, a third motor output shaft (19) is arranged in the groove, and the third motor is arranged on the third motor output shaft (19).
3. The multi-degree-of-freedom light single-leg mechanism according to claim 1, wherein the mounting frame (23) is provided with a plurality of bolt holes, and the mounting frame (23) is connected with the robot body.
4. A multi-degree of freedom light single leg mechanism according to claim 1, characterized in that the foot end (5) comprises a foot (9) and a gum cover (10); one end of each supporting leg (9) is fixedly connected with the supporting rod (8), and the other end is fixedly connected with the rubber sleeve (10).
5. A multi-degree of freedom light single leg mechanism according to claim 1, wherein the first motor (12), the second motor (13), the third motor (18) and the fourth motor (24) each comprise a housing, a stator (30), a rotor (31), a planet carrier (27), a planetary reducer and a central shaft sleeve (33); the stator (30) is coaxially arranged in the shell, the stator is coaxially arranged in the rotor (31), the stator is connected with the planet carrier, and the planet carrier is connected with the planetary reducer; the planetary reducer on the first motor is connected with a sun gear shaft which is connected with the supporting shell; the planetary reducer on the second motor is connected with the output shaft (14) of the second motor.
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| CN110682976B (en) * | 2019-11-25 | 2020-10-27 | 西北工业大学 | A multi-degree-of-freedom mechanical wheel-leg structure of a wheel-leg compound mobile robot |
| CN112393057A (en) * | 2020-12-11 | 2021-02-23 | 河海大学 | Bionic leg structure of tubular pile wall-climbing robot |
| CN113459153A (en) * | 2021-07-06 | 2021-10-01 | 杭州国辰机器人科技有限公司 | Three-degree-of-freedom motion joint assembly |
| CN114516374A (en) * | 2022-03-07 | 2022-05-20 | 安徽理工大学 | Six-legged robot based on synchronous belt transmission |
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| KR101484943B1 (en) * | 2008-05-30 | 2015-01-21 | 삼성전자 주식회사 | Walking Robot |
| CN107128394B (en) * | 2017-05-11 | 2019-02-19 | 上海大学 | A bionic quadruped robot leg mechanism |
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