CN116118894B - Hip joint assembly and robot - Google Patents
Hip joint assembly and robot Download PDFInfo
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- CN116118894B CN116118894B CN202111348876.1A CN202111348876A CN116118894B CN 116118894 B CN116118894 B CN 116118894B CN 202111348876 A CN202111348876 A CN 202111348876A CN 116118894 B CN116118894 B CN 116118894B
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 121
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 210000002414 leg Anatomy 0.000 claims abstract description 54
- 230000000712 assembly Effects 0.000 claims abstract description 22
- 238000000429 assembly Methods 0.000 claims abstract description 22
- 230000002035 prolonged effect Effects 0.000 claims abstract description 9
- 210000002683 foot Anatomy 0.000 claims description 30
- 210000000689 upper leg Anatomy 0.000 claims description 16
- 244000309466 calf Species 0.000 claims description 13
- 210000003127 knee Anatomy 0.000 claims description 13
- 230000005484 gravity Effects 0.000 claims description 12
- 210000003423 ankle Anatomy 0.000 claims description 9
- 230000007306 turnover Effects 0.000 claims description 5
- 238000013473 artificial intelligence Methods 0.000 abstract description 6
- 230000010354 integration Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 9
- 241000282414 Homo sapiens Species 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004377 microelectronic Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 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
- B62D57/028—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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a hip joint assembly and a robot, which can be applied to various application scenes such as artificial intelligence, robot application, electromechanical integration and the like. The hip joint assembly includes: a deployable mechanism; the two-degree-of-freedom driving modules are provided with two driving modules which are symmetrically arranged on two sides of the extensible mechanism; the hip joint assembly can be applied to a robot, the two-degree-of-freedom driving module can be used for connecting the mechanical leg assembly of the robot and driving the mechanical leg assembly to move, the extensible mechanism can be used for folding or unfolding the hip joint assembly to shorten or prolong the transverse distance of the hip joint assembly, so that the distance between the mechanical leg assemblies connected by the two-degree-of-freedom driving module is shortened or prolonged, the extensibility of the hip joint assembly is realized, the application scene of the hip joint assembly is widened, the movement range of the robot can be enlarged when the hip joint assembly is applied to the robot, and the movement stability and rigidity of the robot are further improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a hip joint assembly and a robot.
Background
With the continuous development of robotics, humanoid robots are receiving great attention. Humanoid robots are generally designed in an articulated manner, including hip joints, knee joints, ankle joints, etc., to simulate the physical configuration of a human.
Currently, researchers have focused on humanoid robots mainly on multi-modal robots, such as some robots with changeable wheel feet. Most wheel foot robots fix the hip joint structure on the upper body, so that the working space of the legs is reduced. In addition, as the chassis range required by the wheel foot robot is different when the wheel type mode and the foot type mode move, the current hip joint structure cannot meet the movement requirements of the wheel foot robot under different modes, so that the rigidity and the movement stability and reliability of the wheel foot robot are reduced.
Disclosure of Invention
The application provides a hip joint assembly and a robot, which can improve the rigidity of a wheel foot robot and the stability and reliability of movement.
In a first aspect, there is provided a hip joint assembly comprising:
A deployable mechanism;
two degrees of freedom driving modules are arranged and symmetrically arranged on two sides of the extensible mechanism;
The hip joint assembly can be applied to a robot, the two-degree-of-freedom driving module can be used for connecting mechanical legs of the robot and driving the mechanical legs to move, and the extensible mechanism can be used for folding or unfolding the hip joint assembly to shorten or lengthen the transverse distance of the hip joint assembly, so that the distance between the mechanical legs connected by the two-degree-of-freedom driving module is shortened or lengthened.
In some implementations, the expandable mechanism includes a middle frame support and a swing rod module, the swing rod module is provided with two swing rod modules and is symmetrically movably mounted on two sides of the middle frame support, the two-degree-of-freedom driving modules are respectively connected with the two swing rod modules, and the expandable mechanism realizes the expansion or folding of the hip joint assembly by controlling the rotation angle of the swing rod module.
In some implementations, the swing link module includes a first swing link, a middle swing link, and a second swing link, where the middle frame support, the first swing link, the middle swing link, and the second swing link are connected end to form a parallelogram link mechanism, and the parallelogram link mechanism realizes the expansion or folding of the hip joint assembly by controlling the rotation angle of the first swing link or the second swing link.
In some implementations, the parallelogram linkage achieves deployment of the hip joint assembly by controlling the first and second swing links to rotate to an angle perpendicular to a central axis of the center frame bracket.
In some implementations, a driving device is arranged between the first swing rod and/or the second swing rod and the middle frame support, and the driving device is used for controlling the first swing rod and/or the second swing rod to rotate.
In some implementations, the two-degree-of-freedom driving module includes a roll driving unit and a pitch driving unit, where the roll driving unit is fixedly connected with the middle swing rod, and a first output end on the roll driving unit is connected with the pitch driving unit to drive the pitch driving unit to rotate.
In some implementations, the pitch drive unit is connected to the second swing link, a first connection location of the pitch drive unit and the roll drive unit is located on the same axis as a second connection location of the pitch drive unit and the second swing link, a line between the first connection location and the second connection location is perpendicular to a central axis of the pitch drive unit, and a line between the first connection location and the second connection location is parallel to the central axis of the roll drive unit.
In some implementations, the swing rod module further includes a third swing rod, and two ends of the third swing rod are respectively connected with the middle frame support and the second output end of the overturning driving unit.
In some implementations, the third connection position of the third swing link and the middle frame support is located on the same axis as the fourth connection position of the second swing link and the middle frame support, and the fifth connection position of the third swing link and the flip drive unit is located on the same axis as the sixth connection position of the second swing link and the pitch drive unit.
In a second aspect, there is provided a robot comprising a hip joint assembly as described in the first aspect and two mechanical leg assemblies, the hip joint assembly comprising a deployable mechanism and two degree of freedom drive modules; the two mechanical leg assemblies are respectively connected with the two-degree-of-freedom driving modules, and the transverse distance of the hip joint assemblies is shortened or prolonged by controlling the folding or unfolding of the unfolding mechanism, so that the distance between the two mechanical leg assemblies is shortened or prolonged.
In some implementations, the deployable mechanism includes a middle frame bracket and a swing link module, the swing link module includes a first swing link, a middle swing link and a second swing link, the middle frame bracket, the first swing link, the middle swing link and the second swing link are connected end to form a parallelogram link mechanism, and the deployable mechanism achieves the deployment or folding of the hip joint assembly by controlling the rotation angle of the first swing link or the second swing link so as to shorten or lengthen the lateral distance of the hip joint assembly, so that the distance between two mechanical leg assemblies is shortened or lengthened.
In some implementations, the deployable mechanism folds the hip joint assembly by controlling the first swing link to rotate in a direction toward the middle frame support, or the deployable mechanism folds the hip joint assembly by controlling the second swing link to rotate in a direction away from the middle frame support, so as to move the center of gravity of the robot up.
In some implementations, the deployable mechanism is configured to fold the hip joint assembly by controlling the first swing link to rotate in a direction away from the center frame support, or the deployable mechanism is configured to fold the hip joint assembly by controlling the second swing link to rotate in a direction closer to the center frame support, such that the center of gravity of the robot is moved downward.
In some implementations, the deployable mechanism is configured to fully deploy the hip joint assembly by controlling the first swing link and the second swing link to rotate to an angle perpendicular to a central axis of the middle frame support.
In some implementations, the mechanical leg assembly includes a thigh module, a calf module, a wheel foot module, and a knee motor, an upper end of the thigh module is connected with an output end of a pitch drive unit on the two-degree-of-freedom drive module, a terminal end of the thigh module is connected with an upper end of the calf module and the knee motor, and the knee motor can drive the calf module to rotate.
In some implementations, the mechanical leg assembly further includes an ankle module, the end of the calf module is connected with the wheel foot module through the ankle module, and the ankle module can drive the wheel foot module to turn over to realize switching between a wheel mode and a foot mode.
In some implementations, the mechanical leg assembly further includes a driven wheel connected with an end of the thigh module; if the wheel foot module is in an upright state and the driven wheel is in contact with the ground, the mode of the robot is a four-wheel mode.
The hip joint assembly comprises a deployable mechanism and two-degree-of-freedom driving modules, wherein the two-degree-of-freedom driving modules are symmetrically arranged on two sides of the deployable mechanism, the hip joint assembly can be applied to a robot, the two-degree-of-freedom driving modules can be used for connecting a mechanical leg assembly of the robot and driving the mechanical leg assembly to move, the deployable mechanism can be used for folding or unfolding the hip joint assembly to shorten or prolong the transverse distance of the hip joint assembly, the distance between the mechanical leg assemblies connected by the two-degree-of-freedom driving modules is shortened or prolonged, the extensibility of the hip joint assembly is realized, and the application scene of the hip joint assembly is widened, so that the movement range of the robot can be widened when the hip joint assembly is applied to the robot, the movement requirements of the robot under various modes are met, and the movement stability and the rigidity of the robot are further improved.
Drawings
Fig. 1 is a first schematic structural view of a hip joint assembly provided in an embodiment of the present application.
Fig. 2 is a second structural schematic view of a hip joint assembly provided in an embodiment of the present application.
Fig. 3 is a schematic view of a first structure of a robot according to an embodiment of the present application.
Fig. 4 is a second structural schematic diagram of the robot according to the embodiment of the present application.
Fig. 5 is a schematic view of a third structure of the robot according to the embodiment of the present application.
Fig. 6 is a fourth structural schematic diagram of a robot according to an embodiment of the present application.
Fig. 7 is a schematic view of a fifth configuration of a robot according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The following disclosure provides many different embodiments, or examples, for implementing different features of the application. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.
The embodiment of the application can be applied to various application scenes such as artificial intelligence, robot application, electromechanical integration and the like.
First, partial terms or terminology appearing in the course of describing the embodiments of the application are explained as follows:
Artificial intelligence (ARTIFICIAL INTELLIGENCE, AI) is the theory, method, technique, and application system that simulates, extends, and extends human intelligence using a digital computer or a machine controlled by a digital computer, perceives the environment, obtains knowledge, and uses the knowledge to obtain optimal results. In other words, artificial intelligence is an integrated technology of computer science that attempts to understand the essence of intelligence and to produce a new intelligent machine that can react in a similar way to human intelligence. Artificial intelligence, i.e. research on design principles and implementation methods of various intelligent machines, enables the machines to have functions of sensing, reasoning and decision.
A robot is a machine capable of performing tasks such as work or movement by programming and automatic control. The robot has the basic characteristics of perception, decision making, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves the life of the human beings, and enlarges or extends the activity and capacity range of the human beings.
The electromechanical integration technology is a comprehensive high-new technology combining microelectronic technology, computer technology, information technology and mechanical technology, and is an organic combination of mechanical technology and microelectronic technology.
The degree of freedom is based on mechanical principles, the mechanism having a number of independent motion parameters that must be given in determining the motion. In the definition of degrees of freedom, the only, necessary, independent terms are three comparison keywords. Uniquely determining, i.e. giving the variables, that the robot has a unique position type; it must then be a minimum concept, i.e. the minimum number of variables that can determine the state of the robot; independent means that these variables can be varied independently.
The embodiment of the application provides a hip joint assembly and a robot.
Referring to fig. 1 and 2, a hip joint assembly according to an embodiment of the present application is described below with reference to fig. 1 and 2:
As shown in fig. 1, the hip joint assembly 100 includes a deployable mechanism 1 and two-degree-of-freedom driving modules 2, wherein the hip joint assembly 100 is applicable to a robot, the two-degree-of-freedom driving modules 2 are provided with two and symmetrically installed at two sides of the deployable mechanism 1, the two-degree-of-freedom driving modules 2 are used for connecting and driving a mechanical leg assembly of the robot to move, and the deployable mechanism 1 is used for folding or unfolding the hip joint assembly 100 to shorten or lengthen a lateral distance of the hip joint assembly 100, so that a distance between the mechanical leg assemblies connected by the two-degree-of-freedom driving modules 2 is shortened or lengthened.
The direction of the transverse distance is perpendicular to the length direction of the mechanical leg assembly connected with the two-degree-of-freedom driving modules 2 and is parallel to the connecting line between the two-degree-of-freedom driving modules 2.
In the embodiment of the application, the transverse distance of the hip joint assembly 100 can be shortened or prolonged by folding or unfolding the expandable mechanism 1, so that the expandability of the hip joint assembly 100 is realized, and the application scene of the hip joint assembly 100 is widened. Therefore, when the hip joint assembly 100 is applied to a robot, the distance between the two-degree-of-freedom driving modules 2 can be shortened or prolonged, and the distance between the two mechanical leg assemblies can be shortened or prolonged, so that the movement range of the robot is enlarged, the movement requirement of the robot in multiple modes is met, and the movement stability and rigidity of the robot are improved.
In some embodiments, the deployable mechanism 1 includes a middle frame support 11 and a swing link module 12, the swing link module 12 is provided with two swing link modules and is symmetrically and movably connected to two sides of the middle frame support 11, the two-degree-of-freedom driving modules 2 are respectively connected with the two swing link modules 12, and the deployable mechanism 1 realizes the deployment or folding of the hip joint assembly 100 by controlling the rotation angle of the swing link modules 12.
Specifically, the articulation comprises a rotatable connection, which comprises a hinge, a pin joint, or the like. By controlling the angle of rotation of the swing link module 12, the hip joint assembly 100 can be unfolded or folded to shorten or lengthen the lateral distance of the hip joint assembly 100.
In some embodiments, the swing link module 12 includes a first swing link 121, a middle swing link 122, and a second swing link 123, and the middle frame bracket 11, the first swing link 121, the middle swing link 122, and the second swing link 123 are connected end to form a parallelogram linkage mechanism, which enables the hip joint assembly 100 to be unfolded or folded by controlling the rotation angle of the first swing link 121 or the second swing link 123.
Specifically, as shown in fig. 2, a first connecting hole 111 is provided on the middle frame bracket 11, two ends of the first swing rod 121 are respectively provided with a second connecting hole 1211 and a third connecting hole 1212, a first end of the middle swing rod 122 is provided with a fourth connecting hole 1221, the middle frame bracket 11 is hinged with the first swing rod 121 through the first connecting hole 111, the second connecting hole 1211 and the bearing 3, and the first swing rod 121 is hinged with the middle swing rod 122 through the third connecting hole 1212, the fourth connecting hole 1221 and the bearing 3. The middle frame support 11 is provided with a fifth connecting hole 112, two ends of the second swing rod 123 are respectively provided with a sixth connecting hole 1231 and a seventh connecting hole 1232, and the middle frame support 11 and the second swing rod 123 are hinged with the bearing 3 through the fifth connecting hole 112, the sixth connecting hole 1231.
Specifically, the parallelogram linkage can realize expansion of the hip joint assembly 100, and the parallelogram linkage has a strong bearing capacity, so that when the hip joint assembly 100 is applied to a robot, the movement requirement of the robot under the load condition can be met.
In some embodiments, the parallelogram linkage achieves deployment of the hip joint assembly 100 by controlling the first swing link 121 and the second swing link 123 to rotate to an angle perpendicular to the central axis of the middle frame support 11.
In the embodiment of the present application, the hip joint assembly 100 can be controlled to have three modes by adjusting the rotation angle of the first swing link 121 or the second swing link 123 in the parallelogram mechanism. First, the middle frame support 11 may be pushed to the highest position by controlling the first swing link 121 to be rotated in a direction approaching the middle frame support 11 until the hip joint assembly 100 is folded, or by controlling the second swing link 123 to be rotated in a direction separating from the middle frame support 11 until the hip joint assembly 100 is folded. Second, the middle frame support 11 may be pushed to the neutral position by controlling the first swing link 121 to be rotated in a direction away from the middle frame support 11 until the hip joint assembly 100 is folded, or by controlling the second swing link 123 to be rotated in a direction close to the middle frame support 11 until the hip joint assembly 100 is folded. Third, the middle frame support 11 is pushed to the middle position by controlling the first swing link 121 or the second swing link 123 to rotate to an angle perpendicular to the central axis of the middle frame support 11, and at this time, the hip joint assembly 100 is fully unfolded.
Specifically, when the hip joint assembly 100 is applied to a robot, the center of gravity of the robot can be moved upward by pushing the center frame 11 to the highest position, improving the operational space of the robot.
In some embodiments, a driving device may be disposed between the first swing link 121 and/or the second swing link 122 and the middle frame support 11, and the driving device may be used to control the first swing link 121 and/or the second swing link 122 to rotate.
Specifically, the worm gears and the worm gears are respectively arranged between the first swing rods 121 of the left swing rod module 12 and the right swing rod module 12 and the middle frame bracket 11, and the motor is connected with the two worm gears, so that the worm gears and the worm gears can be driven by the motor to simultaneously drive the left swing rod module 12 and the right swing rod module 12, and the linkage of the left swing rod module 12 and the right swing rod module 12 is realized. Similarly, the linkage of the left swing rod module 12 and the right swing rod module 12 can be realized in a gear meshing mode.
Or motors are arranged between the first swing rods 121 of the left swing rod module 12 and the right swing rod module 12 and the middle frame 11, and the two motors can respectively drive the two swing rod modules 12, so that the independent driving of the left swing rod module 12 and the right swing rod module 12 is realized.
In some embodiments, the two-degree-of-freedom driving module 2 includes a roll driving unit 21 and a pitch driving unit 22, where the roll driving unit 21 is fixedly connected to the middle swing rod 122, and a first output end 211 on the roll driving unit 21 is connected to a first end 221 of the pitch driving unit 22 to drive the pitch driving unit 22 to rotate.
For example, the fixed connection may include a non-removable fixed connection and a removable fixed connection. Wherein, the non-detachable fixed connection comprises welding, riveting, bonding, rigid connection and the like, and the detachable fixed connection comprises threaded connection, pin connection, elastic deformation connection, lock catch connection, grafting and the like.
In this embodiment, the pitch driving unit 22 is connected to the second swing link 122, the first connection position of the pitch driving unit 22 and the roll driving unit 21 and the second connection position of the pitch driving unit 22 and the second swing link 122 are located on the same axis, the connection line between the first connection position and the second connection position is perpendicular to the central axis of the pitch driving unit 22, and the connection line between the first connection position and the second connection position is parallel to the central axis of the roll driving unit 21.
Specifically, as shown in fig. 2, the first output end 211 of the flip driving unit 21 is connected to the first end 221 of the pitch driving unit to drive the pitch driving unit 22 to rotate, and the pitch driving unit 22 is hinged to the bearing through the connection hole 222, the seventh connection hole 1232 and the second end. When the hip joint assembly 100 is applied to a robot, the output end 223 of the pitch driving unit 22 can be used to connect with a mechanical leg assembly of the robot, and the two-degree-of-freedom driving unit forms an output of the hip joint assembly 100 to drive the mechanical leg assembly to move.
In some embodiments, the swing link module 12 further includes a third swing link 124, and two ends of the third swing link 124 are respectively connected to the middle frame bracket 11 and the second output end of the flip driving unit 21.
Specifically, the middle frame support 11 is further provided with an eighth connecting hole, two ends of the third swing rod 124 are respectively provided with a ninth connecting hole 1241 and a tenth connecting hole 1242, the third swing rod 124 is hinged with the middle frame support 11 through the eighth connecting hole, the ninth connecting hole 1241 and a bearing, and is hinged with the second output end 212 of the turnover driving unit 21 through the ninth connecting hole 1241.
In the present embodiment, the third connection position of the third swing link 124 to the center frame bracket 11 is located on the same axis as the fourth connection position of the second swing link 123 to the center frame bracket 11, and the fifth connection position of the third swing link 124 to the roll driving unit 21 is located on the same axis as the sixth connection position of the second swing link 123 to the pitch driving unit 22.
Specifically, the third swing rod 124 and the second swing rod 123 are arranged in parallel, and the same as the second swing rod 123 in function can be used as a connecting rod of the parallelogram mechanism, so that the rigidity and stability of the parallelogram mechanism are further improved.
The hip joint assembly 100 provided by the embodiment of the application comprises a deployable mechanism 1 and two-degree-of-freedom driving modules 2, wherein the hip joint assembly 100 can be applied to a robot, the two-degree-of-freedom driving modules 2 are provided with two and symmetrically arranged at two sides of the deployable mechanism 1, the two-degree-of-freedom driving modules 2 can be used for connecting a mechanical leg assembly of the robot and driving the mechanical leg assembly to move, the deployable mechanism 1 can be used for folding or unfolding the hip joint assembly 100 so as to shorten or lengthen the transverse distance of the hip joint assembly 100, so that the distance between the mechanical leg assemblies connected by the two-degree-of-freedom driving modules 2 is shortened or lengthened, the extensibility of the hip joint assembly 100 is realized, the application scene of the hip joint assembly 100 is widened, the movement range of the robot is widened when the hip joint assembly 100 is applied to the robot, the movement requirement of the robot in a multi-mode is met, and the movement stability and the rigidity of the robot are improved.
The embodiment of the application further provides a robot, please refer to fig. 3 to 7, and the following description is made with reference to fig. 3 to 7 on the robot provided by the embodiment of the application:
As shown in fig. 3, the robot 1000 includes a hip joint assembly 100 and two mechanical leg assemblies 200, the hip joint assembly 100 includes a deployable mechanism 1 and two-degree-of-freedom driving modules 2, the two mechanical leg assemblies 200 are respectively connected to the two-degree-of-freedom driving modules 2, and the deployable mechanism 1 is controlled to fold or unfold so as to shorten or lengthen the lateral distance of the hip joint assembly 100, so that the distance between the two mechanical leg assemblies 200 is shortened or lengthened. The hip joint assembly 100 may be used as described in fig. 1 and 2.
Specifically, by folding or unfolding the expandable mechanism 1, the lateral distance of the hip joint assembly 100 can be shortened or lengthened, so that the distance between the mechanical leg assemblies 200 connected by the two-degree-of-freedom driving modules 2 is shortened or lengthened, the movement range of the robot 1000 can be enlarged, the movement requirement of the robot 1000 in multiple modes can be met, and the movement stability and rigidity of the robot 1000 are improved.
Specifically, the two-degree-of-freedom driving module 2 may include a roll driving unit 21 and a pitch driving unit 22, and the mechanical leg assembly 200 may be fixedly connected to an output end of the pitch driving unit 22, so that the pitch driving unit 22 drives the mechanical leg assembly 200 to move.
Specifically, the robot 1000 may be a multi-modal robot, for example, the robot 1000 may implement two basic modes, a wheel mode and a foot mode. Among them, the wheeled modes may include a four-wheeled mode and a two-wheeled mode. Wherein, the four-wheel mode can effectively improve the load capacity of the robot 100; the double-wheel mode can enable the robot 100 to quickly pass through different flat ground surfaces such as wide roads, narrow roads and the like; the robot 100 can travel under complex terrain in a foot-type mode.
In this embodiment, the mechanical leg assembly 200 mainly includes a thigh module 210, a calf module 220, a wheel foot module 230 and a knee motor 240, wherein the upper end of the thigh module 210 is connected with the output end of the pitch driving unit 22 on the two-degree-of-freedom driving module 2, the tail end of the thigh module 210 is connected with the upper end of the calf module 220 and the knee motor 240, and the knee motor 240 can drive the calf module 220 to rotate.
Specifically, the mechanical leg assembly 200 further includes an ankle module 250, the end of the calf module 220 is connected with the wheel foot module 230 through the ankle module 250, and the ankle module 250 can drive the wheel foot module 230 to turn over, so as to switch between the wheel mode and the foot mode.
Specifically, the mechanical leg assembly 200 further includes a driven wheel 260, and the driven wheel 260 is connected to the end of the thigh module 210; if the wheel foot module 230 is in an upright state and the driven wheel 260 is in contact with the ground, the mode of the robot 1000 is a four-wheel mode.
Specifically, referring to fig. 3 to 7, the mechanical leg assembly 200 of the robot 1000 includes a thigh module 210, a shank module 220, a wheel foot module 230 and a knee motor 240, wherein the upper end of the thigh module 210 is fixedly connected with the output end of the pitch driving unit 22, the tail end of the thigh module 210 is hinged with the upper end of the shank module 220 and the knee motor 240, and the knee motor 240 can drive the shank module 220 to rotate. The tail end of the calf module 220 can be connected with the wheel foot module 230 through the ankle joint module 250, specifically, the ankle joint module 250 can include a pitching joint unit 251, a connecting piece 252 and a turning joint unit 253, the pitching joint unit 251 is fixedly connected with the tail end of the calf module 220, the output end of the pitching joint unit 251 is fixedly connected with a first connecting hole on the connecting piece 252, the turning joint unit 253 is fixedly connected with a second connecting hole on the connecting piece 252, and the output end of the turning joint unit 253 is fixedly connected with the wheel foot module 230 so as to drive the wheel foot module 230 to rotate.
In addition, the mechanical leg assembly 200 may further include a passive wheel 260, and the passive wheel 260 may be hinged to the end of the thigh module 210.
It should be noted that the mechanical leg assembly 200 is only exemplary and not limiting of the embodiments of the present application. For example, the mechanical leg assembly 200 may be a linear leg assembly having a linear motion mechanism, or the like.
Specifically, when the wheel foot module 230 is in the first state shown in fig. 3, the current mode of the robot 1000 is a bipedal mode. When the wheel foot module 230 is turned over to an upright state along the axial direction of the second connection hole of the connection member 252, that is, from the first state shown in fig. 3 to the second state (upright state) shown in fig. 4 to 6, the current mode of the robot 1000 is a dual-wheel mode. When the wheel foot module 230 is in an upright state and the driven wheel 260 is in contact with the ground, the current mode of the robot 1000 is a four-wheel mode.
In this embodiment, when the robot 1000 is a multi-modal robot, the hip joint assembly 100 provided by the embodiment of the application can meet various movement requirements of the robot 1000 in various modes.
In this embodiment, the expandable mechanism 1 includes a middle frame bracket 11 and a swing link module 12, the swing link module 12 includes a first swing link 121, a middle swing link 122 and a second swing link 123, the middle frame bracket 11, the first swing link 121, the middle swing link 122 and the second swing link 123 are connected end to form a parallelogram link mechanism, and the expandable mechanism 1 realizes the expansion or folding of the hip joint assembly 100 by controlling the rotation angle of the first swing link 121 or the second swing link 123 so as to shorten or lengthen the lateral distance of the hip joint assembly 100, so that the distance between the two mechanical leg assemblies 200 is shortened or lengthened.
Specifically, the deployable mechanism 1 may be folded by controlling the first swing link 121 to rotate in a direction approaching the middle frame bracket 11 until the hip joint assembly 100 is folded, or the deployable mechanism 1 may be folded by controlling the second swing link 123 to rotate in a direction away from the middle frame bracket 11 until the hip joint assembly 100 is folded, so that the center of gravity of the robot 1000 is moved upward.
For example, as shown in fig. 3, in the bipedal mode, by controlling the first swing rod 121 to rotate in a direction approaching the middle frame bracket 11 until the hip joint assembly 100 is folded, the center of gravity of the robot 1000 is moved upwards, so that the operable space of the robot can be increased, and the dynamic stability of the robot 1000 during the bipedal movement can be improved.
For another example, as shown in fig. 4, in the dual-wheel mode, by controlling the first swing link 121 to rotate in a direction approaching the middle frame bracket 11 until the hip joint assembly 100 is folded, the distance between the two mechanical legs 200 can be shortened to the greatest extent, so that the robot 100 can quickly pass through a narrow flat road surface.
Specifically, the deployable mechanism 1 may be folded by controlling the first swing link 121 to rotate in a direction away from the middle frame bracket 11 until the hip joint assembly 100 is folded, or the deployable mechanism 1 may be folded by controlling the second swing link 123 to rotate in a direction close to the middle frame bracket 11 until the hip joint assembly 100 is folded, so that the center of gravity of the robot 1000 is moved downward.
For example, as shown in fig. 5, in the dual-wheel mode, the first swing rod 121 can be controlled to rotate in a direction away from the middle frame support 11 until the hip joint assembly 100 is folded, so that the center of gravity of the robot 1000 is moved downwards, and the stability of the movement of the robot 1000 in the dual-wheel mode is enhanced. In this state, the robot 1000 has the smallest overall size, and is suitable for storage and transportation.
Specifically, the deployable mechanism 1 may be configured to fully deploy the hip joint assembly 100 by controlling the first swing link 121 and the second swing link 123 to rotate to an angle perpendicular to the central axis of the middle frame bracket 11.
For example, as shown in fig. 6, in the dual-wheel mode, the included angle α between the first swing rod 121 and the central axis of the middle frame bracket 11 is controlled to be a vertical angle, and the included angle β between the second swing rod 123 and the central axis of the middle frame bracket 11 is controlled to be a vertical angle, so that the hip joint assembly 100 can be fully unfolded. In this state, the lateral distance of the hip joint assembly 100 can be maximally extended, obstacles can be quickly passed over on a flat road surface, and the overall rigidity of the robot 1000 in a wheeled state can be improved.
For another example, in the dual-wheel mode, the knee motor 240 may rotate the lower leg until the driven wheel 260 contacts the ground, and the robot 1000 may switch to the four-wheel mode shown in fig. 7. At this time, the deployable mechanism 1 may be fully deployed by controlling the first swing link 121 and the second swing link 123 to rotate to an angle perpendicular to the central axis of the middle frame bracket 11. In this state, the lateral distance of the hip joint assembly 100 is maximized, and expansion of the chassis range in the four-wheel mode is achieved. Meanwhile, the center of gravity of the robot can be lowered by taking the lower leg of the robot 1000 as the boundary of the chassis, and the stability and the load capacity of the robot 100 in the four-wheel mode can be effectively improved.
All the above technical solutions may be combined to form an optional embodiment of the present application, and will not be described in detail herein.
The robot 1000 provided by the embodiment of the application comprises a hip joint assembly 100 and two mechanical leg assemblies 200, wherein the hip joint assembly 100 comprises a deployable mechanism 1 and two-degree-of-freedom driving modules 2, the two mechanical leg assemblies 200 are respectively connected with the two-degree-of-freedom driving modules 2, and the deployable mechanism 1 is controlled to fold or unfold so as to shorten or lengthen the transverse distance of the hip joint assembly 100, so that the distance between the mechanical leg assemblies 200 connected with the two-degree-of-freedom driving modules 2 is shortened or lengthened, the movement range of the robot can be enlarged, the movement requirement of the robot under multiple modes can be met, and the movement stability and rigidity of the robot are improved.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
In the description of the embodiments of the application, a particular feature, structure, material, or characteristic may be combined in any suitable manner in one or more embodiments or examples.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. A hip joint assembly, comprising:
A deployable mechanism;
two degrees of freedom driving modules are arranged and symmetrically arranged on two sides of the extensible mechanism;
The hip joint assembly can be applied to a robot, the two-degree-of-freedom driving module can be used for connecting a mechanical leg assembly of the robot and driving the mechanical leg assembly to move, and the extensible mechanism can be used for folding or unfolding the hip joint assembly so as to shorten or lengthen the transverse distance of the hip joint assembly, so that the distance between the mechanical leg assemblies connected by the two-degree-of-freedom driving module is shortened or lengthened;
The extensible mechanism comprises a middle frame support and swing rod modules, wherein the two swing rod modules are symmetrically and movably arranged on two sides of the middle frame support, and the two-degree-of-freedom driving modules are respectively connected with the two swing rod modules; the swing rod module comprises a first swing rod, a middle swing rod and a second swing rod, the middle frame support, the first swing rod, the middle swing rod and the second swing rod are connected end to form a parallelogram link mechanism, and the extensible mechanism realizes the folding or the unfolding of the hip joint assembly by controlling the rotation angle of the first swing rod or the second swing rod;
The first swing rod is controlled to rotate in a direction approaching to the middle frame support until the hip joint assembly is folded, or the second swing rod is controlled to rotate in a direction away from the middle frame support until the hip joint assembly is folded, so that the middle frame support is moved upwards, and the center of gravity of the robot is moved upwards;
the extensible mechanism is folded by controlling the first swing rod to rotate to the hip joint assembly in the direction away from the middle frame support, or is folded by controlling the second swing rod to rotate to the hip joint assembly in the direction close to the middle frame support, so that the middle frame support moves downwards, and the center of gravity of the robot moves downwards.
2. The hip joint assembly according to claim 1, wherein the parallelogram linkage achieves deployment of the hip joint assembly by controlling the first swing link and the second swing link to rotate to an angle perpendicular to the central axis of the center frame bracket.
3. The hip joint assembly according to claim 1, wherein a driving device is arranged between the first swing rod and/or the second swing rod and the middle frame bracket, and the driving device is used for controlling the first swing rod and/or the second swing rod to rotate.
4. The hip joint assembly according to claim 1, wherein the two-degree-of-freedom driving module comprises a tilting driving unit and a pitching driving unit, wherein the tilting driving unit is fixedly connected with the middle swing rod, and a first output end on the tilting driving unit is connected with the pitching driving unit so as to drive the pitching driving unit to rotate.
5. The hip joint assembly according to claim 4, wherein the pitch drive unit is connected to the second swing link, a first connection position of the pitch drive unit and the roll drive unit is located on the same axis as a second connection position of the pitch drive unit and the second swing link, a line between the first connection position and the second connection position is perpendicular to a central axis of the pitch drive unit, and a line between the first connection position and the second connection position is parallel to the central axis of the roll drive unit.
6. The hip joint assembly according to claim 5, wherein the swing rod module further comprises a third swing rod, and two ends of the third swing rod are respectively connected with the middle frame support and the second output end of the turnover driving unit.
7. The hip joint assembly according to claim 6, wherein a third connection position of the third swing link to the center frame bracket is located on the same axis as a fourth connection position of the second swing link to the center frame bracket, and a fifth connection position of the third swing link to the tilt drive unit is located on the same axis as a sixth connection position of the second swing link to the pitch drive unit.
8. A robot comprising a hip joint assembly according to claims 1 to 7 and two mechanical leg assemblies, the hip joint assembly comprising a deployable mechanism and two-degree-of-freedom drive modules;
The two mechanical leg assemblies are respectively connected with the two-degree-of-freedom driving modules, and the transverse distance of the hip joint assembly is shortened or prolonged by controlling the folding or unfolding of the unfolding mechanism, so that the distance between the two mechanical leg assemblies is shortened or prolonged;
The extensible mechanism comprises a middle frame support and swing rod modules, wherein the two swing rod modules are symmetrically and movably arranged on two sides of the middle frame support, and the two-degree-of-freedom driving modules are respectively connected with the two swing rod modules; the swing rod module comprises a first swing rod, a middle swing rod and a second swing rod, the middle frame support, the first swing rod, the middle swing rod and the second swing rod are connected end to form a parallelogram link mechanism, and the extensible mechanism realizes the folding or the unfolding of the hip joint assembly by controlling the rotation angle of the first swing rod or the second swing rod;
The first swing rod is controlled to rotate in a direction approaching to the middle frame support until the hip joint assembly is folded, or the second swing rod is controlled to rotate in a direction away from the middle frame support until the hip joint assembly is folded, so that the middle frame support is moved upwards, and the center of gravity of the robot is moved upwards;
the extensible mechanism is folded by controlling the first swing rod to rotate to the hip joint assembly in the direction away from the middle frame support, or is folded by controlling the second swing rod to rotate to the hip joint assembly in the direction close to the middle frame support, so that the middle frame support moves downwards, and the center of gravity of the robot moves downwards.
9. The robot of claim 8, wherein the deployable mechanism is configured to fully deploy the hip joint assembly by controlling the first swing link and the second swing link to rotate to an angle perpendicular to the central axis of the center frame bracket.
10. The robot of claim 8, wherein the mechanical leg assembly comprises a thigh module, a calf module, a wheel foot module, and a knee motor, wherein an upper end of the thigh module is connected with an output end of a pitch drive unit on the two-degree-of-freedom drive module, a distal end of the thigh module is connected with an upper end of the calf module and the knee motor, and the knee motor drives the calf module to rotate.
11. The robot of claim 10, wherein the mechanical leg assembly further comprises an ankle module, wherein the end of the lower leg module is connected to the wheel foot module through the ankle module, and wherein the ankle module can drive the wheel foot module to turn over to switch between a wheel mode and a foot mode.
12. The robot of claim 11, wherein the mechanical leg assembly further comprises a passive wheel, the passive wheel being coupled to an end of the thigh module;
if the wheel foot module is in an upright state and the driven wheel is in contact with the ground, the mode of the robot is a four-wheel mode.
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| CN202111348876.1A CN116118894B (en) | 2021-11-15 | 2021-11-15 | Hip joint assembly and robot |
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| CN202111348876.1A CN116118894B (en) | 2021-11-15 | 2021-11-15 | Hip joint assembly and robot |
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| CN116118894B true CN116118894B (en) | 2024-06-07 |
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