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CN118907268B - A variable stiffness buffer structure and a biomimetic bipedal robot - Google Patents

A variable stiffness buffer structure and a biomimetic bipedal robot

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Publication number
CN118907268B
CN118907268B CN202411253852.1A CN202411253852A CN118907268B CN 118907268 B CN118907268 B CN 118907268B CN 202411253852 A CN202411253852 A CN 202411253852A CN 118907268 B CN118907268 B CN 118907268B
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CN
China
Prior art keywords
robot
motor
foot
leg
locking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202411253852.1A
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Chinese (zh)
Other versions
CN118907268A (en
Inventor
于海涛
曲明成
田保林
刘礼娜
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Harbin Institute of Technology Shenzhen
Chongqing Research Institute of Harbin Institute of Technology
Original Assignee
Harbin Institute of Technology Shenzhen
Chongqing Research Institute of Harbin Institute of Technology
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Application filed by Harbin Institute of Technology Shenzhen, Chongqing Research Institute of Harbin Institute of Technology filed Critical Harbin Institute of Technology Shenzhen
Priority to CN202411253852.1A priority Critical patent/CN118907268B/en
Publication of CN118907268A publication Critical patent/CN118907268A/en
Application granted granted Critical
Publication of CN118907268B publication Critical patent/CN118907268B/en
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Classifications

    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00—Vibration-dampers; Shock-absorbers
    • F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
    • F16F7/104—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted

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

Abstract

A variable-rigidity buffer structure and a bionic bipedal robot relate to the technical field of robots. The foot type robot in the current stage has the problems of poor shock resistance and poor terrain adaptability. The robot comprises a buffer elastic piece, a tendon and a steering support component, wherein the steering support component is arranged on a leg of a robot and can deflect, the buffer elastic piece is arranged on the steering support component and can deflect along with the steering support component, the tendon is connected with the buffer elastic piece and a foot of the robot and is tensioned, when the foot of the robot contacts the ground, the foot of the robot turns around an ankle joint and pulls the tendon, the buffer elastic piece deforms through stretching of the tendon, and when the foot of the robot lifts up, the foot of the robot returns under the rebound of the buffer elastic piece. The deflection of the steering support component is followed, the deflection of the buffering elastic piece is simultaneously changed with the angle of the included angle between the buffering elastic piece and the tendons, the resultant force along the direction of the tendons is changed, and the rigidity of the variable rigidity buffering structure is changed. The invention is mainly used for the design of robots.

Description

Variable rigidity buffer structure and bionic bipedal robot
Technical Field
The invention relates to the technical field of robots, in particular to a variable-rigidity buffer structure and a bionic bipedal robot.
Background
The humanoid robot has high flexibility, better adaptability and trafficability to complex terrains, can freely use tools used by human beings, has human appearance, is more natural in human-computer interaction and has huge application potential in human society. The biped walking exercise mode similar to the human is more passable than other driving modes such as wheel type or wheel belt type, so that the lower limb structural design of the humanoid robot is more fit with the legs of the human, and the biped walking exercise mode has very important significance.
At present, the connection between the legs and the feet of the humanoid robot is mostly rigid. When the foot type robot moves, particularly, the foot type robot jumps to jump and the like, the foot can be subjected to certain impact force on the ground after being contacted with the ground, and the impact force can be transmitted to the ankle joint and the leg of the robot, so that the ankle joint, the leg or the motor on the leg of the robot and the like can be subjected to larger vibration, and the service life of the foot, the leg, the motor and the like of the robot is influenced. Therefore, the foot robot of the present stage has a problem of poor impact resistance.
Disclosure of Invention
In view of the above, the invention provides a variable stiffness buffer structure and a bionic biped robot, which utilize the variable stiffness buffer structure to absorb impact force borne by feet of the biped robot in the motion process, so as to increase the shock resistance of the biped robot, and simultaneously can also utilize the variable stiffness buffer structure to change the stiffness of ankle joints, so as to increase the adaptability of different terrains of the biped robot.
The invention adopts the technical scheme for solving the technical problems that:
A rigidity-variable buffer structure comprises a buffer elastic piece and tendons, wherein the buffer elastic piece and the tendons are arranged on the rear side of a leg, the buffer elastic piece is arranged on the leg of a robot, the tendons are connected with the buffer elastic piece and the feet of the robot and are tensioned, when the feet of the robot contact the ground, the feet of the robot turn around ankle joints and pull the tendons, the buffer elastic piece deforms through stretching of the tendons, and when the feet of the robot are lifted, the feet of the robot reset under resilience of the buffer elastic piece.
The damping elastic piece is arranged on the steering support component and can deflect along with the steering support component, and the angle between the damping elastic piece and the tendon is changed while the damping elastic piece deflects along with the deflection of the steering support component, so that the resultant force along the tendon direction is changed, and the rigidity of the variable rigidity damping structure is changed.
Further, the steering support assembly comprises a steering motor and a support sleeve used for supporting the buffer elastic piece, the support sleeve is connected to a motor shaft of the steering motor and can rotate along with the motor shaft, the buffer elastic piece is arranged in the support sleeve, the steering motor is started, and the support sleeve rotates along with the motor shaft of the steering motor so that the buffer elastic piece deflects.
The ankle locking assembly comprises a locking slide column, a pressing plate and a slide column locking piece, wherein the pressing plate is arranged at the top of the buffering elastic piece and is contacted with the buffering elastic piece, the locking slide column sequentially penetrates through the pressing plate, the buffering elastic piece and the supporting sleeve and can axially move, one end of a tendon is connected with the lower end of the locking slide column, the other end of the tendon bypasses the tensioning wheel and is connected with a foot, the slide column locking piece is arranged on the leg of the robot, the slide column locking piece is provided with a locking braking part matched with the locking slide column, when the locking braking part of the slide column locking piece brakes the locking slide column, the position of the locking slide column is locked, the tendon is tensioned and kept, and the ankle position is locked, so that the variable rigidity buffering structure is switched from a rigidity mode to a pure rigidity mode.
Further, the strut lock is provided with a lock pin, the lock pin can be driven to stretch and retract, the lower end of the locking strut is provided with a lock hole, and when the lock pin of the strut lock extends out, the lock pin is inserted into the lock hole of the locking strut, so that the locking strut is locked.
A bionic bipedal robot comprises legs and feet, wherein the legs are movably connected with the feet to form ankle joints at connecting points, the bionic bipedal robot further comprises a variable rigidity buffer structure, and the variable rigidity buffer structure is connected with the legs and the feet to relieve impact force born by the feet of the bipedal robot during movement and increase terrain adaptation stress of the bipedal robot.
The hip joint driving mechanism is connected with the machine body and the legs and drives the legs to do two-degree-of-freedom motion, the hip joint driving mechanism comprises a motor connecting piece, a side swing motor and a hip joint pitching motor, the shell of the side swing motor is arranged on the machine body, the motor connecting piece is connected with a motor shaft of the side swing motor and rotates along with the motor shaft, the shell of the hip joint pitching motor is arranged on the motor connecting piece, the legs are connected with the motor shaft of the hip joint pitching motor and rotate along with the motor shaft, when the motor connecting piece rotates along with the motor shaft of the side swing motor, the motor connecting piece drives the hip joint pitching motor and the legs to do side swing motion, and when the legs rotate along with the motor shaft of the hip joint pitching motor, the legs do pitching motion.
The knee joint driving mechanism comprises a knee joint pitching motor, a crank, a first connecting rod, a second connecting rod and a third connecting rod, wherein the knee joint pitching motor is arranged on the thigh, one end of the crank is connected with a motor shaft of the knee joint pitching motor and rotates along with the motor shaft, the other end of the crank is hinged with one end of the first connecting rod, the other end of the first connecting rod is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged with the top end of the lower leg, one end of the third connecting rod is connected with the connecting point of the first connecting rod and the second connecting rod and can rotate, the other end of the third connecting rod is connected with the thigh and can rotate, and when the crank rotates along with the motor shaft of the knee joint pitching motor, torque of the crank is transmitted to the lower leg through the first connecting rod and the second connecting rod in sequence so that the lower leg can pitch around the knee joint.
Further, a first limiting block for preventing the lower leg from overturning backwards is arranged at the heel of the foot, a second limiting block for preventing the upper leg from overturning forwards is arranged at the lower end of the front side of the thigh, when the foot-type robot stands up, the lower end of the lower leg is abutted against the limiting block and can be kept motionless, the second limiting block on the thigh is abutted against the upper end of the lower leg, and the upper leg can be kept standing upright, so that the non-driving standing of the robot is realized.
Further, the foot comprises a sole, toes and torsion springs, wherein the sole and the toes are movably connected through pin shafts, the torsion springs are sleeved on the pin shafts, and two torsion feet of the torsion springs are respectively abutted to the sole and the toes.
Compared with the prior art, the invention has the beneficial effects that:
1. The rigidity-variable buffer structure with rigid-flexible coupling is arranged between the legs and the feet of the foot-type robot, the impact force received by the feet is absorbed by utilizing the elasticity of the rigidity-variable buffer structure, the impact resistance of the foot-type robot is improved, the rigidity-variable buffer structure is utilized to adapt to complex road conditions, and the adaptability and the movement stability of the foot-type robot are improved.
2. The knee joint driving mechanism can realize the pitching movement of the lower leg, and can realize the standing form and the fully folded form of the leg, and the storage volume of the robot is saved in the fully folded form. The knee joint pitching motor is arranged on the thigh side and symmetrically arranged with the hip joint pitching motor, so that the uniformity of the leg quality is ensured, the knee joint can be driven remotely, the length of a force arm is increased, and the output torque of the motor is reduced. Meanwhile, the center of mass of the leg is improved, the inertia of the leg is reduced, the lightweight design of the leg is realized, and the control difficulty of the leg is greatly reduced.
3. According to the invention, mechanical limit is designed at the heel part of the foot and the lower end of the thigh, so that the non-driving standing of the foot robot is realized, and the defect of falling down during power failure is avoided.
Drawings
The accompanying drawings are included to provide a further understanding of the application.
Fig. 1 is a cross-sectional view of a variable stiffness cushioning structure mounted on a leg of a robot.
Fig. 2 is a schematic structural view of a variable stiffness cushioning structure embodying the present invention.
Fig. 3 is a schematic view of a structure in which a variable stiffness buffer structure is mounted on a leg of a robot.
Fig. 4 is a schematic structural view of a foot robot embodying the present invention.
Fig. 5 is a schematic structural view of the foot robot in a fully gathered state.
Fig. 6 is a schematic view of the assembly of the fuselage, hip drive mechanism and thigh.
Fig. 7 is a schematic view of the assembly of the thigh, calf and knee joint drive mechanisms.
Fig. 8 is a schematic diagram of the stiffness variation upon deflection of the variable stiffness cushioning structure.
Reference numerals illustrate:
the variable stiffness cushioning structure 1, the cushioning elastic member 11, the tension pulley 12, the tendon 13, the tendon tension knob 14, the steering support assembly 15, the mounting bracket 151, the steering motor 152, the support sleeve 153, the ankle locking assembly 16, the locking strut 161, the pressure plate 162, and the strut lock 163;
a body 2;
Thigh 3, second stopper 31;
a lower leg 4;
A foot 5, a sole 51, a toe 52, a torsion spring 53, a first limiting block 54;
A hip joint driving mechanism 6, a motor connecting piece 61, a side swing motor 62 and a hip joint pitching motor 63;
The knee joint driving mechanism 7, the knee joint pitch motor 71, the crank 72, the first link 73, the second link 74 and the third link 75.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
Example 1:
The foot of existing robots are typically driven by an ankle drive assembly to effect pitching motion. However, when the foot-type robot moves, especially when the foot-type robot jumps, the foot-type robot is in contact with the ground and receives a certain impact force on the ground, the impact force is transmitted to the leg of the robot, and the leg of the robot or a motor on the leg is greatly vibrated, so that the service life of the foot, the leg, the motor and the like of the robot is affected. In addition, the ankle joint rigidity that biped robot required when walking on different ground is different, and the topography adaptive force of biped robot can not be improved to fixed ankle joint rigidity.
To this end, as shown in fig. 1 to 8, the present embodiment provides a variable stiffness cushioning structure including a cushioning elastic member 11, tendons 13, and tendon tensioning knobs 14, the legs of the robot being movably connected with the feet and forming ankle joints at connection points. The buffer elastic member 11 and the tendon 13 are arranged at the rear side of the leg, the buffer elastic member 11 is mounted at the leg of the robot, a threading hole is formed at the position of the foot of the robot near the heel, and the tendon tensioning knob 14 is mounted on the instep of the foot of the robot. The buffer elastic member 11 is connected to one end of the tendon 13 and deforms with the stretching of the tendon 13, the other end of the tendon 13 passes through a threading hole on the robot foot and is connected to the tendon tensioning knob 14, and the tendon 13 is pre-tensioned by screwing the tendon tensioning knob 14.
In this embodiment, the foot and the leg of the foot robot are connected through the ankle joint, and the variable stiffness buffer structure is composed of the buffer elastic member 11 and the tendon 13, wherein the tendon 13 is a rope-like long flexible member, and the buffer elastic member 11 may be a spring, an elastic component formed by stacking a plurality of disc springs, or other elastic elements capable of deforming along the extending direction of the tendon 13. Therefore, the rigidity-variable buffer structure is integrally a flexible part with elasticity, when the foot-type robot walks, jumps and the like, the foot of the robot can receive impact force at the moment of contacting the ground, the foot-type robot overturns around the ankle joint and pulls the tendon 13 under the impact force, the buffer elastic part 11 deforms through the stretching of the tendon 13, part of impact force and anti-interference force are absorbed, the buffer effect is achieved on the mechanical parts such as the foot, the ankle joint and the leg, the service life of the foot-type robot is prolonged, and the stability of the robot in the movement process is improved. When the leg of the foot robot is lifted, the buffer elastic member 11 is reset under the resilience force of the buffer elastic member, and the foot is driven to turn around the ankle joint via the tendon 13 to reset.
As shown in fig. 1, 2 and 3, since the foot robot needs to be adapted to different use environments, the versatility of the use thereof is increased. Generally, the use environment of the device is soft ground such as sandy soil or hard ground such as asphalt. When facing to a soft ground, the foot-type robot walks or jumps and the like, the deformation of the soft ground can absorb the impact force between the foot-type robot and the ground, and if the rigidity/elasticity of the variable rigidity buffer structure is smaller, the ankle joint can be deformed more easily, so that the stability of the foot-type robot on the soft ground is poorer. When facing hard ground, the impact force between the foot robot and the ground is large, and if the rigidity/elasticity of the variable stiffness buffer structure is large, the buffer effect of the variable stiffness buffer structure is poor, and the foot is still subjected to large impact force and anti-interference force.
To this end, the variable stiffness cushioning structure described in this embodiment further includes a steering support assembly 15 for varying the stiffness of the variable stiffness cushioning structure. Specifically, the steering support assembly 15 includes a mounting frame 151, a steering motor 152 and a support sleeve 153 for supporting the buffer elastic member 11, the mounting frame 151 is fixedly mounted on a leg portion of the robot, a casing of the steering motor 152 is mounted on the mounting frame 151, the support sleeve 153 is mounted on the mounting frame 151 via a pin and can rotate around the pin, the support sleeve 153 is connected to a motor shaft of the steering motor 152 and rotates under the driving of the motor shaft, the motor shaft and the pin are coaxially arranged to avoid rotation interference, and the buffer elastic member 11 is built in the support sleeve 153.
In this embodiment, the buffer elastic member 11 is mounted on the leg of the robot through the steering support assembly 15, when the steering support assembly 15 is in the initial position, the deformation direction of the buffer elastic member 11 is close to 180 ° with the extension direction of the tendon 13, at this time, the buffer elastic member 11 is easy to deform under the tension of the tendon 13, when the steering support assembly 15 deflects, the buffer elastic member 11 also deflects together, at this time, the angle between the buffer elastic member 11 and the tendon 13 gradually becomes smaller, and under the condition that the extension length of the buffer elastic member 11 is unchanged, the elastic force of the buffer elastic member 11 is unchanged, but the resultant force along the tendon direction increases, and the ankle stiffness increases, so as to change the angle between the buffer elastic member 11 and the tendon 13, the change of the rigidity of the variable stiffness buffer structure can be realized, so as to adapt to the use of different road conditions, and the stability of the movement of the robot is increased. When the foot robot moves from a hard ground to a soft ground, the steering motor 152 is started, the supporting sleeve 153 rotates along with the motor shaft of the steering motor 152, the buffer elastic piece 11 deflects along with the supporting sleeve 153, the angle between the buffer elastic piece 11 and the tendon 13 is gradually reduced while the buffer elastic piece 11 deflects, and the tension of the tendon 13 is gradually increased, so that the stability of connection between the foot and the leg is improved when the foot robot is positioned on the soft ground. Conversely, when the foot robot moves from soft ground to hard ground, the steering motor 152 rotates reversely, the supporting sleeve 153 rotates along with the motor shaft of the steering motor 152, the buffer elastic piece 11 deflects along with the supporting sleeve 153, the included angle between the buffer elastic piece 11 and the tendon 13 gradually becomes larger while the buffer elastic piece 11 deflects, the tensioning force of the tendon 13 gradually decreases, the rigidity of the variable rigidity buffer structure decreases, the buffer performance increases, and more impact force can be absorbed. That is, the present embodiment increases the ability of the foot robot to accommodate different terrain by the design of the steering support assembly 15.
As shown in fig. 1, 2 and 3, the legged robot needs to adapt to the environment of a flat road condition and a rugged road condition in addition to the environment of a soft road condition or a hard road condition. When facing a flat road surface, it is necessary to accelerate the walking speed of the foot robot, which increases the difficulty in controlling the movement of the robot if the ankle of the robot has a degree of freedom. When facing a rough road with complex road conditions, in order to increase the stability of the movement of the robot, the walking speed of the foot robot is reduced, and if the ankle joint of the robot is locked, the adaptability of the foot robot is reduced.
For this, the variable stiffness cushioning structure described in this embodiment further includes a tension pulley and an ankle locking assembly 16 for locking the ankle, the tension pulley being rotatably mounted to a leg of the robot, the ankle locking assembly 16 including a locking strut 161, a pressing plate 162 and a strut locking member 163, the pressing plate 162 being disposed on top of and contacting the cushioning elastic member 11, the locking strut 161 penetrating the pressing plate 162, the cushioning elastic member 11 and the supporting sleeve 153 in order and being axially movable. The tendon 13 has one end connected to the lower end of the locking slide column, the other end of the tendon 13 bypasses the tension pulley and is connected to the tendon tension knob 14, the slide column locking member 163 is mounted on the leg of the robot, the slide column locking member 163 is provided with a locking braking portion matched with the locking slide column 161, specifically, the slide column locking member 163 is provided with a lock pin, the lock pin can be driven to stretch and retract, the slide column locking member 163 is preferably an electromagnetic latch lock, the lower end of the locking slide column 161 is provided with a lock hole, when the lock pin of the slide column locking member 163 stretches out, the lock pin is inserted into the lock hole of the locking slide column 161, so that the position of the locking slide column 161 is locked, the tendon 13 is tensioned and kept, and the variable stiffness buffer structure is switched from a variable stiffness mode to a pure stiffness mode.
In this embodiment, when the tendon 13 pulls the locking strut 161, the locking strut 161 moves downward along the axial direction of the supporting sleeve 153 and drives the pressing plate 162 to move downward, and the pressing plate 162 presses the buffering elastic member 11 to compress the buffering elastic member 11 for absorbing energy. When the road condition faced by the foot robot is a flat road surface, the sliding column locking piece 163 is started, the locking braking part of the sliding column locking piece 163 brakes the locking sliding column 161, the locking sliding column 161 is locked and cannot move, and further the pressing plate 162 cannot be driven to move downwards under the pulling of the tendon 13 to squeeze the buffering elastic piece 11, at the moment, the tendon 13 is in a tensioning state and is kept, the foot of the robot and the leg of the robot are kept motionless under the tensioning force of the tendon 13, that is, the ankle joint is locked and cannot rotate, and the variable rigidity buffering structure is switched from the variable rigidity mode to the pure rigidity mode, so that the control difficulty of the foot robot is reduced. When the road condition faced by the foot robot is a complex rugged road surface, the locking braking part of the sliding column locking piece 163 is separated from the locking sliding column 161, the locking sliding column 161 can axially move and can continuously drive the pressing plate 162 to move downwards under the pulling of the tendon 13 so as to squeeze the buffering elastic piece 11, the ankle joint is unlocked, and the variable rigidity buffering structure is switched from pure rigidity to a variable rigidity mode so as to adapt to the walking of the rugged road surface.
Example 2:
As shown in fig. 4 to 7, the present embodiment provides a bionic bipedal robot including a body 2, a thigh 3, a shank 4, and a foot 5 sequentially arranged from top to bottom, and further including a hip joint driving mechanism 6, a knee joint driving mechanism 7, and a variable rigidity buffer structure 1. Wherein the body 2 and the thigh 3 are connected via a hip joint driving mechanism 6, and the thigh 3 performs pitching motion and rolling motion under the driving of the hip joint driving mechanism 6. The thigh 3 and the shank 4 are movably connected through a pin shaft and form a knee joint at a connecting point, and a knee joint driving mechanism 7 is connected with the thigh 3 and the shank 4 and drives the shank 4 to do pitching motion around the knee joint. The lower leg 4 and the foot 5 are movably connected through a pin shaft, an ankle joint is formed at the connecting point, and the foot 5 can do pitching motion around the ankle joint. The rigidity-variable buffer structure 1 is connected with the legs and the feet 5 to relieve impact force and anti-interference force received by the feet 5 when the foot robot moves, and can realize resetting after the feet 5 do pitching movement.
The hip joint driving mechanism 6 comprises a motor connecting piece 61, a side swinging motor 62 and a hip joint pitching motor 63, wherein a shell of the side swinging motor 62 is arranged on the rear side of the machine body 2, the motor connecting piece 61 is an L-shaped connecting piece, one side plate of the L-shaped connecting piece is connected with a motor shaft of the side swinging motor 62 and rotates along with the motor shaft, the shell of the hip joint pitching motor 63 is arranged on the other side plate of the L-shaped connecting piece, the hip joint pitching motor 63 is arranged on the outer side of the thigh 3, a motor shaft of the side swinging motor 62 is vertically arranged with a motor shaft of the hip joint pitching motor 63, the thigh 3 is connected with the motor shaft of the hip joint pitching motor 63 and rotates along with the motor shaft, when the motor connecting piece 61 rotates along with the motor shaft of the side swinging motor 62, the motor connecting piece 61 drives the hip joint pitching motor 63 and the thigh 3 to do side swinging motion, and when the thigh 3 rotates along with the motor shaft of the hip joint pitching motor 63, the thigh 3 rotates along with the motor shaft of the hip joint pitching motor 63. The thigh 3 has two degrees of freedom via the design of the hip drive 6 in this embodiment.
The knee joint driving mechanism 7 comprises a knee joint pitching motor 71, a crank 72 and a multi-link assembly consisting of a first link 73, a second link 74 and a third link 75, wherein the knee joint pitching motor 71 is arranged on the inner side of the thigh 3 and symmetrically arranged with the hip joint pitching motor 63, so that the symmetry of the leg structure and the balance of the quality are ensured. One end of a crank 72 is connected with a motor shaft of a knee joint pitching motor 71 and rotates along with the motor shaft, the other end of the crank 72 is connected with a lower leg 4 through a multi-link assembly, specifically, the other end of the crank 72 is hinged with one end of a first link 73, the other end of the first link 73 is hinged with one end of a second link 74, the other end of the second link 74 is hinged with the top end of the lower leg 4, one end of a third link 75 is connected with a connecting point of the first link 73 and the second link 74 and can rotate, the other end of the third link 75 is connected with a thigh 3 and can rotate, the design of the third link 75 enables the knee joint driving mechanism 7 to have only one degree of freedom, the certainty of the movement angle of the lower leg is guaranteed, and when the crank 72 rotates along with the motor shaft of the knee joint pitching motor 71, torque of the crank 72 is transmitted to the lower leg 4 through the first link 73 and the second link 74 in sequence, so that the lower leg 4 can do pitching movement around the knee joint.
It should be noted that, in the present embodiment, the knee joint driving mechanism 7 is in a non-driving state, the crank 72 still can rotate around the motor shaft of the knee joint pitching motor 71 under the action of the inertial force, and drives the first link 73, the second link 74 and the lower leg 4 to swing, in order to ensure that the foot robot can keep a standing state under no driving, the lower end of the thigh 3is provided with an opening, the front side of the opening, which is close to the thigh 3, is provided with the second limit block 31, and the upper end of the lower leg 4is inserted into the opening of the thigh 3. When the thigh 3 and the shank 4 are in the limiting positions, the second limiting block 31 at the lower end of the thigh 3is abutted against the front end face of the upper end of the shank 4, so that the forward tilting of the thigh 3is avoided. That is, the maximum included angle between the thigh 3 and the shank 4is approximately 180 degrees, and the driverless erection of the thigh 3 and the shank 4 can be realized under the action of the second limiting block 31. In addition, the second connecting rod 74 is an arc connecting rod, the arc connecting rod bends towards the rear side of the thigh, the thigh 3 and the shank 4 can be changed from an upright state to a fully folded state of the leg through the driving of the knee joint driving mechanism 7, and the driving process is that when the knee joint pitching motor 71 rotates clockwise, the crank 72 rotates clockwise along with a motor shaft, the crank 72 sequentially transmits rotating torque to the first connecting rod 73 and the second connecting rod 74, the second connecting rod 74 generates eccentric thrust to the shank 4, and the shank 4 swings anticlockwise around the knee joint to gradually gather between the thigh 3 and the shank 4 until the leg forms the fully folded state. Conversely, when the leg is changed from the fully collapsed configuration to the upright configuration, the knee pitch motor 71 rotates counterclockwise, the crank 72 rotates counterclockwise with the motor shaft, the crank 72 sequentially transmits the rotating torque to the first link 73 and the second link 74, the second link 74 generates an eccentric tension on the lower leg 4, and the lower leg 4 swings clockwise about the knee joint to gradually spread out between the thigh 3 and the lower leg 4 until the leg is in the upright configuration. In the present embodiment, the knee pitch motor 71 of the knee joint driving mechanism 7 is disposed at the root of the thigh 3, and a symmetrical structure is formed with the hip pitch motor 63, so that the knee joint can be driven remotely, the length of the arm is increased, and the output torque of the motor is reduced. Meanwhile, the center of mass of the leg is improved, the inertia of the leg is reduced, the lightweight design of the leg is realized, and the control difficulty of the leg is greatly reduced.
The foot 5 comprises a sole 51, a toe 52 and a torsion spring 53, the sole 51 and the toe 52 are movably connected through a pin shaft, the toe 52 can do pitching motion around the pin shaft, the torsion spring 53 is sleeved on the pin shaft, and two torsion feet of the torsion spring 53 are respectively abutted to the sole 51 and the toe 52, so that resetting of the toe 52 after pitching motion is achieved. When the foot robot walks on an uneven road surface, the toe 52 is pressed by the road surface to turn over, and the torsion spring 53 is deformed. When the foot 5 is lifted, the toe 52 is returned by the resilience of the torsion spring 53. In this embodiment, the torsion spring 53 in the foot 5 can still absorb the impact force of the foot 5, so as to improve the impact force and anti-interference force of the foot robot. In addition, a first stopper 54 for preventing the lower leg 4 from turning backward is provided at the heel of the foot 5. The center of gravity of the biped robot is offset when the biped robot stands, so that the lower end of the lower leg 4 of the robot leans against the inner surface of the first limiting block 54 and can be kept still, and the driverless standing of the lower leg 4 is realized.
The following further describes the motion process of the foot robot under different road conditions, so as to further show the working principle and advantages of the invention:
The hip pitching motor 63 and the knee pitching motor 71 are started, the thigh 3 rotates along with the motor shaft of the hip pitching motor 63, the thigh 3 moves in a pitching mode around the motor shaft of the hip pitching motor 63, meanwhile, the crank 72 rotates along with the motor shaft of the knee pitching motor 71 and drives the first connecting rod 73, the second connecting rod 74, the third connecting rod 75 and the lower leg 4 to swing, the lower leg 4 drives the foot 5 to lift and fall, the foot 5 of the robot can receive impact force at the moment of contacting the ground, the foot 5 of the robot overturns around the ankle joint and pulls the tendon 13 under the impact force, the buffering elastic piece 11 deforms through stretching of the tendon 13, part of impact force and anti-interference force are absorbed, the buffering effect is achieved on the foot 5, the ankle joint, the leg and other mechanical parts, the service life of the foot robot is prolonged, and the stability of the robot in the moving process is improved.
When the foot robot moves from a hard ground to a soft ground, the steering motor 152 is started, the supporting sleeve 153 rotates along with the motor shaft of the steering motor 152, the buffer elastic piece 11 deflects along with the supporting sleeve 153, the included angle between the buffer elastic piece 11 and the tendon 13 is gradually reduced while the buffer elastic piece 11 deflects, and the tension of the tendon 13 is gradually increased, so that the stability of connection between the foot 5 and the leg is improved when the foot robot is positioned on the soft ground.
When the foot robot moves from soft ground to hard ground, the steering motor 152 rotates reversely, the supporting sleeve 153 rotates along with the motor shaft of the steering motor 152, the buffer elastic piece 11 deflects along with the supporting sleeve 153, the included angle between the buffer elastic piece 11 and the tendon 13 gradually becomes larger while the buffer elastic piece 11 deflects, the tensioning force of the tendon 13 gradually decreases, the rigidity of the variable rigidity buffer structure 1 decreases, the buffer performance increases, and more impact force can be absorbed.
When the road condition faced by the foot robot is a flat road surface, the sliding column locking member 163 is started, the locking braking part of the sliding column locking member 163 brakes the locking sliding column 161, the locking sliding column 161 is locked and cannot move, and further the pressing plate 162 cannot be driven to move downwards under the pulling of the tendon 13 to squeeze the buffering elastic member 11, at the moment, the tendon 13 is in a tensioning state and is kept, the foot 5 of the robot and the leg of the robot are kept motionless under the tensioning force of the tendon 13, that is, the ankle joint is locked and cannot rotate, and the variable stiffness buffering structure 1 is switched from a variable stiffness mode to a pure stiffness mode, so that the control difficulty of the foot robot is reduced.
When the road condition faced by the foot robot is a complex rugged road surface, the locking braking part of the sliding column locking piece 163 is separated from the locking sliding column 161, the locking sliding column 161 can axially move, and can continuously drive the pressing plate 162 to move downwards under the pulling of the tendon 13 so as to squeeze the buffering elastic piece 11, the ankle joint is unlocked, and the variable rigidity buffering structure 1 is switched from a pure rigidity mode to a variable rigidity mode so as to adapt to the walking of the rugged road surface.
The invention enables the impact generated by the foot 5 and the ground to be absorbed by the design of the variable rigidity buffer structure 1 and the torsion spring 53 in the foot 5, and the stability of the elevator robot in the walking process. The rigidity-variable buffer structure 1 can be converted into two state modes of rigidity-variable and pure rigidity, so that the adaptability of the humanoid robot to the ground is improved. Meanwhile, a knee pitch motor 71 in the knee joint driving mechanism 7 is moved upwards and is arranged at the hip joint, the gravity center of the whole leg is moved upwards, inertia of the lower limb during swinging is reduced, stability in a walking process is facilitated, and in addition, a four-bar mechanism is adopted as the knee joint driving mechanism 7, so that the fully-folded state of the humanoid robot can be realized. The knee joint and the ankle joint realize the driverless standing of the humanoid robot by adopting mechanical limit, so that the problem that the humanoid robot may fall down when power is off is avoided.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.

Claims (8)

1.一种可变刚度缓冲结构，其特征在于：包括缓冲弹性件和肌腱，缓冲弹性件和肌腱布置于腿部的后侧，缓冲弹性件安装于机器人的腿部，肌腱连接缓冲弹性件与机器人的足部并张紧；当所述机器人的足部接触地面时，机器人的足部绕踝关节翻转并拉动肌腱，缓冲弹性件经由肌腱的拉伸而变形；当所述机器人的足部抬起时，机器人的足部在缓冲弹性件的回弹下复位；1. A variable stiffness buffer structure, characterized in that: it includes a buffer elastic element and a tendon, the buffer elastic element and the tendon are arranged on the rear side of the leg, the buffer elastic element is installed on the robot's leg, and the tendon connects the buffer elastic element to the robot's foot and is tensioned; when the robot's foot contacts the ground, the robot's foot rotates around the ankle joint and pulls the tendon, and the buffer elastic element deforms due to the stretching of the tendon; when the robot's foot is lifted, the robot's foot returns to its original position under the rebound of the buffer elastic element; 还包括转向支撑组件，转向支撑组件安装于机器人的腿部并可偏转，缓冲弹性件安装于转向支撑组件并可随转向支撑组件偏转；随转向支撑组件的偏转，缓冲弹性件偏转的同时与肌腱之间夹角角度发生改变，沿肌腱方向的合力改变，实现可变刚度缓冲结构刚度的改变；It also includes a steering support assembly, which is mounted on the robot's legs and can deflect. A buffer elastic element is mounted on the steering support assembly and can deflect with the steering support assembly. As the steering support assembly deflects, the angle between the buffer elastic element and the tendon changes, and the resultant force along the tendon direction changes, thereby realizing the change of the stiffness of the variable stiffness buffer structure. 所述的转向支撑组件包括转向电机和用于支撑缓冲弹性件的支撑套筒，支撑套筒连接于转向电机的电机轴并可随电机轴转动，缓冲弹性件内置于支撑套筒内；启动转向电机，支撑套筒随转向电机的电机轴转动，以使缓冲弹性件发生偏转。The steering support assembly includes a steering motor and a support sleeve for supporting the buffer elastic element. The support sleeve is connected to the motor shaft of the steering motor and can rotate with the motor shaft. The buffer elastic element is built into the support sleeve. When the steering motor is started, the support sleeve rotates with the motor shaft of the steering motor, so that the buffer elastic element deflects. 2.根据权利要求1所述的一种可变刚度缓冲结构，其特征在于：还包括张紧轮和用于锁定踝关节的踝关节锁定组件；张紧轮安装于机器人的腿部并可转动；踝关节锁定组件包括锁定滑柱、压板和滑柱锁紧件，压板置于缓冲弹性件的顶部并接触，锁定滑柱依次贯穿压板、缓冲弹性件和支撑套筒并可轴向移动；肌腱的一端连接锁定滑柱的下端，肌腱的另一端绕过张紧轮并连接于足部；滑柱锁紧件安装于机器人的腿部，滑柱锁紧件设有与锁定滑柱配合的锁紧制动部；当滑柱锁紧件的锁紧制动部对锁定滑柱制动时，锁定滑柱的位置被锁定，肌腱张紧并保持，踝关节位置被锁定，以使可变刚度缓冲结构由变刚度模式切换至纯刚性模式。2. The variable stiffness buffer structure according to claim 1, characterized in that: it further includes a tensioning wheel and an ankle joint locking assembly for locking the ankle joint; the tensioning wheel is installed on the robot's leg and is rotatable; the ankle joint locking assembly includes a locking slide, a pressure plate and a slide lock member, the pressure plate is placed on top of and in contact with the buffer elastic member, the locking slide passes through the pressure plate, the buffer elastic member and the support sleeve in sequence and is axially movable; one end of the tendon is connected to the lower end of the locking slide, and the other end of the tendon passes around the tensioning wheel and is connected to the foot; the slide lock member is installed on the robot's leg, and the slide lock member is provided with a locking braking part that cooperates with the locking slide; when the locking braking part of the slide lock member brakes the locking slide, the position of the locking slide is locked, the tendon is tensioned and held, and the position of the ankle joint is locked, so that the variable stiffness buffer structure switches from a variable stiffness mode to a pure stiffness mode. 3.根据权利要求2所述的一种可变刚度缓冲结构，其特征在于：滑柱锁紧件设有锁销，且锁销可被驱动伸缩，锁定滑柱的下端开有锁孔，当滑柱锁紧件的锁销伸出时，锁销插入至锁定滑柱的锁孔内，以使锁定滑柱被锁定。3. The variable stiffness buffer structure according to claim 2, characterized in that: the sliding column locking member is provided with a locking pin, and the locking pin can be driven to extend and retract; the lower end of the locking slide column has a locking hole; when the locking pin of the sliding column locking member extends, the locking pin is inserted into the locking hole of the locking slide column, so that the locking slide column is locked. 4.一种仿生双足机器人，包括腿部和足部，腿部与足部活动连接并在连接点处形成踝关节；其特征在于：还包括如权利要求1至3任一项所述的一种可变刚度缓冲结构；可变刚度缓冲结构连接腿部与足部，以缓解足式机器人在运动时足部受到的冲击力和增加双足机器人的地形适应力。4. A biomimetic bipedal robot, comprising legs and feet, wherein the legs and feet are movably connected and form an ankle joint at the connection point; characterized in that: it further comprises a variable stiffness buffer structure as described in any one of claims 1 to 3; the variable stiffness buffer structure connects the legs and feet to alleviate the impact force on the feet of the bipedal robot during movement and to increase the terrain adaptability of the bipedal robot. 5.根据权利要求4所述的一种仿生双足机器人，其特征在于：还包括机身和髋关节驱动机构；髋关节驱动机构连接机身与腿部并驱动腿部做二自由度运动；所述的髋关节驱动机构包括电机连接件、侧摆电机和髋关节俯仰电机，侧摆电机的机壳安装于机身，电机连接件连接侧摆电机的电机轴并随电机轴转动，髋关节俯仰电机的机壳安装于电机连接件，腿部连接髋关节俯仰电机的电机轴并随电机轴转动；当电机连接件随侧摆电机的电机轴转动时，电机连接件带动髋关节俯仰电机以及腿部作侧摆运动；当腿部随髋关节俯仰电机的电机轴转动时，腿部作俯仰运动。5. A biomimetic bipedal robot according to claim 4, characterized in that: it further includes a body and a hip joint drive mechanism; the hip joint drive mechanism connects the body and the leg and drives the leg to perform two-degree-of-freedom motion; the hip joint drive mechanism includes a motor connector, a lateral swing motor and a hip joint pitch motor, the housing of the lateral swing motor is mounted on the body, the motor connector is connected to the motor shaft of the lateral swing motor and rotates with the motor shaft, the housing of the hip joint pitch motor is mounted on the motor connector, and the leg is connected to the motor shaft of the hip joint pitch motor and rotates with the motor shaft; when the motor connector rotates with the motor shaft of the lateral swing motor, the motor connector drives the hip joint pitch motor and the leg to perform lateral swing motion; when the leg rotates with the motor shaft of the hip joint pitch motor, the leg performs pitch motion. 6.根据权利要求4所述的一种仿生双足机器人，其特征在于：所述的腿部包括大腿、小腿和膝关节驱动机构；大腿和小腿活动连接并在连接点处形成膝关节，膝关节驱动机构连接大腿和小腿并驱动小腿绕膝关节做俯仰运动；所述的膝关节驱动机构包括膝关节俯仰电机、曲柄、连杆一、连杆二和连杆三，膝关节俯仰电机安装于大腿，曲柄的一端连接膝关节俯仰电机的电机轴并随电机轴转动，曲柄的另一端与连杆一的一端铰连接，连杆一的另一端与连杆二的一端铰连接，连杆二的另一端与小腿的顶端铰连接，连杆三的一端连接于连杆一与连杆二的连接点处并可转动，连杆三的另一端连接于大腿并可转动；当曲柄随膝关节俯仰电机的电机轴转动时，曲柄的扭矩依次经由连杆一和连杆二传递给小腿，以使小腿绕膝关节做俯仰运动。6. A bionic bipedal robot according to claim 4, characterized in that: the leg includes a thigh, a lower leg, and a knee joint drive mechanism; the thigh and lower leg are movably connected and form a knee joint at the connection point; the knee joint drive mechanism connects the thigh and lower leg and drives the lower leg to perform pitching motion around the knee joint; the knee joint drive mechanism includes a knee joint pitch motor, a crank, a first connecting rod, a second connecting rod, and a third connecting rod; the knee joint pitch motor is mounted on the thigh; one end of the crank is connected to the motor shaft of the knee joint pitch motor and rotates with the motor shaft; the other end of the crank is hinged to one end of the first connecting rod; the other end of the first connecting rod is hinged to one end of the second connecting rod; the other end of the second connecting rod is hinged to the top of the lower leg; one end of the third connecting rod is connected to the connection point of the first connecting rod and the second connecting rod and is rotatable; the other end of the third connecting rod is connected to the thigh and is rotatable; when the crank rotates with the motor shaft of the knee joint pitch motor, the torque of the crank is transmitted to the lower leg sequentially through the first connecting rod and the second connecting rod, so that the lower leg performs pitching motion around the knee joint. 7.根据权利要求6所述的一种仿生双足机器人，其特征在于：所述足部的后跟处设有防止小腿向后翻转的限位块一，大腿前侧的下端设有防止大腿向前倾倒的限位块二；当足式机器人站立时，小腿的下端抵接于限位块一并可保持不动，大腿上的限位块二抵接于小腿的上端，大腿可保持直立不动，实现机器人的无驱动站立。7. A bionic bipedal robot according to claim 6, characterized in that: a limiting block 1 is provided at the heel of the foot to prevent the lower leg from turning backward, and a limiting block 2 is provided at the lower end of the front side of the thigh to prevent the thigh from tilting forward; when the bipedal robot stands, the lower end of the lower leg abuts against the limiting block 1 and can remain stationary, while the limiting block 2 on the thigh abuts against the upper end of the lower leg, and the thigh can remain upright and stationary, thereby realizing the robot's driveless standing. 8.根据权利要求4所述的一种仿生双足机器人，其特征在于：所述的足部包括足掌、足趾和扭簧，足掌和足趾经由销轴活动连接，扭簧套于销轴，且扭簧的两支扭脚分别抵接在足掌和足趾处。8. A bionic bipedal robot according to claim 4, characterized in that: the foot includes a foot, toes and a torsion spring, the foot and toes are movably connected by a pin, the torsion spring is sleeved on the pin, and the two torsional feet of the torsion spring respectively abut against the foot and toes.
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