WO2018209763A1 - Membre inférieur robotique - Google Patents

Membre inférieur robotique Download PDF

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Publication number
WO2018209763A1
WO2018209763A1 PCT/CN2017/090348 CN2017090348W WO2018209763A1 WO 2018209763 A1 WO2018209763 A1 WO 2018209763A1 CN 2017090348 W CN2017090348 W CN 2017090348W WO 2018209763 A1 WO2018209763 A1 WO 2018209763A1
Authority
WO
WIPO (PCT)
Prior art keywords
knee
shaft
thigh
group
output shaft
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.)
Ceased
Application number
PCT/CN2017/090348
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English (en)
Chinese (zh)
Inventor
钟鸣
卢贤资
马波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Voqee (beijing) Intelligent Technology Co Ltd
Original Assignee
Voqee (beijing) Intelligent Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Voqee (beijing) Intelligent Technology Co Ltd filed Critical Voqee (beijing) Intelligent Technology Co Ltd
Publication of WO2018209763A1 publication Critical patent/WO2018209763A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms

Definitions

  • the invention belongs to the field of robot technology, in particular to a lower limb of a robot.
  • the lower limb of the robot is a key component in the bionic robot, which is used to realize the moving of the robot.
  • Bionic robots especially quadruped robots, need to meet the functions of undulating roads, up and down stairs, etc. when used in complex working conditions.
  • a mechanical structure in which the lower limb of the robot has multiple joints and multiple degrees of freedom is required.
  • the present invention provides a robotic lower limb with a multi-joint and multi-degree of freedom mechanical structure, which can realize flexible movement of the quadruped robot.
  • a lower limb of a robot having a hip joint, a thigh, a knee drive, a calf, an ankle joint and a support base connected in sequence:
  • the hip joint has a side swing assembly and a front swing assembly having a side swing output shaft rotatably retained on the body of the robot, the front swing assembly having a front rotatably held on the side swing assembly An output shaft, the front swing output shaft perpendicularly intersecting the side swing output shaft axis, the front swing output shaft being coupled to the thigh;
  • the thigh is hinged to the lower leg, the knee driving portion is slidably held on the thigh, and the end of the knee driving portion away from the hip joint is hinged with the lower leg for driving the thigh and the calf Relative rotation between;
  • the ankle joint is used to connect the lower leg with the support base, and the support base has a semi-cylindrical structure, and the arc-shaped side of the semi-cylindrical structure is used for contacting the ground.
  • the hip joint further has a hip transmission group, and the two ends of the hip transmission group respectively connect the side swing output shaft and the robot body, and the transmission group outputs the side swing
  • the shaft is rotatably held on the body of the robot under driving, and the front swing assembly is disposed on the transmission group.
  • the hip transmission set includes a hip drive frame having a first wall, a second wall, and an annular peripheral wall connecting the first wall and the second wall
  • the annular peripheral wall is provided with a side swing connecting end for connecting the side swing output shaft, and the body connecting end is rotatably held on the robot body.
  • the side swing output shaft has a side swing driving group for driving the rotation thereof, and the side swing driving The moving group is an outer rotor disc motor; and/or the front swing output shaft has a front swing driving group for driving the rotation thereof, and the front swing output shaft is an outer rotor disc motor, and the transmission group is along Two sides of the forward and backward moving direction of the robot body are respectively connected to the side swing assembly and the robot body, and the transmission group is respectively along the two sides of the left and right moving direction of the robot body and the front swing driving group, Thigh connection.
  • the knee driving portion includes a knee sliding group, a knee driving group and a knee driving rod, and the knee sliding group is slidably held on the thigh, the knee driving The set has a screw drive shaft and a knee power source for driving the rotation of the screw drive shaft, the screw drive shaft is connected to the slide group through a transmission nut, and the screw drive shaft and the transmission nut are realized by a screw drive Connected, the two ends of the knee transmission rod are respectively hinged to the sliding group and the thigh.
  • the knee sliding group has a knee sliding seat and a slider fixedly attached to the knee sliding seat, and the thigh is provided with a linear guide, and the knee sliding seat passes The slider is slidably held on the linear guide, the knee sliding seat is connected to the transmission nut at one end, and the other end is hinged to the knee transmission rod.
  • the thigh is a columnar structure with a first through portion
  • the knee sliding seat is a columnar structure with a second through portion
  • the knee sliding seat passes through the slider And slidably held in the first through portion, the end of the screw drive shaft away from the knee power source is located in the second through portion, and the end of the screw drive shaft away from the knee power source is Free end.
  • the lower leg has a first hinge shaft and a second hinge shaft arranged in parallel, the first hinge shaft is for articulating the thigh, and the second hinge shaft is used for articulating the knee a transmission rod, the first hinge shaft and the second hinge shaft are both located at an end of the lower leg close to the thigh, and the second hinge shaft is located at a side of the first hinge shaft close to the thigh.
  • the ankle joint is rotatably held on the support base, and has a driving portion for driving the rotation of the support base;
  • the semi-cylindrical structure has an axial plane having a foot opening, the foot opening intersecting the end faces of the semi-cylindrical structure to form two opposite lateral openings and a joint a laterally-loaded carrying side wall, the center of the foot opening is provided with a rotating shaft hole, and the ankle joint is rotatably held in the foot opening and the rotating shaft hole, the ankle joint
  • the side surface has the driving portion, and the driving portion is rotatably held in the lateral opening to approach the carrying side wall.
  • the rotating shaft hole has a truncated hole structure, a large end of the circular trough hole is located at an end of the rotating shaft hole close to the ankle joint; and/or the ankle joint has a crucible rotating shaft
  • the cymbal rotating shaft has a truncated cone structure, and the cymbal rotating shaft is rotatably held in the rotating shaft hole.
  • the hip joint has a side swing assembly and a front swing assembly, thereby obtaining freedom of left and right movement and forward and backward movement, and realizing the side swing and front swing of the lower limb of the robot to mimic the movement pattern of the lower limb of the animal;
  • the support base has a semi-cylindrical structure and has a smooth contact with the ground, so that the support base has the ability to rotate along the arc side of the semi-cylindrical structure, thereby timely adjusting the support form of the support base, providing Excellent support to adapt to changes in complex terrain;
  • the lower limb of the robot provided by the invention has a multi-joint and multi-degree of freedom mechanical structure, and can be flexibly moved in a complex terrain and upper and lower steps.
  • FIG. 1 is a view showing the overall structure of a lower limb of a robot according to a first embodiment of the present invention
  • FIG. 2 is an exploded structural view of a lower limb of a robot according to Embodiment 1 of the present invention
  • FIG. 3 is a first schematic view of a hip joint of a lower limb of a robot according to Embodiment 1 of the present invention
  • FIG. 4 is a second schematic view of a hip joint of a lower limb of a robot according to Embodiment 1 of the present invention.
  • FIG. 5 is a third schematic diagram of a hip joint of a lower limb of a robot according to Embodiment 1 of the present invention.
  • FIG. 6 is a fourth schematic view of a hip joint of a lower limb of a robot according to Embodiment 1 of the present invention.
  • FIG. 7 is a fifth schematic diagram of a hip joint of a lower limb of a robot according to Embodiment 1 of the present invention.
  • FIG. 8 is a sixth schematic diagram of a hip joint of a lower limb of a robot according to Embodiment 1 of the present invention.
  • FIG. 9 is a schematic overall structural view of a knee driving portion of a lower limb of a robot according to Embodiment 1 of the present invention.
  • FIG. 10 is a schematic exploded view showing a knee driving portion of a lower limb of a robot according to Embodiment 1 of the present invention.
  • Figure 11 is a partially exploded perspective view showing the knee driving portion of the lower limb of the robot according to the first embodiment of the present invention
  • FIG. 12 is a schematic structural view of a thigh of a lower limb of a robot according to Embodiment 1 of the present invention.
  • FIG. 13 is a schematic structural view of a knee driving portion of a lower limb of a robot according to Embodiment 1 of the present invention.
  • FIG. 14 is a half cross-sectional structural view showing a knee driving portion of a lower limb of a robot according to Embodiment 1 of the present invention.
  • FIG. 15 is a schematic overall view of an ankle joint portion of a lower limb of a robot according to a first embodiment of the present invention.
  • FIG. 16 is an exploded perspective view showing an ankle joint portion of a lower limb of a robot according to Embodiment 1 of the present invention.
  • FIG. 17 is a schematic overall view of an ankle joint portion of a lower limb of a robot according to a second embodiment of the present invention.
  • FIG. 18 is a first partial exploded view of the ankle joint portion of the lower limb of the robot according to Embodiment 2 of the present invention.
  • FIG. 19 is a schematic structural view of a support base of an ankle joint portion of a lower limb of a robot according to a second embodiment of the present invention.
  • FIG. 20 is a second partial exploded view of the ankle joint portion of the lower limb of the robot according to Embodiment 2 of the present invention.
  • FIG. 21 is a third partial exploded view of the ankle joint portion of the lower limb of the robot according to Embodiment 2 of the present invention.
  • FIG. 22 is a schematic axial structural view showing a rotating shaft portion of an ankle joint portion of a lower limb of a robot according to a second embodiment of the present invention.
  • Fig. 23 is a cross-sectional structural view showing a rotating shaft portion of an ankle joint portion of a lower limb of a robot according to a second embodiment of the present invention.
  • the robot lower limb 10000 has a hip joint 1000, a thigh 2000, a knee driving portion 3000, a calf 4000, an ankle joint 5000, and a support base 6000 which are sequentially connected.
  • the structure of each part is described in detail as follows.
  • the hip joint 1000 includes a side swing assembly 1100 having a side swing output shaft 1110 and a side swing drive set 1120 for driving the side swing output shaft 1110 to rotate.
  • the side-swing assembly 1100 is used to implement the yaw function of the hip joint 1000.
  • the so-called side swing that is, the swing of the robot limbs in the lateral direction of the body, for example, is a form of motion that is left and right.
  • the side swing drive group 1120 includes a side swing pole rotor 1121 and a side swing stator 1122.
  • the side swing magnetic pole rotor 1121 is circumferentially arranged outside the side swing stator 1122, the side swing stator 1122 is connected to the robot body, the side swing magnetic pole rotor 1121 is connected to the side swing output shaft 1110, and the side swing magnetic pole rotor 1121 and the side swing are connected.
  • the stator 1122 is constructed in a disc configuration.
  • the side swing pole rotor 1121 can have a variety of structural shapes.
  • the side swing pole rotor 1121 is preferably annular and made of a permanent magnet.
  • the side swing stator 1122 is held inside the circular ring of the side swing magnetic pole rotor 1121, and has a stator core and an exciting coil provided on the stator core for generating a rotating magnetic field.
  • the stator core has a plurality of salient poles distributed along the circumference of its contour, and the salient poles are respectively provided with field windings that generate a rotating magnetic field when energized in the field windings. Statoring the stator 1122 Under the driving of the magnetic field, the side swing pole rotor 1121 can rotate, thereby driving the side swing output shaft 1110 connected thereto to rotate.
  • the side swing magnetic pole rotor 1121 and the side swing stator 1122 have a disc structure.
  • the axial dimension of the side swing pole rotor 1121 is small compared to its radial dimension, and the side swing pole rotor 1121 has a thick and thin shape, similar to disc.
  • the side pendulum stator 1122 is entirely inside the side swing pole rotor 1121, the two are formed into a disc configuration.
  • the side swing pole rotor 1121 and the side swing stator 1122 may constitute an outer rotor disc motor structure.
  • the axial size of the side swing drive group 1120 is greatly compressed, and has an extremely thin and light structure, and is particularly suitable for applications where axial space is limited.
  • the hip joints 1000 arranged one behind the other are extremely compact due to the compression of the axial dimension, and can be easily arranged.
  • the axial structure of the side swing driving group 1120 is extremely concentrated, so that the gravity of the hip joint 1000 is in a better position, the obstructing arm is shorter without generating a large obstructing arm, and the hip joint 1000 and the robot lower limb 1000 are further improved. Activity flexibility.
  • the side sway drive set 1120 further includes a side yaw reducer 1123 for effecting speed matching.
  • the input end of the side swing reducer 1123 is connected to the side swing pole rotor 1121, and the output end of the side swing reducer 1123 is connected to the side swing output shaft 1110.
  • the side swing reducer 1123 can realize the speed regulation, and adjust the output speed of the side swing pole rotor 1121 to the required rotation speed of the side swing output shaft 1110, and transmit the torque to the side swing output shaft 1110 to make the side swing output shaft.
  • the output speed of the 1110 matches the actual needs.
  • the side swing output shaft 1110 is the output shaft of the side swing reducer 1123.
  • the side swing drive group 1120 further includes a side swing bracket 1130 for supporting the base body, and the side swing bracket 1130 has a hollow cavity structure for accommodating the side swing pole rotor 1121, the side swing stator 1122 and the side swing reducer 1123.
  • the side swing bracket 1130 is fixedly connected to the side swing magnetic pole rotor 1121, the housing of the side swing reducer 1123, and the robot body, and the side swing magnetic pole rotor 1121 and the side swing output shaft 1110 are rotatably held in the side swing bracket. On 1130.
  • the hip joint 1000 further includes a hip transmission group 1200.
  • the two ends of the hip transmission group 1200 are respectively connected with the side swing output shaft 1110 and the robot body, and the hip transmission group 1200 is at the side swing output shaft.
  • the drive of the 1110 is rotatably held on the body of the robot.
  • the hip drive set 1200 and the side swing output shaft 1110 have an integrally rotated motion characteristic that effects the motion output of the side swing assembly 1100.
  • the hip drive set 1200 includes a hip drive carrier 1210.
  • the hip drive frame 1210 has a first frame 1211 of the hip frame, a second wall 1212 of the hip frame, and an annular peripheral wall 1213 connecting the first wall 1211 of the hip frame and the second wall 1212 of the hip frame.
  • the annular peripheral wall 1213 is provided with a side swing connection end 1220.
  • the side pendulum connecting end 1220 is for connecting the side pendulum output shaft 1110, and the body connecting end 1230 is rotatably held on the robot body.
  • the side swing connection end 1220 is fixedly coupled to the side swing output shaft 1110 with integral rotational motion characteristics.
  • the body connecting end 1230 can be coupled to the body of the robot through the hip bearing 1400 to effect a rotational connection with relative rotation.
  • the side swing connection end 1220 and the body connection end 1230 can be connected to the hip drive frame 1210 by various connection means, such as a screw connection, an interference fit, etc., in this embodiment, preferably, the side swing connection end 1220 and the body
  • the connecting ends 1230 are integrally connected to the hip drive frame 1210 to improve the connection strength.
  • the side swing connection end 1220 and the side swing output shaft 1110 have various connection modes.
  • the side swing connection end 1220 has a transmission shaft, and the transmission shaft and the side swing output shaft 1110 are connected by a coupling.
  • the side swing connection end 1220 has a first coupling hole 1221, the first coupling hole 1221 has a first key groove 1222, and the side swing output shaft 1110 has a first key 1111 thereon, and the first key groove 1222 It has a key connection relationship with the first key 1111. Specifically, in the key connection relationship, the side swing output shaft 1110 and the side swing connection end 1220 are circumferentially fixed, and the motion and the rotation are transmitted between the two. Moment.
  • the body connecting end 1230 and the robot body may also have a plurality of supporting connection manners.
  • the body connecting end 1230 has a second coupling hole 1231 and a support shaft 1232 disposed in the second coupling hole 1231.
  • the robot body is provided with a bearing housing 20000, and the support shaft 1232 is rotatably held on the bearing housing 20000 through the hip bearing 1400.
  • the second coupling hole 1231 has a second key groove 1233.
  • the support shaft 1232 has a second key 1234.
  • the second key groove 1233 has a key connection relationship with the second key 1234. In the keyed connection relationship, the body connecting end 1230 and the supporting shaft 1232 are circumferentially fixed, and the motion and the torque are transmitted between the two, and the two have the characteristics of integral motion.
  • first coupling hole 1221 and the second coupling hole 1231 have a coaxial relationship, so that the rotational motion input end of the hip transmission set 1200 and the output end are on the same axis, that is, coaxial rotation, to avoid the misalignment.
  • the resulting eccentric moment ensures the smoothness of the rotation of the hip drive set 1200.
  • the side swing output shaft 1110, the side swing connecting end 1220, the body connecting end 1230 and the supporting shaft 1232 have a coaxial relationship, so that the motion and the torque are always transmitted along the same straight line, further improving the transmission efficiency and precision.
  • the first key groove 1222 is coaxially arranged with the second key groove 1233.
  • the key connection of the side swing connection end 1220 and the body connection end 1230 has a coaxial relationship, further enhancing the structural stability and connection strength of the two key connections, and reducing the assembly difficulty.
  • the hip joint 1000 further includes a front swing assembly 1300 that is disposed on the hip drive set 1200 for effecting forward and backward swinging of the lower limb 10000 of the robot.
  • the front swing assembly 1300 has a front swing output shaft 1310 and a front swing drive group 1320 for driving the swing output shaft 1310.
  • the front swing output shaft 1310 is axially perpendicular to the swing output shaft 1110, and the front swing output shaft 1310 is used for connection. Thigh 2000.
  • the so-called back-and-forth swing refers to the swing of the hip joint 1000 and the lower limb 10000 of the robot in the forward or backward direction of the robot, thereby realizing the forward and backward movement of the robot.
  • the front swing drive group 1320 includes a front swing pole rotor 1321 and a front swing stator 1322.
  • the front pendulum pole rotor 1321 is circumferentially arranged outside the front swing stator 1322.
  • the front swing stator 1322 is fixedly connected to the hip drive frame 1210, and the front swing pole rotor 1321 is connected to the front swing output shaft 1310.
  • the front pendulum pole rotor 1321 and the front pendulum stator 1322 form a disc structure.
  • the front swing pole rotor 1321 can have a variety of structural shapes.
  • the front swing pole rotor 1321 is preferably annular and made of a permanent magnet.
  • the front swing stator 1322 is held inside the circular ring of the forward swing magnetic pole rotor 1321, and has a stator core and an exciting coil provided on the stator core for generating a rotating magnetic field.
  • the stator core has a plurality of salient poles distributed along the circumference of its contour, and the salient poles are respectively provided with field windings that generate a rotating magnetic field when energized in the field windings.
  • the forward pendulum pole rotor 1321 can rotate, thereby causing the front swing output shaft 1310 coupled thereto to rotate.
  • the front swing pole rotor 1321 and the front swing stator 1322 have a disc structure. Specifically, for the front swing pole rotor 1321, the axial dimension of the forward swing pole rotor 1321 is small compared to its radial dimension, and the forward swing pole rotor 1321 has a thick and thin shape, similar to disc. Since the front swing stator 1322 is entirely inside the front swing pole rotor 1321, the two are formed into a disc configuration.
  • the axial dimension of the front swing driving group 1320 is greatly compressed, and the front swing assembly 1300 has a light and flexible moving structure, which is particularly suitable for the occasion where the axial installation space is limited, and further improves the hip joint 1000 and the lower limb of the robot. 10,000 flexibility and compactness.
  • the front swing output shaft 1310 is used to connect to the thigh 2000.
  • the hip drive set 1200 drives the front swing assembly 1300 side swing
  • the front swing assembly 1300 drives the lower limb 10000 side swing of the robot through the front swing output shaft 1310, thereby realizing lateral movement or left and right movement of the robot.
  • the front swing assembly 1300 outputs power to the forward swing output shaft 1310 through the front swing pole rotor 1321, and the front swing output shaft 1310 drives the robot lower limb 10000 to swing forward and backward, thereby realizing the forward and backward movement of the robot.
  • the hip joint 1000 can achieve a high degree of simulation movement, so that the robot lower limb 10000 and the robot have multiple degrees of freedom and flexible operation.
  • the advantages of movement, compactness and flexibility are significant.
  • the front swing drive group 1320 further includes a forward swing reducer 1323 for achieving speed matching.
  • the input end of the front swing reducer 1323 is connected to the front swing pole rotor 1321, and the output end of the front swing reducer 1323 is connected to the front swing output shaft 1310.
  • the forward swing pole rotor 1321 and the forward swing reducer 1323 are separated from both sides of the side swing assembly 1100.
  • the transmission chain of the side swing output shaft 1110 and the transmission chain of the front swing output shaft 1310 form a crisscross structure on the hip transmission set 1200, so that the structure of the hip joint 1000 is further concentrated, the center of gravity is better, and the structure is compact.
  • the force distribution is further optimized.
  • the robot lower limb 10000 further has a thigh 2000, a knee driving portion 3000 and a lower leg 4000.
  • the thigh 2000 and the calf 4000 are hinged
  • the knee driving portion 3000 is slidably held on the thigh 2000
  • the end of the knee driving portion 3000 away from the hip joint 1000 is hinged with the lower leg 4000 for driving relative rotation between the thigh 2000 and the lower leg 4000.
  • one end of the thigh 2000 near the lower leg 4000 has a first connecting arm 2300 and a second connecting arm 2400 disposed opposite to each other, and the first connecting arm 2300 and the second connecting arm 2400 are hinged to the lower leg 4000 through the same hinge shaft.
  • first connecting arm 2300 and the second connecting arm 2400 the connection structure of the lower leg 4000 and the thigh 2000 is more reliable and has better structural rigidity.
  • the lower leg 4000 has a first articulated shaft 4100 for articulating the thigh 2000.
  • the position of the first hinge shaft 4100 can be determined according to actual needs.
  • the first hinge shaft 4100 is located at one end of the lower leg 4000 proximate to the thigh 2000.
  • the knee driving portion 3000 has a knee sliding group 3100 and a knee transmission rod 3200.
  • the knee sliding group 3100 is slidably held in the thigh 2000, and the two ends of the knee driving rod 3200 are respectively hinged to the lower leg 4000 and the knee sliding group 3100, and the knee sliding group 3100 is opposite to the knee driving rod 3200 and the knee.
  • the transmission rod 3200 has a rotating function with respect to the lower leg 4000.
  • the knee transmission rod 3200 is of various structural forms, and preferably, in the present embodiment, a rigid rod form is employed.
  • the knee sliding group 3100 has a knee sliding seat 3110 and a slider 3120 fixed to the knee sliding seat 3110.
  • the thigh 2000 is provided with a linear guide, and the knee sliding seat 3110 is slidably passed through the slider 3120.
  • the knee slide 3110 is hinged to the knee drive rod 3200 near the end of the lower leg 4000.
  • the knee sliding seat 3110 and the thigh 2000 can have a variety of structural configurations, and the arrangement of the two is also different.
  • the thigh 2000 is a columnar structure in which the first penetration portion 2200 is disposed
  • the knee sliding seat 3110 is a columnar structure in which the second penetration portion 3111 is provided
  • the knee sliding seat 3110 passes through the slider 3120. It is slidably held by the first penetration portion 2200.
  • the knee sliding seat 3110 and the columnar structure of the thigh 2000 have a hollow structure to ensure the structural strength of the knee sliding seat 3110 and the thigh 2000 while removing excess material, reducing weight and improving sports performance. .
  • the linear slide 2100 can adopt various structural forms, such as a rolling guide, a dovetail guide, and the like.
  • the linear slide 2100 and the slider 3120 may be a sliding motion or a rolling motion.
  • the lower leg 4000 further has a second hinge shaft 4200 for articulating the knee transmission rod 3200, and the second hinge shaft 4200 is arranged in parallel with the first hinge shaft 4100 to ensure that the knee transmission rod 3200 and the thigh 2000 have a rotational direction. Parallel relationship.
  • the position of the second hinge shaft 4200 can be determined in accordance with practical needs.
  • the second hinge shaft 4200 is located at one end of the lower leg 4000 proximate the thigh 2000 to provide a preferred rotational configuration and compact structural dimensions.
  • the knee sliding group 3100 and the knee driving rod 3200 are hinged by the third hinge shaft 3130.
  • the knee sliding group 3100 moves linearly on the thigh 2000, that is, there is no relative rotation between the knee sliding group 3100 and the thigh 2000.
  • the knee sliding group 3100 slidably presses the knee driving rod 3200
  • the second hinge shaft 4200 and the third hinge shaft 3130 are respectively biased.
  • the knee drive rod 3200 is simultaneously forced to rotate about the second hinge shaft 4200, thereby driving the knee slide.
  • the set 3100 rotates about a third hinge axis 3130. Due to the connection relationship between the knee sliding group 3100 and the thigh 2000, the thighs 2000 are synchronously rotated about the first hinge shaft 4100, thereby achieving rotational engagement of the thighs 2000 with respect to the lower legs 4000.
  • the second hinge shaft 4200 is located on a side of the first hinge shaft 4100 that is adjacent to the thigh 2000. In other words, the second hinge shaft 4200 is closer to the end of the lower leg 4000 near the end of the thigh 2000 than the first hinge shaft 4100. Under this structure, the transmission structure of the knee transmission rod 3200 is more ideal, avoiding the existence of a rotating dead angle or a mechanism repelling.
  • the knee drive lever 3200 is located between the first link arm 2300 and the second link arm 2400. Further, the first connecting arm 2300 and the second connecting arm 2400 are symmetrically distributed with respect to the knee driving rod 3200, so that the transmission structure of the thigh 2000 and the knee transmission rod 3200 is more reliable.
  • the knee drive portion 3000 further has a knee drive group 3300 having a screw drive shaft 3310 and a knee power source 3330 for driving the rotation of the screw drive shaft 3310.
  • the screw drive shaft 3310 slides with the knee through the transmission nut 3320.
  • the set 3100 is connected, and the screw drive shaft 3310 and the transmission nut 3320 are connected by a screw drive.
  • the outer surface of the screw transmission shaft 3310 has a spiral groove
  • the transmission nut 3320 is provided with a through hole having a spiral groove, and a spiral rotation movement between the screw transmission shaft 3310 and the transmission nut 3320 can be realized to realize the screw transmission.
  • the screw drive shaft 3310 has only rotational capability while the drive nut 3320 is driven by a helical drive.
  • the transmission nut 3320 is coupled to the knee sliding group 3100. More specifically, the transmission nut 3320 is coupled to the end of the knee sliding seat 3110 away from the lower leg 4000.
  • the rotation of the knee sliding group 3100 is lost, and only the rotation degree is lost.
  • the linear motion is such that the power of the knee power source 3330 is transmitted to the knee slip group 3100.
  • the driving action exerted by the knee driving group 3300 can be known.
  • a rolling body is further disposed between the screw drive shaft 3310 and the transmission nut 3320.
  • the rolling elements are balls, so that a ball screw pair is formed between the screw transmission shaft 3310 and the transmission nut 3320. With less friction and precise transmission.
  • the knee power source 3330 may be a component structure form that can output an original driving force, such as an electric motor or a hydraulic motor.
  • one end of the screw drive shaft 3310 away from the knee power source 3330 is located in the second through portion 3111.
  • one end of the screw drive shaft 3310 away from the knee power source 3330 is a free end.
  • the helical drive shaft 3310 has a coaxial relationship with the central axis of the knee slide mount 3110. Further, the screw drive shaft 3310 has a coaxial relationship with the central axis of the second penetration portion 3111.
  • one end of the screw drive shaft 3310 is fixedly coupled to the output shaft of the knee power source 3330.
  • the screw drive shaft 3310 can be coupled to the output shaft of the motor through a coupling.
  • the screw drive shaft 3310 is suspended from the end of the knee power source 3330 and is in a free state to become a free end.
  • the load of the screw drive shaft 3310 is received by a bearing disposed on the end of the screw drive shaft 3310 near the knee power source 3330.
  • the knee power source 3330 may be a plurality of embodiments such as an electric motor and a hydraulic motor.
  • the knee power source 3330 is in the form of an outer rotor disc motor to achieve better axial spatial compactness, and further improve the center of gravity distribution of the robot lower limb 10000.
  • the mounting structure of the screw drive shaft 3310 is simplified, the structure is prevented from being bloated due to excessive material, and the reduction of the cooperation relationship helps to reduce the assembly complexity and process requirements, and saves costs;
  • the knee sliding seat 3110 has a coaxial or near coaxial relationship with the central axis of the screw drive shaft 3310, eliminating or reducing the eccentric moment, and improving the structural strength and service life between the knee sliding seat 3110 and the screw drive shaft 3310.
  • the coaxial or substantially coaxial relationship between the knee sliding seat 3110 and the screw drive shaft 3310 also facilitates compressing the radial dimension of the thigh 2000, making the structure of the thigh 2000 increasingly compact.
  • the position of the linear slide 2100 can be determined according to actual needs, such as away from or near the screw drive shaft 3310.
  • the linear slide 2100 is located at one end of the thigh 2000 away from the screw drive shaft 3310.
  • the slider 3120 is disposed at an end of the sliding seat 3130 away from the third hinge shaft 3130 to improve the structural strength.
  • the knee drive set 3300 also has a cushioning portion 3340 for preventing the knee sliding seat 3110 from overshooting causing structural damage.
  • the distance between the buffer portion 3340 and the transmission nut 3320 is smaller than the maximum stroke of the slider 3120 on the linear slide 2100.
  • the transmission nut 3320 will first contact the buffer portion 3340, and the third hinge shaft 3130 does not come into contact with the screw transmission shaft 3310, thereby avoiding Overshoot collision.
  • the structure and material of the buffer portion 3340 can take various forms.
  • the buffer portion 3340 may be made of a rubber or polyurethane material.
  • the slider 3120 is located at one end of the knee sliding seat 3110 away from the screw driving shaft 3310, and is located on the outer surfaces of the opposite walls of the knee sliding seat 3110, and the opposite sides of the first through portion 2200 are respectively linear. Slide rail 2100.
  • the knee sliding seat 3110 has at least an opposing knee frame first wall 3112 and a knee frame second wall 3113, and the outer surface of the knee frame first wall 3112 and the knee frame second wall 3113 are respectively provided with a slider 3120.
  • the first through portion 2200 of the second wall 3113 of the knee frame also has an opposite first inner surface 2210 and a second inner surface 2220.
  • the first inner surface 2210 and the second inner surface 2220 are respectively provided with linear sliding rails 2100.
  • the first frame wall 3112 of the knee frame and the second wall 3113 of the knee frame, the first inner surface 2210 and the second inner surface 2220 are respectively opposite in a direction perpendicular to the sliding direction of the knee sliding seat 3110. Arranged to better withstand the load, so that the motor driving force is consistent with the sliding direction of the knee sliding seat 3110, ensuring smooth movement and improving carrying capacity.
  • the robot lower limb 10000 further has an ankle joint 5000 and a support base 6000.
  • the ankle joint 5000 is used to connect the lower leg 4000 and the support base 6000.
  • the support base 6000 has a semi-cylindrical structure, and the arc-shaped side surface 6140 of the semi-cylindrical structure 6100 is used for contact with the ground.
  • the ankle joint 5000 has a lower leg connecting portion 5100 and a seat connecting portion 5700.
  • the leg connecting portion 5100 is used for connecting the lower leg 4000, and the abutting connecting portion is used for connecting the supporting base 6000.
  • the support base 6000 has a semi-cylindrical structure 6100.
  • the semi-cylindrical structure 6100 refers to a columnar body which is scanned by a plane semicircle extending along a normal direction of the plane.
  • the semi-cylindrical structure 6100 has a shaft plane 6110, a first end surface 6120, a second end surface 6130 and a circular arc side surface 6140, wherein the shaft plane 6110 refers to a plane in which the diameter of the plane semicircle extends along the plane normal direction, and the arc side surface 6140 In contact with the ground.
  • the arcuate side surface 6140 of the semi-cylindrical structure 6100 has a plurality of supporting claw portions 6600 formed by removing the material on the arcuate side surface 6140.
  • a plurality of sets of support claw portions 6600 are distributed along the arc side surface 6140.
  • the plurality of sets of support claws 6600 are evenly distributed along the arc side 6140.
  • each of the claws is formed by removing material in the axial direction of the semi-cylindrical structure 6100.
  • both end faces of the semi-cylindrical structure 6100 are provided with a casing pressure plate 6800 for pressing.
  • This embodiment is an improvement made on the basis of Embodiment 1, except that the present embodiment employs a rotating structure of the ankle joint 5000 and the support base 6000.
  • the ankle joint 5000 is rotatably held on the support base 6000 and has a driving portion 5211 for driving the rotation of the support base 6000.
  • the support base 6000 has a semi-cylindrical structure 6100.
  • the semi-cylindrical structure 6100 refers to a columnar body which is scanned by a plane semicircle extending along a normal direction of the plane.
  • the semi-cylindrical structure 6100 has a shaft plane 6110, a first end surface 6120, a second end surface 6130 and a circular arc side surface 6140, wherein the shaft plane 6110 refers to a plane in which the diameter of the plane semicircle extends along the plane normal direction, and the arc side surface 6140 In contact with the ground.
  • the axial plane 6110 of the semi-cylindrical structure 6100 has a foot opening 6200.
  • the foot opening 6200 can be in a variety of configurations. In the present embodiment, the foot opening 6200 is preferably a circular aperture. In another embodiment, the foot opening 6200 can also be other shapes such as a trough hole.
  • the foot opening 6200 intersects the end faces of the semi-cylindrical structure 6100 to form two opposite lateral openings 6210 and a load bearing sidewall 6300 that connects the lateral openings 6210.
  • the lateral openings 6210 are respectively located on the first end surface 6120 and the second end surface 6130, and are connected via the bearing side walls 6300 on both sides of the separation. That is, the circumferential shape of the foot opening 6200 is broken at the lateral opening 6210 without having a full circumference.
  • a rotating shaft hole 6400 is provided at the center of the foot opening 6200.
  • the foot opening 6200 forms a stepped hole structure with the rotating shaft hole 6400 and has a coaxial relationship.
  • the joint of the foot opening 6200 and the rotating shaft hole 6400 has a step plane which can be used for planar support.
  • the rotating shaft hole 6400 can have various hole structure shapes to suit different usage environments.
  • the rotating shaft hole 6400 has a truncated hole structure, and the large end of the truncated hole is located at one end of the rotating shaft hole 6400 near the ankle joint 5000.
  • the truncated hole structure means that the hole wall of the rotary shaft hole 6400 has a truncated cone shape.
  • the truncated cone means a portion which is cut by a plane parallel to the bottom surface of the conical section and which is cut between the bottom surface and the section. In the two ends of the trough hole, the larger end of the aperture is the big end, and the end with the smaller aperture is the small end.
  • the rotating shaft hole 6400 has a characteristic that the diameter continuously decreases from the foot opening 6200 toward the circular arc side surface 6140.
  • the center of the rotary shaft hole 6400 has a positioning shaft 6500 for axial positioning of the rotary member.
  • the positioning shaft 6500 extends outward from the bottom of the rotating shaft hole 6400 and has a coaxial relationship with the rotating shaft hole 6400, thereby forming an annular hole-like structure in the rotating shaft hole 6400.
  • the positioning shaft 6500 is a two-stage stepped shaft having a first shaft segment 6510 and a second shaft segment 6520.
  • the second shaft segment 6520 is disposed on the first shaft segment 6510, and the shaft diameter of the second shaft segment 6520 is smaller than the first shaft segment 6510, and the connection between the hole shafts is improved by the structure of the second stepped shaft, and
  • the positioning shaft 6500 has a better structural strength.
  • first shaft segment 6510 and the second shaft segment 6520 The positional relationship between the first shaft segment 6510 and the second shaft segment 6520 is determined according to actual needs.
  • first shaft segment 6510 and the second shaft segment 6520 have a coaxial relationship, thereby achieving coaxial rotation and avoiding Structural damage of the eccentric moment.
  • the arcuate side surface 6140 of the semi-cylindrical structure 6100 has a plurality of supporting claw portions 6600 formed by removing the material on the arcuate side surface 6140.
  • three sets of support claw portions 6600 are distributed along the arc side surface 6140.
  • the respective claw portions are distributed in a direction parallel to the axial direction of the semi-cylindrical structure 6100, and may have the same or different width dimensions.
  • each of the claws is on the circular arc side surface 6140, and the material is removed along the axial or radial direction of the semi-cylindrical structure 6100, thereby forming a spatial structure having a gap.
  • the arcuate side surface 6140 of the semi-cylindrical structure 6100 is further provided with a buffer casing 6700 for wrapping the supporting claw portion 6600.
  • the side of the buffer case 6700 away from the support claw portion 6600 is an arcuate surface, and the side of the buffer case 6700 close to the support claw portion 6600 has a fastening portion for engaging with the support claw portion 6600.
  • the curved surface of the buffer casing 6700 is a regular flat surface, and may also be surface treated by sanding or the like to adapt to different use occasions.
  • the fastening portion is adapted to the structure of the supporting claw portion 6600, and the two are fastened to form a tight and reliable connecting structure.
  • the material of the buffer casing 6700 may be various, such as rubber, wear-resistant silica gel, and the like, which has a cushioning and supporting ability.
  • the buffer housing 6700 provides good protection and cushioning for the support claws 6600, improving the service life of the support base 6000.
  • both end faces of the semi-cylindrical structure 6100 are provided with a casing pressure plate 6800 for compressing the buffer casing 6700.
  • the support base 6000 and the lower leg 4000 are connected by the ankle joint 5000.
  • the ankle joint 5000 is rotatably held in the foot opening 6200 and the rotating shaft hole 6400.
  • the side surface of the ankle joint 5000 has a driving portion 5211 for driving the rotation of the supporting base 6000, and the driving portion 5211 is rotatably held in the lateral direction.
  • the opening 6210 is adjacent to the load bearing side wall 6300.
  • the driving portion 5211 may be a convex structure extending outward from the side of the ankle joint 5000, and may be in mechanical contact with the bearing side wall 6300 during the rotation.
  • the ankle joint 5000 When the lower leg 4000 is swayed, the ankle joint 5000 is driven to rotate synchronously.
  • the driving portion 5211 rotates with the rotation of the ankle joint 5000 and gradually approaches the bearing side wall 6300.
  • the driving portion 5211 exerts a force on the carrying side wall 6300, and the supporting base 6000 where the carrying side wall 6300 is located is then rotated, thereby implementing the side swinging function of the supporting base 6000.
  • the drive portion 5211 is sized smaller than the opening width of the lateral opening 6210 such that the drive portion 5211 is rotatably retained in the lateral opening 6210 with a certain free rotational space.
  • the ankle joint 5000 has a certain free rotation space with respect to the support base 6000, and the ankle joint 5000 has an adjustable rotational freedom, and provides a rotation adjustment space between the ankle joint 5000 and the support base 6000, so that the support base 6000 is further flexible.
  • the ankle joint 5000 includes a lower leg connecting portion 5100 and a rotating shaft portion 5200 provided on the lower leg connecting portion 5100.
  • the lower leg connecting portion 5100 is for connecting the lower leg 4000, so that the ankle joint 5000 has a state of motion synchronized with the lower leg 4000.
  • the center of the rotating shaft portion 5200 has a positioning shaft hole 5300, and the rotating shaft portion 5200 is rotatably held in the rotating shaft hole 6400.
  • the rotating shaft portion 5200 has an integrally connected positioning end 5210 and a rotating shaft 5220.
  • the so-called integral connection has an integral movement characteristic between the designated end end 5210 and the rotating shaft 5220, and the connection form may be a detachable fixed connection or a non-detachable integrally formed or welded structure.
  • the positioning end 5210 is used to connect the lower leg connecting portion 5100 and has a driving portion 5211 that is rotatably held in the foot opening 6200.
  • the positioning end 5210 has a disk-like structure with two oppositely disposed drive portions 5211 from its circumferential side.
  • the rotating shaft 5220 is rotatably held in the rotating shaft hole 6400, and can have various shaft structure forms and is matched with the structural form of the rotating shaft hole 6400.
  • the rotating shaft 5220 has a truncated cone structure to match the truncated hole structure of the rotating shaft hole 6400.
  • a clearance fit between the rotating shaft hole 6400 and the rotating shaft 5220 is not more than 2 mm, so that the rotational movement between the two is smoother.
  • the positioning shaft hole 5300 includes a first positioning shaft hole 5310 and a second positioning shaft hole 5320 that are kept in communication.
  • a partition is disposed between the first positioning shaft hole 5310 and the second positioning shaft hole 5320, and the partition plate is provided with a through hole for communicating the first positioning shaft hole 5310 and the second positioning shaft hole 5320. And the through hole is available for the positioning shaft 6500 to pass through the second positioning shaft hole 5320.
  • the first positioning shaft hole 5310 is disposed in the rotating shaft 5220 and is provided with a bearing.
  • Bearing bearings can be of various types, preferably The bearing bearing is a tapered roller bearing 5400.
  • a tapered roller bearing 5400 is disposed between the first shaft segment 6510 and the positioning shaft hole 5300 to match the positioning shaft 6500. The structure achieves better bearing effect.
  • the tapered roller bearing 5400 belongs to a separate type bearing, and both the inner and outer rings of the bearing have a tapered raceway, which is more suitable for the circular table structure of the rotating shaft 5220.
  • the rotating shaft 5220 having the truncated cone structure has a tapered structure along the axial direction thereof, and has a better fitting effect with the tapered roller bearing 5400.
  • the taper of the rotating shaft 5220 can be determined according to actual needs.
  • the rotating shaft 5220 is close to or consistent with the taper hole taper of the rotating shaft hole 6400.
  • the second positioning shaft hole 5320 is disposed in the positioning end 5210 and is provided with a bearing bearing.
  • the bearing bearing is a thrust needle roller bearing 5500.
  • the thrust needle roller bearing 5500 has a thrusting action and can bear the axial load, and the use of a needle roller as a rolling element can further compress the radial dimension, thereby making the structure more compact.
  • the thrust needle roller bearing 5500 is disposed between the second shaft segment 6520 and the positioning shaft hole 5300. Further, a bearing gland 5600 for pressing the thrust needle roller bearing 5500 is provided at one end of the thrust needle roller bearing 5500 away from the support base 6000. The bearing gland 5600 is used for axially pressing the thrust needle roller bearing 5500 to prevent axial thrust of the thrust needle roller bearing 5500.
  • the positioning shaft 6500 is provided with a threaded connecting hole along the axial direction thereof, and the bearing gland 5600 is provided with a countersunk hole, and the threaded fastener passes through the counterbore hole and is locked in the threaded connecting hole to make the bearing
  • the gland 5600, the thrust needle roller bearing 5500 and the positioning shaft 6500 are axially fixed.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Membre inférieur robotique (10000), ayant une articulation de la hanche (1000), une cuisse (2000), une partie d'entraînement du genou (3 000), une tige (4000), une articulation de cheville (5000), et une base de support (6000) connectées en séquence. L'articulation de la hanche comporte un ensemble oscillant latéral (1100) et un ensemble oscillant avant (1300) ; l'ensemble oscillant latéral comporte un arbre de sortie oscillant latéral (1110) maintenu de manière rotative sur un corps robotique ; l'ensemble oscillant avant comporte un arbre de sortie oscillant avant (1310) maintenu de manière rotative sur l'ensemble oscillant latéral ; l'arbre de sortie oscillant avant et l'arbre de sortie oscillant latéral sont axialement verticaux ; l'arbre de sortie oscillant avant est relié à la cuisse ; la cuisse est articulée à la tige ; la partie d'entraînement de genou est maintenue de manière coulissante sur la cuisse ; une extrémité de la partie d'entraînement de genou en éloignement de l'articulation de hanche est articulée à la tige, pour une utilisation destinée à entraîner une rotation relative entre la cuisse et la tige ; l'articulation de cheville est utilisée pour relier la tige à la base de support ; la base de support a une structure semi-cylindrique ; une surface latérale en forme d'arc de la structure semi-cylindrique est utilisée pour entrer en contact avec le sol. Le membre inférieur robotique a de multiples articulations et de multiples degrés de liberté, et peut ainsi s'adapter aux exigences de terrains complexes et à la montée/ descente des escaliers.
PCT/CN2017/090348 2017-05-19 2017-06-27 Membre inférieur robotique Ceased WO2018209763A1 (fr)

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CN109465805B (zh) * 2017-09-07 2022-08-05 克诺有限公司 传动装置及机器人
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CN108572553B (zh) * 2018-05-16 2020-06-23 清华大学深圳研究生院 一种四足机器人的运动闭环控制方法
CN109178136B (zh) * 2018-08-29 2024-03-08 北京钢铁侠科技有限公司 机器人下肢结构及包含该结构的机器人
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