Chain belt type leg motion mechanism

Abstract

The present application belongs to the technical field of bionic robot, and particularly relates to a chain belt type leg action mechanism. The technical scheme is as follows: a chain belt type leg action mechanism, comprising left and right swing power sources, the output end of the left and right swing power sources being connected with a waist fixing end, a supporting connecting rod being rotatably connected to the shell of the left and right swing power sources, further comprising a thigh base body, the other end of the supporting connecting rod being fixed with the thigh base body, a front and back swing power source being installed on the thigh base body, the output end of the front and back swing power source being provided with an output fixing disc, a driving fixing disc being fixed to the shell of the left and right swing power sources, the output fixing disc and the driving fixing disc being connected through a steel belt transmission. The chain belt type leg action mechanism can swing forward and backward, swing left and right or compound motion.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic robot technology, and specifically relates to a chain-driven leg movement mechanism. Background Technology

[0002] Compared to wheeled and tracked mobile robots, bionic robots only require discrete points of contact with the ground during movement, allowing them to traverse larger obstacles and adapt more effectively to complex terrain. Furthermore, the legs of bionic robots can possess multiple degrees of freedom, greatly enhancing their mobility and performance capabilities. They can maintain balance by adjusting the angle of their supporting legs and the position of their feet, making them less prone to tipping over and exhibiting high stability. In the future, bionic robots will have broader application prospects in areas such as daily life services, pipeline maintenance, flood relief, film and television performances, security, and the military.

[0003] Patent application CN202122138157.9 discloses a biomimetic robot leg structure. This structure includes a shell, leg components, and a pivot. The shell has a receiving cavity and a clearance opening communicating with it. The leg component includes a lower leg rod and a upper leg rod located within the receiving cavity. One end of the lower leg rod is fixed to a foot, and the other end has a first pivot hole, extending through the clearance opening into the receiving cavity. The pivot penetrates the receiving cavity, and the shell is hinged to the lower leg rod via the pivot. The length directions of both sides of the clearance opening are the same as the pivot, and the angle between the pivot and the lines connecting the two sides of the clearance opening is less than a first threshold angle. The upper leg rod is hinged to the lower leg rod via the first pivot hole, which is in the same length direction as the pivot. The angle between the line connecting the pivot and the foot and the line connecting the pivot and the first pivot hole is less than a second threshold angle. Through adjustments and improvements to the shell and leg components, the upper leg rod is positioned within the receiving cavity, and the lower leg rod partially extends into the receiving cavity, thereby improving the protective effect and reducing safety hazards.

[0004] The human thigh can swing back and forth, swing left and right, or a combination of both. However, the drive assembly in the aforementioned patent can only drive the thigh to swing back and forth, and cannot simulate the left and right swing or combined movements of the human body, thus exhibiting poor biomimicry. Summary of the Invention

[0005] In order to solve the above-mentioned problems in the prior art, the purpose of this invention is to provide a chain-type leg movement mechanism that can perform forward and backward swinging, left and right swinging, or a combination of both.

[0006] The technical solution adopted in this invention is as follows:

[0007] A chain-driven leg movement mechanism includes a left-right swinging power source, the output end of which is connected to a waist fixing end. A support link is rotatably connected to the housing of the left-right swinging power source. The mechanism also includes a thigh base, the other end of which is fixed to the thigh base. A front-back swinging power source is mounted on the thigh base. An output fixing plate is provided at the output end of the front-back swinging power source. A drive fixing plate is fixed on the housing of the left-right swinging power source. The output fixing plate and the drive fixing plate are connected by a steel belt drive.

[0008] When the left-right swinging power source of this invention is activated, the housing of the left-right swinging power source drives the entire leg to swing left and right relative to the fixed end of the waist. When the front-back swinging power source is activated, the steel belt drives the fixed plate to rotate relative to the supporting connecting rod. The force of the front-back swinging power source reacts to itself and is transmitted to the thigh base, thereby pushing the thigh base to rotate, thus realizing the front-back swinging of the leg. When the left-right swinging power source and the front-back swinging power source work simultaneously, the thigh performs a composite movement of front-back swinging and left-back swinging. This invention can simulate the real front-back swinging, left-back swinging, or a composite movement of both of the human thigh. It has high biomimicry and a simple structure.

[0009] In a preferred embodiment of the present invention, there are two support rods, which are rotatably connected to both sides of the housing of the left and right swing power source. The two support rods support both sides of the left and right swing power source respectively, reducing the unilateral support force and thus making the thigh support more stable.

[0010] In a preferred embodiment of the present invention, a support plate is fixed between the thigh base and one of the support rods. One side of the support plate presses the steel strip tightly, and the shape of this side is arc-shaped. The support plate can press the steel strip to one side, saving space on that side. After the thigh base is wrapped with simulated skin, its shape is closer to that of a real person. The support plate pressing the steel strip ensures tension and reliable transmission.

[0011] In a preferred embodiment of the present invention, the center of the drive fixing plate is collinear with the rotation center of the support connecting rod. The center of the torque exerted by the steel belt on the drive fixing plate is located at the rotation center of the support connecting rod, which maximizes the lever arm and facilitates reliable driving of the thigh base.

[0012] In a preferred embodiment of the present invention, the steel belt is fixed to both the output fixed plate and the drive fixed plate. Fixing the steel belt to both the output fixed plate and the drive fixed plate prevents slippage and ensures transmission accuracy.

[0013] As a preferred embodiment of the present invention, both the left-right swing power source and the front-back swing power source include a harmonic reduction motor. The harmonic reduction motor includes a central shaft, a motor stator connected to the central shaft, a motor rotor sleeved on the motor stator, and a harmonic reduction unit connected to the motor rotor. The output end of the harmonic reduction unit is rotatably connected to the central shaft, and the output end of the harmonic reduction unit meshes with a harmonic rigid wheel. The support connecting rod is rotatably connected to the harmonic rigid wheel of the left-right swing power source, and the drive fixing disk is fixed on the harmonic rigid wheel of the left-right swing power source. The harmonic rigid wheel of the left-right swing power source and the central shaft of the left-right swing power source are relatively fixed. Both the harmonic rigid wheel of the front-back swing power source and the central shaft of the front-back swing power source are fixed on the thigh base.

[0014] The output speed of the harmonic reducer is significantly lower than that of the cam, resulting in a stable and low-speed output from the harmonic reducer motor. The harmonic reducer meshes with the harmonic gear, providing high transmission accuracy relative to the cam at the motor's output. The output of the harmonic reducer is rotatably connected to the central shaft, ensuring stable support for its output.

[0015] As a preferred embodiment of the present invention, the harmonic reduction unit includes a cam, which is fixed on the motor rotor. A flexible bearing is mounted on the cam, and a flexible wheel is sleeved on the outer ring of the flexible bearing. The flexible wheel meshes with the harmonic rigid wheel, and the number of teeth on the flexible wheel is less than the number of teeth on the harmonic rigid wheel. An output flange is fixed on the flexible wheel, and the flexible wheel is fixed to the central shaft. The output flange of the left and right swing power source is fixedly connected to the waist fixed end, and the output fixing plate is set on the output flange of the front and rear swing power source.

[0016] When the motor is powered on, the motor rotor rotates relative to the motor stator. The motor rotor drives the cam to rotate, and the cam drives the flex wheel to mesh with the harmonic rigid wheel through a flexible bearing. If the number of teeth on the flex wheel is N less than the number of teeth on the harmonic rigid wheel, then when the cam rotates one revolution, the flex wheel rotates N teeth relative to the harmonic rigid wheel. This results in a greater speed reduction for the output flange connected to the flex wheel, ensuring a stable output force, and ensuring transmission accuracy through gear transmission.

[0017] In a preferred embodiment of the present invention, a rotating sleeve shaft is fixed on the side of the central shaft of the left-right swing power source away from the output flange. The harmonic rigid wheel of the left-right swing power source is fixed to the rotating sleeve shaft, and the rotating sleeve shaft is rotatably connected to the waist fixed end. The output flange and the rotating sleeve shaft are respectively connected to both sides of the waist fixed end, thereby supporting the waist fixed end from both sides and ensuring that the relative rotation between the waist fixed end and the left-right swing power source is more stable.

[0018] In a preferred embodiment of the present invention, the harmonic geared motor further includes a crossed roller bearing. The inner ring of the crossed roller bearing is integrally formed or fixedly connected to the output flange, and the outer ring of the crossed roller bearing is integrally formed or fixedly connected to the harmonic rigid wheel. The outer ring of the crossed roller bearing provides stable support for the harmonic rigid wheel.

[0019] In a preferred embodiment of the present invention, the inner side of the cam is connected to the central shaft via a rolling bearing. The central shaft reliably supports the cam, and the central shaft and the cam can rotate relative to each other.

[0020] The beneficial effects of this invention are as follows:

[0021] When the left-right swinging power source of this invention is activated, the housing of the left-right swinging power source drives the entire leg to swing left and right relative to the fixed end of the waist. When the front-back swinging power source is activated, the steel belt drives the fixed plate to rotate relative to the supporting connecting rod. The force of the front-back swinging power source reacts to itself and is transmitted to the thigh base, thereby pushing the thigh base to rotate, thus realizing the front-back swinging of the leg. When the left-right swinging power source and the front-back swinging power source work simultaneously, the thigh performs a composite movement of front-back swinging and left-back swinging. This invention can simulate the real front-back swinging, left-back swinging, or a composite movement of both of the human thigh. It has high biomimicry and a simple structure. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 This is the front view of the present invention;

[0024] Figure 3 It is the power source for left and right swinging;

[0025] Figure 4 It is a cross-sectional view of the power source for the left-right swinging motion;

[0026] Figure 5 This is a cross-sectional view of the present invention;

[0027] Figure 6 yes Figure 5 A magnified view of a section at point A in the middle;

[0028] Figure 7 This is a partial structural diagram of a harmonic geared motor.

[0029] In the diagram: 1-Left and right swing power source; 2-Waist fixed end; 3-Support connecting rod; 4-Thigh base; 5-Back and front swing power source; 6-Output fixed plate; 7-Drive fixed plate; 8-Steel belt; 9-Support plate; a1-Central shaft; a2-Motor stator; a3-Motor rotor; a4-Harmonic reduction unit; a5-Harmonic rigid wheel; a6-Crossed roller bearing; a7-Rotating sleeve shaft; a11-Rolling bearing; a41-Cam; a42-Flexible bearing; a43-Flexible wheel; a44-Output flange. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the invention can be combined with each other.

[0032] like Figure 1 and Figure 2 As shown, the chain-type leg movement mechanism of this embodiment includes a left-right swinging power source 1, the output end of the left-right swinging power source 1 is connected to a waist fixing end 2, a support link 3 is rotatably connected to the housing of the left-right swinging power source 1, and a thigh base 4. The other end of the support link 3 is fixed to the thigh base 4. A front-back swinging power source 5 is installed on the thigh base 4. An output fixing plate 6 is provided at the output end of the front-back swinging power source 5. A drive fixing plate 7 is fixed on the housing of the left-right swinging power source 1. The output fixing plate 6 and the drive fixing plate 7 are connected by a steel belt 8.

[0033] When the left-right swinging power source 1 of this invention is activated, the housing of the left-right swinging power source 1 drives the entire leg to swing left and right relative to the waist fixed end 2. When the front-back swinging power source 5 is activated, the steel belt 8 drives the drive fixed plate 7 to rotate relative to the support connecting rod 3. The force of the front-back swinging power source 5 reacts to itself and is transmitted to the thigh base 4, thereby pushing the thigh base 4 to rotate, thus realizing the front-back swinging of the leg. When the left-right swinging power source 1 and the front-back swinging power source 5 work simultaneously, the thigh performs a composite movement of front-back swinging and left-right swinging. This invention can simulate the real front-back swinging, left-right swinging, or a composite movement of both of the human thigh. It has high biomimicry and a simple structure.

[0034] To ensure stable support, there are two support rods 3, which are rotatably connected to both sides of the housing of the left and right swing power source 1. The two support rods 3 support both sides of the left and right swing power source 1 respectively, reducing the support force on one side and thus making the support for the thigh more stable.

[0035] To save space and tighten the steel band 8, a support plate 9 is fixed between the thigh base 4 and one of the support rods 3. One side of the support plate 9 presses the steel band 8 tightly, and the shape of this side is arc-shaped. The support plate 9 can press the steel band 8 to one side, saving space on that side. After the thigh base 4 is wrapped with simulated skin, its shape is closer to that of a real person. The support plate 9 tightens the steel band 8, ensuring reliable transmission.

[0036] To increase the lever arm, the center of the drive fixed plate 7 is collinear with the rotation center of the support link 3. The center of the torque of the steel belt 8 on the drive fixed plate 7 is located at the rotation center of the support link 3, which maximizes the lever arm and facilitates reliable driving of the thigh base 4.

[0037] To prevent the steel belt 8 from slipping, the steel belt 8 is fixed to both the output fixed plate 6 and the drive fixed plate 7. This fixation ensures transmission accuracy.

[0038] Specifically, such as Figures 3-7As shown, both the left-right swing power source 1 and the front-back swing power source 5 include harmonic reduction motors. Each harmonic reduction motor includes a central shaft a1, a motor stator a2 connected to the central shaft a1, a motor rotor a3 mounted on the motor stator a2, and a harmonic reduction unit a4 connected to the motor rotor a3. The output end of the harmonic reduction unit a4 is rotatably connected to the central shaft a1, and the output end of the harmonic reduction unit a4 is engaged with a harmonic rigid wheel a5. The support connecting rod 3 is rotatably connected to the harmonic rigid wheel a5 of the left-right swing power source 1. The drive fixing disk 7 is fixed to the harmonic rigid wheel a5 of the left-right swing power source 1, and the harmonic rigid wheel a5 of the left-right swing power source 1 and the central shaft a1 of the left-right swing power source 1 are relatively fixed. Both the harmonic rigid wheel a5 of the front-back swing power source 5 and the central shaft a1 of the front-back swing power source 5 are fixed to the thigh base 4.

[0039] The output speed of the harmonic reduction unit a4 is significantly lower than that of the cam a41, resulting in a stable and low-speed output of the harmonic reduction motor. The harmonic reduction unit a4 meshes with the harmonic rigid wheel a5, thus providing high transmission accuracy at the output of the harmonic reduction motor relative to the cam a41. The output of the harmonic reduction unit a4 is rotatably connected to the central shaft a1, ensuring stable support for its output.

[0040] The harmonic deceleration unit a4 includes a cam a41, which is fixed to the motor rotor a3. A flexible bearing a42 is mounted on the cam a41. A flexible wheel a43 is sleeved on the outer ring of the flexible bearing a42. The flexible wheel a43 meshes with the harmonic rigid wheel a5. The number of teeth on the flexible wheel a43 is less than the number of teeth on the harmonic rigid wheel a5. An output flange a44 is fixed on the flexible wheel a43. The flexible wheel a43 is rotatably connected to the central shaft a1. The output flange a44 of the left and right swing power source 1 is fixedly connected to the waist fixed end 2. The output fixed plate 6 is set on the output flange a44 of the front and rear swing power source 5.

[0041] The motor stator a2 and electronic rotor a3 are built into the flexible wheel a43, which can effectively utilize space, reduce the volume of the harmonic geared motor, and simplify the structure.

[0042] The reduction principle of a harmonic geared motor utilizes the relative motion of the flexure a43, the harmonic rigid wheel a5, and the cam a41, primarily through the controllable elastic deformation of the flexure a43 to achieve motion and power transmission. The elliptical cam a41 rotates within the flexure a43, causing the flexure a43 to deform. When the teeth of the flexure a43 at both ends of the major axis of the elliptical cam a41 engage with the teeth of the harmonic rigid wheel a5, the teeth of the flexure a43 at both ends of the minor axis disengage from the teeth of the harmonic rigid wheel a5. For the teeth between the major and minor axes of the cam a41, the gradual engagement (partial engagement) along different sections of the circumference of the flexure a43 and the harmonic rigid wheel a5 is called engagement. The gradual disengagement (partial engagement) is called disengagement. As cam a41 rotates continuously, flexure a43 undergoes continuous deformation, causing the teeth of the two gears to constantly change their original working states in four motions: engagement, disengagement, and retraction, resulting in a tooth-shifting motion. This achieves motion transmission between cam a41 and flexure a43. The harmonic geared motor offers smooth transmission, low noise, high motion accuracy, and a backlash of less than 10 arcseconds.

[0043] When the motor is powered on, the motor rotor a3 rotates relative to the motor stator a2. The motor rotor a3 drives the cam a41 to rotate, and the cam a41 drives the flexure a43 to mesh with the harmonic rigid wheel a5 through the flexible bearing a42. The flexible bearing a42 is also elliptical and rotates synchronously with the cam a41. The flexure a43 is made of flexible material and is sleeved on the cam a42. When the flexible bearing a42 rotates, the teeth of the harmonic rigid wheel a5 block the teeth of the flexure a43, causing the flexure a43 to slide on the flexible bearing a42. Due to the pressing action of the flexible bearing a42, the meshing position of the flexure a43 and the harmonic rigid wheel a5 changes continuously. Since the number of teeth on the flexure a43 is less than the number of teeth on the harmonic rigid wheel a5, the meshing position of the flexure a43 and the harmonic rigid wheel a5 does not change by one revolution when the cam a41 rotates one revolution. If the number of teeth on the flexible wheel a43 is N fewer than the number of teeth on the harmonic rigid wheel a5, then when the cam a41 rotates one revolution, the flexible wheel a43 rotates N teeth relative to the harmonic rigid wheel a5. This results in a significant speed reduction for the output flange a44 connected to the flexible wheel a43, ensuring a stable output force, and maintaining transmission accuracy through gear transmission. In the diagram, the number of teeth on the flexible wheel a43 is two fewer than the number of teeth on the harmonic rigid wheel a5. When the cam a41 rotates one revolution, the flexible wheel a43 rotates two teeth, and the output flange a44 rotates by the corresponding angle with the cam a41.

[0044] The harmonic geared motor of the left-right swinging power source 1 and the harmonic geared motor of the front-back swinging power source 5 have some structural differences. For example... Figure 4As shown, a rotating sleeve shaft a7 is fixed on the side of the central shaft a1 of the left-right swing power source 1 away from the output flange a44. The harmonic rigid wheel a5 of the right swing power source 1 is fixed to the rotating sleeve shaft a7, and the rotating sleeve shaft a7 is rotatably connected to the waist fixed end 2. The output flange a44 and the rotating sleeve shaft a7 are respectively connected to both sides of the waist fixed end 2, thereby supporting the waist fixed end 2 from both sides and ensuring that the relative rotation between the waist fixed end 2 and the left-right swing power source 1 is more stable.

[0045] The harmonic geared motor also includes a crossed roller bearing a6. The inner ring of the crossed roller bearing a6 is integrally formed or fixedly connected to the output flange a44, and the outer ring of the crossed roller bearing a6 is integrally formed or fixedly connected to the harmonic rigid wheel a5. The outer ring of the crossed roller bearing a6 provides stable support for the harmonic rigid wheel a5.

[0046] like Figure 4 and Figure 6 As shown, the inner side of the cam a41 is connected to the central shaft a1 via a rolling bearing a11. The central shaft a1 reliably supports the cam a41, and the central shaft a1 and the cam a41 can rotate relative to each other.

[0047] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A chain-driven leg movement mechanism, characterized in that: It includes a left-right swing power source (1), the output end of the left-right swing power source (1) is connected to a waist fixed end (2), a support rod (3) is rotatably connected to the housing of the left-right swing power source (1), and a thigh base (4). The other end of the support rod (3) is fixed to the thigh base (4). A front-back swing power source (5) is installed on the thigh base (4). An output fixed plate (6) is provided at the output end of the front-back swing power source (5). A drive fixed plate (7) is fixed on the housing of the left-right swing power source (1). The output fixed plate (6) and the drive fixed plate (7) are connected by a steel belt (8). The number of the support rods (3) is two, and the two support rods (3) are rotatably connected to the two sides of the housing of the left and right swing power source (1); A support plate (9) is fixed between the thigh base (4) and one of the support rods (3). One side of the support plate (9) presses the steel strip (8) tightly. The shape of the side of the support plate (9) that presses the steel strip (8) is arc-shaped. The center of the drive fixed disk (7) is collinear with the rotation center of the support link (3); The steel strip (8) is fixed to the output fixed plate (6) and the drive fixed plate (7) respectively; When the left and right swing power source (1) is in action, the shell of the left and right swing power source (1) drives the entire leg to swing left and right relative to the waist fixed end (2); when the front and back swing power source (5) is in action, the steel belt (8) drives the drive fixed plate (7) to rotate relative to the support link (3), and the force of the front and back swing power source (5) reacts to itself and is transmitted to the thigh base (4), thereby pushing the thigh base (4) to rotate, and thus realizing the front and back swing of the leg; when the left and right swing power source (1) and the front and back swing power source (5) work at the same time, the thigh performs a compound movement of front and back swing and left and right swing.

2. The chain-driven leg movement mechanism according to claim 1, characterized in that: The left-right swing power source (1) and the front-back swing power source (5) both include a harmonic reduction motor. The harmonic reduction motor includes a central shaft (a1), a motor stator (a2) connected to the central shaft (a1), a motor rotor (a3) ​​sleeved on the motor stator (a2), and a harmonic reduction unit (a4) connected to the motor rotor (a3). The output end of the harmonic reduction unit (a4) is meshed with a harmonic rigid wheel (a5). The support connecting rod (3) is rotatably connected to the harmonic rigid wheel (a5) of the left-right swing power source (1). The drive fixing disk (7) is fixed on the harmonic rigid wheel (a5) of the left-right swing power source (1). The harmonic rigid wheel (a5) of the left-right swing power source (1) and the central shaft (a1) of the left-right swing power source (1) are relatively fixed. The harmonic rigid wheel (a5) of the front-back swing power source (5) and the central shaft (a1) of the front-back swing power source (5) are both fixed on the thigh base (4).

3. The chain-driven leg movement mechanism according to claim 2, characterized in that: The harmonic deceleration unit (a4) includes a cam (a41), which is fixed on the motor rotor (a3). A flexible bearing (a42) is installed on the cam (a41). A flexible wheel (a43) is sleeved on the outer ring of the flexible bearing (a42). The flexible wheel (a43) meshes with the harmonic rigid wheel (a5). The number of teeth on the flexible wheel (a43) is less than the number of teeth on the harmonic rigid wheel (a5). An output flange (a44) is fixed on the flexible wheel (a43). The output flange (a44) of the left and right swing power source (1) is fixedly connected to the waist fixed end (2). The output fixed plate (6) is set on the output flange (a44) of the front and rear swing power source (5).

4. The chain-driven leg movement mechanism according to claim 3, characterized in that: A rotating sleeve shaft (a7) is fixed on the side of the central shaft (a1) of the left and right swing power source (1) away from the output flange (a44). The harmonic rigid wheel (a5) of the left and right swing power source (1) is fixed to the rotating sleeve shaft (a7), and the rotating sleeve shaft (a7) is rotatably connected to the waist fixed end (2).

5. The chain-driven leg movement mechanism according to claim 3, characterized in that: The harmonic geared motor also includes a crossed roller bearing (a6), the inner ring of which is integrally formed or fixedly connected to the output flange (a44), and the outer ring of which is integrally formed or fixedly connected to the harmonic rigid wheel (a5).

6. The chain-driven leg movement mechanism according to claim 3, characterized in that: The inner side of the cam (a41) is connected to the central shaft (a1) by a rolling bearing (a11).

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