Leg mechanism of walking robot

Abstract

The invention relates to the technical field of robots, in particular to a walking robot leg mechanism. The leg mechanism of the walking robot is a one-degree-of-freedom planar mechanism, only comprises one type of kinematic pair, namely a revolute pair, and is simple in structure, and the size proportion of all components is reasonable; the preset walking movement can be realized only by driving the crank to do 360-degree whole-circle rotation by taking one end of the crank as the circle center, and the control is simple and convenient; the mechanism comprises the two composite hinges, kinematics analysis of the mechanism is facilitated, the space occupied by the leg structure can be reduced, the structure is compact, and the size, weight and manufacturing cost of the leg mechanism of the robot can be reduced. The other end point of the triangular execution connecting rod component is an execution point which is in contact with the ground and serves as an output point of the whole mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a leg mechanism of a walking robot. Background Art

[0002] Walking robots have great application prospects in education, medical treatment, military, industry and service. Walking robots usually have two or more leg structures. The innovative design of leg structures is the key to the development of new walking robots.

[0003] A leg mechanism of a wheeled-foot robot disclosed in Chinese patent CN202110881138.7 includes two thigh drive mechanisms, three parallel non-coplanar thigh rods, parallel hip joints and knee joints, a calf connected to the knee joint, and a driving wheel at the far end of the calf. Among them, the thigh drive mechanism is used to drive the thigh rod to rotate in directions perpendicular to each other to adjust the position, and the hip joint and the knee joint are connected through the thigh rod by a cross universal joint. The calf has a telescopic function to adjust the height of the robot platform, and the driving wheel at the far end adopts a Mecanum wheel. A calf structure of a footed robot disclosed in Chinese patent CN202222774162.3 includes a leg rod, a foot and an elastic connecting mechanism, the first end of the leg rod is connected to the first position of the foot, and the elastic connecting mechanism is located on the side of the leg rod, connected to the second end of the leg rod, and connected to the second position of the foot. The elastic connecting mechanism can effectively absorb the vibration generated at the foot, improve the stability of the robot movement, and reduce the impact of vibration on the robot. The robot disclosed in patent CN202110159845.5 includes a main cylinder 1, a main cylinder 2, a connecting rod, a knee exercise ball, a calf exercise cylinder, a calf support 1, a calf support 2 and a foot plate. The lower end of the main cylinder 1 is connected to the outer wall of the knee exercise ball. The lower end of the main cylinder 2 is spherically matched with the knee exercise ball. The lower end of the connecting rod is connected to the middle section of the calf support 2. The upper end of the calf exercise cylinder is connected to the outer wall of the knee exercise ball, and the lower end is rotatably connected to the upper end of the calf support 1. The lower end of the calf support 1 is connected to the top of the foot plate. The upper end of the calf support 2 is spherically matched with the knee exercise ball, and the lower end is rotatably connected to the middle section of the calf support 1.

[0004] Most existing robot leg structures are complex and have many degrees of freedom. They are often difficult to control and cannot well implement and reproduce the predetermined walking trajectory. Summary of the invention

[0005] The purpose of the present invention is to provide a walking robot leg mechanism in view of the above-mentioned deficiencies in the prior art.

[0006] A walking robot leg mechanism of the present invention comprises a first triangular link component, a second triangular link component, a first link, a second link, a third link, a fourth link, a triangular execution link component, a crank and a driving system; one end of the first link, the second link and the third link are linked by a first rotation pair; the other end of the first link is linked to a first connection end point of the first triangular link component by a second rotation pair; one end of the crank is rotatably arranged at the second connection end point of the first triangular link component; the other end of the crank is linked to the other end of the second link and the first connection end point of the second triangular link component by a third rotation pair The third connection end point of the first triangular link member is connected to one end of the fourth link through a fourth rotation pair; the other end of the fourth link is connected to the second connection end point of the second triangular link member through a fifth rotation pair; the third connection end point of the second triangular link member and the other end of the third link are respectively connected to the two end points of the triangular execution link member through a sixth rotation pair and a seventh rotation pair, and the other end point of the triangular execution link member is an execution point; the driving system is fixed on the first triangular link member, and the output shaft of the driving system is fixedly connected to one end of the crank to drive the crank to rotate around the central axis of the output shaft.

[0007] Furthermore, the driving system is a motor.

[0008] Furthermore, the first triangular connecting rod member is fixed on the robot frame.

[0009] Furthermore, the first triangular connecting rod member is a part of the robot frame.

[0010] Furthermore, the first revolving pair is a first compound hinge.

[0011] Furthermore, the third revolving pair is a second compound hinge.

[0012] Furthermore, the second rotation pair, the fourth rotation pair, the fifth rotation pair, the sixth rotation pair, and the seventh rotation pair are all hinges.

[0013] Furthermore, the first triangular connecting rod member and the second triangular connecting rod member are solid triangular plates.

[0014] Furthermore, the triangular actuator link member is a solid triangular plate.

[0015] The walking robot leg mechanism of the present invention is a 1-degree-of-freedom planar mechanism, which only includes one type of kinematic pair, namely a revolute pair, and has a simple structure and reasonable size ratios of the components; the crank only needs to be driven to rotate 360° around one end of the crank as the center of the circle to achieve the predetermined walking motion, and the control is simple; the mechanism includes two composite hinges, which is convenient for the kinematic analysis of the mechanism, can reduce the space occupied by the leg structure, has a compact structure, and is conducive to reducing the size, weight and manufacturing cost of the robot leg mechanism; the other end point of the triangular execution link member is the execution point, which is in contact with the ground and serves as the output point of the entire mechanism, and can output a predetermined motion trajectory such as Figure 3 As shown, the bottom of the trajectory approaches a straight line, and the top forms a smooth arc that first rises and then falls, which meets the walking movement requirements of the robot's legs; the mechanism has a reasonable and uniquely determined motion trajectory during the movement, and the components do not interfere with each other during the movement, with excellent comprehensive performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the leg mechanism of the walking robot of the present invention;

[0017] Figure 2 A schematic diagram of the motion state of the leg mechanism of the walking robot of the present invention;

[0018] Figure 3 The figure is a schematic diagram of the motion state of the leg mechanism of the walking robot and the motion trajectory of the execution point of the walking robot of the present invention.

[0019] 1. First triangular connecting rod member; 2. Second triangular connecting rod member; 3. First connecting rod; 4. Second connecting rod; 5. Third connecting rod; 6. Fourth connecting rod; 7. Triangular actuator connecting rod member; 8. Crank; 9. Drive system; 10. Output shaft of drive system; 11. First rotating pair; 12. Second rotating pair; 13. Third rotating pair; 14. Fourth rotating pair; 15. Fifth rotating pair; 16. Sixth rotating pair; 17. Seventh rotating pair. DETAILED DESCRIPTION

[0020] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0021] Example 1

[0022] like Figure 1As shown, a walking robot leg mechanism of the present invention comprises a first triangular link component 1, a second triangular link component 2, a first link 3, a second link 4, a third link 5, a fourth link 6, a triangular execution link component 7, a crank 8 and a driving system 9; one end of the first link 3, the second link 4 and the third link 5 are linked by a first rotation pair 11; the other end of the first link 3 is linked to the first connection end point of the first triangular link component 1 by a second rotation pair 12; one end of the crank 8 is rotatably arranged at the second connection end point of the first triangular link component 1; the other end of the crank 8 is linked to the other end of the second link 4 and the first connection end point of the second triangular link component 2 by a third rotation pair 13; the first triangular The third connection end point of the connecting rod member 1 is connected to one end of the fourth connecting rod 6 through the fourth rotation pair 14; the other end of the fourth connecting rod 6 is connected to the second connection end point of the second triangular connecting rod member 2 through the fifth rotation pair 15; the third connection end point of the second triangular connecting rod member 2 and the other end of the third connecting rod 5 are respectively connected to the two end points of the triangular execution connecting rod member 7 through the sixth rotation pair 16 and the seventh rotation pair 17, and the other end point of the triangular execution connecting rod member 7 is the execution point; the driving system 9 is fixed on the first triangular connecting rod member 1, and the output shaft 10 of the driving system 9 is fixedly connected to one end of the crank 8 to drive the crank 8 to rotate around the central axis of the output shaft 10 to realize the translation, lifting and falling of the execution point.

[0023] The other end of the crank 8 rotates with one end of the crank 8 as the center of the circle. Here, it is assumed that the other end of the crank 8 is located below the center of the circle as the starting point. Figure 2 For illustration, the other end of the crank 8 rotates clockwise. FIG. 2a shows that the other end of the crank 8 moves to the left side of one end of the crank 8. The second triangular connecting rod member 2 and the second connecting rod 4 follow the other end of the crank 8 to move to the upper left. The execution point of the triangular executing connecting rod member 7 moves backward. The motion circuit diagram is shown in FIG. Figure 3 d-3a; The other end of the crank 8 continues to move above the center of the circle, and the state is as follows Figure 2 As shown in b, the execution point moves upward and forward, and its motion route diagram is shown in Figure 3 a-3b; The other end of the crank 8 continues to move to the right side of the center of the circle, and the state is as follows Figure 2 c, the execution point moves downward and forward, and its motion route diagram is shown in Figure 3 b-3c; The other end of the crank 8 continues to move below the center of the circle, and the state is as follows Figure 2 d, the execution point moves backward, and its motion line diagram is shown in Figure 3 c-3d; This reciprocating process enables the execution point to move forward smoothly, that is, the leg mechanism of the walking robot moves forward smoothly.

[0024] During the movement of the robot, the legs need to move forward smoothly to maintain the overall stability of the robot. In addition, the top of the walking trajectory needs to form a smooth curve that first rises and then falls, so that the robot has the ability to overcome obstacles. Figure 3 The bottom of the walking trajectory shown is close to a straight line, and the top forms a smooth arc that first rises and then falls, which meets the walking movement requirements of the robot's legs.

[0025] The walking robot leg mechanism of the present invention is a 1-degree-of-freedom planar mechanism, which only includes one type of kinematic pair, namely a revolute pair, and has a simple structure and reasonable size ratios of the components; the predetermined walking motion can be achieved by only driving the crank 8 to rotate 360° around one end of the crank 8 as the center of the circle, and the control is simple; the mechanism includes two composite hinges, which is convenient for the kinematic analysis of the mechanism, can reduce the space occupied by the leg structure, and has a compact structure, which is conducive to reducing the size, weight and manufacturing cost of the robot leg mechanism; the other end point of the triangular execution link member 7 is the execution point, which is in contact with the ground and serves as the output point of the entire mechanism, and can output a predetermined motion trajectory such as Figure 3 As shown, the bottom of the trajectory approaches a straight line, and the top forms a smooth arc that first rises and then falls, which meets the walking movement requirements of the robot's legs; the mechanism has a reasonable and uniquely determined motion trajectory during the movement, and the components do not interfere with each other during the movement, with excellent comprehensive performance.

[0026] Example 2

[0027] like Figure 1 As shown, there are various structures of the drive system 9, which are not limited here. For example, it can be a motor, an engine, a hydraulic system, a steam turbine, etc. In the present embodiment, the drive system can be a motor, and the motor is fixedly arranged on the first triangular connecting rod member 1, and its output shaft 10 is fixedly connected to one end of the crank 8 to drive the crank 8 to rotate around the central axis of the output shaft 10, so as to realize the translation, lifting and falling of the execution point.

[0028] The first triangular connecting rod member 1 can be fixed on the robot frame, or can be used as a part of the robot frame, and can be equipped here according to actual needs.

[0029] In this embodiment, the first rotational pair 11 is a first compound hinge, the third rotational pair 13 is a second compound hinge, and the second rotational pair 12, the fourth rotational pair 14, the fifth rotational pair 15, the sixth rotational pair 16, and the seventh rotational pair 17 are all hinges.

[0030] In order to ensure that the leg mechanism of the walking robot has better strength, the first triangular link member 1, the second triangular link member 2 and the triangular execution link member 7 are all solid triangular plates. Of course, under the premise that the strength has been guaranteed, in order to reduce the weight of the robot's legs, the first triangular link member 1, the second triangular link member 2 and the triangular execution link member 7 can also be hollow triangular plates, or other arbitrary shapes. The first connecting rod 3, the second connecting rod 4, the third connecting rod 5, the fourth connecting rod 6 and the crank 8 can also be processed into any shape according to actual needs.

[0031] For matters not mentioned above, the prior art applies.

[0032] Although some specific embodiments of the present invention have been described in detail through examples, those skilled in the art should understand that the above examples are for illustration only and are not intended to limit the scope of the present invention. Those skilled in the art to which the present invention belongs may make various modifications or supplements to the specific embodiments described or replace them in a similar manner, but they will not deviate from the direction of the present invention or exceed the scope defined by the attached claims. Those skilled in the art should understand that any modifications, equivalent substitutions, improvements, etc. made to the above embodiments based on the technical essence of the present invention should be included in the protection scope of the present invention.

Claims

1. A walking robot leg mechanism, characterized in that: It comprises a first triangular connecting rod member (1), a second triangular connecting rod member (2), a first connecting rod (3), a second connecting rod (4), a third connecting rod (5), a fourth connecting rod (6), a triangular executing connecting rod member (7), a crank (8) and a driving system (9); One end of the first connecting rod (3), the second connecting rod (4) and the third connecting rod (5) are connected via a first rotation pair (11); the other end of the first connecting rod (3) is connected to the first connecting end point of the first triangular connecting rod component (1) via a second rotation pair (12); One end of the crank (8) is rotatably arranged at the second connection end point of the first triangular connecting rod member (1); The other end of the crank (8) is connected to the other end of the second connecting rod (4) and the first connecting end point of the second triangular connecting rod member (2) via a third rotation pair (13); The third connection end point of the first triangular connecting rod member (1) is connected to one end of the fourth connecting rod (6) via a fourth rotation pair (14); The other end of the fourth connecting rod (6) is connected to the second connecting end point of the second triangular connecting rod member (2) via a fifth rotation pair (15); The third connection end point of the second triangular connecting rod member (2) and the other end of the third connecting rod (5) are respectively connected to the two end points of the triangular executing connecting rod member (7) through the sixth rotating pair (16) and the seventh rotating pair (17), and the other end point of the triangular executing connecting rod member (7) is the execution point; the driving system (9) is fixed on the first triangular connecting rod member (1), and the output shaft (10) of the driving system (9) is fixedly connected to one end of the crank (8) to drive the crank (8) to rotate around the central axis of the output shaft (10).

2. A walking robot leg mechanism as claimed in claim 1, characterized in that: The driving system (9) is a motor.

3. A walking robot leg mechanism as claimed in claim 1, characterized in that: The first triangular connecting rod component (1) is fixed on the robot frame.

4. A walking robot leg mechanism as claimed in claim 1, characterized in that: The first triangular link member (1) is part of the robot frame.

5. The walking robot leg mechanism according to claim 1, characterized in that: The first rotation pair (11) is a first compound hinge.

6. A walking robot leg mechanism as claimed in claim 1, characterized in that: The third rotation pair (13) is a second composite hinge.

7. A walking robot leg mechanism as claimed in claim 1, characterized in that: The second rotational pair (12), the fourth rotational pair (14), the fifth rotational pair (15), the sixth rotational pair (16) and the seventh rotational pair (17) are all hinges.

8. The walking robot leg mechanism according to claim 1, characterized in that: The first triangular connecting rod member (1) and the second triangular connecting rod member (2) are solid triangular plates.

9. A walking robot leg mechanism as claimed in claim 1, characterized in that: The triangular execution link member (7) is a solid triangular plate.

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