A walking robot leg mechanism

Abstract

The present invention relates to the field of robotics, and in particular to a walking robot leg mechanism. The walking robot leg mechanism of the present invention is a planar mechanism with one degree of freedom, comprising only one type of kinematic pair, a revolute pair, and having a simple structure and reasonable size ratios of its components. The predetermined walking motion can be achieved by simply driving the crank to rotate 360° around one end of the crank, making it easy to control. The mechanism comprises two composite hinges, which facilitate kinematic analysis of the mechanism and can reduce the space occupied by the leg structure. The structure is compact, which is beneficial for reducing the size, weight, and manufacturing cost of the robot leg mechanism. The other end point of the triangular actuator link member is the actuator point, which contacts the ground and serves as the output point of the entire mechanism.

Description

Technical Field

[0001] The present 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 enormous potential for application in education, healthcare, military, industry, and services. Walking robots typically have two or more legs. Innovative leg design is key to developing new walking robots.

[0003] Chinese patent CN202110881138.7 discloses a leg structure for a wheeled-legged robot, comprising two thigh drive mechanisms, three parallel, non-coplanar thigh rods, parallel hip and knee joints, a shank connected to the knee joint, and a drive wheel at the distal end of the shank. The thigh drive mechanism drives the thigh rods to rotate perpendicularly to adjust their position, and the hip and knee joints are connected via the thigh rods using a cross universal joint. The shank has a telescopic function to adjust the height of the robot platform, and the drive wheel at the distal end utilizes a Mecanum wheel. Chinese patent CN202222774162.3 discloses a shank structure for a legged robot, comprising a leg rod, a foot, and an elastic connection mechanism. The first end of the leg rod is connected to a first position of the foot. The elastic connection mechanism is located lateral to the leg rod, connected to the second end of the leg rod, and then to a second position of the foot. The elastic connection mechanism effectively absorbs vibration generated by the foot, improving the stability of the robot's movement and reducing 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 achieve 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 response to the above-mentioned deficiencies in the prior art.

[0006] A walking robot leg mechanism of the present invention includes 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 drive 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 the first connection end point of the first triangular link component by a second rotation pair; one end of the crank is rotatably set 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 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 point of the second triangular link member through a fifth rotation pair; the third connection 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 the execution point; the drive system is fixed on the first triangular link member, and the output shaft of the drive 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 link member is fixed on the robot frame.

[0009] Furthermore, the first triangular link member is 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 execution link member is a solid triangular plate.

[0015] The walking robot leg mechanism of the present invention is a planar mechanism with 1 degree of freedom, which only includes one type of kinematic pair, a revolute pair. It has a simple structure and reasonable size ratios of each component. It only needs to drive the crank to rotate 360 ​​degrees around one end of the crank as the center of the circle to achieve the predetermined walking movement, and the control is simple. The mechanism includes two composite hinges, which facilitates 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 is the execution point, which contacts the ground and serves as the output point of the entire mechanism. It can output a predetermined motion trajectory such as Figure 3 As shown in the figure, 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 legs; the mechanism has a reasonable and uniquely determined motion trajectory during the movement process, and the components do not interfere with each other during the movement, with excellent comprehensive performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the structure 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 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 executive 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 solutions 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 includes 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 drive system 9; one end of the first link 3, the second link 4 and the third link 5 is 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 link component 1 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 drive system 9 is fixed on the first triangular connecting rod member 1, and the output shaft 10 of the drive 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, by default, 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. FIG2a 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 FIG2a. 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 circuit 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 As shown in c, the execution point moves downward and forward, and its motion circuit diagram is shown in Figure 3 b-3c; The other end of the crank 8 continues to move to the bottom of the center of the circle, and the state is as follows Figure 2 As shown in d, the execution point moves backward, and its motion circuit diagram is shown in Figure 3 c-3d; repeat this process to achieve smooth forward movement of the execution point, that is, the leg mechanism of the walking robot moves forward smoothly.

[0024] During the robot's movement, 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 legs.

[0025] The walking robot leg mechanism of the present invention is a planar mechanism with 1 degree of freedom, which only includes one type of kinematic pair, a revolute pair. It has a simple structure and reasonable size ratios of each component. It only needs to drive the crank 8 to rotate 360 ​​degrees around one end of the crank 8 as the center of the circle to achieve the predetermined walking movement, and the control is simple. The mechanism includes two composite hinges, which are 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 contacts the ground and serves as the output point of the entire mechanism. It can output a predetermined motion trajectory such as Figure 3 As shown in the figure, 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 legs; the mechanism has a reasonable and uniquely determined motion trajectory during the movement process, 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 this embodiment, the drive system can be a motor, which 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, thereby realizing the translation, lifting and falling of the execution point.

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

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

[0030] To ensure greater strength for the walking robot's leg structure, the first triangular link member 1, the second triangular link member 2, and the triangular actuator link member 7 are all solid triangular plates. However, to reduce the weight of the robot's legs, provided that strength is ensured, the first triangular link member 1, the second triangular link member 2, and the triangular actuator link member 7 can also be hollow triangular plates or any other shape. 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 as needed.

[0031] Any matters not mentioned above shall be subject to the existing technology.

[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 of the present invention may make various modifications or additions to the described specific embodiments or replace them in similar ways, but they will not deviate from the direction of the present invention or exceed the scope defined by the appended claims. Those skilled in the art should understand that any modifications, equivalent replacements, improvements, etc. made to the above embodiments based on the technical essence of the present invention should be included in the scope of protection of the present invention.

Claims

1. A walking robot leg mechanism, characterized in that: It comprises a first triangular link member (1), a second triangular link member (2), a first link (3), a second link (4), a third link (5), a fourth link (6), a triangular actuator link member (7), a crank (8) and a drive 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) and the first connection end point of the first triangular connecting rod component (1) are connected 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 connection 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 link member (1) is connected to one end of the fourth link (6) via a 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) via a fifth rotation pair (15); The third connection end point of the second triangular link member (2) and the other end of the third link (5) are respectively connected to the two end points of the triangular execution link member (7) through the sixth rotation pair (16) and the seventh rotation pair (17), and the other end point of the triangular execution link member (7) is the execution point; the driving system (9) is fixed on the first triangular link 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 according to claim 1, characterized in that: The driving system (9) is a motor.

3. The walking robot leg mechanism according to claim 1, wherein: The first triangular link member (1) is fixed on the robot frame.

4. The walking robot leg mechanism according to claim 1, wherein: 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. The walking robot leg mechanism according to claim 1, characterized in that: The third rotation pair (13) is a second composite hinge.

7. The walking robot leg mechanism according to claim 1, wherein: The second rotation pair (12), the fourth rotation pair (14), the fifth rotation pair (15), the sixth rotation pair (16), and the seventh rotation 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. The walking robot leg mechanism according to claim 1, characterized in that: The triangular execution link member (7) is a solid triangular plate.

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