Plane single-degree-of-freedom walking robot leg mechanism

Abstract

The invention relates to the technical field of walking robots, in particular to a planar single-degree-of-freedom 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 and compact in structure, the space occupied by the leg structure is reduced, and the size, the weight and the manufacturing cost of the leg mechanism of the robot can be reduced; the preset walking movement can be realized only by driving the crank to perform 360-degree whole-circle rotation by taking one end of the crank as a circle center; a fourth connecting end point of the quadrangular executing connecting rod component is an executing point, makes contact with the ground and serves as an output point of the whole mechanism, a preset movement track can be output, the bottom of the track approaches a straight line, the top of the track forms a smooth arc which ascends and descends sequentially, and the walking movement requirement of the legs of the robot is met. The mechanism has a reasonable and uniquely determined movement track in the movement process, components do not interfere with each other in the movement process, and excellent comprehensive performance is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of walking robots, and in particular to a planar single-degree-of-freedom walking robot leg mechanism. 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] Chinese patent CN202320150554.4 discloses a leg structure of a footed robot, including a swing motor, a thigh motor, a calf motor, a swing connecting rod, a thigh rod, a cam bearing, a calf transmission rod and a calf rod. The swing motor is fixed on the body of the footed robot and is connected to the thigh motor through a swing connecting rod. The fixed end of one side of the calf motor is connected to the output end of the thigh motor, and the fixed end on the other side is connected to the thigh rod. The thigh rod is movably connected to the calf rod. The output end of the calf motor is connected to the calf cam. The calf cam is connected to one end of the calf transmission rod through a cam bearing, and the other end of the calf transmission rod is movably connected to one end of the calf rod. A leg mechanism and robot disclosed in Chinese patent CN202220048494.0 include a second leg shell, a thigh shell, a calf shell, a thigh rolling motor, a knee motor and a foot lifting motor. The second leg shell is connected to the cross-body mechanism, one end of the thigh shell is rotatably connected to the second leg shell, and the other end is rotatably connected to the calf shell. The calf shell is installed with a leg parallel pull rod structure at one end facing away from the thigh shell; the thigh rolling motor drives the second leg shell to rotate, the knee motor drives the calf shell to rotate, and the foot lifting motor drives the ankle mechanism to rotate. The robot leg mechanism disclosed in Chinese patent CN202322731597.4 mainly includes a thigh leg section, a calf leg section, a foot section, a linkage member and a foot section driving member. The thigh leg section is rotatably connected to the body of the quadruped robot and is in transmission cooperation with the first driving member of the quadruped robot. The calf leg section is rotatably connected to the thigh leg section, and the foot section is rotatably connected to the calf leg section. The linkage member is in transmission cooperation with the second driving member and is rotatably connected to the calf leg section.

[0004] Most existing robot leg structures are complex and have many degrees of freedom, which makes them difficult to control and unable to perfectly achieve and reproduce the predetermined walking trajectory. Summary of the invention

[0005] The purpose of the present invention is to address the above-mentioned deficiencies in the prior art and to provide a planar single-degree-of-freedom walking robot leg mechanism, which is easy to control and can achieve a predetermined walking trajectory.

[0006] A planar single-degree-of-freedom walking robot leg mechanism of the present invention comprises a first triangular link component, a second triangular link component, a third triangular link component, a quadrilateral execution link component, a first link, a second link, a third link, a crank and a drive system; one end of the first link is connected to a first connection end point of the first triangular link component through a first rotation pair, and the other end of the first link is connected to one end of the second link through a second rotation pair; the other end of the second link is connected to the first connection end point of the quadrilateral execution link component through a third rotation pair, and the second connection end point of the quadrilateral execution link component is connected to the second The first connection end point of the triangular link member is linked by a fourth rotational pair, the second connection end point of the second triangular link member is linked to the first connection end point of the third triangular link member by a fifth rotational pair, the third connection end point of the second triangular link member is linked to the second connection end point of the first triangular link member by a sixth rotational pair; the second connection end point of the third triangular link member is linked to one end of the third link by a seventh rotational pair, the other end of the third link is linked to the third connection end point of the quadrilateral execution link member by an eighth rotational pair, and the fourth connection end point of the quadrilateral execution link member is an execution point;

[0007] One end of the crank is connected to the third connection end point of the third triangular connecting rod member through a ninth rotation pair;

[0008] The driving system is fixedly arranged on the first triangular connecting rod member, and the output shaft of the driving system is fixedly connected to the other end of the crank to drive the crank to rotate around the central axis of the output shaft.

[0009] Furthermore, the driving system is a motor.

[0010] Furthermore, the first triangular connecting rod member is fixed on the robot frame.

[0011] Furthermore, the first triangular connecting rod member is a part of the robot frame.

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

[0013] Furthermore, the first triangular connecting rod member is a solid triangular plate.

[0014] Furthermore, the second triangular connecting rod member is a solid triangular plate.

[0015] Furthermore, the third triangular connecting rod member is a solid triangular plate.

[0016] Furthermore, the quadrangular actuator link member is a solid quadrangular plate.

[0017] The leg mechanism of the walking robot of the present invention is a planar mechanism with 1 degree of freedom, which only includes a kinematic pair of a revolute pair. The structure is simple, the size ratio of each component is reasonable, the structure is compact, and the space occupied by the leg structure is reduced, which is conducive to reducing the size, weight and manufacturing cost of the robot leg mechanism; it only needs to drive the crank to rotate 360° around one end of the crank as the center of the circle to achieve the predetermined walking movement, and the control is simple; the fourth connection end point of the quadrilateral execution link member is the execution point, which contacts 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

[0018] Figure 1 It is a structural schematic diagram of the leg mechanism of the walking robot of the present invention;

[0019] Figure 2 A schematic diagram of the motion state of the leg mechanism of the walking robot of the present invention;

[0020] 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.

[0021] 1. First triangular connecting rod member; 2. Second triangular connecting rod member; 3. Third triangular connecting rod member; 4. Quadrilateral executive connecting rod member; 5. First connecting rod; 6. Second connecting rod; 7. Third connecting rod; 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; 18. Eighth rotating pair; 19. Ninth rotating pair. DETAILED DESCRIPTION

[0022] 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.

[0023] like Figure 1As shown, a planar single-degree-of-freedom walking robot leg mechanism of the present invention comprises a first triangular link member 1, a second triangular link member 2, a third triangular link member 3, a quadrangular actuator link member 4, a first link 5, a second link 6, a third link 7, a crank 8 and a drive system 9; one end of the first link 5 is connected to the first connection end point of the first triangular link member 1 through a first rotation pair 11, and the other end of the first link 5 is connected to one end of the second link 6 through a second rotation pair 12; the other end of the second link 6 is connected to the first connection end point of the quadrangular actuator link member 4 through a third rotation pair 13, and the second connection end of the quadrangular actuator link member 4 is connected to the first connection end point of the quadrangular actuator link member 4. The point is linked to the first connection end point of the second triangular link member 2 through the fourth rotation pair 14, the second connection end point of the second triangular link member 2 is linked to the first connection end point of the third triangular link member 3 through the fifth rotation pair 15, and the third connection end point of the second triangular link member 2 is linked to the second connection end point of the first triangular link member 1 through the sixth rotation pair 16; the second connection end point of the third triangular link member 3 is linked to one end of the third link 7 through the seventh rotation pair 17, and the other end of the third link 7 is linked to the third connection end point of the quadrangular execution link member 4 through the eighth rotation pair 18, and the fourth connection end point of the quadrangular execution link member 4 is the execution point;

[0024] One end of the crank 8 is connected to the third connection end point of the third triangular connecting rod member 3 via a ninth rotation pair 19;

[0025] The driving system 9 is fixedly arranged on the first triangular connecting rod member 1, and the output shaft 10 of the driving system 9 is fixedly connected to the other end of the crank 8 to drive the crank 8 to rotate around the central axis of the output shaft 10 to achieve translation, lifting and falling of the execution point.

[0026] The crank 8 rotates around the central axis of the output shaft 10, that is, one end of the crank 8 rotates with the other end of the crank 8 as the center. Figure 2 For illustration, the default Figure 2 a is the starting state, one end of the crank 8 is located at the lower right of the center of the other end of the circle, and one end of the crank 8 rotates clockwise. Figure 2 b is that one end of the crank 8 moves to the left side of the other end of the crank 8, the third triangular connecting rod member 3 follows the other end of the crank 8 to move to the upper left, and other members also follow the corresponding movement, and the execution point of the quadrilateral execution connecting rod member 4 moves forward and upward. The movement circuit diagram is shown in Figure 3 a-3b; one end of the crank 8 continues to move above 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; One 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 2d, the execution point moves backward, and its motion line diagram is shown in Figure 3 c-3d; one end of the crank 8 continues to move to the lower right of the center of the circle, and so on, to achieve smooth forward movement of the execution point, that is, the leg mechanism of the walking robot moves forward smoothly.

[0027] 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.

[0028] The leg mechanism of the walking robot of the present invention is a planar mechanism with 1 degree of freedom, which only requires 1 prime mover (crank) to realize the predetermined walking motion, and only includes one type of kinematic pair, namely, a rotating pair. The structure is simple, the size ratio of each component is reasonable, the structure is compact, and the space occupied by the leg structure is reduced, which is conducive to reducing the size, weight and manufacturing cost of the robot leg mechanism; it only needs to drive the crank 8 to rotate 360° around one end of the crank 8 as the center of the circle to realize the predetermined walking motion, and the control is simple; the fourth connection end point of the quadrilateral execution link member 4 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.

[0029] Example 2

[0030] 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 9 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.

[0031] 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.

[0032] The first rotational pair 11, the second rotational pair 12, the third rotational pair 13, the fourth rotational pair 14, the fifth rotational pair 15, the sixth rotational pair 16, the seventh rotational pair 17, the eighth rotational pair 18 and the ninth rotational pair 19 may all be hinges.

[0033] The first triangular link member 1 is a solid triangular plate. The second triangular link member 2 is a solid triangular plate. The third triangular link member 3 is a solid triangular plate. The quadrangular execution link member 4 is a solid quadrangular plate. On 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, the third triangular link member 3 and the quadrangular execution link member 4 can also be hollow triangular plates, or any other shape.

[0034] The first connecting rod 5, the second connecting rod 6, the third connecting rod 7 and the crank 8 can also be processed into any shape according to actual needs.

[0035] For matters not mentioned above, the prior art applies.

[0036] 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 planar single-degree-of-freedom walking robot leg mechanism, characterized in that: The invention comprises a first triangular connecting rod component (1), a second triangular connecting rod component (2), a third triangular connecting rod component (3), a quadrangular executing connecting rod component (4), a first connecting rod (5), a second connecting rod (6), a third connecting rod (7), a crank (8) and a driving system (9); one end of the first connecting rod (5) is connected to a first connecting end point of the first triangular connecting rod component (1) through a first rotating pair (11), and the other end of the first connecting rod (5) is connected to one end of the second connecting rod (6) through a second rotating pair (12); the other end of the second connecting rod (6) is connected to the first connecting end point of the quadrangular executing connecting rod component (4) through a third rotating pair (13), and the second connecting end point of the quadrangular executing connecting rod component (4) is connected to the second triangular connecting rod component (1). The first connection end point of the second triangular link member (2) is linked via a fourth rotational pair (14); the second connection end point of the second triangular link member (2) is linked to the first connection end point of the third triangular link member (3) via a fifth rotational pair (15); the third connection end point of the second triangular link member (2) is linked to the second connection end point of the first triangular link member (1) via a sixth rotational pair (16); the second connection end point of the third triangular link member (3) is linked to one end of the third link (7) via a seventh rotational pair (17); the other end of the third link (7) is linked to the third connection end point of the quadrilateral execution link member (4) via an eighth rotational pair (18); the fourth connection end point of the quadrilateral execution link member (4) is an execution point; One end of the crank (8) is connected to the third connection end point of the third triangular connecting rod member (3) via a ninth rotation pair (19); The drive system (9) is fixedly arranged on the first triangular connecting rod member (1), and the output shaft (10) of the drive system (9) is fixedly connected to the other end of the crank (8) to drive the crank (8) to rotate around the central axis of the output shaft (10).

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

3. The planar single-degree-of-freedom walking robot leg mechanism according to claim 1, characterized in that: The first triangular connecting rod component (1) is fixed on the robot frame.

4. The planar single-degree-of-freedom walking robot leg mechanism according to claim 1, characterized in that: The first triangular link member (1) is part of the robot frame.

5. The planar single-degree-of-freedom walking robot leg mechanism according to claim 1, characterized in that: The first rotating pair (11), the second rotating pair (12), the third rotating pair (13), the fourth rotating pair (14), the fifth rotating pair (15), the sixth rotating pair (16), the seventh rotating pair (17), the eighth rotating pair (18) and the ninth rotating pair (19) are all hinges.

6. The planar single-degree-of-freedom walking robot leg mechanism according to claim 1, characterized in that: The first triangular connecting rod member (1) is a solid triangular plate.

7. The planar single-degree-of-freedom walking robot leg mechanism according to claim 1, characterized in that: The second triangular connecting rod member (2) is a solid triangular plate.

8. The planar single-degree-of-freedom walking robot leg mechanism according to claim 1, characterized in that: The third triangular connecting rod member (3) is a solid triangular plate.

9. The planar single-degree-of-freedom walking robot leg mechanism according to claim 1, characterized in that: The quadrangular execution link member (4) is a solid quadrangular plate.

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