A planar single-degree-of-freedom walking robot leg mechanism

Abstract

The present invention relates to the technical field of walking robots, and in particular to a planar single-degree-of-freedom walking robot leg mechanism. The walking robot leg mechanism of the present invention is a planar mechanism with one degree of freedom, which only includes a kinematic pair of the type of revolute pair. It has a simple and compact structure, reduces the space occupied by the leg structure, and 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. The fourth connection end point of the quadrilateral execution link component 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, the bottom of which approaches a straight line, and the top forms a smooth arc that first rises and then falls, meeting the walking movement requirements of the robot leg. 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, and has excellent comprehensive performance.

Description

Technical Field

[0001] The present 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 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 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 to 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. Chinese patent CN202220048494.0 discloses a leg mechanism and robot, comprising a second leg housing, a thigh housing, a calf housing, a thigh roll motor, a knee motor, and a foot lift motor. The second leg housing is connected to the crotch mechanism, one end of the thigh housing is rotatably connected to the second leg housing, and the other end is rotatably connected to the calf housing. The calf housing has a leg parallel pull rod structure installed on the end facing away from the thigh housing. The thigh roll motor drives the second leg housing to rotate, the knee motor drives the calf housing to rotate, and the foot lift motor drives the ankle mechanism to rotate. Chinese patent CN202322731597.4 discloses a robot leg mechanism, which mainly comprises a thigh segment, a calf segment, a foot segment, a linkage, and a foot segment driver. The thigh segment is rotatably connected to the body of the quadruped robot and is in transmission coordination with the first driver of the quadruped robot. The calf segment is rotatably connected to the thigh segment, and the foot segment is rotatably connected to the calf segment. The linkage is in transmission coordination with the second driver and is rotatably connected to the calf segment.

[0004] Most existing robot leg structures are complex and have many degrees of freedom, which often 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 propose a planar single-degree-of-freedom walking robot leg mechanism, which is easy to control and can achieve a predetermined walking trajectory.

[0006] The present invention provides a planar single-degree-of-freedom walking robot leg mechanism, comprising a first triangular link component, a second triangular link component, a third triangular link component, a quadrangular 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 linked to a first connection end point of the first triangular link component via a first rotation pair, and the other end of the first link is linked to one end of the second link via a second rotation pair; the other end of the second link is linked to the first connection end point of the quadrangular execution link component via a third rotation pair, and the second connection end point of the quadrangular execution link component is linked 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 and the first connection end point of the third triangular link member are linked by a fifth rotational pair, and the third connection end point of the second triangular link member and the second connection end point of the first triangular link member are linked by a sixth rotational pair; the second connection end point of the third triangular link member and one end of the third link are linked by a seventh rotational pair, and the other end of the third link and the third connection end point of the quadrilateral actuator link member are linked by an eighth rotational pair, and the fourth connection end point of the quadrilateral actuator link member is an actuator point;

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

[0008] The driving system is fixedly arranged on the first triangular connecting rod component, 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 link member is fixed on the robot frame.

[0011] Furthermore, the first triangular link member is 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 execution 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 one type of kinematic pair, a revolute pair. It has a simple structure, reasonable size ratios of various components, a compact structure, and reduces the space occupied by the leg structure, 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 ​​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 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. 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

[0018] Figure 1 Schematic diagram of the structure 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 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 solutions 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 includes a first triangular link component 1, a second triangular link component 2, a third triangular link component 3, a quadrangular execution link component 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 component 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 execution link component 4 through a third rotation pair 13, and the second connection end of the quadrangular execution link component 4 is connected to the first connection end point of the quadrangular execution link component 4. The point is linked to the first connection end point of the second triangular link member 2 through the 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 through the fifth rotational 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 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 through the seventh rotational 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 rotational 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 rotational pair 19;

[0025] 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 to realize the 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, here is 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 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 the other members also follow the corresponding movement. The execution point of the quadrangular execution connecting rod member 4 moves forward and upward. The movement circuit diagram is shown in FIG. 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 As shown in c, the execution point moves downward and forward, and its motion circuit 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 2As shown in d, the execution point moves backward, and its motion circuit 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 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.

[0028] The leg mechanism of the walking robot of the present invention is a planar mechanism with 1 degree of freedom. It only needs one prime mover (crank) to realize the predetermined walking motion. It only includes one type of kinematic pair, namely a rotating pair. It has a simple structure, reasonable size ratios of each component, and a compact structure. It reduces the space occupied by the leg structure, 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 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.

[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 this embodiment, the drive system 9 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.

[0031] 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.

[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 quadrilateral actuator link member 4 is a solid quadrilateral plate. While ensuring strength, 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 quadrilateral actuator 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] Any matters not mentioned above shall be subject to the existing technology.

[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 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 planar single-degree-of-freedom walking robot leg mechanism, characterized by: The invention comprises a first triangular link member (1), a second triangular link member (2), a third triangular link member (3), a quadrilateral execution 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 quadrilateral execution link member (4) through a third rotation pair (13), and the second connection end point of the quadrilateral execution link member (4) is connected to the second triangular link member (1). The first connection end point of the member (2) is linked by 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) by 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) by 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) by 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) by an eighth rotational pair (18), and 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. The planar single-degree-of-freedom walking robot leg mechanism according to 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 link member (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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