Foot type robot three-joint leg passive self-holding mechanism

Abstract

The invention relates to a three-joint-leg passive self-holding mechanism of a foot type robot, and belongs to the technical field of foot type robots. The mechanism fully utilizes a shutdown motor redundant operation space of the three-joint motor leg to realize opening, closing and locking, realizes power-off standing and self-sustaining of the foot-type robot under the condition of not introducing a new power source, can stand for a long time without consuming electric energy during outdoor cross-country, is completely autonomous in state switching, does not need human intervention, and is simple in structure and convenient to operate. And the energy-saving requirement of in-situ long-term operation is met.

Description

Technical Field

[0001] The present invention belongs to the technical field of legged robots, and particularly relates to a self-sustaining mechanism without a power source for a three-joint leg of a legged robot. Background Art

[0002] With the development of robot technology, legged off-road robots have been widely used in fields such as wild search and rescue and geological exploration due to their excellent terrain adaptability. However, different from the non-powered stability of wheeled vehicles, legged robots use electrically driven joints to achieve standing. Therefore, when operating statically for a long time, the legged chassis still consumes electrical energy, which will reduce the endurance and operation time of the whole machine.

[0003] Traditional methods mainly make the robot stay in a certain area for a long time by manually adding auxiliary support devices or powering off and shutting down the robot to make it lie down. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] The technical problem to be solved by the present invention is to design a self-sustaining mechanism without a power source for a three-joint leg of a legged robot, which can achieve power-off standing self-sustainability of the legged robot without introducing a new power source and meet the energy-saving requirements for long-term in-situ operation.

[0006] (2) Technical Solutions

[0007] To solve the above technical problems, the present invention provides a self-sustaining mechanism without a power source for a three-joint leg of a legged robot, including a three-joint leg, a self-locking switching structure, and a steering traction mechanism;

[0008] The three-joint leg includes three motors, namely a side-spreading joint motor 2.1, a hip joint motor 2.2, and a knee joint motor 2.3, and also includes a connecting member 2.4 and a connecting rod system 2.5; the three motors are all installed on the connecting member 2.4, and the whole is connected to the body of the legged robot through the side-spreading joint motor 2.1, and the knee joint motor 2.3 controls the rotation angle of the knee joint through the connecting rod system 2.5;

[0009] The self-locking switching structure includes a base 3.1, a bushing 3.2, a tooth slot 3.3, a return spring 3.4, a caliper 3.5, and a fixed slot plate 3.6; the self-locking switching structure is fixedly connected to the connecting member 2.4 through the base 3.1, the tooth slot body 3.3 is fixedly installed on the base 3.1 through the bushing 3.2, the caliper 3.5 is located in the bushing 3.2, and one end contacts the base 3.1 through the return spring 3.4, and the other end is stuck in the caliper slot body 3.3, and the caliper 3.5 can rotate coaxially and move radially relative to the bushing 3.2;

[0010] The fixed groove plate 3.6 is radially provided with a radial fixed groove. The mouth of the fixed groove is wide and the bottom is narrow, presenting an inverted cone shape. The caliper 3.5 is provided with a fixed head corresponding to and coupled with the fixed groove. The fixed groove plate 3.6 is fixedly connected to the knee joint motor 2.3. When the fixed groove plate 3.6 and the knee joint motor 2.3 are rotated to any angle, the fixed head of the caliper 3.5 can slide into the fixed groove when moving towards the fixed groove plate 3.6, and when sliding into the fixed groove, the caliper 3.5 and the fixed groove are in a meshed state. The knee joint motor 2.3 is fixed with the fixed groove and cannot rotate freely, and the knee joint angle is locked. In the state without external force, the fixed head of the caliper 3.5 does not contact the fixed groove, and the fixed groove plate 3.6 is in a free state and can rotate arbitrarily with the knee joint motor 2.3;

[0011] The steering traction mechanism includes a steering guide wheel 4.1, a traction rope 4.2, and a fixed seat 4.3; the fixed seat 4.3 is fixedly connected to the connecting member 2.4 and can rotate with the side expansion joint motor 2.1; one end of the traction rope 4.2 is fixed on the fixed seat 4.3, and the other end is wound around the steering guide wheel 4.1 and connected to the caliper 3.5.

[0012] The present invention also provides a legged robot, which includes the self-sustaining mechanism of the three-joint leg of the legged robot.

[0013] The present invention also provides a working method for the self-sustaining mechanism of the three-joint leg of the legged robot.

[0014] (III) Beneficial effects

[0015] The present invention provides a self-sustaining mechanism for the three-joint leg of a legged robot, which is a power-saving self-locking mechanism. It makes full use of the redundant operation space of the shutdown motor of the three-joint motor leg to achieve opening and locking, and realizes the power-off standing self-sustaining of the legged robot without introducing a new power source. It can stand for a long time without consuming electric energy during outdoor cross-country, and at the same time, the state switching is completely autonomous without human intervention, meeting the energy-saving needs of long-term in-situ operation. Description of the drawings

[0016] Figure 1 It is a schematic diagram of the structure of the three-joint leg and the fuselage in the self-sustaining mechanism of the present invention;

[0017] Figure 2 It is a schematic diagram of the structure of the self-locking switching structure of the present invention;

[0018] Figure 3 It is a schematic diagram of the state switching principle of the self-locking switching structure of the present invention;

[0019] Figure 4 It is a schematic diagram of the structure of the steering traction mechanism of the present invention. Detailed implementation manners

[0020] To make the objectives, content, and advantages of the present invention clearer, the following further describes in detail the specific implementation manners of the present invention with reference to the accompanying drawings and embodiments.

[0021] The present invention aims to provide a self-sustaining mechanism without a power source for a three-joint leg of a legged robot, which is a clutch mechanism for locking the knee joint of a robot leg.

[0022] The self-sustaining mechanism without a power source for the three-joint leg of the legged robot includes a three-joint leg, a self-locking switching structure, and a steering traction mechanism.

[0023] Refer to Figure 1 , the three-joint leg includes three motors, namely a lateral abduction joint motor 2.1, a hip joint motor 2.2, and a knee joint motor 2.3, and also includes a connecting member 2.4 and a link system 2.5; the three motors are all installed on the connecting member 2.4, and the whole is connected to the fuselage 1 through the lateral abduction joint motor 2.1. The knee joint motor 2.3 controls the rotation angle of the leg knee joint through the link system 2.5. The hip joint motor 2.2 and the knee joint motor 2.3 can rotate synchronously on parallel axes. The rotation axis of the lateral abduction joint motor 2.1 is perpendicular to the rotation axes of the hip joint motor 2.2 and the knee joint motor 2.3.

[0024] Refer to Figure 2 , the self-locking switching structure includes a base 3.1, a bushing 3.2, a tooth slot 3.3, a return spring 3.4, a caliper 3.5, and a fixed slot plate 3.6. The self-locking switching structure is fixedly connected to the connecting member 2.4 through the base 3.1. The tooth slot body 3.3 is fixedly installed on the base 3.1 through the bushing 3.2. The caliper 3.5 is located in the bushing 3.2, and one end contacts the base 3.1 through the return spring 3.4, and the other end is stuck in the tooth slot body 3.3. The caliper 3.5 can rotate coaxially and move radially relative to the bushing 3.2.

[0025] Refer to Figure 1 , Figure 2 , the fixed slot plate 3.6 is radially provided with radially distributed (circumferentially arranged) fixed slots. The mouths of the fixed slots are wide and the bottoms are narrow (the outer side of the fixed slot plate 3.6 in the radial direction is the mouth, and the inner side is the bottom), presenting an inverted cone shape. The caliper 3.5 is provided with fixed heads corresponding to and coupled with the fixed slots. The fixed slot plate 3.6 is fixedly connected to the knee joint motor 2.3. When the fixed slot plate 3.6 and the knee joint motor 2.3 are rotated to any angle, the fixed head end of the caliper 3.5 can slide into the fixed slots when moving towards the fixed slot plate 3.6, and when (one end of the fixed head of the caliper 3.5) slides into the fixed slots, the caliper 3.5 and the fixed slots are in an engaged state, and the knee joint motor 2.3 is fixed with the fixed slots and cannot rotate freely, and the angle of the leg knee joint is locked. In the state without external force, the fixed head end of the caliper 3.5 does not contact the fixed slots, and the fixed slot plate 3.6 is in a free state and can rotate arbitrarily with the knee joint motor 2.3.

[0026] The self-locking switching structure can switch between a locked state and a free state. Refer to Figure 2 , Figure 3 , specifically as follows:

[0027] Locked state: There is a sliding groove in the middle of the caliper 3.5. There are circumferentially arranged (circumferentially disposed) inclined groove recesses on the caliper groove body 3.3 that are coupled with the sliding groove. The inclined groove recesses include deep grooves and shallow grooves arranged at intervals. The caliper 3.5 moves radially in the direction of the fixed groove. The sliding groove engages with the deep groove. Under the pre-tightening force of the return spring 3.4, the fixed head end of the caliper 3.5 engages with the fixed groove. At this time, it is the knee joint locked state;

[0028] Free state: Pull the caliper 3.5 outwards, compress the return spring 3.4. The sliding groove and the deep groove return to a non-engaged state (engagement released). The caliper 3.5 moves radially rearwards. At the same time, it rotates axially relative to the shallow groove adjacent to the deep groove and rotates to the position of the shallow groove. Release the caliper 3.5. Under the pre-tightening force of the return spring 3.4, the caliper 3.5 moves radially. The sliding groove engages with the shallow groove. Blocked by the shallow groove, the fixed head of the caliper 3.5 cannot penetrate into the fixed groove end of the fixed groove plate 3.6. At this time, it is the knee joint free state;

[0029] Switching process: Pull the caliper 3.5 outwards again, compress the return spring 3.4. After the sliding groove and the shallow groove return to a non-engaged state (engagement released), the caliper 3.5 rotates and turns to the deep groove. Release the caliper 3.5, then the switching from the free state to the locked state is completed.

[0030] Refer to Figure 4 , the steering traction mechanism includes a steering guide wheel 4.1, a traction rope 4.2, and a fixed seat 4.3.

[0031] The fixed seat 4.3 is fixedly connected to the connecting member 2.4 and can rotate with the side expansion joint motor 2.1. One end of the traction rope 4.2 is fixed to the fixed seat 4.3, and the other end passes around the steering guide wheel 4.1 and is connected to the caliper 3.5 (the other end of the fixed head end of the caliper 3.5 is called the caliper head).

[0032] When the side expansion joint motor 2.1 is working normally, the traction rope 4.2 is in a slack state. When the rotation angle of the side expansion joint motor 2.1 exceeds the set threshold, the traction rope 4.2 is tightened, pulling the caliper 3.5 outwards to achieve the state switching of the self-locking switching structure.

[0033] It can be seen that the power-saving self-locking mechanism designed in the present invention makes full use of the redundant operation space of the shutdown motor of the three-joint motor leg to achieve opening and locking, and realizes the power-off standing and self-sustenance of the legged robot without introducing a new power source. The structure is simple and the control is convenient. After the knee joint is locked, the quadruped robot can stand passively through the mechanical structure, and can realize self-sustaining operation without power for a long time, meeting the energy-saving needs of long-term operation in place.

[0034] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A three-joint leg passive self-supporting mechanism for a legged robot, characterized in that: It includes three-jointed legs, a self-locking switching structure and a steering traction mechanism; The three-joint leg comprises three motors, namely a lateral joint motor (2.1), a hip joint motor (2.2), and a knee joint motor (2.3), and also comprises a connecting piece (2.4) and a connecting rod system (2.5); the three motors are all mounted on the connecting piece (2.4), and the whole is connected to the body of the foot-type robot through the lateral joint motor (2.1); the knee joint motor (2.3) controls the rotation angle of the knee joint through the connecting rod system (2.5); The self-locking switching structure comprises a base (3.1), a shaft sleeve (3.2), a tooth groove (3.3), a reset spring (3.4), a caliper (3.5), and the fixed groove plate (3.6); the self-locking switching structure is fixedly connected to the connecting member (2.4) via the base (3.1); the tooth groove body (3.3) is fixedly installed on the base (3.1) via the shaft sleeve (3.2); the caliper (3.5) is located in the shaft sleeve (3.2), and one end is in contact with the base (3.1) via the reset spring (3.4), and the other end is locked in the caliper groove body (3.3); the caliper (3.5) can rotate coaxially and move radially relative to the shaft sleeve (3.2); The fixed groove plate (3.6) is provided with a radial fixed groove along the radial direction. The fixed groove is wide at the mouth and narrow at the bottom, and is in an inverted cone shape. The caliper (3.5) is provided with a fixed head corresponding to the fixed groove. The fixed groove plate (3.6) is fixedly connected to the knee joint motor (2.3). When the fixed groove plate (3.6) and the knee joint motor (2.3) are rotated to any angle, the fixed head of the caliper (3.5) can slide into the fixed groove by moving toward the fixed groove plate (3.6). When sliding into the fixed groove, the caliper (3.5) and the fixed groove are in a meshing state. The knee joint motor (2.3) is fixed with the fixed groove and cannot rotate freely, and the knee joint angle is locked. When no external force is applied, the fixed head of the caliper (3.5) is not in contact with the fixed groove, and the fixed groove plate (3.6) is in a free state and can rotate arbitrarily with the knee joint motor (2.3). The steering traction mechanism comprises a steering guide wheel (4.1), a traction rope (4.2), and a fixing seat (4.3); the fixing seat (4.3) is fixedly connected to the connecting piece (2.4) and can rotate along with the side extension joint motor (2.1); one end of the traction rope (4.2) is fixed to the fixing seat (4.3), and the other end passes around the steering guide wheel (4.1) and is connected to the caliper (3.5).

2. The three-joint leg passive self-supporting mechanism of a legged robot as claimed in claim 1, characterized in that: The self-locking switching structure can be switched between a locked state and a free state: Locking state: a slide groove is provided in the middle of the caliper (3.5), and a circumferentially arranged inclined groove coupled with the slide groove is provided on the caliper groove body (3.3), and the inclined groove includes deep grooves and shallow grooves arranged at intervals. The caliper (3.5) moves radially toward the fixed groove, and the slide groove meshes with the deep groove. Under the preload force of the return spring (3.4), the fixed head of the caliper (3.5) meshes with the fixed groove. At this time, the knee joint is in a locked state; Free state: the caliper (3.5) is pulled outward to compress the return spring (3.4), the slide groove and the deep groove return to a non-engaged state, the caliper (3.5) moves radially backward, and at the same time, it rotates axially relative to the shallow groove on the shallow groove adjacent to the deep groove, rotates to the shallow groove position, and releases the caliper (3.5). Under the preload force of the return spring (3.4), the caliper (3.5) moves radially, the slide groove engages with the shallow groove, and is blocked by the shallow groove. The fixed head of the caliper (3.5) cannot penetrate into the fixed groove of the fixed groove plate (3.6). At this time, the knee joint is in a free state; Switching process: the caliper (3.5) is pulled outward again to compress the return spring (3.4), the slide groove and the shallow groove return to the non-engaged state, the caliper (3.5) rotates until the slide groove and the deep groove engage, and the caliper (3.5) is released, thus completing the switching from the free state to the locked state.

3. The three-joint leg passive self-supporting mechanism of a legged robot as claimed in claim 2, characterized in that: When the side-spreading joint motor (2.1) works normally, the traction rope (4.2) is in a relaxed state; when the rotation angle of the side-spreading joint motor (2.1) exceeds a set threshold, the traction rope (4.2) is tightened to pull the caliper (3.5) outward, thereby achieving state switching of the self-locking switching structure.

4. The three-joint leg passive self-supporting mechanism of a legged robot as claimed in claim 1, characterized in that: The fixing grooves are arranged circumferentially.

5. The three-joint leg passive self-supporting mechanism of a legged robot as claimed in claim 1, characterized in that: The rotation axes of the hip joint motor (2.2) and the knee joint motor (2.3) are parallel, and the two rotate synchronously.

6. The three-joint leg passive self-supporting mechanism of a legged robot as claimed in claim 1, characterized in that: The rotation axis of the lateral extension joint motor (2.1) is perpendicular to the rotation axes of the hip joint motor (2.2) and the knee joint motor (2.3).

7. The three-joint leg passive self-supporting mechanism of a legged robot as claimed in claim 1, characterized in that: The passive supporting mechanism of the three-joint leg of the foot-type robot is a clutch mechanism for locking the knee joint of the robot leg.

8. A legged robot, characterized in that: The legged robot comprises the three-joint leg passive self-supporting mechanism of the legged robot as claimed in any one of claims 1 to 7.

9. The legged robot according to claim 8, characterized in that: The legged robot also includes a body.

10. A method for operating the three-joint leg passive supporting mechanism of a legged robot as claimed in any one of claims 1 to 7.

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