Three-joint leg passive self-sustaining mechanism for a foot-type robot

Abstract

The application 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 the redundant operation space of the off-machine motor of the three-joint motor leg to realize opening and closing and locking, realizes the power-off standing self-holding of the foot-type robot without introducing a new power source, can stand for a long time without consuming electric energy when off-road in the open air, completely autonomously switches states, does not need artificial intervention, and meets the energy-saving needs of long-term operation in situ.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of legged robots, and particularly relates to a three-joint leg passive self-holding mechanism of a legged robot. BACKGROUND

[0002] With the development of robot technology, legged off-road robots have been widely used in fields such as field search and rescue and geological exploration due to their excellent terrain adaptability. However, unlike the unpowered stability of wheeled vehicles, the legged robot adopts electrically driven joints to stand, so the legged chassis will still consume electric energy when it is stationary for a long time, which will reduce the endurance and operation time of the whole machine.

[0003] The traditional method mainly adds auxiliary support devices manually or powers off to make the robot lie down and stay in a certain area for a long time. SUMMARY

[0004] (I) Technical problem to be solved

[0005] The technical problem to be solved by the application is to design a three-joint leg passive self-holding mechanism of a legged robot to realize the power-off standing self-holding of the legged robot without introducing a new power source, and to meet the energy-saving needs of long-term operation in place.

[0006] (II) Technical scheme

[0007] In order to solve the above technical problems, the application provides a three-joint leg passive self-holding mechanism of a legged robot, which comprises a three-joint leg, a self-locking switching structure and a steering traction mechanism.

[0008] The three-joint leg comprises three motors, i.e. a lateral spreading joint motor 2.1, a hip joint motor 2.2 and a knee joint motor 2.3, and further 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 legged robot through the lateral spreading 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.

[0009] The self-locking switching structure comprises a base 3.1, a shaft sleeve 3.2, a toothed groove 3.3, a reset spring 3.4, a caliper 3.5 and a fixed groove plate 3.6. The self-locking switching structure is fixedly connected to the connecting piece 2.4 through the base 3.1. The toothed groove body 3.3 is fixedly connected and mounted on the base 3.1 through the shaft sleeve 3.2. The caliper 3.5 is located in the shaft sleeve 3.2, and one end thereof is in contact with the base 3.1 through the reset spring 3.4, and the other end is clamped in the caliper groove body 3.3. The caliper 3.5 can rotate coaxially and move radially relative to the shaft sleeve 3.2.

[0010] The fixed slot plate 3.6 is radially provided with a plurality of fixed slots, the fixed slot has a wide opening and a narrow bottom, and is in an inverted conical shape; the caliper 3.5 is provided with a fixed head which is coupled with the fixed slot; the fixed slot plate 3.6 is fixedly connected with 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 of the caliper 3.5 can be slid into the fixed slot, and the caliper 3.5 is in engagement with the fixed slot when being slid into the fixed slot, so that the knee joint motor 2.3 is fixed and cannot be freely rotated, and the knee joint angle is locked; under the condition that no external force is applied, the fixed head of the caliper 3.5 is not in contact with the fixed slot, and the fixed slot plate 3.6 is in a free state and can be freely rotated with the knee joint motor 2.3.

[0011] The turning traction mechanism comprises a turning guide wheel 4.1, a traction rope 4.2 and a fixed seat 4.3; the fixed seat 4.3 is fixedly connected with the connecting piece 2.4 and can be rotated with the lateral unfolding joint motor 2.1; one end of the traction rope 4.2 is fixed to the fixed seat 4.3, and the other end is wound around the turning guide wheel 4.1 and connected to the caliper 3.5.

[0012] The application further provides a foot-type robot, which comprises the passive self-holding mechanism of the three-joint leg of the foot-type robot.

[0013] The application further provides a working method of the passive self-holding mechanism of the three-joint leg of the foot-type robot.

[0014] (Three) beneficial effects

[0015] The application provides a passive self-holding mechanism of a three-joint leg of a foot-type robot, which is a power-saving self-locking mechanism, and realizes opening, closing and locking by fully utilizing the machine redundancy operation space of the off machine of the three-joint motor leg, and realizes the power-off standing self-holding of the foot-type robot without introducing a new power source, and can stand for a long time without consuming electric energy when off-road in the wild, and the switching state is completely autonomous without human intervention, and meets the energy-saving needs of long-term operation on site. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 Fig. 1 is a structure diagram of a three-joint leg and a body structure of a self-holding mechanism of the application;

[0017] Figure 2 Fig. 2 is a structure diagram of a self-locking switching structure of the application;

[0018] Figure 3 Fig. 3 is a state switching principle diagram of the self-locking switching structure of the application;

[0019] Figure 4 Fig. 4 is a structure diagram of a turning traction mechanism of the application. DETAILED DESCRIPTION

[0020] In order to make the purpose, content and advantages of the present application more clear, the specific embodiments of the present application are described in further detail below in combination with the drawings and examples.

[0021] The present application aims to provide a kind of passive self-holding mechanism of three-joint leg of leg robot, it is a kind of robot leg knee locking clutch mechanism.

[0022] The passive self-holding mechanism of three-joint leg of leg robot includes three-joint leg, self-locking switching structure, steering traction mechanism.

[0023] Reference Figure 1 , the three-joint leg includes three motors, i.e. side spread joint motor 2.1, hip joint motor 2.2, knee joint motor 2.3, also includes connecting piece 2.4, connecting rod system 2.5;The three motors are all installed on connecting piece 2.4, are overall connected on body 1 through side spread joint motor 2.1, and knee joint motor 2.3 controls the rotation angle of leg knee joint through connecting rod system 2.5.Hip joint motor 2.2, knee joint motor 2.3 can rotate synchronously on parallel shaft.The rotation shaft of side spread joint motor 2.1 is perpendicular to the rotation shaft of hip joint motor 2.2 and knee joint motor 2.3.

[0024] Reference Figure 2 , the self-locking switching structure includes base 3.1, shaft sleeve 3.2, tooth slot 3.3, reset spring 3.4, caliper 3.5, fixed slot plate 3.6.Self-locking switching structure is fixedly connected on connecting piece 2.4 through base 3.1, tooth slot body 3.3 is fixedly connected and installed on base 3.1 through shaft sleeve 3.2, caliper 3.5 is located in shaft sleeve 3.2, and one end is in contact with base 3.1 through reset spring 3.4, the other end is clamped in caliper slot body 3.3, and caliper 3.5 can rotate coaxially and move radially relative to shaft sleeve 3.2.

[0025] Reference Figure 1 , Figure 2 , the fixed slot plate 3.6 is radially provided with fixed slots arranged in a radial direction (circumferentially arranged), the fixed slot has a wide mouth and a narrow bottom (the outer side of the fixed slot plate 3.6 is the mouth, and the inner side is the bottom), and is in an inverted conical shape.A fixed head is provided on the caliper 3.5 and is coupled to the fixed slot.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 moves towards the fixed slot plate 3.6 and can slide into the fixed slot.The fixed head end of the caliper 3.5 slides into the fixed slot, and the caliper 3.5 is in meshing state with the fixed slot.The knee joint motor 2.3 is fixed by the fixed slot and cannot rotate freely, and the knee joint angle of the leg is locked.In the absence of external force, the fixed head end of the caliper 3.5 does not contact the fixed slot, and the fixed slot plate 3.6 is in a free state and can rotate freely with the knee joint motor 2.3.

[0026] The self-locking switching structure can switch between a locking state and a free state. Referring to Figure 2 、 Figure 3 , the specific implementation is as follows:

[0027] The locking state: there is a sliding groove in the middle of the caliper 3.5, and there are circumferentially arranged inclined groove slots on the caliper slot body 3.3, which are coupled with the sliding groove. The inclined groove slots include spaced-apart deep grooves and shallow grooves. The caliper 3.5 moves radially towards the fixed groove, the sliding groove engages with the deep groove, and the caliper 3.5 is locked in the locking state of the knee joint under the pre-tightening force of the return spring 3.4.

[0028] The free state: pull the caliper 3.5 outward to compress the return spring 3.4, and the sliding groove and the deep groove return to a non-engaged state (engagement is released). The caliper 3.5 moves radially backward, and at the same time, the caliper 3.5 rotates axially relative to the shallow groove adjacent to the deep groove, and rotates to the position of the shallow groove. The caliper 3.5 is released, and the caliper 3.5 moves radially under the pre-tightening force of the return spring 3.4. The sliding groove engages with the shallow groove, and the caliper 3.5 is blocked by the shallow groove. The fixed head of the caliper 3.5 cannot enter the fixed groove end of the fixed groove plate 3.6, and the knee joint is in a free state.

[0029] Switching process: further pull the caliper 3.5 outward to compress the return spring 3.4, and the sliding groove and the shallow groove return to a non-engaged state (engagement is released). The caliper 3.5 rotates to the deep groove, and the caliper 3.5 is released. The switching from the free state to the locking state is completed.

[0030] Referring 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 piece 2.4 and can rotate with the abduction 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 through 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, referred to as the caliper head).

[0032] When the abduction joint motor 2.1 is normally operating, the traction rope 4.2 is in a relaxed state. When the rotation angle of the abduction joint motor 2.1 exceeds a set threshold, the traction rope 4.2 is taut, pulls the caliper 3.5 outward, and switches the state of the self-locking switching structure.

[0033] It can be seen that the power-saving self-locking mechanism designed by the application fully utilizes the machine redundancy operation space of the three-joint motor leg to realize opening and closing and locking, realizes the power-off standing self-support of the legged robot without introducing a new power source, has a simple structure and is convenient to control; after the knee joint is locked, the quadruped robot can be passively stood through a mechanical structure and can realize long-time self-support operation without power, thereby meeting the energy-saving needs of long-time operation in place.

[0034] The above only describes the preferred embodiments of the present application, and it should be noted that those skilled in the art can make several improvements and modifications without departing from the technical principles of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A passive self-sustained mechanism of a three-joint leg of a legged robot characterized by, It comprises a three-joint leg, a self-locking switching structure and a steering traction mechanism. The three-joint leg comprises three motors, i.e., a lateral spreading joint motor (2.1), a hip joint motor (2.2) and a knee joint motor (2.3), 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 are connected to the body of the foot-type robot through the lateral 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); The self-locking switching structure comprises a base (3.1), a shaft sleeve (3.2), a clamping tooth groove (3.3), a reset 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 piece (2.4) through the base (3.1), the clamping tooth groove (3.3) is fixedly mounted on the base (3.1) through the shaft sleeve (3.2), the caliper (3.5) is located in the shaft sleeve (3.2) and one end thereof is in contact with the base (3.1) through the reset spring (3.4) and the other end is clamped in the clamping tooth groove (3.3), and the caliper (3.5) can rotate coaxially and move radially relative to the shaft sleeve (3.2); The fixed slot plate (3.6) is provided with radial fixed slots, the fixed slots have wide openings and narrow bottoms and are in an inverted conical shape, the caliper (3.5) is provided with fixed heads corresponding to 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 heads of the caliper (3.5) can slide into the fixed slots of the fixed slot plate (3.6), the caliper (3.5) is in engagement with the fixed slots when sliding into the fixed slots, the knee joint motor (2.3) is fixed and cannot rotate freely, and the knee joint angle is locked; under the condition of no external force, the fixed heads of the caliper (3.5) are not in contact with the fixed slots, and the fixed slot plate (3.6) is in a free state and can rotate freely 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 fixed seat (4.3); the fixed seat (4.3) is fixedly connected to the connecting piece (2.4) and can rotate with the lateral spreading joint motor (2.1); one end of the traction rope (4.2) is fixed to the fixed seat (4.3) and the other end is connected to the caliper (3.5) through the steering guide wheel (4.1).

2. The passive self-contained mechanism of the robot three-joint leg foot type according to claim 1, characterized in that, The self-locking switching structure can be switched between a locking state and a free state: Locking state: the caliper (3.5) is provided with a sliding groove in the middle, the clamping tooth groove (3.3) is provided with circumferentially arranged inclined groove slots which are coupled with the sliding groove, the inclined groove slots comprise spaced deep grooves and shallow grooves, the caliper (3.5) moves radially in the direction of the fixed slots, the sliding groove is engaged with the deep grooves, the caliper (3.5) is engaged with the fixed slots under the pre-tightening force of the reset spring (3.4), and the knee joint is in a locking state; Free state: pull the caliper (3.5) outward, compress the return spring (3.4), the sliding groove and the deep groove return to the non-engaged state, the caliper (3.5) moves radially backward, and 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, releases the caliper (3.5), and under the action of the pre-tightening force of the return spring (3.4), the caliper (3.5) moves radially, the sliding groove and the shallow groove are engaged, and the caliper (3.5) is blocked, and the fixed head of the caliper (3.5) cannot enter the fixed groove of the fixed groove plate (3.6), at this time, it is the free state of the knee joint; Switching process: pull the caliper (3.5) outward again, compress the return spring (3.4), the sliding groove and the shallow groove return to the non-engaged state, the caliper (3.5) rotates, rotates to the position where the sliding groove and the deep groove are engaged, and releases the caliper (3.5), then the switching from the free state to the locked state is completed.

3. The legged robot three-joint leg passive self-sustained mechanism according to claim 2, wherein, When the abduction joint motor (2.1) is working normally, the traction rope (4.2) is in a relaxed state, and when the rotation angle of the abduction joint motor (2.1) exceeds the set threshold, the traction rope (4.2) is taut, the caliper (3.5) is pulled outward, and the state switching of the self-locking switching structure is realized.

4. The legged robot three-joint leg passive self-sustained mechanism according to claim 1, wherein, The fixed groove is arranged circumferentially.

5. The passive self-contained mechanism of the robot three-joint leg foot type according to 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 legged robot three-joint leg passive self-sustained mechanism of claim 1, wherein, The rotation axis of the 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).

7. The legged robot three-joint leg passive self-sustained mechanism of claim 1, wherein, The passive self-holding mechanism of the three-joint leg of the foot robot is a kind of clutch mechanism for locking the knee joint of the robot leg.

8. A legged robot characterized by comprising: The foot robot comprises the passive self-holding mechanism of the three-joint leg of the foot robot according to any one of claims 1 to 7.

9. The foot robot according to claim 8, wherein The foot robot further comprises a body. The foot robot further comprises a body.

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