A posture-adaptive limb and its control method, robot

Abstract

This invention discloses a posture-adaptive limb, its control method, and a robot. The posture-adaptive limb includes: a first limb segment; a second limb segment rotatably connected to the first limb segment; an actuator disposed on the first limb segment and configured to drive the second limb segment to rotate; and a damper connected to both the second limb segment and the actuator. The damper is electrically connected to the actuator, and its damping value is adjusted according to the actuator's driving frequency. Adjusting the damper's damping value according to the actuator's driving frequency ensures that the damper's damping matches the actuator's driving frequency. The damping value of the damper is adaptively adjusted according to the actuator's driving frequency, matching the damper's damping value with the actuator's driving frequency, which helps to reproduce the damping changes of a realistic limb.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a posture-adaptive limb, its control method, and a robot. Background Technology

[0002] The development of robotics technology has extended to many fields. Robots mimic human functions, capable of walking or performing actions, possessing language abilities, or imitating certain machines. In robots, multiple limbs are connected by joints to form a limb, and joints enable the mutual rotation of adjacent limbs.

[0003] In existing technologies, it is difficult to simulate the force exertion of limbs using a single structure or a single material, and it is impossible to reproduce the damping force changes of real limbs.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a posture-adaptive limb and its control method and robot, which addresses the above-mentioned defects of the prior art and aims to solve the problem that the limb in the prior art cannot reproduce the damping force changes of the real limb.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows:

[0007] A posture-adaptive limb, comprising:

[0008] First limb segment;

[0009] The second segment is rotatably connected to the first segment;

[0010] A driver is disposed on the first segment and configured to drive the second segment to rotate;

[0011] The damper is connected to the second limb and the actuator, respectively;

[0012] The damper is electrically connected to the driver, and the damping value of the damper is adjusted according to the driving frequency of the driver.

[0013] The posture-adaptive limb, wherein the driving frequency of the actuator includes: a first driving frequency and a second driving frequency; the first driving frequency is lower than the second driving frequency;

[0014] The damping value includes: a first damping value and a second damping value; the first damping value is greater than the second damping value;

[0015] When the driver uses a first driving frequency, the damper uses a first damping value;

[0016] When the driver uses the second driving frequency, the damper uses the second damping value.

[0017] The posture-adaptive limb, wherein the driving frequency of the actuator further includes: a third driving frequency; the second driving frequency is lower than the third driving frequency;

[0018] The damping value further includes: a third damping value; the second damping value is greater than the third damping value;

[0019] When the driver uses the third driving frequency, the damper uses the third damping value.

[0020] The posture-adaptive limb further includes:

[0021] A speed reducer, wherein the damper is connected to the driver via the speed reducer.

[0022] The posture-adaptive limb, wherein the second limb segment is provided with a rotating shaft, and the actuator includes:

[0023] The main gear is sleeved outside the rotating shaft and connected to the reducer;

[0024] A drive component is configured to drive the main gear to rotate.

[0025] The posture-adaptive limb, wherein the main gear is a worm gear; the drive assembly includes:

[0026] The worm gear meshes with the worm wheel;

[0027] A drive component is disposed on the first limb and connected to the worm gear.

[0028] The posture-adaptive limb, wherein the decelerator comprises:

[0029] The first gear is sleeved on the outside of the rotating shaft and connected to the main gear;

[0030] The gear set is rotatably mounted on the second segment;

[0031] The second gear is rotatably connected to the damper;

[0032] The gear set meshes with the first gear and the second gear, respectively.

[0033] The posture-adaptive limb, wherein the second gear is a gear ring; the gear set includes: at least one row of third gears, the third gears meshing with the first gears, and / or the third gears meshing with the gear ring.

[0034] A method for controlling a posture-adaptive limb as described in any of the above claims, comprising the steps of:

[0035] Determine the driving frequency of the driver, and based on the driving frequency, determine the damping value of the damper;

[0036] Based on the driving frequency, the driver is controlled to drive the second limb to rotate;

[0037] Based on the damping value, the damper is controlled to adjust the damping.

[0038] A robot comprising: a posture-adaptive limb as described in any of the above.

[0039] Beneficial effects: The damping value of the damper is adjusted according to the driving frequency of the actuator, so that the damping of the damper is adapted to the driving frequency of the actuator. The damping value of the damper is adaptively adjusted according to the driving frequency of the actuator, so that the damping value of the damper matches the driving frequency of the actuator, which is beneficial to reproducing the damping changes of a real limb. Attached Figure Description

[0040] Figure 1 This is a functional principle block diagram of the posture-adaptive limb in an embodiment of the present invention.

[0041] Figure 2 This is a schematic diagram of the first structure of the posture-adaptive limb in an embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of the second structure of the posture-adaptive limb in an embodiment of the present invention.

[0043] Figure 4 yes Figure 3 Sectional view along line A.

[0044] Figure 5 yes Figure 3 Sectional view along line B.

[0045] Figure 6 This is an exploded view of the posture-adaptive limb in an embodiment of the present invention.

[0046] Figure 7 This is a schematic diagram of the structure of the second limb, driver, reducer and damper in an embodiment of the present invention.

[0047] Figure 8 This is a side view of a posture-adaptive limb in an embodiment of the present invention.

[0048] Figure 9 yes Figure 8 Sectional view along line C.

[0049] Figure 10This is a side view of the second limb, driver, reducer and damper in an embodiment of the present invention.

[0050] Figure 11 yes Figure 10 Sectional view along line D.

[0051] Figure 12 This is a schematic diagram of the main gear, gear carrier, and third gear in an embodiment of the present invention.

[0052] Explanation of reference numerals in the attached figures:

[0053] 10. First limb segment;

[0054] 20. Second limb; 21. Rotation axis;

[0055] 30. Driver; 31. Main gear; 32. Worm gear; 33. Driving component; 34. Bushing;

[0056] 40. Damper; 41. Damping component; 42. Adjusting component;

[0057] 50. Reducer; 51. First gear; 52. Second gear; 53. Third gear; 54. Gear carrier; 55. Mounting base. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0059] Please also refer to Figures 1-12 The present invention provides some embodiments of a posture-adaptive limb.

[0060] like Figure 1 , Figure 2 and Figure 4 As shown, the posture-adaptive limb of the present invention includes:

[0061] First limb segment 10;

[0062] The second segment 20 is rotatably connected to the first segment 10;

[0063] A driver 30 is disposed on the first segment 10 and configured to drive the second segment 20 to rotate;

[0064] The damper 40 is connected to the second limb 20 and the actuator 30 respectively;

[0065] The damper 40 is electrically connected to the driver 30, and the damping value of the damper 40 is adjusted according to the driving frequency of the driver 30.

[0066] Specifically, the first limb segment 10 and the second limb segment 20 are rotatably connected to each other. An actuator 30 is disposed on the first limb segment 10 and drives the second limb segment 20 to rotate relative to the first limb segment 10. A damper 40 is connected to both the second limb segment 20 and the actuator 30, providing resistance to the rotation of the second limb segment 20 relative to the first limb segment 10. The damping of the damper 40 is adjustable, specifically adjusted according to the driving frequency of the actuator 30, so that the damping of the damper 40 matches the driving frequency of the actuator 30. The driving frequency refers to the frequency at which the actuator 30 drives the second limb segment 20 to reciprocate relative to the first limb segment 10. The damping value of the damper 40 is adaptively adjusted according to the driving frequency of the actuator 30, ensuring that the damping value of the damper 40 matches the driving frequency of the actuator 30, which is beneficial for reproducing the damping changes of a realistic limb. The first limb segment 10 can be a lower leg structure, and the second limb segment 20 can be a foot structure.

[0067] In a preferred embodiment of the present invention, the driving frequency of the driver 30 includes: a first driving frequency and a second driving frequency; the first driving frequency is lower than the second driving frequency.

[0068] Specifically, in different states, the first limb 10 and the second limb 20 rotate relative to each other at different frequencies. The driving frequency can be divided into a first driving frequency and a second driving frequency according to its magnitude, with the first driving frequency being lower than the second driving frequency. The higher the driving frequency, the higher the frequency at which the first limb 10 and the second limb 20 rotate relative to each other; the lower the driving frequency, the lower the frequency at which the first limb 10 and the second limb 20 rotate relative to each other.

[0069] In a preferred embodiment of the present invention, the damping value includes: a first damping value and a second damping value; the first damping value is greater than the second damping value.

[0070] Specifically, the damping value varies at different driving frequencies. The damping value can be divided into a first damping value and a second damping value, with the first damping value being greater than the second damping value. The larger the damping value, the less likely the first limb 10 and the second limb 20 are to rotate relative to each other; the smaller the damping value, the easier it is for the first limb 10 and the second limb 20 to rotate relative to each other.

[0071] In a preferred embodiment of the present invention, when the driver 30 uses a first driving frequency, the damper 40 uses a first damping value; when the driver 30 uses a second driving frequency, the damper 40 uses a second damping value.

[0072] Specifically, the damping of damper 40 is determined based on the driving frequency of driver 30. When driver 30 uses a first driving frequency, damper 40 uses a first damping value. When driver 30 uses a second driving frequency, damper 40 uses a second damping value. When driver 30 uses a higher driving frequency, damper 40 is configured with a smaller damping value; when driver 30 uses a lower driving frequency, damper 40 is configured with a larger damping value. Figure 4 , Figure 5 , Figure 7 and Figure 8 As shown, the damper 40 includes a damping element 41 and an adjusting element 42, the adjusting element 42 adjusting the damping value of the damping element 41. The damping element 41 can be a hydraulic damping element, which includes a hydraulic cylinder, a piston, and a piston rod, with the piston disposed on the piston rod. The hydraulic cylinder is rotatably connected to the first limb 10, and the piston rod is connected to the reducer 50.

[0073] In a preferred implementation of this invention, such as Figures 5-7 As shown, the driving frequency of the driver 30 further includes a third driving frequency; the second driving frequency is lower than the third driving frequency.

[0074] Specifically, the driving frequency is further divided into a third driving frequency, which is greater than the second driving frequency. The first, second, and third driving frequencies gradually increase. The driving frequencies for the relative rotation of the first limb 10 and the second limb 20 can be divided into a stationary driving frequency, a low driving frequency, and a high driving frequency. The first driving frequency can be considered as the stationary driving frequency, the second driving frequency as the low driving frequency, and the third driving frequency as the high driving frequency. At the first driving frequency, the first limb 10 and the second limb 20 remain stationary relative to each other. At the second driving frequency, the first limb 10 and the second limb 20 rotate at a lower driving frequency. At the third driving frequency, the first limb 10 and the second limb 20 rotate at a higher driving frequency.

[0075] In a preferred embodiment of the present invention, the damping value further includes: a third damping value; the second damping value is greater than the third damping value.

[0076] Specifically, the damping value is further divided into a third damping value, which is smaller than the second damping value. The first, second, and third damping values ​​gradually decrease. The damping value for the relative rotation of the first limb 10 and the second limb 20 can be divided into a maximum damping value, a medium damping value, and a minimum damping value. The first damping value can be considered the maximum damping value, the second damping value can be considered the medium damping value, and the third damping value can be considered the minimum damping value. At the maximum damping value, the first limb 10 and the second limb 20 remain stationary relative to each other. At the medium damping value, the first limb 10 and the second limb 20 can rotate relative to each other. At the minimum damping value, the first limb 10 and the second limb 20 are most likely to rotate relative to each other.

[0077] In a preferred embodiment of the present invention, when the driver 30 adopts a third driving frequency, the damper 40 adopts a third damping value.

[0078] Specifically, when the actuator 30 uses a third driving frequency, the damper 40 uses a third damping value. At the first driving frequency, the first segment 10 and the second segment 20 remain stationary relative to each other, so the damper 40 can be configured with the maximum damping value to assist the first segment 10 and the second segment 20 in remaining stationary relative to each other. At the second driving frequency, the first segment 10 and the second segment 20 rotate at a lower driving frequency, so the damper 40 can be configured with a medium damping value, allowing the first segment 10 and the second segment 20 to rotate under certain damping. At the third driving frequency, the first segment 10 and the second segment 20 rotate at a higher driving frequency, so the damper 40 can be configured with the minimum damping value to minimize obstruction to the relative rotation of the first segment 10 and the second segment 20.

[0079] In a preferred implementation of this invention, such as Figure 2 , Figure 3 and Figure 4 As shown, the posture-adaptive limb also includes:

[0080] The reducer 50, and the damper 40 are connected to the driver 30 through the reducer 50.

[0081] Specifically, a reducer 50 is disposed on the second segment 20 and is connected to the damper 40 and the driver 30 respectively. The damper 40 is connected to the driver 30 through the reducer 50. The damper 40 can provide a certain resistance to the rotation of the first segment 10 and the second segment 20, and apply different torques through the reducer 50. The reducer 50 reduces the rotational speed of the first segment 10 and the second segment 20 relative to each other and transmits the speed to the damper 40; the damper 40 can provide a greater torque resistance to the relative rotation of the first segment 10 and the second segment 20.

[0082] In a preferred implementation of this invention, such as Figure 6 , Figure 9 , Figure 11 and Figure 12 As shown, a pivot 21 is provided on the second limb 20.

[0083] Specifically, a rotating shaft 21 is provided on the second segment 20, and the first segment 10 rotates relative to the rotating shaft 21. For example, a bearing is provided on the rotating shaft 21 to realize the rotational connection between the first segment 10 and the rotating shaft 21.

[0084] In a preferred implementation of this invention, such as Figure 6 , Figure 7 , Figure 10 and Figure 11 As shown, the driver 30 includes:

[0085] The main gear 31 is sleeved on the outside of the rotating shaft 21 and connected to the reducer 50;

[0086] The drive assembly is configured to drive the main gear 31 to rotate.

[0087] Specifically, the main gear 31 is sleeved outside the rotating shaft 21 and can rotate relative to the rotating shaft 21. The drive assembly can drive the main gear 31 to rotate. The main gear 31 is connected to the damper 40 through the reducer 50, and the main gear 31 is also hindered by the damper 40.

[0088] In a preferred implementation of this invention, such as Figure 6 , Figure 7 , Figure 10 and Figure 11 As shown, the main gear 31 is a worm gear; the drive assembly includes:

[0089] Worm 32 meshes with the worm wheel;

[0090] The drive component 33 is disposed on the first limb 10 and connected to the worm gear 32.

[0091] Specifically, the main gear 31 can be a worm gear, which meshes with the worm 32. The driving component 33 drives the worm 32 to rotate, thereby driving the worm gear to rotate.

[0092] In a preferred implementation of this invention, such as Figure 4-Figure 6 As shown, the reducer 50 includes:

[0093] The first gear 51 is sleeved on the outside of the rotating shaft 21 and connected to the main gear 31;

[0094] The gear set is rotatably mounted on the second segment 20;

[0095] The second gear 52 is rotatably connected to the damper 40;

[0096] The gear set meshes with the first gear 51 and the second gear 52 respectively.

[0097] Specifically, the first gear 51 is sleeved on the outside of the rotating shaft 21 and connected to the main gear 31. The first gear 51 is connected to the main gear 31 through a bushing 34, which is also sleeved on the outside of the rotating shaft 21. The main gear 31 drives the first gear 51 to rotate, and the driving force of the driver 30 is transmitted to the damper 40 through the gear set and the second gear 52. Since the first gear 51 has fewer teeth and the second gear 52 has more teeth, the first gear 51 rotates at a higher speed, and the second gear 52 rotates at a lower speed. Figure 11 and Figure 12 As shown, the reducer 50 further includes a gear carrier 54, which is disposed on the second limb 20, and the gear set is mounted on the gear carrier 54.

[0098] In a preferred implementation of this invention, such as Figure 4-Figure 6 As shown, the second gear 52 is a gear ring; the gear set includes: at least one row of third gears 53, the third gears 53 meshing with the first gear 51, and / or the third gears 53 meshing with the gear ring.

[0099] Specifically, the second gear 52 can be a ring gear, surrounding the gear set and the first gear 51. The gear set can consist of one or more rows of third gears 53. The row of third gears 53 closest to the first gear 51 meshes with the first gear 51, the row of third gears 53 closest to the second gear 52 meshes with the second gear 52, and adjacent rows of third gears 53 mesh with each other. For example... Figure 6 , Figure 11 , Figure 12 As shown, the reducer 50 further includes a mounting base 55, on which the second gear 52 is mounted, and the mounting base 55 is rotatably connected to the damper 40. The mounting base 55 rotates relative to the gear carrier 54, specifically using bearings to achieve the rotation of the mounting base 55 and the gear carrier 54.

[0100] Based on the posture-adaptive limb described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for a posture-adaptive limb.

[0101] The posture-adaptive limb control method of this invention includes the following steps:

[0102] Step S100: Determine the driving frequency of the driver, and determine the damping value of the damper based on the driving frequency;

[0103] Step S200: Based on the driving frequency, control the driver to drive the second limb to rotate;

[0104] Step S300: Based on the damping value, control the damper to adjust the damping.

[0105] Specifically, first, the drive frequency of the driver is determined. Different drive modes can be configured, and the drive frequency is determined according to the user's selection. After determining the drive frequency, the damping value of the damper is determined based on the drive frequency, and the damping value corresponding to the drive frequency is configured. After determining the drive frequency and damping value, the driver is controlled based on the drive frequency; the damper is controlled based on the damping value, so that the first and second segments rotate relative to each other with damping values ​​matching the drive frequency.

[0106] Based on the posture-adaptive limbs described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0107] The robot of the present invention includes posture-adaptive limbs as described in any of the above embodiments.

[0108] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A posture-adaptive limb, characterized in that, include: First limb segment; The second segment is rotatably connected to the first segment; A driver is disposed on the first segment and configured to drive the second segment to rotate; The damper is connected to the second limb and the actuator, respectively; The damper is electrically connected to the driver, and the damping value of the damper is adjusted according to the driving frequency of the driver.

2. The posture-adaptive limb according to claim 1, characterized in that, The driving frequency of the driver includes: a first driving frequency and a second driving frequency; the first driving frequency is lower than the second driving frequency. The damping value includes: a first damping value and a second damping value; the first damping value is greater than the second damping value; When the driver uses a first driving frequency, the damper uses a first damping value; When the driver uses the second driving frequency, the damper uses the second damping value.

3. The posture-adaptive limb according to claim 2, characterized in that, The driving frequency of the driver further includes: a third driving frequency; the second driving frequency is lower than the third driving frequency; The damping value further includes: a third damping value; the second damping value is greater than the third damping value; When the driver uses the third driving frequency, the damper uses the third damping value.

4. The posture-adaptive limb according to any one of claims 1 to 3, characterized in that, The posture-adaptive limb also includes: A speed reducer, wherein the damper is connected to the driver via the speed reducer.

5. The posture-adaptive limb according to claim 4, characterized in that, The second limb is provided with a rotating shaft, and the actuator includes: The main gear is sleeved outside the rotating shaft and connected to the reducer; A drive component is configured to drive the main gear to rotate.

6. The posture-adaptive limb according to claim 5, characterized in that, The main gear is a worm gear; the drive assembly includes: The worm gear meshes with the worm wheel; A drive component is disposed on the first limb and connected to the worm gear.

7. The posture-adaptive limb according to claim 5, characterized in that, The speed reducer includes: The first gear is sleeved on the outside of the rotating shaft and connected to the main gear; The gear set is rotatably mounted on the second segment; The second gear is rotatably connected to the damper; The gear set meshes with the first gear and the second gear, respectively.

8. The posture-adaptive limb according to claim 7, characterized in that, The second gear is a gear ring; The gear set includes: at least one row of third gears, the third gears meshing with the first gears, and / or the third gears meshing with the gear ring.

9. A method for controlling a posture-adaptive limb as described in any one of claims 1 to 8, characterized in that, Including the following steps: Determine the driving frequency of the driver, and based on the driving frequency, determine the damping value of the damper; Based on the driving frequency, the driver is controlled to drive the second limb to rotate; Based on the damping value, the damper is controlled to adjust the damping.

10. A robot, characterized in that, include: The posture-adaptive limb as described in any one of claims 1 to 8.

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