Intelligent modularized robot leg structure

Abstract

The invention discloses an intelligent and modularized robot leg structure. The robot leg structure comprises thighs and shanks. The thigh part is connected with the shank part at the lower part through a shank driving connecting rod of the thigh part; the thigh part is hinged to the shank part, and the shank part can rotate around the pin shaft; a shank driving turntable, a shank driving band-type brake and a shank driving connecting rod are arranged at the upper end joint of the thigh part; energy saving can be achieved under the static working condition of the robot, impact borne by the driving motor under the extreme working condition is relieved, and the external influence resistance is improved under the power-off state of the robot; the intelligent closed-loop control system can adjust the resistance moment in real time according to requirements, and precise regulation and control are achieved.

Description

Technical Field

[0001] This invention belongs to the field of robot design technology, and in particular relates to an intelligent modular robot leg configuration. Background Technology

[0002] With the development and application of robotics technology, all kinds of robots are being put into industrial production and daily life.

[0003] In some working conditions, the robot needs to maintain a stationary motion posture. In this case, the drive motor needs to be continuously powered to output torque to maintain the posture, resulting in energy waste.

[0004] When the robot's leg is subjected to a large impact, if the corresponding drive motor cannot output a certain reverse torque in time, the motor may suffer structural failure, the driver may enter protection mode or be damaged.

[0005] When a robot needs to be transported or when the robot is powered off, if the leg structure is in a free state, external vibrations, external pulling forces, etc. may cause structural fatigue or damage. Summary of the Invention

[0006] The purpose of this invention is to solve the problems mentioned in the background art and to propose an intelligent and modular robot leg configuration.

[0007] This invention aims to achieve energy conservation in the robot's motor when it is stationary, mitigate the impact on the drive motor under extreme conditions, and improve the robot's resistance to external influences when it is powered off. It proposes an intelligent robot leg configuration that adapts to different loads through modular external brakes to complete specific tasks. Closed-loop processing via sensing and computing systems enables intelligent operation and strong environmental generalization capabilities.

[0008] The technical solution adopted in this invention is as follows: the leg configuration includes a thigh and a lower leg; the thigh is connected to the lower leg via its own lower leg drive linkage; the upper joint of the thigh, which is strongly related to the functional realization mechanism of this configuration, includes a lower leg drive motor, an inner thigh housing, a lower leg drive turntable, a lower leg drive brake, a lower leg drive linkage, a lower leg drive brake controller, an energy system, an outer thigh housing, an outer thigh protective pad, and an external load sensor. The lower leg drive turntable and lower leg drive brake are arranged from the inside out on one side of the lower leg drive linkage; the lower leg drive motor is arranged on the other side of one side of the lower leg drive linkage.

[0009] Furthermore, the thigh and lower leg are hinged by a pin (but not limited to this form), and the lower leg can rotate around the pin; the stator of the lower leg drive motor is fixed to the inner thigh housing by bolts (but not limited to this form), the lower leg drive turntable is fixed to the rotor of the lower leg drive motor by bolts (but not limited to this form), the lower leg drive turntable is hinged to the lower leg drive link, and the lower leg drive link is hinged to the lower leg, forming a parallelogram link mechanism, which is driven by the rotor of the lower leg drive motor (1.1) to realize the rotation of the lower leg;

[0010] The calf-driven brake is fixed to the outer shell of the thigh by bolts (but not limited to bolts). The friction working surface of the calf-driven brake is opposite to the calf-driven turntable. When the calf-driven brake controller controls the calf-driven brake to work, the calf-driven brake has a braking effect on the calf-driven turntable. The energy system provides electrical energy to the calf-driven brake. The calf-driven brake controller can adjust the braking force to achieve different functions.

[0011] Furthermore, a brake power line is provided in the internal extension direction of the lower leg drive linkage and in the lower leg drive motor; a brake control line is provided in the lateral direction from the lower leg drive motor to the lower leg drive turntable.

[0012] Furthermore, the outer side of the thigh shell, which is fixed to the lower leg drive brake, is equipped with a thigh outer protective pad, which serves a protective function.

[0013] Furthermore, an external load sensor is used to detect the torque load on the lower leg drive motor caused by external impact, serving as the control input for the lower leg drive brake under impact conditions.

[0014] When the holding brake is not powered, it provides 100% braking effect to the motor. The braking effect can be adjusted from 100% to 0% depending on the input of the controller.

[0015] Achieving energy conservation in static postures and improving energy economy. When the robot's legs need to maintain a stable and static position, the modular brake module in this leg configuration uses its friction plates (but not limited to this form) to completely lock the motor. At this time, the motor does not need to output torque to consume energy, and the brake also does not need to consume energy, thus achieving the robot's static posture. This reduces the power consumption of the entire system.

[0016] Protecting the motor under impact conditions and improving system stability. When a motor is subjected to large external loads, various faults or abnormalities may occur. The modular brake module in this leg configuration uses its friction plates (but not limited to this form) to flexibly adjust the brake torque output based on the value of the external load detected by the system sensors. This offsets part of the external load, thus protecting the motor and improving the stability and reliability of the system.

[0017] In the event of a power outage, this enhances the robot's resistance to external influences and reduces its impact on external systems. When transporting a robot or when the robot is powered off, if the leg structure is in a free state, external vibrations or pulling forces may cause structural fatigue or damage. During air transport, restricting the free swinging of the legs prevents the flight system's center of gravity from constantly shifting due to leg swinging, which could affect flight control and also reduces the risk of collisions between structural components.

[0018] To more clearly illustrate the functional characteristics and structural parameters of the present invention, further explanation is provided below in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0019] Figure 1 This is an overall schematic diagram of the intelligent leg configuration provided in this application;

[0020] Figure 2 This is an exploded view of the thigh configuration provided in this application;

[0021] Figure 3 This is a partial exploded view of the thigh brake configuration provided in this application. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] The leg configuration consists of a thigh section 1 and a lower leg section 2. The thigh section 1 and the lower leg section 2 are hinged together by a pin (but not limited to this type), and the lower leg section 1 can rotate around the pin. The stator of the lower leg drive motor 1.1 is fixed to the inner thigh housing 1.2 by bolts (but not limited to bolts). The lower leg drive turntable 1.3 is fixed to the rotor of the lower leg drive motor 1.1 by bolts (but not limited to bolts). The lower leg drive turntable 1.3 is hinged to the lower leg drive connecting rod 1.5, and the lower leg drive connecting rod 1.5 is hinged to the lower leg section 1, forming a parallelogram linkage mechanism. Driven by the rotor of the lower leg drive motor 1.1, the lower leg section 1 rotates. The lower leg drive brake 1.4 is fixed to the outer thigh housing 1.8 by bolts (but not limited to bolts). The friction working surface of the lower leg drive brake 1.4 is opposite to the lower leg drive turntable 1.3, and can brake the lower leg drive turntable 1.3 during operation.

[0024] When the robot needs to stand still, the lower leg drive brake controller 1.6 receives a full braking signal from the control terminal or the main control board, causing the energy system 1.7 to cut off power to the lower leg drive brake 1.4. The lower leg drive brake 1.4, in its de-powered state, achieves 100% braking, providing complete braking to the lower leg drive turntable 1.3. The specific rules are defined by the control strategy. At this time, the lower leg drive turntable 1.3, lower leg drive linkage 1.5, and lower leg 2 are fixed, and the relative position of the thigh and lower leg remains unchanged, leaving the robot standing still. During this time, the lower leg drive motor 1.1 and the lower leg drive brake 1.4 do not consume energy. This reduces energy consumption and extends system endurance when the robot is standing still.

[0025] When the robot needs to mitigate the impact on the lower leg drive motor 1.1, the lower leg drive brake controller 1.6 receives a partial braking signal output from the control terminal or the main body control board, driving the energy system 1.7 to provide power to the lower leg drive brake 1.4. The lower leg drive brake controller 1.6 controls the lower leg drive brake 1.4 to partially brake the lower leg drive turntable 1.3. The braking effect is adjusted from 0% to 100% of the full braking effect according to actual needs, and the specific rules are defined by the control strategy. After the lower leg 2 is impacted by the ground or other sources, the torque is transmitted to the lower leg drive motor 1.1 through the lower leg drive linkage 1.5 and the lower leg drive turntable 1.3. The lower leg drive brake 1.4 provides partial braking effect on the lower leg drive turntable 1.3, offsetting part of the torque to mitigate the impact on the lower leg drive motor 1.1.

[0026] When the robot is powered off, and it needs to be transported or remains stationary, the leg-driven brake controller 1.6 receives a full braking signal from the control terminal or the main control board, causing the energy system 1.7 to cut off power to the leg-driven brake 1.4. The leg-driven brake 1.4 operates at 100% braking power in the power-off state, providing complete braking to the leg-driven turntable 1.3. The specific rules are defined by the control strategy. At this time, the leg-driven turntable 1.3, leg-driven linkage 1.5, and leg 2 are fixed, the relative position of the thigh and leg remains unchanged, and the robot is stationary. This improves resistance to external influences and reduces the impact on external systems.

[0027] The control strategy for the lower leg driven brake 1.4 is as follows:

[0028] For the lower leg driven brake 1.4, when the lower leg driven turntable 1.3 is required to achieve the full braking effect, it is achieved by cutting off the power supply to the lower leg driven brake 1.4, that is, selecting the brake form of power-off braking; when the robot control terminal or robot control board outputs a full braking signal, or when the robot is powered off, the lower leg driven brake 1.4 achieves the full braking effect, and the entire structure remains stationary.

[0029] For the lower leg-driven brake 1.4, the partial braking effect on the lower leg-driven turntable 1.3 is determined by the braking force input from the external load sensor 1.10. Let the maximum design torque applied to the joint motor by the external force be T1, corresponding to the external load sensor 1.10 input x1, and the maximum braking torque of the lower leg-driven brake 1.4 be T2. In the simplest case, the relationship between the braking torque T of the lower leg-driven brake 1.4 and the external load sensor 1.10 input x is: T = T2 / x * T1 / x1. Depending on the requirements, different mapping relationships between the external load sensor 1.10 input and the braking torque of the lower leg-driven brake 1.4 can be set. The input of the mapping relationship can also incorporate technologies such as vision processing and terrain recognition based on the actual arrangement of the robot's sensors to optimize the feedback.

[0030] In the robot system, the full and partial braking operations of the lower leg drive brakes 1.4 are not independent of each other, but are achieved in a unified and coordinated manner through the lower leg drive brake controller 1.6, so as to achieve the ability to actively and flexibly adapt to different working conditions.

[0031] It should be noted that in this application, the number of brakes on a single leg can be expanded to include single brakes, double brakes, triple brakes, etc.; multi-legged robots can add or remove brakes on some legs as needed.

[0032] The mechanical structure driving the lower leg is a linkage mechanism, or other possible configurations, such as gear drive, belt drive, etc.

[0033] The inner thigh shell 1.2 and the outer thigh shell 1.8 are designed to be either detachable parts or integrated, depending on the usage environment.

[0034] The lower leg drive brake controller 1.6 and the energy system 1.7 can be located on the thigh 1, or in other locations, such as the lower leg 1, the robot torso, the workbench, etc.

[0035] The energy system 1.7 can be designed independently or can be powered directly by the robot's own power supply;

[0036] The lower leg driven brake 1.4 is electrically driven, but under certain working conditions, it can also be hydraulically driven.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent, modular robot leg configuration, characterized in that, The robot's leg configuration includes a thigh (1) and a lower leg (2); the thigh (1) is connected to the lower leg (2) via its own lower leg drive link (1.5); The thigh (1) is hinged to the lower leg (2), and the lower leg (1) can rotate around the pivot. The upper joint of the thigh (1) includes a lower leg drive turntable (1.3), a lower leg drive brake (1.4), and a lower leg drive linkage (1.5); Among them, a lower leg drive turntable (1.3) and a lower leg drive brake (1.4) are arranged from the inside to the outside on one side of the lower leg drive link (1.5); a lower leg drive motor (1.1) is arranged on the other side of one side of the lower leg drive link (1.5).

2. The robot leg configuration according to claim 1, characterized in that, The thigh (1) also includes an inner thigh housing (1.2), a lower leg drive brake controller (1.6), an energy system (1.7), an outer thigh housing (1.8), an outer thigh protective pad (1.9), and an external load sensor (1.10); The stator of the calf drive motor (1.1) is fixed to the inner thigh housing (1.2), the calf drive turntable (1.3) is fixed to the rotor of the calf drive motor (1.1), the calf drive turntable (1.3) is hinged to the calf drive linkage (1.5), the calf drive linkage (1.5) is hinged to the calf (1), forming a parallelogram linkage mechanism, which realizes the rotation of the calf (1) through the rotor drive of the calf drive motor (1.1); The lower leg drive brake (1.4) is fixed to the outer shell (1.8) of the thigh. The friction working surface of the lower leg drive brake (1.4) is opposite to the lower leg drive turntable (1.3). When the lower leg drive brake controller (1.6) controls the lower leg drive brake (1.4) to work, the lower leg drive brake (1.4) has a braking effect on the lower leg drive turntable (1.3). The energy system (1.7) provides electrical energy to the lower leg drive brake (1.4). The lower leg drive brake controller (1.6) can adjust the braking force to achieve different functions.

3. The robot leg configuration according to claim 2, characterized in that, The brake power line is provided in the internal extension direction of the lower leg drive link (1.5) and in the lower leg drive motor (1.1); the brake control line is provided in the lateral direction from the lower leg drive motor (1.1) to the lower leg drive turntable (1.3).

4. The robot leg configuration according to claim 2, characterized in that, The outer thigh shell (1.8) to which the lower leg drive brake (1.4) is fixed is provided with an outer thigh protective pad (1.9) to provide protection.

5. The robot leg configuration according to claim 2, characterized in that, An external load sensor (1.10) is used to detect the torque load of external impact on the lower leg drive motor (1.1), which serves as the control input for the lower leg drive brake (1.4) under impact conditions.

6. The robot leg configuration according to claim 2, characterized in that, When the robot needs to stand still, the lower leg drive brake controller (1.6) receives a full braking signal and drives the energy system (1.7) to cut off the power supply to the lower leg drive brake (1.4). The lower leg drive brake (1.4) is in a 100% braking state when it is de-energized, which has a full braking effect on the lower leg drive turntable (1.3). At this time, the lower leg drive turntable (1.3) is fixed, the lower leg drive linkage (1.5) is fixed, the lower leg (2) is fixed, the relative position of the thigh and the lower leg remains unchanged, and the robot stands still.

7. The robot leg configuration according to claim 2, characterized in that, When the robot needs to mitigate the impact on the lower leg drive motor (1.1), the lower leg drive brake controller (1.6) receives a partial braking signal and drives the energy system (1.7) to provide power to the lower leg drive brake (1.4). The lower leg drive brake controller (1.6) controls the lower leg drive brake (1.4) to partially brake the lower leg drive turntable (1.3). The braking effect is adjusted from 0% to 100% of the full braking effect according to actual needs. After the lower leg (2) is impacted by the ground or other sources, the torque is transmitted to the lower leg drive motor (1.1) through the lower leg drive linkage (1.5) and the lower leg drive turntable (1.3). The lower leg drive brake (1.4) partially brakes the lower leg drive turntable (1.3) to offset part of the torque and mitigate the impact on the lower leg drive motor (1.1).

8. The robot leg configuration according to claim 2, characterized in that, When the robot is powered off, if it needs to be transported or the robot is stationary in a powered-off state, the lower leg drive brake controller (1.6) receives a full braking signal and drives the energy system (1.7) to cut off the power supply to the lower leg drive brake (1.4). The lower leg drive brake (1.4) is 100% braking in a powered-off state, which has a full braking effect on the lower leg drive turntable (1.3). At this time, the lower leg drive turntable (1.3) is fixed, the lower leg drive linkage (1.5) is fixed, the lower leg (2) is fixed, the relative position of the thigh and the lower leg remains unchanged, and the robot is stationary.

9. The robot leg configuration according to claim 2, characterized in that, The control strategy for the lower leg driven brake (1.4) is as follows: For the lower leg driven brake (1.4), when the lower leg driven turntable (1.3) is required to achieve the full braking effect, the power supply to the lower leg driven brake (1.4) is cut off, which means that the brake form of power-off braking is selected; when the robot control terminal or robot control board outputs a full braking signal, or when the robot is powered off, the lower leg driven brake (1.4) achieves the full braking effect, and the entire structure remains stationary; For the lower leg driven brake (1.4), the partial braking effect on the lower leg driven turntable (1.3) is determined by the braking force based on the input of the external load sensor (1.10). Let the maximum design torque applied by the external force to the joint motor be T1, the corresponding input of the external load sensor (1.10) be x1, and the maximum braking torque of the lower leg driven brake (1.4) be T2. In the simplest case, the relationship between the braking torque T of the lower leg driven brake (1.4) and the input x of the external load sensor (1.10) is: T = T2 / x * T1 / x1. Depending on the requirements, different mapping relationships are set between the input of the external load sensor (1.10) and the braking torque of the lower leg driven brake (1.4).

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