CN115648276A - Integrated hip joint of hydraulic biped robot - Google Patents

Abstract

The invention discloses an integrated hip joint of a hydraulic biped robot, which comprises a waist truss, wherein the waist truss is of a frame structure, and two sets of yaw adjusting mechanisms for respectively controlling a left leg and a right leg of the robot are arranged in the inner space of the waist truss; each set of yaw adjusting mechanism is connected with a thigh structure of the robot sequentially through the corresponding rolling adjusting mechanism and the corresponding pitching adjusting mechanism; the rolling adjusting mechanism comprises a vertically arranged rolling hydraulic cylinder, a driving block capable of moving up and down is arranged in the rolling hydraulic cylinder, and through holes symmetrically arranged are formed in the side wall of the rolling hydraulic cylinder and correspond to the driving block; the driving block is provided with a fixing hole, a rolling transverse shaft is installed in the fixing hole, the other end of the rolling transverse shaft extends out of the waist truss, and the other end of the rolling transverse shaft is rotatably connected with the pitching adjusting mechanism; the invention can reduce the occupied space of the three-freedom-degree adjusting mechanism and reduce the action space required by the three-freedom-degree adjusting mechanism when the leg acts.

Description

Integrated hip joint of hydraulic biped robot

Technical Field

The invention belongs to the technical field of hydraulic biped robots, and particularly relates to an integrated hip joint of a hydraulic biped robot.

Background

The research of legged robots has received increasing attention since the introduction of modern times. Compared with a wheeled robot, the legged robot has four important characteristics. Firstly, the motion of the robot main body can be independent of the terrain to a great extent, and within the kinematic constraint range of the leg, the leg provides an active suspension system for the main body, so that the decoupling between the motion of the robot main body and the terrain of the environment where the robot main body is located is realized to a certain extent, while the main body suspension of the wheeled robot is more limited by the terrain, thereby limiting the motion space and the types of tasks which can be completed. Secondly, the decoupling enables the robot to actively control the magnitude and direction of the ground contact force to a certain extent, so that the active control of the movement of the center of mass is realized, and various complex limb actions are completed. Third, this decoupling allows the leg or legs to temporarily move away from contact with the ground, allowing the robot to avoid obstacles or jump with discrete isolated footholds. Fourthly, the terminal sensors of the legs and the feet can be utilized to fully and effectively sense the external force applied to the robot at present, and the prejudgment and the control of the motion state of the body are convenient to realize. The four characteristics enable the leg-foot type robot to adapt to various rugged terrains and artificial city environments, and really walk into natural environments and human society to complete various complex tasks.

The importance of the hip joint for a legged robot is self-evident, and like humans, the hip joint of a bipedal robot needs to be able to perform movements with three degrees of freedom, pitch, roll and yaw, and the importance of high integration for hip joint design is self-evident, which also sets the importance of the hip joint. At present, all existing biped robots adopt tandem hip joints, and can simply realize decoupling of three degrees of freedom.

However, the tandem hip joint requires a large space, has a large number of components, and is driven in a linear driving mode, which further results in a large space required for the movement of the hip joint, and limits the miniaturization of the hydraulically-driven legged robot.

Disclosure of Invention

The invention aims to provide an integrated hip joint of a hydraulic biped robot, which simplifies the structural design and reduces the occupied space and the required action space of the hip joint.

The invention adopts the following technical scheme: the integrated hip joint of the hydraulic biped robot comprises a waist truss, wherein the waist truss is of a frame structure, and two sets of yaw adjusting mechanisms for respectively controlling a left leg and a right leg of the robot are arranged in the inner space of the waist truss;

each set of yaw adjusting mechanism is connected with the thigh structure of the robot sequentially through the corresponding rolling adjusting mechanism and the corresponding pitching adjusting mechanism;

the rolling adjusting mechanism comprises a vertically arranged rolling hydraulic cylinder, a driving block capable of moving up and down is arranged in the rolling hydraulic cylinder, and through holes symmetrically arranged are formed in the side wall of the rolling hydraulic cylinder and in the position corresponding to the driving block;

the driving block is provided with a fixing hole, a rolling transverse shaft is arranged in the fixing hole, the other end of the rolling transverse shaft extends out of the waist truss, and the other end of the rolling transverse shaft is rotatably connected with the pitching adjusting mechanism;

the rolling hydraulic cylinder is used for driving the driving block to move up and down in the inner space of the rolling hydraulic cylinder.

Furthermore, the rolling transverse shaft is transversely arranged and is provided with a longitudinal through hole, and a longitudinal fixing shaft penetrates through the longitudinal through hole.

Furthermore, two ends of the longitudinal fixed shaft are fixed on the rolling fixed frame;

the two lateral surfaces of the rolling fixing frame, which are positioned in the transverse direction, are open, and the two open surfaces are used for a rolling transverse shaft to pass through.

Furthermore, the upper end and the lower end of the rolling fixed frame are both provided with vertical supporting rods;

the other ends of the two supporting rods are respectively connected with the top end and the bottom end of the waist truss in a rotating mode through yaw bearings.

Furthermore, one of the two supporting rods is provided with a connecting rod which is longitudinally arranged, the other end of the connecting rod is rotatably connected with a yawing hydraulic cylinder, the yawing hydraulic cylinder is transversely arranged, and the other end of the yawing hydraulic cylinder is rotatably connected with the waist truss.

Furthermore, the pitching adjusting mechanism comprises two rolling bearings which are arranged on the rolling transverse shaft at intervals, and the two rolling bearings are connected to the left side and the right side of the thigh structure through connecting plates respectively;

the inner side of the thigh structure is provided with a vertical groove, a pitching hydraulic cylinder is arranged in the groove and inclines in the front-back direction of the thigh structure, a pitching ear plate is fixedly arranged at the output end of the pitching hydraulic cylinder, and the pitching ear plate is connected with the rolling cross shaft through a pitching connecting rod.

Furthermore, the pitching connecting rod is rotatably connected with the pitching lug plate;

the pitching connecting rod is rotationally connected with the rolling transverse shaft.

Furthermore, the rolling transverse shaft, the longitudinal fixed shaft and the support rod are all provided with a rotation angle measuring device.

Further, the outputs of the two yaw cylinders face opposite.

Furthermore, a connecting block is arranged on the periphery of the rolling transverse shaft in a surrounding mode at a position corresponding to the longitudinal through hole.

The beneficial effects of the invention are: according to the invention, the yaw adjusting mechanism and the roll adjusting mechanism are arranged in the inner space of the waist truss, and the pitch adjusting mechanism is arranged in the thigh structure, so that the occupied space of the three-freedom adjusting mechanisms can be reduced.

Drawings

FIG. 1 is a schematic structural diagram of an integrated hip joint of a hydraulic biped robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of an embodiment of the present invention without a waist truss;

FIG. 3 is a schematic structural view of a roll adjustment mechanism and a yaw adjustment mechanism in an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a pitch adjustment mechanism and a roll adjustment mechanism in an embodiment of the invention;

FIG. 5 is a schematic diagram of a roll adjustment mechanism according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a pitch adjustment mechanism in an embodiment of the present invention.

Wherein: 100. a waist truss;

200. a pitch adjustment mechanism; 210. a pitching hydraulic cylinder; 220. a pitching ear plate; 230. a pitch link;

300. a roll adjustment mechanism; 310. a rolling hydraulic cylinder; 311. a drive block; 320. rolling the transverse shaft; 321. connecting blocks; 330. a rolling bearing; 340. rolling the fixing frame; 350. a longitudinal fixed shaft;

400. a yaw adjustment mechanism; 410. a yaw ear plate; 420. a yaw hydraulic cylinder; 430. a connecting rod; 440. a yaw bearing; 450. a support rod.

Detailed Description

The invention is described in detail below with reference to the drawings and the detailed description.

The embodiment of the invention discloses an integrated hip joint of a hydraulic biped robot, which comprises a waist truss 100, wherein the waist truss 100 is of a frame structure, and two yaw adjusting mechanisms 400 for respectively controlling the left leg and the right leg of the robot are arranged in the inner space of the waist truss 100; each yaw adjustment mechanism 400 is connected to the thigh structure of the robot sequentially through the corresponding roll adjustment mechanism 300 and pitch adjustment mechanism 200.

As shown in fig. 4, the rolling adjusting mechanism 300 includes a vertically arranged rolling hydraulic cylinder 310, a driving block 311 capable of moving up and down is arranged in the rolling hydraulic cylinder 310, and through holes symmetrically arranged are formed in the side wall of the rolling hydraulic cylinder 310 at positions corresponding to the driving block 311; the driving block 311 is provided with a fixing hole, a rolling transverse shaft 320 is installed in the fixing hole, the other end of the rolling transverse shaft 320 extends out of the waist truss 100, and the other end of the rolling transverse shaft 320 is rotatably connected with the pitching adjusting mechanism 200; the rolling hydraulic cylinder 310 is used for driving the driving block 311 to move up and down in the inner space thereof.

According to the invention, the yaw adjusting mechanism and the roll adjusting mechanism are arranged in the inner space of the waist truss, and the pitch adjusting mechanism is arranged in the thigh structure, so that the occupied space of the three freedom degree adjusting mechanisms can be reduced.

In addition, compared with the design of the robot disclosed at present, the invention integrates three driving shafts for rotating the hip joint of the robot with three degrees of freedom into one, so that the volume required by the hip joint for realizing the same function is greatly reduced, as shown in fig. 4, a support rod 450, a longitudinal fixed shaft 350 and a rolling transverse shaft 320 are rotating main shafts with three actions, so that the whole outer frame is an integrated mechanism, each robot thigh is provided with an independent pitching adjusting mechanism 200, a rolling adjusting mechanism 300 and a yawing adjusting mechanism 400, the three-degree-of-freedom adjusting mechanisms of the two thighs are symmetrically arranged, the position design is reasonable, and the space occupancy is greatly reduced.

In the embodiment of the present invention, the yaw adjusting mechanism 400 is used for adjusting the offset distance of the thigh structure in the front-rear direction, the roll adjusting mechanism 300 is used for adjusting the yaw distance of the thigh structure in the front-rear direction, and the pitch adjusting mechanism 200 is used for adjusting the yaw angle of the thigh structure in the front-rear direction.

Meanwhile, in the present invention, the lateral direction means a left-right direction penetrating along the robot, the longitudinal direction means a front-rear direction penetrating through the robot, and the vertical direction means an up-down direction penetrating through the robot. In addition, the yaw hydraulic cylinder 420, the roll hydraulic cylinder 310 and the pitch hydraulic cylinder 210 in the present invention are all hydraulic cylinders, and the qualifiers "yaw", "roll" and "pitch" are used to indicate their functions in the technical solution, that is, the yaw hydraulic cylinder 420 is a hydraulic cylinder for adjusting the yaw angle, the roll hydraulic cylinder 310 is a hydraulic cylinder for adjusting the roll angle, and the pitch hydraulic cylinder 210 is a hydraulic cylinder for adjusting the pitch angle.

The oil required by the action of the hydraulic cylinder is stored in an oil tank, the pump provides high-pressure hydraulic oil, the overflow valve is arranged at the outlet of the pump for stabilizing the pressure and taking the system safety into consideration, and the energy accumulator is utilized for oil supplement under the condition of short time and large flow so as to keep the pressure constant. The hydraulic cylinder driving the actuating mechanism is controlled by the servo valve in direction and running speed, a cooler is arranged in a hydraulic loop to keep the working temperature of the oil liquid within a certain range all the time, and an oil filter is arranged to keep the cleanness of the hydraulic oil.

In one embodiment, as shown in fig. 5, the rolling horizontal shaft 320 is disposed horizontally and has a longitudinal through hole, a longitudinal fixing shaft 350 is disposed through the longitudinal through hole, and both ends of the longitudinal fixing shaft 350 are fixed on the rolling fixing frame 340; moreover, the two lateral sides of the rolling fixing frame 340 in the transverse direction are open, and the two open sides are used for the rolling transverse shaft 320 to pass through.

Through the fixation of the rolling hydraulic cylinder 310 and the rolling transverse shaft 320, when the driving block 311 in the rolling hydraulic cylinder 310 moves up and down, the rolling transverse shaft 320 can be driven to move up and down, and meanwhile, as shown in fig. 5, due to the existence of the longitudinal fixed shaft 350, the longitudinal fixed shaft serves as the center of the rolling transverse shaft 320 during rotation, the pitching adjusting mechanism 200 and the thigh structure can be driven to generate a movement distance in the up-and-down direction, and the regulation of the thigh structure in the rolling degree of freedom can be realized. As a specific implementation, a bearing may be installed on the outer circumference of the longitudinal fixing shaft 350, and the bearing may be installed in the longitudinal through hole.

In addition, in order to increase the strength of the roll horizontal shaft 320, a connection block 321 is provided around the outer circumference of the roll horizontal shaft 320 at a position corresponding to the longitudinal through hole. Since the rolling transverse shaft 320 drives the rolling adjusting mechanism 300 and the pitching adjusting mechanism 200 at the same time, even the whole leg weight of the robot, the stress at the joint is very large, and the joint between the rolling transverse shaft 320 and the longitudinal fixed shaft 350 can be firmer by the arrangement of the connecting block 321, thereby avoiding the situation that the rolling transverse shaft 320 is broken at the joint.

Specifically, the upper end and the lower end of the rolling fixing frame 340 are both provided with vertical supporting rods 450; the other ends of the two struts 450 are rotatably connected to the top and bottom ends of the lumbar truss 100 by yaw bearings 440, respectively. By such an arrangement, the rolling fixing frame 340 can be driven to rotate in the front-back direction by rotating the supporting rod 450, and when the rolling fixing frame is rotated, since the rolling transverse shaft 320 and the longitudinal fixing shaft 350 do not have a relative rotation relationship in the direction, the rolling transverse shaft 320 is driven to rotate simultaneously when the rolling fixing frame 340 is rotated, so that the movement of the thigh structure in the front-back direction is realized.

Regarding the driving problem of the yaw angle, as shown in fig. 3, in the present embodiment, one of the two struts 450 is provided with a connecting rod 430 disposed longitudinally, the other end of the connecting rod 430 is rotatably connected to a yaw hydraulic cylinder 420, the yaw hydraulic cylinder 420 is disposed transversely, and the other end is rotatably connected to the lumbar truss 100. More specifically, the yaw hydraulic cylinder 420 is transversely disposed on the lumbar truss 100, and the other end thereof is connected to the yaw lug plate 410, and the yaw lug plate 410 is longitudinally disposed and fixedly connected to the lumbar truss 100.

As a specific implementation mode, two connecting ends of the yaw hydraulic cylinder 420 are connected in a rotating mode, so that the fault tolerance of the device can be increased, all parts are protected, and the protection service life is prolonged.

In the embodiment of the present invention, as shown in fig. 2, since two sets of yaw adjusting mechanisms 400 are provided and installed in the inner space of the waist truss 100, the output ends of the two yaw hydraulic cylinders 420 face each other to connect the left and right legs, respectively, for saving space.

In one embodiment, as shown in fig. 6, the pitch adjustment mechanism 200 includes two roll bearings 330 spaced apart on the roll cross shaft 320, the two roll bearings 330 being connected to the left and right sides of the thigh structure by connecting plates, respectively. Meanwhile, a vertical groove is formed in the inner side of the thigh structure, a pitching hydraulic cylinder 210 is installed in the groove, the pitching hydraulic cylinder 210 inclines in the front-back direction of the thigh structure, a pitching ear plate 220 is fixedly installed at the output end of the pitching hydraulic cylinder 210, and the pitching ear plate 220 is connected with the rolling cross shaft 320 through a pitching connecting rod 230. Through installing every single move pneumatic cylinder 210 in vertical recess, can fuse inside thigh structure with it, saved installation space on the one hand, on the other hand also can protect the pneumatic cylinder.

Based on the same principle, the pitch link 230 is rotatably connected with the pitch lug 220; pitch link 230 is pivotally connected to roll cross-shaft 320 to facilitate smoother thigh structure motion.

In one embodiment, the rolling horizontal shaft 320, the longitudinal fixed shaft 350 and the strut 450 are provided with rotation angle measuring devices, so that the rotation angles in three freedom directions can be respectively measured, and the overall control is facilitated.

In conclusion, the requirements of smaller size and faster control response of the hip joint of the humanoid biped robot are met. The designed series-parallel hybrid hip joint realizes the parallel control of the yaw freedom degree and the pitch freedom degree of the hip joint and the parallel control of the yaw freedom degree and the pitch freedom degree.

The structure of the invention is particularly suitable for the hip joint of a hydraulic drive type humanoid biped robot, and the core lies in that the hip joint adopts the rolling hydraulic cylinder 310, so that the size of the occupied space of the joint is directly reduced compared with the traditional hydraulic cylinder; meanwhile, the parallel control of two degrees of freedom is realized in the structural design, so that the occupied space of the structure is greatly saved, and the time delay condition of hip joint action control is greatly reduced.

That is to say, the integrated hydraulically-driven humanoid biped robot hip joint disclosed by the invention reduces the size of the occupied space of the joint, and simultaneously realizes the series-parallel hybrid design of three degrees of freedom of the hip joint in the structural design, thereby greatly saving the occupied space of the structure, greatly reducing the delay condition of the action control of the hip joint, realizing the compact and integrated design, and greatly reducing the problems of the complexity of the design of the traditional hydraulically-driven robot joint and the negative influence on the movement of the robot joint caused by the overweight quality during the installation of a hydraulic driving module.

Claims (10)

1. The integrated hip joint of the hydraulic biped robot is characterized by comprising a waist truss (100), wherein the waist truss (100) is of a frame structure, and two sets of yaw adjusting mechanisms (400) for respectively controlling the left leg and the right leg of the robot are arranged in the inner space of the waist truss (100);

each set of yaw adjusting mechanism (400) is connected with a thigh structure of the robot sequentially through a corresponding roll adjusting mechanism (300) and a corresponding pitch adjusting mechanism (200);

the rolling adjusting mechanism (300) comprises a vertically arranged rolling hydraulic cylinder (310), a driving block (311) capable of moving up and down is arranged in the rolling hydraulic cylinder (310), and through holes symmetrically arranged are formed in the side wall of the rolling hydraulic cylinder (310) and in the position corresponding to the driving block (311);

the driving block (311) is provided with a fixing hole, a rolling transverse shaft (320) is installed in the fixing hole, the other end of the rolling transverse shaft (320) extends out of the waist truss (100), and the other end of the rolling transverse shaft (320) is rotationally connected with the pitching adjusting mechanism (200);

the rolling hydraulic cylinder (310) is used for driving the driving block (311) to move up and down in the inner space of the rolling hydraulic cylinder.

2. The integrated hip joint of hydraulic biped robot as claimed in claim 1, wherein the rolling horizontal shaft (320) is arranged transversely and provided with a longitudinal through hole, and a longitudinal fixing shaft (350) is arranged in the longitudinal through hole in a penetrating manner.

3. The integrated hip joint of hydraulic biped robot as claimed in claim 2, wherein both ends of said longitudinal fixed shaft (350) are fixed on a rolling fixing frame (340);

the two lateral surfaces of the rolling fixing frame (340) in the transverse direction are open, and the two open surfaces are used for the rolling transverse shaft (320) to penetrate through.

4. The integrated hip joint of hydraulic biped robot as claimed in claim 3, wherein the rolling holder (340) is provided with vertical struts (450) at both upper and lower ends;

the other ends of the two supporting rods (450) are respectively connected with the top end and the bottom end of the waist truss (100) in a rotating mode through yaw bearings (440).

5. The integrated hip joint of hydraulic biped robot as claimed in claim 4, wherein one of the two struts (450) is provided with a longitudinally arranged connecting rod (430), the other end of the connecting rod (430) is rotatably connected with a yaw hydraulic cylinder (420), the yaw hydraulic cylinder (420) is transversely arranged, and the other end is rotatably connected with the waist truss (100).

6. The integrated hip joint of hydraulic biped robot as claimed in any one of claims 2-5, wherein said pitch adjusting mechanism (200) comprises two roll bearings (330) spaced apart on said roll transverse axis (320), said two roll bearings (330) being connected to the left and right sides of the thigh structure by connecting plates, respectively;

the inside of thigh structure has vertical recess, install pitch pneumatic cylinder (210) in the recess, pitch pneumatic cylinder (210) are in thigh structure fore-and-aft direction inclines, the output fixed mounting of pitch pneumatic cylinder (210) has pitch otic placode (220), pitch otic placode (220) with connect through pitch connecting rod (230) between roll cross axle (320).

7. The integrated hip joint of hydraulic biped robot as claimed in claim 6, wherein said pitch link (230) is rotatably connected to said pitch ear plate (220);

the pitch link (230) is rotationally coupled to the roll cross-axis (320).

8. The integrated hip joint of hydraulic biped robot as claimed in claim 6, wherein the rolling horizontal axis (320), the longitudinal fixed axis (350) and the strut (450) are all provided with rotation angle measuring devices.

9. The integrated hip joint of hydraulic biped robot according to claim 5, wherein the output ends of the two yaw hydraulic cylinders (420) face opposite.

10. The integrated hip joint of hydraulic biped robot as claimed in claim 2, wherein a connecting block (321) is provided around the outer circumference of the roll horizontal axis (320) at a position corresponding to the longitudinal through hole.

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