CN117227873A - Bipedal robot - Google Patents
Bipedal robot Download PDFInfo
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- CN117227873A CN117227873A CN202311246097.XA CN202311246097A CN117227873A CN 117227873 A CN117227873 A CN 117227873A CN 202311246097 A CN202311246097 A CN 202311246097A CN 117227873 A CN117227873 A CN 117227873A
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Abstract
The application provides a bipedal robot, which comprises a supporting frame and left and right leg assemblies symmetrical to the center of the supporting frame, wherein the supporting frame is used for installing various control devices and installing and supporting the left and right leg assemblies. The application only relates to a lower limb structure, the left leg component and the right leg component are matched in a modularized way, and are respectively constructed by three joint modules which are arranged on a supporting frame and are in tripod arrangement and combined with a connecting rod mechanism, so that the whole gravity center of the bipedal robot moves upwards, the inertia of the legs during swinging is reduced, the control difficulty of the legs is reduced, meanwhile, thighs are respectively positioned at the intersection points of the three joint modules and clamped between the two joint modules which drive the thighs to swing forwards and backwards, the feet adopt a flexible point contact structure with the ground, the balance and stability of the bipedal robot in the walking process are reliably ensured while the lateral, front and back walking actions of the bipedal robot are realized, and each control device is further intensively arranged on the supporting frame, so that a signal wire and an electric connecting wire are respectively routed, and the maintenance and the heat dissipation of the control device are facilitated.
Description
Technical Field
The application relates to the technical field of robots, in particular to a bipedal robot with a bipedal structure.
Background
The number of legs in the foot robots is different into two-foot robots, four-foot robots, six-foot robots and other robots, and the two-foot robots have poor speed, load and stability performance due to high walking balance control difficulty, so that the four-foot robots are widely applied at present, and the two-foot walking is always the focus and difficulty of the development of the robots. In order to improve the flexibility of the bipedal robot, in the prior art, the degree of freedom is usually increased at each joint of the bipedal robot, and the fine control of each joint is realized, for example, if a driving device is arranged on a leg joint of the robot, in order to drive the shank to swing backwards, a knee joint driving motor is arranged at a knee joint, so that the knee joint driving motor drives the shank to swing backwards; in order to ensure walking stability, a sole with larger contact area with the ground is arranged on the foot, an ankle driving motor is arranged at the ankle position for driving the sole to lift, and the aim of driving the sole to lift is fulfilled through the driving of the ankle driving motor. By the design, the whole biped robot is very heavy, the gravity center is low, the lower limbs are large in inertia due to large tail end mass in the swinging process, the dynamic response performance of the legs is low, the flexibility of the legs is directly influenced, and the stability of the robot in the walking process is not facilitated. And more degrees of freedom make structure and control comparatively complicated, with high costs, the control degree of difficulty is big, and motion precision is low, finally influences the holistic motion performance of robot.
Disclosure of Invention
The application aims to overcome the defects of the prior art and provide the three-degree-of-freedom bipedal robot so as to optimize the whole structure of the bipedal robot, reduce the control difficulty and improve the walking stability of the bipedal robot.
The application provides a biped robot, which comprises a supporting frame, a left leg assembly and a right leg assembly;
the support frame comprises a first support part and a second support part which are fixedly connected with each other, wherein the first support part is used for orderly mounting each control device, and the second support part is used for mounting the left leg assembly and the right leg assembly;
the left leg assembly and the right leg assembly are used for standing, advancing, retreating or sideways, and are symmetrical to the longitudinal plane of the center of the supporting frame;
the left leg assembly includes:
the left thigh comprises a first shell and a second shell which are mutually butted and fixed, and a first connecting rod mechanism is arranged in a first cavity formed by butting the first shell and the second shell;
the left lower leg comprises a first supporting rod, and the first supporting rod is hinged with the bottom end of the left thigh through the first connecting rod mechanism;
the left foot is fixedly connected with the bottom end of the left shank and is provided with an arc surface contacted with a ground flexible point;
The first joint module is fixed on the second supporting part and is used for driving the left thigh to swing in a lateral limiting manner relative to the longitudinal plane of the center of the supporting frame, the limiting swing angle takes the rotation central axis of the output end of the first joint module as a base point, the outward swing leg angle is less than or equal to 80 degrees relative to the longitudinal plane, and the inward swing leg angle is less than or equal to 25 degrees;
the second joint module is connected with the output end of the first joint module and rotates along with the output end of the first joint module, the rotation central axis of the output end of the second joint module is orthogonally arranged relative to the rotation central axis of the output end of the first joint module, the output end of the second joint module is connected with the left thigh and is used for driving the left thigh to do front and back limit swing relative to the transverse plane of the center of the supporting frame by taking the rotation central axis of the second joint module as a base point, the limit swing angle is smaller than or equal to 80 degrees forwards and smaller than or equal to 60 degrees backwards according to the forward direction;
the third joint module is fixedly connected with the upper end of the left thigh, is driven by the left thigh to rotate along with the first joint module and the second joint module, and the rotation central axis of the output end of the third joint module is orthogonally arranged relative to the rotation central axis of the output end of the first joint module and is in the same straight line with the rotation central axis of the output end of the second joint module, so that the first link mechanism on the left thigh is driven to move, the left shank is driven to swing forwards and backwards in a limiting mode around the bottom end of the left thigh, the limiting swing angle takes the hinge point of the left shank and the left thigh as a base point, and is not more than 80 degrees forwards and not more than 50 degrees backwards according to the advancing direction; and
The second joint module and the third joint module are symmetrically arranged relative to the first joint module, and the left thigh is connected with the output end of the second joint module and positioned between the second joint module and the third joint module;
the right leg assembly includes:
the right thigh is symmetrically arranged with the left thigh relative to the longitudinal plane of the center of the supporting frame and comprises a third shell and a fourth shell which are mutually butted and fixed, and a second connecting rod mechanism is arranged in a second cavity formed by butting the third shell and the fourth shell;
the right lower leg is symmetrically arranged with the left lower leg relative to the longitudinal plane of the center of the supporting frame and comprises a second supporting rod, and the second supporting rod is hinged with the bottom end of the right thigh through a second connecting rod mechanism;
the right foot is symmetrically arranged with the left foot relative to the longitudinal plane of the center of the supporting frame and is fixedly connected with the bottom end of the right calf, and is provided with an arc surface contacted with a ground flexible point;
the fourth joint module is fixed on the second supporting part, is symmetrically arranged with the first joint module relative to the longitudinal plane of the center of the supporting frame and is used for driving the right thigh to swing in a lateral limit manner relative to the longitudinal plane of the center of the supporting frame, the limiting swing angle takes the rotation central axis of the output end of the fourth joint module as a base point, the outward swing leg angle is less than or equal to 80 degrees relative to the longitudinal plane, and the inward swing leg angle is less than or equal to 25 degrees;
The fifth joint module is symmetrically arranged with the second joint module relative to the longitudinal plane of the center of the supporting frame, is connected with the output end of the fourth joint module and rotates along with the output end of the fourth joint module, the rotation central axis of the output end of the fifth joint module is orthogonally arranged relative to the rotation central axis of the output end of the fourth joint module, and the output end of the fifth joint module is connected with the right thigh and is used for driving the right thigh to perform front-back limit swing relative to the transverse plane of the center of the supporting frame by taking the rotation central axis of the fifth joint module as a base point, wherein the limit swing angle is less than or equal to 80 degrees forwards and less than or equal to 60 degrees backwards according to the forward direction;
the sixth joint module is symmetrically arranged with the third joint module relative to the longitudinal plane of the center of the supporting frame and fixedly connected with the upper end of the right thigh, is driven by the right thigh to rotate along with the fourth joint module and the fifth joint module, and the rotation central axis of the output end of the sixth joint module is orthogonally arranged relative to the rotation central axis of the output end of the fourth joint module and is in the same straight line with the rotation central axis of the output end of the fifth joint module, so as to drive the second link mechanism on the right thigh to move, thereby driving the right shank to do front-back limit swing around the bottom end of the right thigh, wherein the limit swing angle takes the hinge point of the right shank and the right thigh as a base point, is not more than 80 degrees forwards and not more than 50 degrees backwards according to the forward direction;
The fifth joint module and the sixth joint module are symmetrically arranged relative to the fourth joint module, and the right thigh is connected with the output end of the fifth joint module and is positioned between the fifth joint module and the sixth joint module.
In the above embodiments of the present application, there is no degree of freedom above the left leg assembly and the right leg assembly; the left thigh and the right thigh have no degree of freedom above the leg swinging joint;
the support frame or the left leg assembly and the right leg assembly are not provided with connecting structures for connecting other bipedal robots; the connecting structures above the leg swinging joints of the left thigh and the right thigh are not used for connecting other bipedal robots;
the left leg assembly does not include:
a structure for driving the left thigh to rotate about its own leg axis;
the driving structure is used for driving the left foot to change the Euler angle;
the right leg assembly does not include:
a structure for driving the right thigh to rotate about its own leg axis; and
and the driving structure is used for driving the right foot to change the Euler angle.
In a preferred embodiment of the present application, the rotation central axes of the output ends of the first joint module, the second joint module, the third joint module, the fourth joint module, the fifth joint module and the sixth joint module are all on the same horizontal plane.
In some embodiments of the present application, the first supporting part has a horizontally arranged mounting platform, and each control device of the power supply is fixed on the mounting platform and is connected with each execution element or/and electronic element controlled by the control device through a power line and a signal line; the second supporting part comprises a mounting plate which is formed by extending downwards and vertically along the edge of the middle position or the middle rear position or the rear end of the mounting platform according to the advancing direction; the first joint module and the fourth joint module are respectively installed on the back of the mounting plate, and the output ends of the first joint module and the fourth joint module respectively penetrate through the mounting plate and are connected with the left thigh, the second joint module, the right thigh and the fifth joint module which are arranged in front of the mounting plate.
In some embodiments of the present application, the mounting platform is provided with a plurality of hollowed-out holes or/and a plurality of struts for supporting the power supply.
In some embodiments of the application, the support frame further comprises a first connector and a second connector, the first connector being symmetrically disposed with respect to the second connector with respect to a longitudinal plane of the center of the support frame; the first connecting piece comprises a first rear connecting plate and a first side connecting plate which are vertically arranged and are mutually perpendicular, and the output end of the first joint module passes through the mounting plate and is fixed on the outer side of the first rear connecting plate; the second joint module is fixed on the outer side of the first side connecting plate, so that the output end of the first joint module is connected with the second joint module through the first connecting piece; the second connecting piece comprises a second rear connecting plate and a second side connecting plate which are vertically arranged and mutually perpendicular, and the output end of the fourth joint module passes through the mounting plate and is fixed on the outer side of the second rear connecting plate; the fifth joint module is fixed on the outer side of the second side connecting plate, so that the output end of the fifth joint module is connected with the fourth joint module through the second connecting piece.
In some embodiments of the present application, limiting structures for limiting the lateral swing angle of the longitudinal plane of the left thigh and the right thigh with respect to the center of the support frame are respectively and correspondingly arranged on the mounting plate, the first rear connecting plate and the second rear connecting plate along the rotation track lines of the first joint module output end and the fourth joint module output end; a limiting structure for limiting the front-back swing angle of the left thigh relative to the transverse plane of the center of the supporting frame is correspondingly arranged at the upper ends of the first side connecting plate and the left thigh respectively along the rotating track line of the output end of the second joint module; and a limiting structure for limiting the front-back swing angle of the right thigh relative to the transverse plane of the center of the supporting frame is correspondingly arranged at the upper ends of the second side connecting plate and the right thigh respectively along the rotating track line of the output end of the fifth joint module.
In some embodiments of the present application, guide holes are respectively formed in the limiting structures at the upper ends of the left thigh and the right thigh, and at least two guide pipes are respectively formed at positions corresponding to the guide holes of the third joint module and the sixth joint module, so that a power line and a signal line from the execution element or/and the electronic element respectively pass through and are led out from the guide holes and the guide pipes, and are connected with the corresponding control devices fixed on the mounting platform.
In some embodiments of the present application, the first link mechanism includes a first rocker and a first strut, where a fixed end of the first rocker is connected to an output end of the third joint module, and is driven to rotate by the third joint module, a swinging end of the first rocker is hinged to one end of the first strut, and a top end of the left calf extends into the first cavity through an avoidance opening provided in a first cavity of the left thigh and is hinged to the other end of the first strut; a first connecting shaft is arranged at the position of a space between the left shank and the hinge point of the first supporting rod and is used for hinging the left shank at the bottom ends of the first shell and the second shell and clamping the left shank between the first shell and the second shell, so that the left shank is driven by the first rocking rod to swing around the bottom end of the left thigh in a limiting way by taking the first connecting shaft as a fulcrum; the second connecting rod mechanism comprises a second rocker and a second supporting rod, the fixed end of the second rocker is connected with the output end of the sixth joint module, the sixth joint module drives the second rocker to rotate, the swinging end of the second rocker is hinged with one end of the second supporting rod, and the top end of the right lower leg penetrates through an avoidance opening arranged in a second cavity of the right thigh to extend into the second cavity and is hinged with the other end of the second supporting rod; the space position of the hinge point between the right shank and the second supporting rod is provided with a second connecting shaft, and the second connecting shaft is used for hinging the right shank to the bottom ends of the third shell and the fourth shell and clamping the right shank between the third shell and the fourth shell, so that the right shank is driven by the second rocking rod to swing around the bottom end of the right thigh in a limiting mode by taking the second connecting shaft as a fulcrum.
In some embodiments of the present application, a limiting structure for limiting the swing angle of the left and right lower legs with respect to the hinge points of the left and right thighs is further provided at the lower ends of the first and third housings, respectively.
In some embodiments of the present application, the left foot and the right foot respectively include a supporting foot and a flexible supporting sleeve, the outer surfaces of the two supporting feet are provided with a plurality of staggered first grooves, the inner layers of the two flexible supporting sleeves are respectively provided with a first convex strip which is used for being embedded with the first grooves, so that the flexible supporting sleeve is embedded and coated on the outer surface of the supporting foot, and the outer layer of the flexible supporting sleeve is provided with a second groove in a staggered manner corresponding to the positions of the first convex strips; and a flexible adhesive is arranged at the rear half part between the first groove and the first raised strip according to the advancing direction.
The application has the following technical effects:
(1) According to the whole structure of the biped robot, provided by the application, the leg movement is only three degrees of freedom, so that the leg structure design can be simplified, and the difficulty of leg control can be reduced; each joint module is arranged on the supporting frame, so that the whole bipedal robot is in modularized collocation, the whole spatial layout of the bipedal robot is facilitated, the installation and debugging and the later maintenance are also facilitated, and the maintenance difficulty is reduced.
(2) According to the application, each joint module and the control device are arranged on the supporting frame, so that the whole center of the whole biped robot moves upwards, the defects of large leg mass, influence on flexibility and strength of legs and the like of the robot caused by the fact that the driving components are concentrated at each joint can be avoided, the movement speed and the control response speed of the biped robot are improved, the inertia of the legs during swinging is reduced, the stability in the walking process is facilitated, and meanwhile, the influence of the walking impact force on the driving component during direct driving of the driving component is avoided.
(3) The application installs each control device on the supporting frame in a centralized way, connects with the executing element or/and the electronic element through the connecting wire, is beneficial to the signal line and the electric connecting wire to be respectively wired, is convenient for the installation, maintenance and replacement of the control device, and simultaneously, the control device is upwards and intensively arranged on the supporting frame, and can avoid the influence of the leg walking action on the control device.
(4) The three joint modules for driving the legs to swing laterally and swing forwards and backwards are distributed in a tripod-like state, the supporting frames are symmetrically distributed, and the thighs are arranged at the intersection positions of the three joint modules, so that the walking component is always positioned at the gravity center positions of the three joint modules, the whole static balance of the bipedal robot can be maintained, the dynamic balance control during walking of the bipedal robot is facilitated, and the bipedal robot can walk stably. The application also clamps the thigh between the two joint modules which respectively drive the thigh and the shank to swing, can also avoid the thigh from swinging during walking, and further ensures the walking stability of the bipedal robot.
(5) According to the application, the connecting rod mechanism is arranged in the cavity formed by the butted shells, so that the two shells and the connecting rod mechanism form leg branches of the thigh together, the supporting requirements of strength and rigidity required by the thigh can be met, meanwhile, the weight of the thigh is reduced, and the influence of swing inertia of the thigh on walking of the bipedal robot is effectively reduced. Moreover, the connecting rod mechanism is limited in the cavity covered by the shell, so that accidental movement of the connecting rod mechanism during movement can be prevented, and the influence of external environmental factors and the like on the movement of the connecting rod mechanism can be avoided.
(6) The leg structure is connected with the joint module arranged on the supporting frame through the connecting rod mechanism to drive the shank to swing, the shank movement control is realized through the connecting rod mechanism, and a driving mechanism is not required to be arranged on the shank, so that not only is the leg structure simplified, but also the weight of the shank and the leg is reduced, the influence of swing inertia of the shank on walking of the bipedal robot is effectively reduced, and the requirements of the minimum weight, the control difficulty and the control precision under the condition of stable walking can be met through the leg structure design.
(7) According to the application, the foot is designed to be of a foot-pointing type structure, so that the walking speed of the robot can be improved, when the leg assembly is impacted by the impact force, the cambered surface which is flexibly contacted with the ground by the foot ground contact end, so that deformation counteracts the reaction force of the ground, the impact generated by the foot and the ground can be buffered or/and absorbed, the effect of protecting the leg assembly is achieved, meanwhile, as the driving component is not arranged on the foot and the lower leg, the impact force of the foot on the ground does not influence the driving component, the whole leg structure is not deformed, and the stable walking of the robot is ensured.
(8) The application limits the swing angles of the thigh and the shank, can avoid the loss of walking stability caused by overlarge movement angles of the legs, can also avoid interference between the legs when swinging, and fully ensures the balance and stability of the bipedal robot during walking.
Drawings
Fig. 1 is a schematic diagram of an overall exploded structure of a biped robot according to an embodiment of the present application;
FIG. 2 is a front view of a bipedal robot in accordance with an embodiment of the present application;
FIG. 3 is a left side view of a bipedal robot in accordance with an embodiment of the present application;
fig. 4 is a schematic diagram of a supporting frame structure of a bipedal robot according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a first connecting member and a second connecting member in a bipedal robot supporting frame structure according to an embodiment of the application;
fig. 6 is a schematic structural diagram II of a first connecting member and a second connecting member in the bipedal robot supporting frame structure according to the embodiment of the application;
fig. 7 is a schematic structural diagram of a left leg assembly of a biped robot according to an embodiment of the present application;
fig. 8 is a schematic diagram of a combined structure of a left calf and a left foot of a biped robot according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present, and it may be "connected" in a fixed or removable or hinged or integral relationship.
It should be further noted that the terms "front", "back", "inner", "outer", "upper", "lower", "top", "bottom", "two sides", and the like in the embodiments of the present application are merely relative terms or refer to the normal use state of the product, or refer to the positions shown in the drawings based on the embodiments of the present application, and are merely for convenience in describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the apparatus or component to be referred to must have a specific orientation, be configured and operated in a specific orientation, and should not be considered as limiting.
Furthermore, the terms "first," "second," … and the like in embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In order to clearly describe the structural layout and functional coordination relationship among the components, the application defines an X axis, a Y axis and a Z axis so as to establish a space rectangular coordinate system in a certain space environment. When the bipedal robot is in the space environment, the motion relationship, the azimuth relationship and the like among the described objects can be distinguished by utilizing the three directions defined above; wherein, X axis represents left and right direction when biped robot is sideways, Y axis direction represents up and down direction, Z axis direction represents the fore-and-aft direction when robot is walking forward.
Referring to fig. 1 to 4, the bipedal robot provided by the embodiment of the present application is composed of only a lower body without an upper body structure, and includes a support frame 1, a left leg assembly 2 and a right leg assembly 3.
For convenience of explanation, the present application defines a longitudinal plane constructed along the YZ axis as a (see fig. 2) and a transverse plane constructed along the XY axis as B (see fig. 3) based on the centers of the support frames 1 based on the above-mentioned X, Y and Z axis coordinate systems. The longitudinal plane A is consistent with the direction of the biped robot when the biped robot walks forward, and the transverse plane B is perpendicular to the direction of the biped robot when the biped robot walks forward.
The support frame 1 is a central part of the bipedal robot of the present application, and may be a mounting base of the left leg assembly 2 and the right leg assembly 3 to support and connect the left leg assembly 2 and the right leg assembly 3, and also to mount a power source 4 and a plurality of control devices 5. The support frame 1 comprises a first support part 11 and a second support part 12 which are fixedly connected with each other, the first support part 11 is used for installing the power supply 4 and orderly installing the control devices 5, namely, in the embodiment of the application, the control devices 5 are all externally arranged on the first support part 11, and the upper protection cover 6 is adopted to cover the power supply 4 and the control devices 5, so that the influence of the external environment on the power supply 4 and the control devices 5 is avoided, and meanwhile, the damage to the power supply 4 and the control devices 5 when the bipedal robot falls down carelessly is also avoided. The control device 5 of the embodiment of the present application includes, but is not limited to, a central processing unit, a control module, a data processing module, a communication module, and other components, where each component is connected to an execution element (such as a joint module, etc.) or/and an electronic element (such as a sensor, an encoder, etc.) through an electrical connection line or a signal line. In this way, each control device 5 can be installed on the supporting frame 1 in a centralized way, and is connected with the execution element or/and the electronic element through the connecting wire, so that the signal wire and the electric connecting wire are beneficial to wiring respectively, the installation, maintenance and replacement of the control device 5 are convenient, meanwhile, the control device 5 is arranged on the supporting frame 1 in an upward centralized way, the influence of the walking actions of the left leg assembly 2 and the right leg assembly 3 on the control device 5 can be avoided, and the control devices 5 are installed in an open way, so that the heat dissipation of the control devices 5 is facilitated, and the service life of each control device 5 is prolonged.
The second support 12 is used for mounting the left leg assembly 2 and the right leg assembly 3, and the left leg assembly 2 and the right leg assembly 3 are symmetrically arranged with respect to the longitudinal plane a of the center of the support frame 1.
In the embodiment of the application, the left leg assembly 2 and the right leg assembly 3 have three degrees of freedom, and are used for standing, advancing, retreating or sideways movement postures of the bipedal robot.
Referring to fig. 1 and 7, in the embodiment of the present application, the left leg assembly 2 includes:
the left thigh 21 comprises a first shell 211 and a second shell 212, the first shell 211 and the second shell 212 are mutually butted and fixed to form a first cavity 213, and a first link mechanism 214 is arranged in the first cavity 213. After the first shell 211 and the second shell 212 accommodate the first link mechanism 214 in the first cavity 213, the leg branches of the left thigh 21 are formed together, so that the support requirements of strength and rigidity required by the left thigh 21 can be met, the weight of the left thigh 21 is reduced, and the influence of swing inertia of the left thigh 21 on walking of the bipedal robot can be reduced. Meanwhile, the first link mechanism 214 is accommodated in the first cavity 213, so that the first link mechanism 214 moves in a plane in the first cavity 213, and the first link mechanism 214 can be prevented from accidentally moving by the cladding of the first housing 211 and the second housing 212, and the influence of external environmental factors and the like on the movement of the first link mechanism 214 can be avoided.
The left lower leg 22 comprises a first supporting rod 221, and is hinged at the bottom end of the left upper leg 21 through a first link mechanism 214, and the left upper leg 21 drives the left lower leg 22 to swing in a plane formed by the first link mechanism 214 through the first link mechanism 214. The first supporting bar 221 can be directly used as a leg limb of the left lower leg 22, so that the weight of the left lower leg 22 is reduced while the supporting requirement of the left lower leg 22 is met, and the influence of swing inertia of the left lower leg 22 on the walking of the robot can be reduced.
The left foot 23 is fixedly connected with the bottom end of the left lower leg 22, and the bottom of the left foot 23 is provided with an arc surface which is in flexible contact with the ground, so that the impact generated by the foot and the ground can be buffered or/and absorbed while the left foot 23 is in point contact with the ground.
A first joint module 24 integrated by a servo motor, a driver, a speed reducer, an encoder and other precise control modules, wherein the matrix of the first joint module 24 is fixed on the second supporting part 12, and the output end of the first joint module 24 is wound around the rotation central axis O of the driving part 11 Rotates and is connected with the top end of the left thigh 21, and is used for driving the left thigh 21 to do lateral limit swing relative to the longitudinal plane A (see figure 2) of the center of the supporting frame 1, the limit swing angle of the limit swing is relative to the longitudinal plane A, and the rotation central axis O of the output end of the first joint module 24 is used for controlling the rotation speed of the left thigh 21 11 As a base point, the outward swing leg angle is less than or equal to 80 degrees, the inward swing leg angle is less than or equal to 25 degrees, and the problems that the left thigh 21 swings outwards and laterally to be over-positioned, and the left thigh 31 interferes inwards and the right thigh are avoided.
The second joint module 25 is also integrated by a servo motor, a driver, a speed reducer, an encoder and other precise control modules, the substrate of the second joint module 25 can be directly connected with the output end of the first joint module 24 or connected through an intermediate connecting piece, and the second joint module 25 can rotate along with the output end of the first joint module 24 under the drive of the first joint module 24; the output end of the second joint module 25 is rotatable about the rotational central axis O of the driving part thereof 12 Rotate, and the rotation central axis O of the output end of the second joint module 25 12 Relative to the central axis of rotation O of the output end of the first joint module 24 11 Is orthogonally arranged, while the output end of the second joint module 25 is connected to the left thigh 21 for driving the left thigh 21 with the rotation center axis O of the second joint module 25 12 As a base point, relative to a transverse plane B (see fig. 3) in the center of the supporting frame 1, forward and backward limit swinging is carried out, the limit swinging angle is in accordance with the forward direction of the advancing direction of the bipedal robot, the forward swinging leg angle is less than or equal to 80 degrees, the backward swinging leg angle is less than or equal to 60 degrees, and the condition that the balance of the whole gravity center of the bipedal robot is influenced by the overlarge swinging leg angle, so that the bipedal robot cannot go is avoided Walking and the like, and the walking stability of the bipedal robot is ensured.
The third joint module 26 is also integrated by a servo motor, a driver, a speed reducer, an encoder and other precise control modules, and the base body of the third joint module 26 is connected with the upper end of the left thigh 21 and can rotate along with the output end of the first joint module 24 under the drive of the left thigh 21. The output end of the third joint module 26 can rotate around the rotation central axis O of the driving part 13 Rotate, the rotation central axis O of the output end 13 Relative to the output end of the first joint module 24 11 Is arranged in quadrature with the output end rotation central axis O of the second joint module 25 12 On the same straight line. The output end of the third joint module 26 is connected with the first link mechanism 214 on the left thigh 21, and is used for driving the first link mechanism 214 to move so as to drive the left shank 22 to swing forward and backward relative to the transverse plane B (see fig. 3) in the center of the supporting frame 1, wherein the limiting swing angle takes the hinge center of the left shank 22 and the left thigh 21 as a base point, and the forward swing angle of the left shank 22 is less than or equal to 80 degrees and the backward swing angle is less than or equal to 50 degrees according to the forward direction of the bipedal robot, so that the situation that the left shank 22 cannot walk due to the fact that the left shank 22 rotates too far relative to the left thigh 21 is avoided.
Further, the output end of the second joint module 25 rotates about the central axis O 12 And the output rotational center axis O of the third joint module 26 13 Relative to the output end of the first joint module 24 11 The left thigh 21 is symmetrically arranged and is clamped between the second joint module 25 and the third joint module 26 while being connected with the output end of the second joint module 25. So make first joint module 24, second joint module 25 and third joint module 26 be the tripod state, left thigh 21 is located the crossing point of three, can play the effect of balanced robot left leg subassembly 2 focus, still can avoid left thigh 21 to beat when walking between second joint module 25 and third joint module 26 with left thigh 21 clamp, guarantees bipedal robot and walks steadily.
Referring to fig. 1, in the embodiment of the present application, the right leg assembly 3 includes:
the right thigh 31 is symmetrically arranged with the left thigh 21 relative to a longitudinal plane A (see fig. 2) in the center of the supporting frame 1, and comprises a third shell 311 and a fourth shell 312, wherein the third shell 311 and the fourth shell 312 are mutually butted and fixed to form a second cavity 313, and a second link mechanism 314 is arranged in the second cavity 313. The third shell 311 and the fourth shell 312 house the second link mechanism 314 in the second cavity 313 to form the leg branches of the right thigh 31 together, so that the weight of the right thigh 31 is reduced while the support requirement of the strength and rigidity required by the right thigh 31 is met, and the influence of the swing inertia of the right thigh 31 on the walking of the bipedal robot is effectively reduced. Similarly, the second link mechanism 314 is accommodated in the second cavity 313, so that the second link mechanism 314 moves in a plane in the second cavity 313, and the second link mechanism 314 can be prevented from accidentally moving, and the influence of external environmental factors and the like on the movement of the second link mechanism 314 can be avoided.
The right lower leg 32 is symmetrically arranged with the left lower leg 22 relative to a longitudinal plane A (see fig. 2) in the center of the supporting frame 1, and comprises a second supporting rod 321 hinged at the bottom end of the right thigh 31 through a second link mechanism 314, and the right thigh 31 drives the right lower leg 32 to swing in a plane formed by the second link mechanism 314 through the second link mechanism 314. Likewise, the second support bar 321 may serve directly as a leg limb for the right calf 32, reducing the weight of the right calf 32 while meeting the support requirements of the right calf 32.
The right foot 33 is symmetrically arranged with the left foot 23 (see fig. 2) relative to the longitudinal plane a in the center of the support frame 1, and is fixedly connected with the bottom end of the left calf 22. Likewise, the bottom of right foot 33 has a curved surface that flexibly contacts the ground, so that impact of the foot with the ground can be cushioned and/or absorbed while right foot 33 is in point contact with the ground.
The fourth joint module 34 is symmetrically arranged with the first joint module 24 relative to the longitudinal plane A in the center of the supporting frame 1 (see FIG. 2), and is also integrated by a servo motor, a driver, a speed reducer, an encoder and other precise control modules, the matrix of the fourth joint module 34 is also fixed on the second supporting part 12, and the output end of the fourth joint module 34 is around the rotation central axis O of the driving part 21 Is rotatably connected to the top of the right thigh 31 for driving the longitudinal plane A of the right thigh 31 relative to the center of the support frame 1 (see figure)2) The lateral limit swing is performed, the limit swing angle is relative to the longitudinal plane A, and the rotation central axis O of the output end of the fourth joint module 34 is used 21 As a base point, the outward swing leg angle is less than or equal to 80 degrees, the inward swing leg angle is less than or equal to 25 degrees, and the problems that the right thigh 31 swings outwards and is out of position laterally, and the left thigh 21 is interfered inwards are avoided.
The fifth joint module 35 is symmetrically arranged with the second joint module 25 relative to the longitudinal plane A (see fig. 2) in the center of the supporting frame 1, and is also integrated by a servo motor, a driver, a speed reducer, an encoder and other precise control modules, the matrix of the fifth joint module 35 can be directly connected with the output end of the fourth joint module 34 or indirectly connected through an intermediate connecting piece, and the fifth joint module 35 can rotate along with the output end of the fourth joint module 34 under the drive of the fourth joint module 34; the output end of the fifth joint module 35 may rotate about the rotational center axis O of the driving portion thereof 22 Rotate and the rotation central axis O of the output end of the fifth joint module 35 12 Relative to the central axis of rotation O of the output end of the fourth joint module 34 12 Is orthogonally arranged, while the output end of the fifth joint module 35 is connected to the right thigh 31 for driving the right thigh 31 with the rotation center axis O of the fifth joint module 35 22 As a base point, relative to a transverse plane B (see fig. 3) in the center of the supporting frame 1, forward and backward limit swinging is carried out, the limit swinging angle is in accordance with the forward direction of the advancing direction of the bipedal robot, the forward swinging leg angle is less than or equal to 80 degrees, the backward swinging leg angle is less than or equal to 60 degrees, and the situation that the balance of the whole gravity center of the bipedal robot is influenced by the overlarge swinging leg angle, so that the bipedal robot cannot walk and the like is avoided.
The sixth joint module 36 is symmetrically disposed with respect to the longitudinal plane a (see fig. 2) at the center of the support frame 1 and is also integrated with the third joint module 26 by a servo motor, a driver, a speed reducer, an encoder, and other precise control modules, and the base of the sixth joint module 36 is connected with the upper end of the right thigh 31 and can rotate along with the fourth joint module 34 under the driving of the right thigh 31. Likewise, the output end of the sixth joint module 36 may rotate about the central axis of rotation O of the drive portion thereof 23 Rotate, the rotation central axis O of the output end 23 Relative to the output end of the fourth joint module 34 21 Is arranged in quadrature with the output end rotation central axis O of the fifth joint module 35 22 On the same straight line. The output end of the sixth joint module 36 is connected with a second link mechanism 314 arranged on the right thigh 31, and is used for driving the second link mechanism 314 to move so as to drive the right shank 32 to swing forward and backward relative to a transverse plane B (see fig. 3) in the center of the supporting frame 1, the limiting swing angle takes the hinging center of the right shank 32 and the right thigh 31 as a base point, according to the forward direction of the bipedal robot, the forward swing angle of the right shank 32 is less than or equal to 80 degrees, the backward swing angle is less than or equal to 50 degrees, and the influence of the rotation over position of the right shank 32 relative to the right thigh 31 on the walking stability of the robot can be avoided.
Further, the output end rotation center axis O of the fifth joint module 35 22 And an output rotational center axis O of the sixth joint module 36 23 Relative to the output end of the fourth joint module 34 21 The right thigh 31 is symmetrically arranged and is clamped between the fifth joint module 35 and the sixth joint module 36 while being connected with the output end of the fifth joint module 35. The fourth joint module 34, the fifth joint module 35 and the sixth joint module 36 can be in a tripod-standing state, the right thigh 31 is positioned at the intersection of the three, the function of balancing the gravity center of the right leg assembly 3 of the robot can be achieved, the jumping of the right thigh 31 during walking is avoided, and the bipedal robot can walk stably.
Referring to fig. 1, on the support frame 1, a rear protection cover 7 is further provided, and covers the rear ends of the first joint module 24 and the fourth joint module 34, so as to protect the first joint module 24 and the fourth joint module 34 from damage caused by the outside.
According to the bipedal robot overall structure provided by the embodiment of the application, the leg motions are combined with two connecting rod mechanisms through the output ends of the six joint modules, so that thigh structural members and shank structural members can be controlled, and the motions of three degrees of freedom of lateral, front and back walking of the robot in the walking process are realized. According to the application, modular collocation is adopted, each joint module is arranged on the supporting frame, the space of the thigh structure is fully utilized, the movement control of the lower leg is realized by adopting the connecting rod mechanism, the whole gravity center of the whole bipedal robot moves upwards, the inertia of the legs during swinging is reduced, the stability in the walking process is facilitated, the flexibility of the legs is also improved, the influence of the walking impact force on the power components when the power components adopt a direct driving mode can be avoided, the whole space layout of the bipedal robot is facilitated, the installation and debugging of the leg components and the later maintenance are facilitated, and the maintenance difficulty is reduced. The application has the advantages that the leg structure design is simplified and portable as far as possible under the condition of meeting the walking condition, the requirements of reducing the control complexity and improving the control precision are met, the foot part adopts the foot-pointing design, the sole part is provided with the cambered surface which is in contact with the ground flexible point, the impact generated by the foot part and the ground when the bipedal robot walks can be absorbed, the application can adapt to various terrains, can be applied to more scenes, and the stability of the robot in the walking process is also effectively ensured. The application further installs each control device on the supporting frame in a concentrated way, and connects with the executing element or/and the electronic element through the connecting wire, so that the signal wire and the electric connecting wire are respectively wired, which is convenient for the installation, maintenance, replacement and heat dissipation of the control device, and can avoid the influence of the leg walking action on the control device, thereby improving the service life of each control device.
In the above embodiment of the present application, the parts above the left leg assembly 2 and the right leg assembly 3 are free of degrees of freedom, that is, the bipedal robot of the present application only involves the lower limb structure, the left thigh 21 and the right thigh 31 have no degrees of freedom above the swing leg joints, and the left thigh 21 and the right thigh 31 swing only within the range of degrees of freedom given by the above joint modules; meanwhile, the bipedal robot is an independent individual, the support frame 1 or the left leg assembly 2 and the right leg assembly 3 are not provided with any connecting structure for connecting other bipedal robots, and the left thigh 21 and the right thigh 31 are not provided with any connecting structure for connecting other bipedal robots. Therefore, the bipedal robot is simpler, the configuration cost and the weight of the robot are reduced, and the use flexibility is brought.
Further, the left leg assembly 2 of the present application does not include: the structure for driving the left thigh 21 to rotate about its own axis of the leg, i.e., the left thigh 21 does not have 360-degree rotation about its own axis of the leg to perform functional actions such as steering, nor does it include a structure for driving the left foot 23 to change the euler angle, i.e., the left foot 23 swings only in the movement plane defined by the first link mechanism 214. Likewise, the right leg assembly 3 does not include: the structure for driving the right thigh 31 to rotate about its own leg axis, i.e., the right thigh 31 does not have 360-degree rotation about its own leg axis to perform functional actions such as steering, nor does it include a structure for driving the right foot 33 to change the euler angle, i.e., the right foot 33 swings only in the movement plane defined by the second link mechanism 314. Therefore, the leg movement of the robot is only three degrees of freedom, the leg structure design can be simplified, the difficulty in leg control is reduced, and the walking stability of the bipedal robot is guaranteed.
Referring to fig. 2 and 3, in the preferred embodiment of the present application, the rotational central axes of the output ends of the first joint module 24, the second joint module 25, the third joint module 26, the fourth joint module 34, the fifth joint module 35 and the sixth joint module 36 are all on the same horizontal plane. Thus being beneficial to the gravity center balance configuration and control of the bipedal robot.
Referring to fig. 1 to 4, in some embodiments of the present application, the first supporting part 11 of the supporting frame 1 has a horizontally disposed mounting platform 111, and the power source 4 and the control devices 5 are fixed on the upper plane of the mounting platform 111, wherein the power source 4 is located at the middle position of the mounting platform 111, and the control devices 5 are sequentially arranged on both sides of the power source 4 according to the layout of the left leg assembly 2 and the right leg assembly 3, respectively, and the control devices 5 are connected with the execution elements or/and the electronic elements controlled by the control devices through electric connection wires and signal wires. It will be appreciated that other arrangements between the power source 4 and the control devices 5 may be used in the planar or spatial arrangement of the mounting platform 111 as required by the center of gravity and/or routing.
Further, on the mounting platform 111, a plurality of hollow holes 1111 may be further provided, which not only can reduce the weight of the supporting frame 1, but also is beneficial to heat dissipation of the power supply 4 and each control device 5, and also can facilitate the routing of electrical connection wires and signal wires from the hollow holes 1111.
Referring to fig. 1 and 4, a plurality of struts 1112 for supporting the power supply 4 may be further disposed in the middle of the mounting platform 111, and the power supply 4 is fixed at the top ends of the struts 1112, so that the power supply 4 is suspended above the top plane of the mounting platform 111, which is more beneficial to the mounting and heat dissipation of the power supply 4, and also provides a larger heat dissipation space for each control device 5. Further, handles 1113 are fixed at two side ends of the mounting platform 111, so that an operator can conveniently carry the mounting platform.
Referring again to fig. 4, in some embodiments of the present application, the second support 12 may include a vertically-established mounting plate 121, and the mounting plate 121 may be fixedly connected or integrally formed with the mounting platform 111. The mounting plate 121 may be disposed at a middle position of the mounting platform 111 or at a rear position or a rear edge of the mounting platform 111 in a forward direction of the bipedal robot as required or/and a center of gravity, and may extend vertically downward to be perpendicular to the mounting platform 111. The illustrated embodiment of the application is to vertically secure mounting plate 121 down to the rear end of mounting platform 111. On the mounting plate 121, based on a longitudinal plane a in the center of the supporting frame 1, a first through hole 1221 and a second through hole 1222 are symmetrically arranged, flange structures 1227 are respectively arranged on the peripheries of the first through hole 1221 and the second through hole 1222, mounting holes for allowing the fixing pieces 1224 to penetrate are arranged on the flange structures, the base bodies of the first joint module 24 and the fourth joint module 34 can be respectively mounted on the back surface of the mounting plate 121 of the second supporting part 12 through the fixing pieces 1224, and the output ends of the first joint module 24 and the fourth joint module 34 can respectively penetrate through the first through hole 1221 and the second through hole 1222 forward and are respectively connected with a left thigh 21, a second joint module 25, a right thigh 31 and a fifth joint module 35 which are arranged in front of the mounting plate 121. At least one third through hole 1223 is further provided in the middle of the mounting plate 121, and two third through holes 1223 may be provided as shown in the drawing, and the third through holes 1223 are symmetrical to the longitudinal plane a in the center of the support frame 1, which is beneficial to routing the electrical connection wires and the signal wires, and also reduces the overall weight of the support frame 1. Further, triangular reinforcing plates 13 are further provided at both sides of the junction between the mounting plate 121 and the mounting platform 111, so as to increase the reliability of the connection between the mounting plate 121 and the mounting platform 111. In the above embodiment, the mounting plate 121 can be adjusted on the mounting platform 111 according to the layout of each joint module, and meanwhile, the first joint module 24, the fourth joint module 34, the second joint module 25, the third joint module 26, the fifth joint module 35 and the sixth joint module 36 are respectively disposed on two sides of the plate surface of the mounting plate 121, so that the mounting of each module and the adjustment of the overall center of gravity are facilitated, and the balance and stability of the bipedal robot during walking can be ensured.
Referring to fig. 1, 5 and 6, in some embodiments of the present application, the support frame 1 may further include a first link 14 and a second link 15, the first link 14 being an intermediate member of the first joint module 24 connected with the second joint module 25, the second link 15 being an intermediate member of the fourth joint module 34 connected with the fifth joint module 35, the second link 15 being disposed symmetrically with respect to the first link 14 with respect to a longitudinal plane a of a center of the support frame 1. Specifically, the first connecting member 14 includes a first rear connecting plate 141 and a first side connecting plate 142, where the first rear connecting plate 141 and the first side connecting plate 142 are vertically set up with respect to the mounting platform 111 and are perpendicular to each other to form a "l" -shaped structure, and are located in front of the mounting plate 121, and the first rear connecting plate 141 is parallel to the mounting plate 121, an outward extending end faces the longitudinal plane a of the center of the support frame 1, the first side connecting plate 142 is perpendicular to the mounting plate 121, an outward extending end faces the advancing direction, and the first rear connecting plate 141 and the first side connecting plate 142 may be integrally formed or may be combined in a fixed connection manner. The outer side of the first rear connecting plate 141 protrudes outwards and protrudes outwards to form a flange structure 1412, the inner side of the first rear connecting plate 141 is correspondingly provided with a mounting hole 1411, the output end of the first joint module 24 can pass through the first through hole 1221 on the mounting plate 121, and the fixing piece passes through the mounting hole 1411 to fix the output end of the first joint module 24 on the flange structure 1412 on the outer side of the first rear connecting plate 141. The center of the first side connecting plate 142 is provided with a through hole 1421, the matrix of the second joint module 25 is fixed on the outer side of the first side connecting plate 142, and the output end of the second joint module 25 can pass through the through hole 1421 on the first side connecting plate 142 to be fixedly connected with the upper end of the left thigh 21. In order to improve the connection strength of the first rear connection plate 141 and the first side connection plate 142, an L-shaped reinforcing block 143 is provided at the top of the first rear connection plate 141 and the first side connection plate 142. Thus, the first joint module is made to pass through the first connector 14 24. The upper ends of the second joint module 25 and the left thigh 21 are connected into a whole, and the second joint module 25 and the left thigh 21 can be driven by the first joint module 24 to rotate along with the rotation central axis O of the output end of the first joint module 24 11 The left thigh 21 can rotate, and the second joint module 25 fixed on the outer side of the first side connecting plate 142 can drive the rotation central axis O around the output end of the second joint module 25 12 And (5) swinging. Likewise, the second connecting member 15 includes a second rear connecting plate 151 and a second side connecting plate 152, where the second rear connecting plate 151 and the second side connecting plate 152 are vertically arranged relative to the mounting platform 111 and are perpendicular to each other to form a "l" structure, and are also located in front of the mounting plate 121, and the second rear connecting plate 151 is parallel to the mounting plate 121, the outward extending end faces the longitudinal plane a of the center of the support frame 1, the second side connecting plate 152 is perpendicular to the mounting plate 121, and the outward extending end faces the advancing direction; the second rear connection plate 151 and the second side connection plate 152 may be integrally formed or may be combined in a fixed connection manner. The outer side of the second rear connecting plate 151 protrudes outwards and protrudes to form a flange structure 1512, a mounting hole 1511 is correspondingly formed in the inner side of the second rear connecting plate, the output end of the second joint module 25 penetrates through a second through hole 1222 in the mounting plate 121, and the output end of the fourth joint module 34 is fixed on the flange structure 1512 on the outer side of the second rear connecting plate 151 through the mounting hole 1511 by a fixing piece. The center of the second side connecting plate 152 is provided with a through hole 1521, the matrix of the fifth joint module 35 is fixed on the outer side of the second side connecting plate 152, and the output end of the fifth joint module 35 can pass through the through hole 1521 on the second side connecting plate 152 to be fixedly connected with the upper end of the right thigh 31. Similarly, an L-shaped reinforcing block 153 is provided on top of the second rear connection plate 151 and the second side connection plate 152. In this way, the upper ends of the fourth joint module 34, the fifth joint module 35 and the right thigh 31 are connected together through the second connecting piece 15, and the fifth joint module 35 and the right thigh 31 can be driven by the fourth joint module 34 to rotate along with the rotation central axis O of the output end of the fourth joint module 34 12 The right thigh 31 can rotate and can also drive the rotation central axis O around the output end of the fifth joint module 35 through the fifth joint module 35 fixed on the outer side of the second side connecting plate 152 22 And (5) swinging. In the above structural design, the first joint module 24, the second joint module 25, and the left thigh 21 and the fourth joint module 34, the fifth joint module 35 and the right thigh 31 are provided with intermediate connecting pieces, by utilizing the structural characteristics of the first connecting piece 14 and the second connecting piece 15, not only is an installation space provided between the first joint module 24, the second joint module 25, the left thigh 21 and the fourth joint module 34, the fifth joint module and the right thigh 31, but also convenience is provided for the installation of the third joint module 26 and the sixth joint module 36, and in the structural design, the distance between the center of the through hole 1421 of the first side connecting plate 142 and the center of the through hole 1521 of the second side connecting plate 152 and the plane of the first rear connecting plate 141 and the plane of the second rear connecting plate 151 can be set according to requirements, thereby being beneficial to the adjustment of the centers of gravity of the modules and the left thigh 21 and the right thigh 31. Further, the space between each module, the left thigh 21 and the right thigh 31 can be formed by the above intermediate connecting piece, which is beneficial to heat dissipation of each module and wiring of the electrical connection wires and the signal wires.
Referring to fig. 1, fig. 4 to fig. 6, in some embodiments of the present application, a first limiting structure 1225 and a second limiting structure 1226 are respectively disposed on the mounting plate 121 of the second supporting portion 12, where the first limiting structure 1225 is disposed on a track line of the second joint module 25 and the left thigh 21 rotating along with the output end of the first joint module 24, and is two arc-shaped stops protruding from the mounting plate 121, and the relative angle between the two arc-shaped stops is determined according to the limit value of the swing limiting angle of the left thigh 21 relative to the central longitudinal plane a of the supporting frame 1; the second limiting structure 1226 is disposed on the track line of the fifth joint module 35 and the right thigh 31 rotating along with the output end of the fourth joint module 34, and is also two arc-shaped stops protruding from the mounting plate 121, and the relative angle of the setting positions of the two arc-shaped stops is also determined according to the limit value of the swing limiting angle of the right thigh 31 relative to the central longitudinal plane a of the support frame 1. Correspondingly, a third limiting structure 1413 coupled to the first limiting structure 1225 is disposed on the outer side of the first rear connecting plate 141, where the third limiting structure 1413 is a trapezoid bump formed by extending a flange structure 1412 on the outer side of the first rear connecting plate 141, and is connected to the first side connecting plate 142, and can rotate within a limit angle range of two arc stops of the first limiting structure 1225, so as to limit a rotation range of the first connecting member 14 along with the output end of the first joint module 24, thereby limiting a lateral swing angle of the left thigh 21 relative to the longitudinal plane a of the center of the support frame 1. In addition, the third limiting structure 1413 can also serve as a reinforcing block of the first rear connecting plate 141 to increase the strength of the first rear connecting plate 141, and provide a powerful support for each joint module. Further, the third limiting structure 1413 is further provided with a through hole 14131 for facilitating the electrical connection and the signal line. A fourth limiting structure 1513 coupled to the second limiting structure 1226 is also disposed on the outer side of the second rear connecting plate 151, where the fourth limiting structure 1513 is a trapezoid bump formed by extending a flange structure 1512 on the outer side of the second rear connecting plate 151, and is connected to the second side connecting plate 152, and rotates within a limit angle range of two arc stops of the second limiting structure 1226, so as to limit the rotation range of the second connecting piece 15 along with the fourth joint module 34, and limit the lateral swing angle of the right thigh 31 relative to the longitudinal plane a of the center of the support frame 1. Similarly, the fourth limiting structure 1513 can also be used to increase the strength of the second rear connecting plate 151, and the through hole 15131 disposed thereon also facilitates the electrical connection and the signal routing. The first limiting structure 1225 and the third limiting structure 1411 are coupled, and the second limiting structure 1226 and the fourth limiting structure 1511 are coupled, so that the swing angle of the left thigh 21 and the right thigh 31 relative to the central longitudinal plane a of the support frame 1 can be further limited by a mechanical structure, and interference when the left thigh 21 and the right thigh 31 swing laterally can be avoided.
Referring further to fig. 1, fig. 4 to fig. 7, in some embodiments of the present application, a fifth limiting structure 1422 is further provided on the first side connecting plate 142, where the fifth limiting structure 1422 is disposed on a track line of the rotation of the left thigh 21 along with the output end of the second joint module 25, and is two arc-shaped stops protruding from the inner side of the first side connecting plate 142, and the relative angle between the two arc-shaped stops is determined according to the swing limiting angle of the left thigh 21 relative to the transverse plane B of the center of the support frame 1. Correspondingly, at the upper end of the first housing 211 of the left thigh 21, a sixth limiting structure 2111 (see fig. 7) is disposed at the corresponding positions of the two arc-shaped stops at the inner side of the first side connecting plate 142, and the sixth limiting structure 2111 is an arc-shaped bump disposed at the outer side of the upper end of the first housing 211 and rotates within the range of two arc-shaped stops limiting angles of the fifth limiting structure 1422, so as to limit the swing range of the left thigh 21 along with the output end of the second joint module 25. Similarly, a seventh limiting structure 1522 is disposed on the second side connecting plate 152, where the seventh limiting structure 1522 is disposed on a track line of the right thigh 31 rotating along with the output end of the fifth joint module 35, and is two arc-shaped stops protruding from the inner side of the second side connecting plate 152, and the relative angle of the two arc-shaped stops is determined according to the swing limiting angle of the right thigh 31 relative to the transverse plane B of the center of the support frame 1. Correspondingly, on the outer side of the upper end of the third housing 311 of the right thigh 31, there is also provided an arc-shaped projection similar to the first housing 211 of the left thigh 21, corresponding to the seventh limit structure 1522 (not shown). The above-mentioned limit structures are combined to limit the back-and-forth swinging angle of the left thigh 21 and the right thigh 31 relative to the transverse plane B of the center of the support frame 1, respectively, so as to avoid excessive swinging.
Referring to fig. 1 and 7, in some embodiments of the present application, the first link mechanism 214 disposed in the first cavity 213 of the left thigh 21 includes a first rocker 2141 and a first strut 2142, and the fixed end 21411 of the first rocker 2141 passes through a through hole 2121 formed in the second housing 212 through a connecting piece and is fixedly connected to the output end of the third joint module 26, so that the first rocker 2141 can rotate under the driving of the third joint module 26; the swing end 21412 of the first rocker 2141 is hinged to one end (upper end) of the first strut 2142 through a first pivot 2144, and the other end (lower end) of the first strut 2142 is hinged to the top end of the left calf 22 through a second pivot 2145; meanwhile, a first connecting shaft 2143 is disposed on the left lower leg 22 at a distance (length L) from the center of the second rotating shaft 2145, and the first connecting shaft 2143 passes through holes correspondingly formed in the first housing 211 and the second housing 212, and the left lower leg 22 is rotatably connected to the bottom ends of the first housing 211 and the second housing 212 by a fixing member 2146 and is clamped between the first housing 211 and the second housing 212, so that the left lower leg 22 is hinged to the bottom end of the left thigh 21. In this way, the first rocker 2141 and the first strut 2142 can form the first link mechanism 214 by means of the length L between the second rotation axis 2145 and the center of the first connection axis 2143 on the left calf 22, and the left calf 22 rotates around the first connection axis 2143 with the first connection axis 2143 as a fulcrum under the driving of the first rocker 2141, so as to implement the back-and-forth swinging function of the left calf 22. Further, at the bottom ends of the first housing 211 and the second housing 212, a first notch 2112 and a second notch 2122 are correspondingly opened downward at a position close to the second rotation shaft 2145, respectively, and after the first housing 211 and the second housing 212 are in butt joint and fixed, an avoidance opening is formed at the lower end of the first cavity 213, and the top end of the left lower leg 22 can extend into the first cavity 213 through the avoidance opening and is hinged with the first support rod 2142 through the second rotation shaft 2145, so that the avoidance opening leaves a swinging space for the left lower leg 22.
Likewise, the second link mechanism 314 disposed in the second cavity 313 of the right thigh 31 has a second rocker 3141 and a second strut 3142, wherein a fixed end of the second rocker 3141 is connected with an output end of the sixth joint module 36, and is driven to rotate by the sixth joint module 36, a swinging end of the second rocker 3141 is hinged with one end of the second strut 3142, and a top end of the right calf 32 extends into the second cavity 313 through a avoidance opening provided in the second cavity 313 of the right thigh 31 and is hinged with the other end of the second strut 3142; a second connecting shaft 3143 is disposed on the right lower leg 32 at a position spaced from the hinge point of the second supporting rod 3142, so that the right lower leg 32 can be hinged to the bottom ends of the third casing 311 and the fourth casing 312 and clamped between the third casing 311 and the fourth casing 312, and the right lower leg 32 can swing around the bottom end of the right thigh 31 in a limited manner with the second connecting shaft 3143 as a fulcrum under the driving of the second rocker 3141.
Referring further to fig. 1 and 7, in the embodiment of the present application, at the lower ends of the first housing 211 and the second housing 212, an eighth limiting structure 2123 is provided, where the eighth limiting structure 2123 is an arc-shaped stop block located on the swing track line of the left calf 22 in the first cavity 213, and is used to limit the swing angle of the left calf 22 around the first connecting axis 2143, so as to avoid the influence of excessive swing of the left calf 22 relative to the left thigh 21, which cannot walk, and the swing over of the left calf 22 in abnormal situations, on the walking stability of the robot.
Similarly, at the lower ends of the third housing 311 and the fourth housing 312, the same structure as the eighth limiting structure 2123 is also provided for limiting the swing angle of the second connecting shaft 3143 of the hinge point of the right lower leg 32 with respect to the right thigh 31, which is not described herein.
Referring to fig. 1, 3 and 7, in some embodiments of the present application, a first guiding hole 2113 is further provided on the first housing 211, and the first guiding hole 2113 may be specifically provided on the sixth limiting structure 2111 outside the first housing 211, and is a through hole provided in the middle of the sixth limiting structure 2111. At least two first guide tubes 251 are respectively provided on the base of the second joint module 25 at positions corresponding to the first guide holes 2113, so that power lines and signal lines from the leg actuator and/or the electronic component are respectively led out through the first guide holes 2113 and the first guide tubes 251, and are connected to the corresponding control devices 5 fixed on the mounting platform 111. It will be appreciated that the same structure as described above is provided on the third housing 311 and the base of the fifth joint module 35. The guide hole and the guide pipe combination structure can lead the power line and the signal line to be standard and orderly arranged, avoid the influence on the power line and the signal line when the bipedal robot walks, and the structure does not need to add other structures, and the guide hole is arranged on the arc-shaped convex block, and the length and the thickness of the guide hole are beneficial to the arrangement, the support and the protection of the power line and the signal line.
Referring to fig. 1, 3, 7 and 8, in the embodiment of the present application, the first supporting bar 221 in the left calf 22 has a hollowed-out structure. As shown in fig. 8, the hollow structure specifically hollow the middle portion of the rod body of the first supporting rod 221 into a through groove 2211, and a plurality of single oblique or V-shaped reinforcing ribs 2212 are disposed in the through groove 2211. The left support bar 221 has a hollow structure, which can ensure the rigidity of the left shank 22 and reduce the weight of the left shank 22 to reduce the swing inertia of the left shank 22. Likewise, the second support bar 321 in the right calf 32 has the same hollow structure as the first support bar 221 in the left calf 22, and will not be described here again. It can be appreciated that the hollow structure can be other structures with the technical effects consistent with the above.
Referring to fig. 8, in an embodiment of the present application, the left foot 23 includes a left support foot 231 of spherical configuration and a left foot flexible support sleeve 232. The left supporting foot 231 is a rigid support for supporting the weight shared by the left leg assembly 2 and the supporting frame 1, the top of the left supporting foot 231 is fixedly connected with the bottom of the first supporting rod 221 in the left lower leg 22 through the left supporting seat 233, and a plurality of staggered first grooves 2311 are formed on the outer surface of the left supporting foot 231, and the first grooves 2311 in the illustrated embodiment of the application are in a criss-cross structure, and of course, may also be in an oblique crossing structure. The left foot flexible supporting sleeve 232 is a spherical sleeve matched with the external shape of the left supporting foot 231, is made of flexible materials, and is coated on the outer surface of the left supporting foot 231, so that the bottom of the left foot 23 forms an arc surface in contact with a ground flexible point. A plurality of criss-cross first raised strips 2321 are formed on the inner wall of the left-foot flexible supporting sleeve 232, and the setting position, width and protruding height of the first raised strips 2321 are matched with the first grooves 2311 of the left supporting foot 231. When the left flexible supporting sleeve 232 is sleeved on the outer surface of the left supporting foot 231, the first raised line 2321 is embedded in the first groove 2311, so that the left flexible supporting sleeve 232 is closely attached to the outer surface of the left supporting foot 231. Correspondingly, a plurality of crisscross second grooves 2322 are formed on the outer surface of the left-foot flexible supporting sleeve 232 in a staggered manner according to the corresponding positions of the first raised strips 2321 arranged on the inner wall of the left-foot flexible supporting sleeve. In the above structure, the left foot flexible supporting sleeve 232 and the left supporting foot 231 are embedded by the criss-cross grooves and the protruding strips, so that on one hand, the left foot flexible supporting sleeve 232 structurally ensures the tight and reliable cladding of the left supporting foot 231, and prevents the biped robot from falling off during walking, and on the other hand, the space of the second groove 2322 arranged on the outer surface of the left foot flexible supporting sleeve 232 can be utilized to increase the capacity and the buffering effect of the left foot 23 while the capacity and the buffering effect of the left foot flexible supporting sleeve 232 are provided for the left foot 23, so that the feet of the biped robot deform according to the contact surface and different dynamic gravity centers during walking, and the biped robot is self-adaptive to various terrains. Further, according to the foot-contacting feature of the biped robot during walking, according to the advancing direction of the left foot 23, a flexible adhesive (not shown) may be further disposed at the rear half portion (corresponding to the heel position of the left foot 23) between the first groove 2311 and the first raised line 2321, and the flexible adhesive is filled in the gap between the first groove 2311 and the first raised line 2321, so that the first groove 2311 and the first raised line 2321 are bonded together, so as to further ensure the reliability of covering the left foot flexible supporting sleeve 232 on the left supporting foot 231, and meanwhile, the gap between the first groove 2311 and the first raised line 2321 at the front half portion of the left foot 23 may also increase the yielding and buffering effects of the left foot 23, especially for uneven ground application scenarios, where the above embodiment can better absorb and/or buffer the impact force borne by the left foot 23.
Likewise, the right foot 33 in the embodiment of the present application has the same structure and technical effects as the left foot 23, and is not described herein.
The above-described embodiments of the present application are only some of the preferred embodiments of the present application and are not intended to limit the present application, and any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the spirit of the present application shall fall within the scope of the present application.
Claims (11)
1. The biped robot is characterized by comprising a supporting frame, a left leg assembly and a right leg assembly;
the support frame comprises a first support part and a second support part which are fixedly connected with each other, wherein the first support part is used for orderly mounting each control device, and the second support part is used for mounting the left leg assembly and the right leg assembly;
the left leg assembly and the right leg assembly are used for standing, advancing, retreating or sideways, and are symmetrical to the longitudinal plane of the center of the supporting frame;
the left leg assembly includes:
the left thigh comprises a first shell and a second shell which are mutually butted and fixed, and a first connecting rod mechanism is arranged in a first cavity formed by butting the first shell and the second shell;
the left lower leg comprises a first supporting rod, and the first supporting rod is hinged with the bottom end of the left thigh through the first connecting rod mechanism;
The left foot is fixedly connected with the bottom end of the left shank and is provided with an arc surface contacted with a ground flexible point;
the first joint module is fixed on the second supporting part and is used for driving the left thigh to swing in a lateral limiting manner relative to the longitudinal plane of the center of the supporting frame, the limiting swing angle takes the rotation central axis of the output end of the first joint module as a base point, the outward swing leg angle is less than or equal to 80 degrees relative to the longitudinal plane, and the inward swing leg angle is less than or equal to 25 degrees;
the second joint module is connected with the output end of the first joint module and rotates along with the output end of the first joint module, the rotation central axis of the output end of the second joint module is orthogonally arranged relative to the rotation central axis of the output end of the first joint module, the output end of the second joint module is connected with the left thigh and is used for driving the left thigh to do front and back limit swing relative to the transverse plane of the center of the supporting frame by taking the rotation central axis of the second joint module as a base point, the limit swing angle is smaller than or equal to 80 degrees forwards and smaller than or equal to 60 degrees backwards according to the forward direction;
the third joint module is fixedly connected with the upper end of the left thigh, is driven by the left thigh to rotate along with the first joint module and the second joint module, and the rotation central axis of the output end of the third joint module is orthogonally arranged relative to the rotation central axis of the output end of the first joint module and is in the same straight line with the rotation central axis of the output end of the second joint module, so that the first link mechanism on the left thigh is driven to move, the left shank is driven to swing forwards and backwards in a limiting mode around the bottom end of the left thigh, the limiting swing angle takes the hinge point of the left shank and the left thigh as a base point, and is not more than 80 degrees forwards and not more than 50 degrees backwards according to the advancing direction; and
The second joint module and the third joint module are symmetrically arranged relative to the first joint module, and the left thigh is connected with the output end of the second joint module and positioned between the second joint module and the third joint module;
the right leg assembly includes:
the right thigh is symmetrically arranged with the left thigh relative to the longitudinal plane of the center of the supporting frame and comprises a third shell and a fourth shell which are mutually butted and fixed, and a second connecting rod mechanism is arranged in a second cavity formed by butting the third shell and the fourth shell;
the right lower leg is symmetrically arranged with the left lower leg relative to the longitudinal plane of the center of the supporting frame and comprises a second supporting rod, and the second supporting rod is hinged with the bottom end of the right thigh through a second connecting rod mechanism;
the right foot is symmetrically arranged with the left foot relative to the longitudinal plane of the center of the supporting frame and is fixedly connected with the bottom end of the right calf, and is provided with an arc surface contacted with a ground flexible point;
the fourth joint module is fixed on the second supporting part, is symmetrically arranged with the first joint module relative to the longitudinal plane of the center of the supporting frame and is used for driving the right thigh to swing in a lateral limit manner relative to the longitudinal plane of the center of the supporting frame, the limiting swing angle takes the rotation central axis of the output end of the fourth joint module as a base point, the outward swing leg angle is less than or equal to 80 degrees relative to the longitudinal plane, and the inward swing leg angle is less than or equal to 25 degrees;
The fifth joint module is symmetrically arranged with the second joint module relative to the longitudinal plane of the center of the supporting frame, is connected with the output end of the fourth joint module and rotates along with the output end of the fourth joint module, the rotation central axis of the output end of the fifth joint module is orthogonally arranged relative to the rotation central axis of the output end of the fourth joint module, and the output end of the fifth joint module is connected with the right thigh and is used for driving the right thigh to perform front-back limit swing relative to the transverse plane of the center of the supporting frame by taking the rotation central axis of the fifth joint module as a base point, wherein the limit swing angle is less than or equal to 80 degrees forwards and less than or equal to 60 degrees backwards according to the forward direction;
the sixth joint module is symmetrically arranged with the third joint module relative to the longitudinal plane of the center of the supporting frame and fixedly connected with the upper end of the right thigh, is driven by the right thigh to rotate along with the fourth joint module and the fifth joint module, and the rotation central axis of the output end of the sixth joint module is orthogonally arranged relative to the rotation central axis of the output end of the fourth joint module and is in the same straight line with the rotation central axis of the output end of the fifth joint module, so as to drive the second link mechanism on the right thigh to move, thereby driving the right shank to do front-back limit swing around the bottom end of the right thigh, wherein the limit swing angle takes the hinge point of the right shank and the right thigh as a base point, is not more than 80 degrees forwards and not more than 50 degrees backwards according to the forward direction; and
The fifth joint module and the sixth joint module are symmetrically arranged relative to the fourth joint module, and the right thigh is connected with the output end of the fifth joint module and is positioned between the fifth joint module and the sixth joint module.
2. The bipedal robot of claim 1, wherein there is no degree of freedom above the left leg assembly and the right leg assembly; the left thigh and the right thigh have no degree of freedom above the leg swinging joint;
the support frame or the left leg assembly and the right leg assembly are not provided with connecting structures for connecting other bipedal robots; the connecting structures above the leg swinging joints of the left thigh and the right thigh are not used for connecting other bipedal robots;
the left leg assembly does not include:
a structure for driving the left thigh to rotate about its own leg axis;
the driving structure is used for driving the left foot to change the Euler angle;
the right leg assembly does not include:
a structure for driving the right thigh to rotate about its own leg axis; and
and the driving structure is used for driving the right foot to change the Euler angle.
3. The bipedal robot of claim 2, wherein the central axes of rotation of the first, second, third, fourth, fifth and sixth joint module outputs are all on the same horizontal plane.
4. A bipedal robot as claimed in claim 3, wherein the first support has a horizontally disposed mounting platform on which the power supply and each of the control devices are secured, the power supply and each of the control devices being connected by power supply lines and signal lines to each of the actuators or/and electronics controlled by the control devices; the second supporting part comprises a mounting plate which is formed by extending downwards and vertically along the edge of the middle position or the middle rear position or the rear end of the mounting platform according to the advancing direction; the first joint module and the fourth joint module are respectively installed on the back of the mounting plate, and the output ends of the first joint module and the fourth joint module respectively penetrate through the mounting plate and are connected with the left thigh, the second joint module, the right thigh and the fifth joint module which are arranged in front of the mounting plate.
5. The bipedal robot of claim 4, wherein the mounting platform is provided with a plurality of hollowed holes or/and a plurality of struts for supporting the power source.
6. The bipedal robot of claim 4 wherein the support frame further comprises a first connector and a second connector, the first connector being symmetrically disposed with respect to the second connector about a longitudinal plane of the center of the support frame;
The first connecting piece comprises a first rear connecting plate and a first side connecting plate which are vertically arranged and are mutually perpendicular, and the output end of the first joint module passes through the mounting plate and is fixed on the outer side of the first rear connecting plate; the second joint module is fixed on the outer side of the first side connecting plate, so that the output end of the first joint module is connected with the second joint module through the first connecting piece;
the second connecting piece comprises a second rear connecting plate and a second side connecting plate which are vertically arranged and mutually perpendicular, and the output end of the fourth joint module passes through the mounting plate and is fixed on the outer side of the second rear connecting plate; the fifth joint module is fixed on the outer side of the second side connecting plate, so that the output end of the fifth joint module is connected with the fourth joint module through the second connecting piece.
7. The bipedal robot of claim 6, wherein limit structures for limiting the lateral swing angle of the left and right thighs relative to the longitudinal plane of the center of the support frame are correspondingly provided on the mounting plate, the first rear connection plate and the second rear connection plate along the rotational track lines of the first joint module output end and the fourth joint module output end, respectively; a limiting structure for limiting the front-back swing angle of the left thigh relative to the transverse plane of the center of the supporting frame is correspondingly arranged at the upper ends of the first side connecting plate and the left thigh respectively along the rotating track line of the output end of the second joint module; and a limiting structure for limiting the front-back swing angle of the right thigh relative to the transverse plane of the center of the supporting frame is correspondingly arranged at the upper ends of the second side connecting plate and the right thigh respectively along the rotating track line of the output end of the fifth joint module.
8. The bipedal robot of claim 7, wherein guide holes are provided in limit structures at upper ends of the left and right thighs, respectively, and at least two guide tubes are provided at positions of the third and sixth joint modules corresponding to the guide holes, respectively, so that power lines and signal lines from the actuator and/or the electronic component are passed through and led out of the guide holes and the guide tubes, respectively, and connected to the corresponding control devices fixed to the mounting platform.
9. The bipedal robot of claim 6, wherein the robot further comprises a gripper,
the first connecting rod mechanism comprises a first rocker and a first supporting rod, the fixed end of the first rocker is connected with the output end of the third joint module, the third joint module drives the first rocker to rotate, the swinging end of the first rocker is hinged with one end of the first supporting rod, and the top end of the left lower leg penetrates through an avoidance opening arranged in a first cavity of the left thigh to extend into the first cavity and is hinged with the other end of the first supporting rod; a first connecting shaft is arranged at the position of a space between the left shank and the hinge point of the first supporting rod and is used for hinging the left shank at the bottom ends of the first shell and the second shell and clamping the left shank between the first shell and the second shell, so that the left shank is driven by the first rocking rod to swing around the bottom end of the left thigh in a limiting way by taking the first connecting shaft as a fulcrum;
The second connecting rod mechanism comprises a second rocker and a second supporting rod, the fixed end of the second rocker is connected with the output end of the sixth joint module, the sixth joint module drives the second rocker to rotate, the swinging end of the second rocker is hinged with one end of the second supporting rod, and the top end of the right lower leg penetrates through an avoidance opening arranged in a second cavity of the right thigh to extend into the second cavity and is hinged with the other end of the second supporting rod; the space position of the hinge point between the right shank and the second supporting rod is provided with a second connecting shaft, and the second connecting shaft is used for hinging the right shank to the bottom ends of the third shell and the fourth shell and clamping the right shank between the third shell and the fourth shell, so that the right shank is driven by the second rocking rod to swing around the bottom end of the right thigh in a limiting mode by taking the second connecting shaft as a fulcrum.
10. The bipedal robot of claim 9, wherein a limiting structure for limiting a swing angle of the left and right lower legs with respect to the hinge points of the left and right thighs is provided at lower ends of the first and third housings, respectively.
11. The bipedal robot of any one of claims 1 to 10, wherein the left foot and the right foot comprise a supporting foot and a flexible supporting sleeve respectively, a plurality of staggered first grooves are formed on the outer surfaces of the two supporting feet, first raised strips which are used for being embedded with the first grooves are correspondingly arranged on the inner layers of the two flexible supporting sleeves respectively, the flexible supporting sleeves are embedded and coated on the outer surfaces of the supporting feet, and second grooves are formed on the outer layers of the flexible supporting sleeves in a staggered manner corresponding to the positions of the first raised strips; and a flexible adhesive is arranged at the rear half part between the first groove and the first raised strip according to the advancing direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311246097.XA CN117227873A (en) | 2023-09-26 | 2023-09-26 | Bipedal robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311246097.XA CN117227873A (en) | 2023-09-26 | 2023-09-26 | Bipedal robot |
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| CN117227873A true CN117227873A (en) | 2023-12-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118220375A (en) * | 2024-05-17 | 2024-06-21 | 深圳逐际动力科技有限公司 | Leg structure of humanoid robot and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118220375A (en) * | 2024-05-17 | 2024-06-21 | 深圳逐际动力科技有限公司 | Leg structure of humanoid robot and robot |
| CN118220375B (en) * | 2024-05-17 | 2024-08-13 | 深圳逐际动力科技有限公司 | Leg structure of humanoid robot and robot |
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