CN103010330A - Biped walking robot - Google Patents

Abstract

The invention discloses a biped walking robot, which comprises a robot waist and a robot leg, and a power supply and a control unit are placed on the waist support of the robot waist; the robot leg includes a left leg and a right leg, and the left leg and the right leg are connected to The robot is attached at the waist. The invention includes robot waist and robot legs. The waist of the robot is connected to the legs of the robot, and the control unit and power supply are stored in the waist of the robot, and the legs are driven by servo motors to drive the robot to move. Each leg of the biped walking robot has a degree of freedom hip joint, a degree of freedom knee joint, and a degree of freedom ankle joint. It can realize various driving modes such as walking, climbing and turning under complex road conditions such as slopes and stairs.

Description

A biped walking robot

technical field

The invention relates to the technical field of robots, in particular to a biped walking robot.

Background technique

Because the propulsion method of traditional wheeled vehicles and robots is to generate propulsion through wheel rotation and ground friction, they can only move and transport on relatively flat roads, and have no flexibility when turning. In view of the above shortcomings, robots driven by imitating the legs of creatures are being used more and more.

After searching the existing technical literature, it was found that:

Chinese invention patent publication number: CN1406804, title: eight limbs foot walking machine. The eight-limb walking machine pushes the machine body forward step by step through the two cyclic processes of extending and contracting the foot rod through the mechanical transmission and conversion mechanism. However, each leg of the eight-limb walking machine cannot be independently controlled and maintained stable, and still does not have the ability to move on complex terrain.

Chinese invention patent publication number: CN1410230, title: multi-leg walking robot and its control device. The multi-legged walking robot includes two front, middle and rear feet respectively, which are distributed side by side in two rows on the left and right sides of the frame. Each foot has the same structure and consists of feet, shanks, thighs, hips, and driving and transmission devices. However, this robot needs six legs to move, and a large number of gears and wire ropes are used for transmission, so it does not have good control performance.

Chinese invention patent publication number: CN102755229, title: a kind of hexapod stair climbing wheelchair. The hexapod stair climbing wheelchair comprises a wheelchair, 3 chair front side legs, 3 chair back side legs, a power controller box, and telescopic joints realized by a ball screw nut mechanism contained in the thigh and calf. However, the degree of freedom it contains is limited, and the functions of turning and walking down a side slope cannot be realized.

Contents of the invention

The purpose of the present invention is to provide a biped walking robot aiming at the technical deficiencies of existing robots.

For realizing above-mentioned purpose of the invention, the technical scheme that the present invention adopts is:

A biped walking robot is provided, including a robot waist and a robot leg, and a power supply and a control unit are placed on the waist support of the robot waist; the robot leg includes a left leg and a right leg, and the left leg and the right leg are connected to the robot waist .

Preferably, the robot waist further includes a left-leg hip joint rotation motor and a right-leg hip joint rotation motor; the left-leg hip joint rotation motor and the right-leg hip joint rotation motor are both driven by a disc motor and a harmonic reducer, The output of the left leg hip joint rotation motor and the right leg hip joint rotation motor are two inner and outer flanges.

Preferably, the left leg and the right leg both include a robot hip joint, a robot knee joint and a robot ankle joint; the robot hip joint is connected to the robot waist, and the robot hip joint has 3 degrees of freedom; the robot knee joint is connected to the robot hip joint, The robot knee joint has one degree of freedom; the robot ankle joint is connected with the robot knee joint, and the robot ankle joint has two degrees of freedom.

Preferably, the robot hip joint includes a hip joint rotation bracket, a hip joint side expansion motor, a hip joint connector, a hip flexion extension motor, and a robot thigh; the hip joint rotation bracket and the left leg hip rotation motor, the right leg hip rotation The inner flange of the motor is connected; the hip joint lateral extension motor is driven by a disc motor and a harmonic reducer. The degree of freedom of joint lateral expansion; the hip joint connector is connected to the outer flange of the hip joint lateral expansion motor; the hip joint flexion and extension motor is also driven by a disc motor and a harmonic reducer, and the output of the hip joint flexion and extension motor is also two methods of internal and external Lan, the inner flange of the hip joint flexion and extension motor is connected with the hip joint connector to drive the degree of freedom of hip joint flexion and extension; the robot thigh is connected with the outer flange of the hip joint flexion and extension motor to form the thigh part of the robot.

Preferably, the robot knee joint includes a knee joint flexion and extension motor and a robot shank; the knee joint flexion and extension motor is driven by a disc motor and a harmonic reducer, the output of the knee joint flexion and extension motor is two flanges inside and outside, and the output of the knee joint flexion and extension motor is The inner flange is connected with the thigh of the robot to drive the degree of freedom of knee flexion and extension of the robot; the lower leg of the robot is connected with the outer flange of the knee joint flexion and extension motor to form the lower leg of the robot.

Preferably, the robot ankle joint includes an ankle joint flexion and extension motor, an ankle joint connector, an ankle joint lateral expansion motor, and a robot foot; the ankle joint flexion and extension motor is driven by a disc motor and a harmonic reducer, and the output of the ankle joint flexion and extension motor is There are two inner and outer flanges. The inner flange of the ankle joint flexion and extension motor is connected to the lower leg of the robot to drive the degree of freedom of ankle joint flexion and extension; the ankle joint connector is connected to the outer flange of the ankle joint flexion and extension motor; Driven by a motor and a harmonic reducer, the output of the ankle joint lateral extension motor is two inner and outer flanges, and the inner flange is connected to the ankle joint connector to drive the degree of freedom of the robot ankle joint lateral extension; the robot foot and the ankle joint lateral extension The outer flange of the motor is connected, and the foot of the robot is equipped with a force sensor capable of feedbacking the center of gravity of the robot.

Compared with the prior art, the present invention has the following beneficial effects:

The present invention aims at the above-mentioned deficiencies in the prior art, and provides a biped walking robot. The present invention includes a robot waist and a robot leg. The waist of the robot is connected to the legs of the robot, and the control unit and power supply are stored in the waist of the robot, and the legs are driven by servo motors to drive the robot to move. Each leg of the biped walking robot has a degree of freedom hip joint, a degree of freedom knee joint, and a degree of freedom ankle joint. It can realize various driving modes such as walking, climbing and turning under complex road conditions such as slopes and stairs.

Description of drawings

Fig. 1 is the structural representation of biped walking robot;

Fig. 2 is the structural representation of robot waist;

Fig. 3 is the structural representation of robot leg;

Fig. 4 is the structural representation of robot hip joint;

Fig. 5 is a structural schematic diagram of a robot knee joint;

Fig. 6 is a schematic diagram of the structure of the robot ankle joint.

Detailed ways

The purpose of the invention of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, and the embodiments cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following embodiments. Unless otherwise specified, the materials and processing methods used in the present invention are conventional materials and processing methods in the technical field.

As shown in FIG. 1 , the biped walking robot includes a robot waist 1 and a robot leg 2 . And the waist bracket of the robot waist is provided with a power supply and a control unit; the robot legs include a left leg and a right leg, and the left leg and the right leg are connected to the robot waist.

As shown in FIG. 2 , the robot waist 1 includes: a waist support 3 , a left leg hip joint rotation motor 4 and a right leg hip joint rotation motor 5 . Among them: the waist bracket 3 is the main body of the robot’s waist, which can place the power supply and control unit; the left leg hip joint rotation motor 4 and the right leg hip joint rotation motor 5 are driven by a disc motor and a harmonic reducer, and the left leg hip joint The output of rotating motor 4 and right leg hip joint rotating motor 5 are both inner and outer flanges; the outer flanges of left leg hip joint rotating motor 4 and right leg hip joint rotating motor 5 are connected with waist bracket 3 to drive the hip rotational degrees of freedom.

As shown in FIG. 3 , the robot leg 2 includes a robot hip joint 6 , a robot knee joint 7 and a robot ankle joint 8 . Among them: the robot hip joint 6 is connected with the robot waist 1 and has 3 degrees of freedom; the robot knee joint 7 is connected with the robot hip joint 6 and has 1 degree of freedom; the robot ankle joint 8 is connected with the robot knee joint 7 and has two degrees of freedom. Spend.

As shown in FIG. 4 , the robot hip joint 6 includes a hip joint rotation bracket 9 , a hip joint lateral expansion motor 10 , a hip joint connecting piece 11 , a hip joint flexion and extension motor 12 and a robot thigh 13 . Wherein: the hip joint rotation bracket 9 is connected with the inner flanges of the left leg hip joint rotation motor 4 and the right leg hip joint rotation motor 5; the hip joint lateral extension motor 10 is driven by a disc motor and a harmonic reducer, and its output is two A flange, the inner flange of which is connected with the hip joint rotating bracket 9 to drive the degree of freedom of hip joint lateral expansion; the hip joint connector 11 is connected with the outer flange of the hip joint lateral expansion motor 10; Driven by the motor and the harmonic reducer, the output of the hip joint flexion and extension motor 12 is also two inner and outer flanges, and the inner flange of the hip joint flexion and extension motor 12 is connected with the hip joint connector 11 to drive the degree of freedom of hip joint flexion and extension; the robot thigh 13 Link to each other with the outer flange of hip joint flexion and extension motor 12, constitute the thigh part of robot.

As shown in FIG. 5 , the robot knee joint 7 includes a knee joint flexion and extension motor 14 and a robot lower leg 15 . Among them: the knee joint flexion and extension motor 14 is driven by a disc motor and a harmonic reducer, the output of the knee joint flexion and extension motor 14 is two inner and outer flanges, and the inner flange of the knee joint flexion and extension motor 14 is connected with the robot thigh 13 to drive the robot knee Degree of freedom of flexion and extension: robot shank 15 is connected with the outer flange of knee joint flexion and extension motor 14 to form the shank part of the robot.

As shown in FIG. 6 , the robot ankle joint 8 includes an ankle joint flexion and extension motor 16 , an ankle joint connector 17 , an ankle joint lateral extension motor 18 and a robot foot 19 . Among them: the ankle joint flexion and extension motor 16 is driven by a disc motor and a harmonic reducer, the output of the ankle joint flexion and extension motor 16 is two flanges inside and outside, and the inner flange of the ankle joint flexion and extension motor 16 is connected with the robot calf 15 to drive the ankle joint Degree of freedom of flexion and extension; the ankle joint connector 17 is connected to the outer flange of the ankle joint flexion and extension motor 16; the ankle joint lateral extension motor 18 is driven by a disc motor and a harmonic reducer, and the output of the ankle joint lateral extension motor 18 is two internal and external Flange, the inner flange of the ankle joint lateral expansion motor 18 is connected with the ankle joint connector 17 to drive the degree of freedom of the ankle joint lateral expansion of the robot; the robot foot 19 is connected with the outer flange of the ankle joint lateral expansion motor 18, and the robot foot Equipped with a force sensor that can provide feedback on the center of gravity of the robot.

The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the implementation scope of the present invention. That is, all equivalent changes and modifications made according to the content of the present invention are covered by the protection scope of the claims of the present invention.

Claims (6)

1. A biped walking robot is characterized in that: comprise robot waist and robot leg, and the waist support of robot waist is placed with power supply and control unit; Robot leg comprises left leg and right leg, left leg, right leg All are connected with the waist of the robot. 2. The biped walking robot according to claim 1, characterized in that: the robot waist also includes a left leg hip joint rotation motor and a right leg hip joint rotation motor; the left leg hip joint rotation motor and the right leg hip joint rotation motor The joint rotation motors are all driven by a disc motor and a harmonic reducer, and the outputs of the left leg hip joint rotation motor and the right leg hip joint rotation motor are two inner and outer flanges. 3. The biped walking robot according to claim 1, characterized in that: the left leg and the right leg all comprise a robot hip joint, a robot knee joint and a robot ankle joint; the robot hip joint is connected with the robot waist, and the robot hip joint It has three degrees of freedom; the robot knee joint is connected with the robot hip joint, and the robot knee joint has one degree of freedom; the robot ankle joint is connected with the robot knee joint, and the robot ankle joint has two degrees of freedom. 4. The biped walking robot according to claim 3, characterized in that: said robotic hip joint comprises a hip joint rotating bracket, a hip joint side extension motor, a hip joint connector, a hip joint flexion and extension motor, and a robotic thigh; the hip joint The rotating bracket is connected with the inner flanges of the left leg hip joint rotation motor and the right leg hip joint rotation motor; the hip joint lateral extension motor is driven by a disc motor and a harmonic reducer, and the output of the hip joint lateral extension motor is two methods of internal and external The inner flange is connected with the hip joint rotation bracket to drive the freedom of hip joint lateral expansion; the hip joint joint is connected with the outer flange of the hip joint lateral expansion motor; the hip joint flexion and extension motor also uses a disc motor and harmonic deceleration Driven by the motor, the output of the hip joint flexion and extension motor is also two inner and outer flanges. The inner flange of the hip joint flexion and extension motor is connected with the hip joint to drive the degree of freedom of hip joint flexion and extension; the robot thigh and the outer flange of the hip joint flexion and extension motor Connected to form the thigh part of the robot. 5. The biped walking robot according to claim 4, characterized in that: the robot knee joint includes a knee joint flexion and extension motor and a robot shank; the knee joint flexion and extension motor is driven by a disc motor and a harmonic reducer, and the knee joint flexion and extension The output of the motor is two inner and outer flanges. The inner flange of the knee joint flexion and extension motor is connected to the thigh of the robot to drive the degree of freedom of knee flexion and extension of the robot; the lower leg of the robot is connected to the outer flange of the knee joint flexion and extension motor to form the lower leg of the robot. 6. The biped walking robot according to claim 5, characterized in that: the robot ankle joint includes an ankle joint flexion and extension motor, an ankle joint connector, an ankle joint side extension motor and a robot foot; the ankle joint flexion and extension motor uses a plate The output of the ankle joint flexion and extension motor is two inner and outer flanges, and the inner flange of the ankle joint flexion and extension motor is connected with the lower leg of the robot to drive the degree of freedom of ankle joint flexion and extension; The outer flange of the motor is connected; the ankle joint side extension motor is driven by a disc motor and a harmonic reducer. The output of the ankle joint side extension motor is two inner and outer flanges, and the inner flange is connected with the ankle joint connector to drive the robot. Degree of freedom of ankle joint lateral extension; the robot foot is connected to the outer flange of the ankle joint lateral extension motor, and the robot foot is equipped with a force sensor that can feedback the center of gravity of the robot.

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