阅读说明：本技术 一种具有缓冲与助推功能的并联式机器人腿 (Parallel robot leg with buffering and boosting functions ) 是由 黄强 康儒 范徐笑 朱鑫 孟非 刘华欣 于 2019-12-06 设计创作，主要内容包括：本发明提供了一种具有缓冲与助推功能的并联式机器人腿,具有缓冲与助推功能,能够适应复杂环境中的快速运动。本发明的机器人腿采用并联形式的腿部结构,实现腿部驱动模块高度集成,减轻了腿部连杆重量,同时加入弹性元件使机器人具有优越的运动能力,提高腿足机器人的环境适应性。(The invention provides a parallel robot leg with buffering and boosting functions, which has the buffering and boosting functions and can adapt to rapid movement in a complex environment. The robot leg adopts a leg structure in a parallel connection mode, high integration of leg driving modules is realized, the weight of a leg connecting rod is reduced, and meanwhile, the robot has excellent motion capability by adding the elastic element, and the environmental adaptability of the legged and legged robot is improved.)

1. A parallel robot leg with buffering and boosting functions is characterized by comprising a driving module (1) and a parallel leg module (2);

the driving module (1) comprises a supporting part (11), a motor I (12), a U-shaped connecting frame I (13), a motor II (14) and a U-shaped connecting frame II (15);

the parallel leg module (2) comprises a leg rod I (21), a knee connecting piece (22), a bracket (23), a leg rod II (24), a foot buffering piece (25), a leg rod III (26), an elastic element (27) and a leg rod IV (28);

wherein the motor I (12) and the motor II (14) are arranged on the supporting part (11); one end of the U-shaped connecting frame I (13) is connected with the motor II (14), and the other end of the U-shaped connecting frame I is connected with a leg rod IV (28) of the parallel leg module (2); one end of the U-shaped connecting frame II (15) is connected with the motor I (12), and the other end of the U-shaped connecting frame II is connected with a leg rod I (21) of the parallel leg module (2);

the leg rod I (21) and the leg rod II (24) and the leg rod III (26) and the leg rod IV (28) are respectively connected through a knee connecting piece (22); the leg II (24) and the leg III (26) are connected through an ankle connecting piece; two ends of the elastic element (27) are respectively connected with the knee connecting piece (22) through a bracket (23); the foot buffer piece (25) is arranged at the lowest end of the leg rod II (24).

2. A parallel robot leg with damping and boosting according to claim 1, characterized in that the knee joint (22) is a revolute pair connected by two clasps through bearings.

3. A parallel robot leg with buffering and boosting functions according to claim 1, wherein motor I (12) is coaxial with motor II (14).

4. A parallel robot leg with buffering and boosting functions according to claim 1, wherein the U-shaped connecting frame I (13) and the U-shaped connecting frame II (15) are axially distributed in a staggered manner; the axes of the leg shaft IV (28) and the leg shaft I (21) are located on the same sagittal plane.

Technical Field

The invention belongs to the technical field of robot backstepping designs, and particularly relates to a parallel robot leg with buffering and boosting functions.

Background

For a long time, the quadruped robot technology has been one of the hot spots in the field of domestic and foreign robots. The high-speed and high-bearing quadruped robot is a special robot simulating the movement form of quadruped animals, can stably walk in a complex non-structural environment, can replace people to complete a plurality of dangerous operations, and has a plurality of potential application prospects in the industries of military affairs, mining, nuclear energy industry, celestial surface detection, fire fighting and rescue, construction industry, agriculture and forestry felling, teaching and entertainment and the like.

In the four-legged robot, compared with a series-connection leg structure, the parallel-connection leg structure greatly improves the structural strength and stability of the robot and has very important significance for improving the load/dead weight ratio of the robot; meanwhile, the parallel leg structure can realize the parallel distribution of self gravity, and improve the load capacity of the robot.

Through retrieval, the prior Chinese patent with the application number of 201110314606.9 and the grant date of 2013, 5 and 22 discloses a novel four-legged walker with parallel legs, which comprises a frame and four parallel legs with the same structure, wherein the four parallel legs are arranged below the frame, and each parallel leg comprises a leg frame, three linear drivers, three connecting pieces, a T-shaped leg and a foot. The single parallel leg is provided with three branched chains, and during actual operation, the three linear drivers can drive the foot to perform spatial motion in cooperation. The feet are connected in a buffering mode, and the shock absorption and energy storage can be recycled in a stepping period. However, the structure adopts a linear driver, has the defects of pressure lever instability, dispersed driving modules, no flexible link and the like, and is difficult to adapt to rapid movement in a complex environment.

The patent 'imitating quadruped animal stair climbing robot' (application number is CN201310243950.2) provides a quadruped robot with four parallel leg-foot mechanisms, each leg is formed by connecting four rods through hinges, and plane two-degree-of-freedom motion can be realized through two drivers. The integration scheme of the driver is not described, and meanwhile, the elastic module is lacked in the four-bar linkage, so that energy storage and shock absorption cannot be realized in the motion, and better motion performance and environment adaptability cannot be realized.

Therefore, the existing parallel walker structure does not have buffering and boosting functions at the same time, and is difficult to adapt to rapid movement in a complex environment.

Disclosure of Invention

In view of this, the invention provides a parallel robot leg with buffering and boosting functions, which has buffering and boosting functions and can adapt to rapid movement in a complex environment.

In order to achieve the aim, the parallel robot leg with the buffering and boosting functions comprises a driving module and a parallel leg module;

the driving module comprises a supporting component, a motor I, U type connecting frame I, a motor II and a U-shaped connecting frame II;

the parallel leg module comprises a leg rod I, a knee connecting piece, a bracket, a leg rod II, a foot buffering piece, a leg rod III, an elastic element and a leg rod IV;

the motor I and the motor II are arranged on the supporting component; one end of the U-shaped connecting frame I is connected with the motor II, and the other end of the U-shaped connecting frame I is connected with a leg rod IV of the parallel leg module; one end of the U-shaped connecting frame II is connected with the motor I, and the other end of the U-shaped connecting frame II is connected with the leg rod I of the parallel leg module;

the leg rod I and the leg rod II and the leg rod III and the leg rod IV are respectively connected through knee connecting pieces; the leg rod II is connected with the leg rod III through an ankle connecting piece; two ends of the elastic element are respectively connected with the knee connecting piece through the bracket; the foot buffer piece is arranged at the lowest end of the leg rod II.

The knee connecting piece is a revolute pair formed by connecting two clasping hoops through a bearing.

The motor I and the motor II are coaxial.

The U-shaped connecting frames I and II are distributed in a staggered mode in the axial direction; the axes of the leg rod IV and the leg rod I are positioned on the same sagittal plane.

Has the advantages that:

the robot leg adopts a leg structure in a parallel connection mode, high integration of leg driving modules is realized, the weight of a leg connecting rod is reduced, and meanwhile, the robot has excellent motion capability by adding the elastic element, and the environmental adaptability of the legged and legged robot is improved.

Drawings

FIG. 1 is a side view of a parallel robot leg with cushioning and boosting capabilities;

FIG. 2 is a general structure diagram of a parallel robot leg driving module with buffering and boosting functions;

FIG. 3 is a general structure diagram of a parallel robot leg with buffering and boosting functions according to the present invention;

wherein, 1-drive module, 2-parallel leg module, 11-support part, 12-motor I, 13-U type connecting frame I, 14-motor II, 15-U type connecting frame II, 21-leg rod I, 22-knee connecting piece, 23-support, 24-leg rod II, 25-foot buffer piece, 26-leg rod III, 27-elastic element and 28-leg rod IV.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

The parallel robot leg with the buffering and boosting functions, provided by the invention, adopts a parallel leg structure with an elastic element, realizes high integration of a leg driving module, reduces the weight of a leg connecting rod, and simultaneously adds the elastic element to enable the robot to have excellent motion capability and improve the environmental adaptability of a legged and legged robot.

As shown in fig. 1, the parallel robot leg with buffering and boosting functions provided by the invention comprises a driving module 1 and a parallel leg module 2, wherein the driving part of the whole leg is integrated in the driving module 1, so that the weight of the parallel leg module 2 is reduced.

As shown in fig. 2, the driving module 1 includes a supporting member 11, a motor I12, a U-shaped link I13, a motor II14, and a U-shaped link II 15.

As shown in fig. 3, the parallel leg module 2 includes a leg bar I21, a knee joint 22, a bracket 23, a leg bar II 24, a foot bumper 25, a leg bar III 26, an elastic member 27, and a leg bar IV 28.

The supporting component 11 is a whole installation base body with single legs connected in parallel, the motor I12 and the motor II14 are respectively connected with the supporting component 11 through fasteners such as screws, and specifically, the motor I12 and the motor II14 are coaxially fixed on the supporting component 11; one end of the U-shaped connecting frame I13 is connected with the motor II14, and the other end of the U-shaped connecting frame I is connected with a leg rod IV28 of the parallel leg module 2; one end of the U-shaped connecting frame II 15 is connected with the motor I12, and the other end of the U-shaped connecting frame II is connected with the leg rod I21 of the parallel leg module 2;

the leg rod I21 and the leg rod II 24, and the leg rod III 26 and the leg rod IV28 are respectively connected through knee joints 22; the leg II 24 and the leg III 26 are connected through an ankle connecting piece; two ends of the elastic element 27 are respectively connected with the knee connecting piece 22 through the bracket 23; the foot cushion 25 is mounted on the lowermost end of the leg II 24.

The knee connecting piece 22 is a revolute pair formed by connecting two clasping hoops through a bearing, and is simple in structure and convenient to install. The support 23 is connected with the knee connecting piece 22, the two knee joints of the parallel legs are connected through elastic elements, the dynamic performance of the parallel legs is improved, specifically, the two ends of the elastic element 27 are respectively connected with the two knee joints through the support 23, the two elastic elements 27 are connected in parallel, when the parallel legs are impacted when falling to the ground, the leg rod IV28 and the leg rod I21 are stressed and opened, the elastic element 27 is elongated, the elastic potential energy generated by the elongation of the elastic element 27 offsets part of the foot end impact, so that the buffering effect is realized, and meanwhile, the elastic potential energy generated by the elongation of the elastic element 27 is released when the robot jumps next jump, so that the robot jumps and the boosting effect are realized; the foot cushion 25 is installed at the lowermost end of the leg rod II 24, and the foot cushion 25 can reduce the impact when the leg lands, thereby improving the environmental adaptability.

In order to realize compact integral structure, the motor I12 and the motor II14 are coaxially fixed on the supporting part 11. In order to realize high integration and compact structure of the leg driving module and reduce the weight of the leg connecting rod, the U-shaped connecting frame I13 and the U-shaped connecting frame II 15 are distributed in a staggered mode in the axial direction; the axes of the leg shaft IV28 and the leg shaft I21 are located on the same sagittal plane.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.