阅读说明：本技术 一种可用于迈步机器人的伸缩式机械腿 (Telescopic mechanical leg capable of being used for walking robot ) 是由 李晓艳 班书昊 吴王平 于 2021-09-18 设计创作，主要内容包括：本发明公开了一种可用于迈步机器人的伸缩式机械腿,属于机械腿领域。它包括连接板、机械大腿、机械小腿和机械脚底板；连接板上转动装设有转轴A、链轮A和大腿惰轮,机械大腿上装设有大腿驱动轮、链轮B、间隙啮合轮和齿条；大腿驱动轮转动装设在转轴A上,链轮A与大腿惰轮同轴固连,间隙啮合轮与链轮B同轴固连；机械大腿开设有转轴滑槽,机械小腿上转动装设有位于转轴滑槽中的转轴B和转轴C,转轴B上装设有与齿条间歇啮合的弧形齿轮。本发明是一种结构合理、采用单电机驱动机械小腿上升和机械大腿转动,能够消除迈步摩擦力降低迈步能耗、提高迈步效率和稳定性、可用于迈步机器人的伸缩式机械腿。(The invention discloses a telescopic mechanical leg capable of being used for a walking robot, and belongs to the field of mechanical legs. The mechanical leg comprises a connecting plate, a mechanical thigh, a mechanical shank and a mechanical foot bottom plate; a rotating shaft A, a chain wheel A and a thigh idle wheel are rotatably arranged on the connecting plate, and a thigh driving wheel, a chain wheel B, a gap meshing wheel and a rack are arranged on the mechanical thigh; the thigh driving wheel is rotationally arranged on the rotating shaft A, the chain wheel A is coaxially and fixedly connected with the thigh idle wheel, and the gap meshing wheel is coaxially and fixedly connected with the chain wheel B; the mechanical thigh is provided with a rotating shaft chute, a rotating shaft B and a rotating shaft C which are positioned in the rotating shaft chute are rotatably arranged on the mechanical shank, and an arc-shaped gear which is intermittently meshed with the rack is arranged on the rotating shaft B. The telescopic mechanical leg is reasonable in structure, adopts a single motor to drive the mechanical shank to ascend and the mechanical thigh to rotate, can eliminate the friction force of stepping, reduce the stepping energy consumption, improve the stepping efficiency and stability, and can be used for a stepping robot.)

1. A telescopic mechanical leg capable of being used for a stepping robot comprises a connecting plate (11) used for connecting a robot body, a mechanical thigh (12) with the upper end rotatably arranged on the connecting plate (11), a mechanical shank (13) with the upper end slidably arranged on the mechanical thigh (12), and a mechanical foot bottom plate (14) with the upper end arranged at the lower end of the mechanical shank (13); the method is characterized in that:

the connecting plate (11) is rotatably provided with a rotating shaft A (21), a chain wheel A (23) and a thigh idle wheel (24), and the mechanical thigh (12) is sequentially provided with a thigh driving wheel (22), a chain wheel B (25) and a rack (31) from top to bottom; the thigh driving wheel (22) is rotatably arranged on the rotating shaft A (21) and fixedly connected with the mechanical thigh (12), the chain wheel A (23) and the thigh idle wheel (24) are coaxially and fixedly arranged, and the gap meshing wheel (26) and the chain wheel B (25) are coaxially and fixedly arranged;

the thigh driving wheel (22) is externally meshed with the thigh idle wheel (24), and the chain wheel A (23) is connected with the chain wheel B (25) by adopting an elastic composite chain (27) which is arranged in a crossed manner; the elastic composite chain (27) is formed by sequentially connecting a section of common chain and two sections of extension springs end to end;

the mechanical thigh (12) is provided with a rotating shaft sliding groove (32) along the leg length direction, the mechanical shank (13) is provided with a rotating shaft B (30) and a rotating shaft C (33) in a rotating manner along the leg length direction, and the rotating shaft B (30) and the rotating shaft C (33) are positioned in the rotating shaft sliding groove (32); the rotating shaft B (30) is provided with an arc gear (29) which is intermittently meshed with the rack (31), the rotating shaft B (30) is connected with a motor, and the motor is arranged on the mechanical shank (13); the upper end of the metal spiral spring (28) is connected with the mechanical thigh (12) above the rotating shaft sliding groove (32), and the lower end of the metal spiral spring is connected with the rotating shaft B (30);

a torsion spring A (34) and a torsion spring B (35) are arranged between the mechanical shank (13) and the mechanical foot bottom plate (14), and the torsion springs A (34) and B (35) are symmetrical about the mechanical shank (13);

the arc-shaped gear (29) is disengaged from the clearance engagement wheel (26) when being engaged with the rack (31), and the arc-shaped gear (29) is disengaged from the rack (31) when being externally engaged with the clearance engagement wheel (26); the metal spiral spring (28) is always in a stretching state, and the minimum spring force is larger than the total weight of the mechanical shank (13) and the mechanical foot bottom plate (14).

2. A telescopic mechanical leg usable with an advancing robot according to claim 1, characterized in that: a thigh torsion spring is arranged between the connecting plate (11) and the mechanical thigh (12).

Technical Field

The invention mainly relates to the field of mechanical legs, in particular to a telescopic mechanical leg capable of being used for a stepping robot.

Background

Robots are widely used because they have good walking ability. The walking robot in the prior art is generally divided into a sliding forward type and a stepping forward type, wherein the stepping forward type has a good obstacle crossing capability and can be applied to a complex ground condition. Although the walking robot in the prior art can cross obstacles, the friction force to the ground is increased due to the rotation of a foot bottom plate when the walking robot walks, so that the walking energy consumption is increased; more importantly, the length of the mechanical leg of the stepping robot is not changed during rotation, so that the total height of the mechanical leg rotating forward stepping is higher than that of the upright mechanical leg when the foot bottom plate rotates, the gravity center shakes backwards during stepping, and the movement stability of stepping is reduced. Therefore, it is necessary to design a telescopic mechanical leg for taking a step, which is more energy-saving, to improve the stability of taking a step.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides the telescopic mechanical leg which is reasonable in structure, adopts a single motor to drive the mechanical shank to ascend and the mechanical thigh to rotate, can eliminate the friction force of stepping, reduces the stepping energy consumption, improves the stepping efficiency and stability, and can be used for a stepping robot.

In order to solve the problems, the solution proposed by the invention is as follows: a telescopic mechanical leg capable of being used for a walking robot comprises a connecting plate used for connecting a robot body, a mechanical thigh with the upper end rotatably arranged on the connecting plate, a mechanical shank with the upper end slidably arranged on the mechanical thigh, and a mechanical foot bottom plate with the upper end arranged at the lower end of the mechanical shank.

The connecting plate is rotatably provided with a rotating shaft A, a chain wheel A and a thigh idle wheel, and the mechanical thigh is sequentially provided with a thigh driving wheel, a chain wheel B and a rack from top to bottom; the thigh driving wheel is rotatably arranged on the rotating shaft A and fixedly connected with the mechanical thigh, the chain wheel A and the thigh idle wheel are coaxially and fixedly arranged, and the gap meshing wheel and the chain wheel B are coaxially and fixedly arranged.

The thigh driving wheel is externally meshed with the thigh idle wheel, and the chain wheel A is connected with the chain wheel B by adopting an elastic composite chain which is arranged in a crossed manner; the elastic composite chain is formed by connecting a section of common chain and two sections of extension springs in sequence.

A rotating shaft chute is formed in the leg length direction of the mechanical thigh, a rotating shaft B and a rotating shaft C are rotatably arranged on the mechanical shank along the leg length direction, the rotating shaft B and the rotating shaft C are located in the rotating shaft chute, an arc gear which is intermittently meshed with the rack is arranged on the rotating shaft B, the rotating shaft B is connected with a motor, and the motor is arranged on the mechanical shank; the upper end of the metal spiral spring is connected with the mechanical thigh above the rotating shaft sliding groove, and the lower end of the metal spiral spring is connected with the rotating shaft B.

And a torsion spring A and a torsion spring B are arranged between the mechanical shank and the mechanical foot bottom plate, and the torsion spring A and the torsion spring B are symmetrical relative to the mechanical shank.

The arc gear is disengaged from the clearance meshing wheel when being meshed with the rack, and is disengaged from the rack when being externally meshed with the clearance meshing wheel; the metal spiral spring is always in a stretching state, and the minimum spring force is larger than the total gravity of the mechanical shank and the mechanical foot bottom plate.

Furthermore, a thigh torsion spring is arranged between the connecting plate and the mechanical thigh.

Compared with the prior art, the invention has the following advantages and beneficial effects: the mechanical leg of the telescopic mechanical leg for the stepping robot is provided with the rotating shaft sliding chute, the gap meshing wheel and the rack, and the mechanical leg is provided with the rotating shaft, the arc-shaped gear and the motor, so that the mechanical leg and the mechanical foot bottom plate firstly move upwards when the motor rotates and then rotate forwards together with the mechanical leg, the friction between the mechanical foot bottom plate and the ground when the stepping is started is eliminated, the stepping energy consumption is reduced, and the motion stability of the stepping initial action is improved; the arc gear is respectively in meshing transmission connection with the rack and the gap meshing wheel, so that the mechanical shank stops moving upwards and then rotates forwards relative to the connecting plate synchronously with the mechanical thigh, and the rotating shaft B and the rotating shaft C enable the mechanical shank and the mechanical thigh to be kept collinear in the rotating process, so that the stability of stepping and landing is improved; the metal spiral spring can increase the flexibility between the mechanical thigh and the mechanical shank, and the torsion spring can increase the flexibility between the mechanical foot bottom plate and the mechanical shank. Therefore, the telescopic mechanical leg is reasonable in structure, adopts the single motor to drive the mechanical shank to ascend and the mechanical thigh to rotate, can eliminate the stepping friction, reduces the stepping energy consumption, improves the stepping efficiency and stability, and can be used for the stepping robot.

Drawings

Fig. 1 is a schematic structural diagram of a telescopic mechanical leg which can be used for an advancing robot according to the invention.

In the figure, 11 — connecting plate; 12-mechanical thigh; 13-mechanical shank; 14-mechanical foot bottom plate; 21-a rotating shaft A; 22-thigh drive wheel; 23-sprocket A; 24-thigh idler wheel; 25-sprocket B; 26-a gap engaging wheel; 27-elastic composite chain; 28-a metal coil spring; 29-arc gear; 30-a rotating shaft B; 31-a rack; 32-rotating shaft chute; 33-rotating shaft C; 34-torsion spring a; 35-torsion spring B.

Detailed Description

The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. For convenience of description, a rightward direction in fig. 1 is defined as a forward direction, and a leftward direction is defined as a backward direction.

Referring to fig. 1, the telescopic mechanical leg for a walking robot according to the present invention includes a connecting plate 11 for connecting a robot body, a mechanical thigh 12 rotatably installed at an upper end of the connecting plate 11, a mechanical shank 13 slidably installed at an upper end of the mechanical thigh 12, and a mechanical foot base plate 13 installed at a lower end of the mechanical shank 13.

The connecting plate 11 is rotatably provided with a rotating shaft A21, a chain wheel A23 and a thigh idle wheel 24, and the mechanical thigh 12 is sequentially provided with a thigh driving wheel 22, a chain wheel B25, a gap meshing wheel 26 and a rack 31 from top to bottom; the thigh driving wheel 22 is rotatably mounted on the rotating shaft A21 and is fixedly connected with the mechanical thigh 12, the chain wheel A23 is fixedly mounted coaxially with the thigh idle wheel 24, and the gap meshing wheel 26 is fixedly mounted coaxially with the chain wheel B25.

The thigh driving wheel 22 is in external meshing transmission connection with the thigh idle wheel 24, and the chain wheel A23 is connected with the chain wheel B25 by adopting an elastic composite chain 27 which is arranged in a crossing way; the elastic composite chain 27 is formed by connecting a section of common chain and two sections of extension springs end to end in sequence.

The mechanical thigh 12 is provided with a rotating shaft sliding groove 32 along the leg length direction, the mechanical shank 13 is rotatably provided with a rotating shaft B30 and a rotating shaft C33 along the leg length direction, the rotating shaft B30 and the rotating shaft C33 are positioned in the rotating shaft sliding groove 32, the rotating shaft B30 is provided with an arc-shaped gear 29 which is intermittently meshed with the rack 31, the upper end of the metal spiral spring 28 is connected with the mechanical thigh 12 above the rotating shaft sliding groove 32, and the lower end of the metal spiral spring is connected with the rotating shaft B30.

A torsion spring A34 and a torsion spring B35 are arranged between the lower mechanical leg 13 and the mechanical foot bottom plate 14, and the torsion spring A34 and the torsion spring B35 are symmetrical about the lower mechanical leg 13.

The rotating shaft B30 is connected with a motor which is arranged on the mechanical shank 13.

The arc gear 29 is disengaged from the clearance meshing wheel 26 when being meshed with the rack 31, and the arc gear 29 is disengaged from the rack 31 when being externally meshed with the clearance meshing wheel 26; the metal coil spring 28 is always in tension and the minimum spring force is greater than the total weight of the machine calf 13 and the machine sole plate 14.

The working principle of the invention is as follows: the motor drives the arc gear 29 to rotate clockwise, the arc gear 29 rolls upwards along a rack 31 fixedly arranged on the mechanical thigh 12, so that the mechanical shank 13 moves upwards along the vertical direction, the mechanical foot bottom plate 14 leaves the ground, and the tensile deformation of the metal spiral spring 28 is gradually reduced; when the rotating shaft B30 moves to the highest position, the arc-shaped gear 29 is disengaged from the rack 31 and starts to perform external meshing transmission with the gap meshing wheel 26; the motor drives the arc gear 29 to rotate clockwise continuously, drives the gap meshing wheel 26 and the chain wheel B25 to rotate anticlockwise, drives the chain wheel A23 to rotate clockwise through the crossed elastic composite chain 27, and further drives the thigh driving wheel 22 to rotate anticlockwise through the thigh idle wheel 24, so that the mechanical thigh 12 fixedly connected with the thigh driving wheel 22 rotates anticlockwise relative to the connecting plate 11, and forward stepping is carried out; during the rotation of the mechanical thigh 12, the rotating shaft C33 and the rotating shaft B30 are always located in the rotating shaft chute 32, so that the mechanical thigh 13 and the mechanical thigh 12 are kept in the same line, i.e., the thigh driving wheel 22 simultaneously drives the mechanical thigh 12 and the mechanical thigh 13 to swing forward. As the mechanical foot bottom plate 14 is contacted with the ground at the beginning, the mechanical shank 13 moves upwards along the vertical direction in the first phase of the rotation of the motor, so that the mechanical shank 12 drives the mechanical shank 13 to rotate forwards to take a step without generating friction force with the ground, the friction energy consumption of the robot in the step is reduced, and the stability of the initial step movement is improved.

When the machine thigh 12 rotates relative to the connecting plate 11, the distance between the sprocket B25 and the sprocket a23 changes, and the lengths of the two tension springs in the composite elastic chain 27 change accordingly, so that the composite elastic chain 27 is always in a tensioned state, i.e., the sprocket B25 can always drive the sprocket a23 to rotate. Two sections of extension springs are symmetrically distributed on two sides of a connecting line of the axes of the chain wheel A23 and the chain wheel B25, so that the chain wheel B25 has reversibility when rotating in the reverse direction and when rotating in the forward direction.

The invention has the following steps: first, two telescopic mechanical legs of the present invention are installed on a robot body, that is, two connecting plates 11 are respectively installed on the robot body, and for convenience of description, the numbers of the two telescopic mechanical legs are respectively named as a mechanical leg a and a mechanical leg B. A thigh torsion spring may also be mounted between the link plate 11 and the mechanical thigh 12 in order to store elastic potential energy and increase the stability of the rotation of the mechanical thigh 12.

The motor in the mechanical leg A rotates clockwise, so that the mechanical shank 13 in the mechanical leg A moves upwards, and the mechanical foot bottom plate 14 is driven to leave the ground upwards; the motor in the mechanical leg A continues to rotate clockwise, the mechanical shank 13 stops moving upwards, the arc gear 29 drives the gap meshing wheel 26 to rotate, and then the mechanical thigh 12 and the mechanical shank 13 are driven to synchronously rotate forwards;

at the moment, the mechanical foot bottom plate 14 in the mechanical leg B contacts the ground, the mechanical leg A leaves the ground, the gravity center of the whole robot slightly moves along the advancing direction, therefore, the robot body inclines forwards under the action of gravity moment until the lifted mechanical leg A lands and contacts the ground again, and the torsion spring A34 and the torsion spring B35 in the mechanical leg B generate certain torsional deformation in the whole process of landing, namely, the mechanical thigh 12 and the mechanical shank 13 in the mechanical leg B rotate forwards by a certain angle relative to the own mechanical foot bottom plate 14. Since the length of the mechanical leg a is smaller than that of the mechanical leg B at this time, the center of gravity of the entire robot is finally biased toward the mechanical leg a.

Then the motor in the mechanical leg a rotates counterclockwise, according to the opposite principle, the mechanical thigh 12 and the mechanical shank 13 in the mechanical leg a rotate backward relative to the connecting plate 11, i.e. the robot body, and since the mechanical foot bottom plate 14 has completely contacted the ground at this time, the robot body mechanically moves forward relative to the mechanical leg a until the mechanical leg a returns to the initial length and the initial vertical position. The steps realize four continuous actions of shortening the mechanical leg A, advancing forwards, landing the mechanical foot bottom plate and recovering to the initial state, thereby realizing the telescopic advancing action posture of the mechanical leg A.

Then, the mechanical leg B completes the forward stepping in the same manner as the mechanical leg a, until the mechanical leg B returns to the initial state, and completes the forward stepping of the mechanical leg B.

The above-described operation is repeated while the leg a and the leg B are crossing each other, and the continuous stepping type advancing can be realized.

The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through creative efforts should fall within the scope of the present invention.