1. A leg and foot mechanism of a bionic robot is characterized by comprising:

the mounting module comprises a shell, and a first driver, a second driver and a third driver which are arranged in the shell;

a femoral module rotatably coupled to the housing, the femoral module drivingly coupled to the first driver;

the tibia module is rotatably connected with the femur module and is in transmission connection with the second driver;

the phalange module, the phalange module rotationally with the shin bone module links to each other, the phalange module with the third driver transmission links to each other, the shin bone module is located the thighbone module with between the phalange module.

2. The biomimetic robot leg and foot mechanism of claim 1, wherein: the femur module comprises an anterior femur rod piece and a posterior femur rod piece, the tibia module comprises a tibia rod piece and a tibia driving arm, one end of the tibia driving arm is connected with the second driver in a transmission mode, the other end of the tibia driving arm is hinged with the anterior femur rod piece, one end of the posterior femur rod piece is hinged with the tibia driving arm, the other end of the posterior femur rod piece is hinged with the tibia rod piece, the other end of the anterior femur rod piece is hinged with the tibia rod piece, the anterior femur rod piece is not coincident with the rotation axis of the posterior femur rod piece relative to the rotation axis of the tibia rod piece, the rotation axis of the anterior femur rod piece relative to the tibia is not coincident with the rotation axis of the posterior femur rod piece relative to the tibia driving arm, and the tibia driving arm, the anterior femur rod piece, the tibia driving arm are not coincident with the rotation axis of the tibia driving arm, The posterior femoral rod piece and the tibial rod piece form a parallelogram mechanism.

3. The biomimetic robot leg and foot mechanism of claim 2, wherein: the utility model discloses a shin bone mechanism, including back thighbone member, shin bone actuating arm, first swing arm synchronizing wheel, back thighbone member, the other end of thighbone connecting rod links to each other with first swing arm synchronizing wheel, the thighbone connecting rod with the articulated position of thighbone connecting rod is located shin bone member with between the shin bone actuating arm, the other end of thighbone connecting rod links to each other with first swing arm synchronizing wheel, the thighbone connecting rod with the swing arm of first swing arm synchronizing wheel is articulated continuous, the synchronizing wheel of first swing arm synchronizing wheel with first driver transmission links to each other, first swing arm synchronizing wheel rotationally set up in on the casing, back thighbone member the thighbone connecting rod first swing arm synchronizing wheel and the casing constitutes parallelogram mechanism.

4. The biomimetic robot leg and foot mechanism of claim 3, wherein: the phalanx module comprises a phalanx support, a first achilles tendon connecting rod, a second achilles tendon connecting rod and an achilles tendon driving supporting arm, the phalanx support is hinged with the tibia rod piece, one end of the achilles tendon driving supporting arm is connected with the third driver, the other end of the achilles tendon driving supporting arm is hinged with the first achilles tendon connecting rod, a second swing arm synchronizing wheel is arranged at the hinged position of the achilles tendon driving supporting arm and the first achilles tendon connecting rod, a synchronizing wheel of the second swing arm synchronizing wheel is in transmission connection with the third driver, a swing arm of the second swing arm synchronizing wheel is hinged with the second achilles tendon connecting rod, the other end of the second achilles tendon connecting rod is hinged with the phalanx support, the rotation axis of the second achilles tendon connecting rod relative to the phalanx support does not coincide with the rotation axis of the tibia rod piece relative to the phalanx support, the tibia rod piece, a first achilles tendon driving supporting arm is hinged with the first achilles tendon driving supporting arm, a second swing arm driving synchronizing wheel is hinged with the second swing arm, and a second swing arm driving synchronizing wheel are arranged on the second lever, and a second lever are arranged on the phalanx driving arm, and a second lever, and a third driving arm are arranged on the phalanx driving mechanism, and a second lever, a third driving mechanism are arranged on the second lever, a third driving mechanism is arranged on the second driving mechanism, a third driving mechanism, a third mechanism, the phalanx support, the second achilles tendon connecting rod, the second swing arm synchronizing wheel and the first achilles tendon connecting rod form a five-rod mechanism, and the rear femur rod, the first achilles tendon connecting rod, the achilles tendon driving supporting arm and the shell form a parallelogram mechanism.

5. The biomimetic robot leg and foot mechanism of claim 4, wherein: synchronous belts are arranged between the first swing arm synchronous wheel and the first driver and between the second swing arm synchronous wheel and the third driver; the first driver, the second driver and the third driver are all motors.

6. The biomimetic robot leg and foot mechanism of claim 1, wherein: the first driver, the second driver and the third driver are connected in pairs in a butt joint mode, and the first driver, the second driver and the third driver form a regular triangle in a surrounding mode.

7. The biomimetic robot leg and foot mechanism of claim 2, wherein: the output end of the second driver is connected with the tibia driving arm through a flange plate, the output end of the second driver is in interference fit with the flange plate, and the flange plate is detachably connected with the tibia driving arm.

8. The biomimetic robot leg and foot mechanism of claim 7, wherein: the flange plate is connected with the tibia driving arm through screws.

9. The biomimetic robot leg and foot mechanism of claim 1, wherein: the shell is provided with heat dissipation holes and is of a split structure.

Background

Compared with the traditional wheeled and tracked robots, the legged robot has stronger environmental adaptability and is widely applied to the fields of field reconnaissance, factory inspection, military transportation and the like. Animals taking leg and foot motions as main motion forms in nature usually have three joints of ankle, knee and hip, and realize the relative rotation of the three joints through the interaction of muscles and bones, thereby realizing various walking gait forms.

A conventional bionic leg and foot mechanism, for example, chinese patent publication No. CN103448828A, discloses a four-foot bionic robot leg mechanism, which includes a scapula, a shoulder joint, a femur (or thigh), a knee joint, a tibia (or shank), a passive ankle joint, a sole, and a driving module. The shoulder joint is connected with the shoulder blade and the femur of the robot, the knee joint is connected with the femur and the tibia, the passive ankle joint is connected with the tibia and the sole, and the joint driving mode is ball screw driving. Similar to the bionic leg and foot mechanism in the prior art, the mechanism does not have the active degree of freedom of an ankle joint, so that the actual motion flexibility is reduced, the bionic expression is deficient, and the foot end refining action in a complex environment is difficult to realize. The existing bionic leg and foot mechanism has low walking freedom degree, and in addition, the existing bionic leg and foot mechanism with the ankle joint has limited leg and foot movement flexibility due to the arrangement of driving components.

Therefore, how to change the current situation that the walking freedom degree of the bionic leg-foot mechanism is low and the flexibility is poor in the prior art becomes a problem to be solved by the technical personnel in the field.

Disclosure of Invention

The invention aims to provide a leg and foot mechanism of a bionic robot, which aims to solve the problems in the prior art and improve the walking freedom degree and flexibility of the leg and foot type bionic robot.

In order to achieve the purpose, the invention provides the following scheme: the invention provides a leg and foot mechanism of a bionic robot, which comprises:

the mounting module comprises a shell, and a first driver, a second driver and a third driver which are arranged in the shell;

a femoral module rotatably coupled to the housing, the femoral module drivingly coupled to the first driver;

the tibia module is rotatably connected with the femur module and is in transmission connection with the second driver;

the phalange module, the phalange module rotationally with the shin bone module links to each other, the phalange module with the third driver transmission links to each other, the shin bone module is located the thighbone module with between the phalange module.

Preferably, the femoral module comprises an anterior femoral rod member and a posterior femoral rod member, the tibial module comprises a tibial rod member and a tibial driving arm, one end of the tibial driving arm is in transmission connection with the second driver, the other end of the tibial driving arm is hinged with the anterior femoral rod member, one end of the posterior femoral rod member is hinged with the tibial driving arm, the other end of the posterior femoral rod member is hinged with the tibial rod member, the other end of the anterior femoral rod member is hinged with the tibial rod member, the anterior femoral rod member is not coincident with the rotation axis of the posterior femoral rod member relative to the rotation axis of the tibial rod member, the rotation axis of the anterior femoral rod member relative to the tibial driving arm is not coincident with the rotation axis of the posterior femoral rod member relative to the rotation axis of the tibial driving arm, and the tibial driving arm, the anterior femoral rod member, the tibial driving arm, The posterior femoral rod piece and the tibial rod piece form a parallelogram mechanism.

Preferably, back thighbone member is connected with the thighbone connecting rod, back thighbone member with the articulated position of thighbone connecting rod is located the shin bone member with between the shin bone actuating arm, the other end and the first swing arm synchronizing wheel of thighbone connecting rod link to each other, the thighbone connecting rod with the swing arm of first swing arm synchronizing wheel is articulated to link to each other, the synchronizing wheel of first swing arm synchronizing wheel with first driver transmission links to each other, first swing arm synchronizing wheel rotationally set up in on the casing, back thighbone member the thighbone connecting rod first swing arm synchronizing wheel and the casing constitutes parallelogram mechanism.

Preferably, the phalange module comprises a phalange support, a first achilles tendon connecting rod, a second achilles tendon connecting rod and an achilles tendon driving supporting arm, the phalange support is hinged with the tibia rod, one end of the achilles tendon driving supporting arm is connected with the third driver, the other end of the achilles tendon driving supporting arm is hinged with the first achilles tendon connecting rod, a second swing arm synchronizing wheel is arranged at the hinged position of the achilles tendon driving supporting arm and the first achilles tendon connecting rod, the synchronizing wheel of the second swing arm synchronizing wheel is in transmission connection with the third driver, the swing arm of the second swing arm synchronizing wheel is hinged with the second achilles tendon connecting rod, the other end of the second achilles tendon connecting rod is hinged with the phalange support, the rotation axis of the second achilles tendon connecting rod relative to the phalange support is not coincident with the rotation axis of the tibia rod relative to the phalange support, the tibia rod piece, the phalange supporting piece, the second achilles tendon connecting rod, the second swing arm synchronizing wheel and the first achilles tendon connecting rod form a five-rod mechanism, and the rear femur rod piece, the first achilles tendon connecting rod, the achilles tendon driving supporting arm and the shell form a parallelogram mechanism.

Preferably, a synchronous belt is arranged between the first swing arm synchronous wheel and the first driver and between the second swing arm synchronous wheel and the third driver; the first driver, the second driver and the third driver are all motors.

Preferably, the first driver, the second driver and the third driver are connected in pairs and form a regular triangle.

Preferably, the output end of the second driver is connected with the tibia driving arm by a flange plate, the output end of the second driver is in interference fit with the flange plate, and the flange plate is detachably connected with the tibia driving arm.

Preferably, the flange is connected to the tibial driving arm by screws.

Preferably, the housing is provided with heat dissipation holes, and the housing is of a split structure.

Compared with the prior art, the invention has the following technical effects: the bionic robot leg-foot mechanism comprises an installation module, a femur module, a tibia module and a phalanx module, wherein the installation module comprises a shell, and a first driver, a second driver and a third driver which are arranged in the shell; the femur module is rotatably connected with the shell and is in transmission connection with the first driver; the tibia module is rotatably connected with the femur module and is in transmission connection with the second driver; the phalange module is rotatably connected with the tibia module, the phalange module is in transmission connection with the third driver, and the tibia module is located between the femur module and the phalange module.

The bionic robot leg-foot mechanism provided by the invention has three degrees of freedom, can simulate the movement of three joints of ankle, knee and hip of leg-foot animals in nature, and improves the bionic property and the movement flexibility of the mechanism.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a leg and foot mechanism of a bionic robot according to the invention;

FIG. 2 is a partial structural schematic view of a leg and foot mechanism of a bionic robot according to the present invention;

FIG. 3 is a schematic structural diagram of a shell of a leg and foot mechanism of a bionic robot according to the invention;

FIG. 4 is a schematic structural diagram of a first swing arm synchronizing wheel or a second swing arm synchronizing wheel of the leg and foot mechanism of the bionic robot of the present invention;

FIG. 5 is a schematic structural diagram of a leg and foot mechanism of a bionic robot in a front view direction;

fig. 6 is a schematic diagram of a bionic mapping relationship of the leg and foot mechanism of the bionic robot.

Wherein, 1 is the casing, 2 is first driver, 3 is the second driver, 4 is the third driver, 5 is preceding femur pole piece, 6 is back femur pole piece, 7 is the shin bone pole piece, 8 is the shin bone actuating arm, 9 is the thighbone connecting rod, 10 is first swing arm synchronizing wheel, 11 is phalanx support piece, 12 is first achilles tendon connecting rod, 13 is the second achilles tendon connecting rod, 14 is achilles tendon drive support arm, 15 is the second swing arm synchronizing wheel, 16 is the synchronizing wheel, 17 is the swing arm, 18 is the hold-in range, 19 is the ring flange, 20 is the louvre.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a leg and foot mechanism of a bionic robot, which aims to solve the problems in the prior art and improve the walking freedom degree and flexibility of the leg and foot type bionic robot.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Referring to fig. 1 to 6, fig. 1 is a schematic structural diagram of a leg and foot mechanism of a biomimetic robot of the present invention, fig. 2 is a schematic structural diagram of a part of the leg and foot mechanism of the biomimetic robot of the present invention, fig. 3 is a schematic structural diagram of a housing of the leg and foot mechanism of the biomimetic robot of the present invention, fig. 4 is a schematic structural diagram of a first swing arm synchronizing wheel or a second swing arm synchronizing wheel of the leg and foot mechanism of the biomimetic robot of the present invention, fig. 5 is a schematic structural diagram of the leg and foot mechanism of the biomimetic robot in a front view direction, and fig. 6 is a schematic structural diagram of a biomimetic mapping relationship of the leg and foot mechanism of the biomimetic robot of.

The invention provides a leg and foot mechanism of a bionic robot, which comprises:

the installation module comprises a shell 1, and a first driver 2, a second driver 3 and a third driver 4 which are arranged in the shell 1;

the femur module is rotatably connected with the shell 1 and is in transmission connection with the first driver 2;

the tibia module is rotatably connected with the femur module and is in transmission connection with the second driver 3;

the phalange module is rotatably connected with the tibia module, the phalange module is in transmission connection with the third driver 4, and the tibia module is located between the femur module and the phalange module.

The bionic robot leg-foot mechanism provided by the invention has three degrees of freedom, can simulate the movement of three joints of ankle, knee and hip of leg-foot animals in nature, and improves the bionic property and the movement flexibility of the mechanism.

Specifically, the femur module comprises an anterior femur rod 5 and a posterior femur rod 6, the tibia module comprises a tibia rod 7 and a tibia driving arm 8, one end of the tibia driving arm 8 is connected with the second driver 3 in a transmission way, the other end of the tibia driving arm 8 is hinged with the anterior femur rod 5, one end of the posterior femur rod 6 is hinged with the tibia driving arm 8, the other end of the posterior femur rod 6 is hinged with the tibia rod 7, the other end of the anterior femur rod 5 is hinged with the tibia rod 7, the rotation axis of the anterior femur rod 5 relative to the tibia rod 7 is not coincident with the rotation axis of the posterior femur rod 6 relative to the tibia rod 7, the rotation axis of the anterior femur rod 5 relative to the tibia driving arm 8 is not coincident with the rotation axis of the posterior femur rod 6 relative to the tibia driving arm 8, the tibia driving arm 8 and the anterior femur rod 5, the posterior femoral stem 6 and the tibial stem 7 constitute a parallelogram mechanism. The second driver 3 drives the tibia driving arm 8 to rotate, then drives the tibia rod piece 7 to rotate through the parallelogram mechanism, and the rotating angle of the tibia rod piece 7 is the same as that of the tibia driving arm 8.

Correspondingly, the rear femur rod 6 is connected with a femur connecting rod 9, the hinged position of the rear femur rod 6 and the femur connecting rod 9 is located between the tibia rod 7 and the tibia driving arm 8, the other end of the femur connecting rod 9 is connected with a first swing arm synchronizing wheel 10, the femur connecting rod 9 is hinged with a swing arm 17 of the first swing arm synchronizing wheel 10, a synchronizing wheel 16 of the first swing arm synchronizing wheel 10 is connected with a first driver 2 in a transmission manner, the first swing arm synchronizing wheel 10 is rotatably arranged on the shell 1, and the rear femur rod 6, the femur connecting rod 9, the first swing arm synchronizing wheel 10 and the shell 1 form a parallelogram mechanism. The first driver 2 drives the synchronizing wheel 16 of the first swing arm synchronizing wheel 10 to rotate, then the swing arm 17 of the first swing arm synchronizing wheel 10 and the femur connecting rod 9 are used for realizing the rotation of the rear femur rod piece 6, and the rotation angle of the rear femur rod piece 6 is the same as that of the first swing arm synchronizing wheel 10.

More specifically, the phalange module comprises a phalange support 11, a first achilles tendon connecting rod 12, a second achilles tendon connecting rod 13 and an achilles tendon driving supporting arm 14, wherein the phalange support 11 is hinged with the tibia rod 7, one end of the achilles tendon driving supporting arm 14 is connected with the third driver 4, the other end of the achilles tendon driving supporting arm 14 is hinged with the first achilles tendon connecting rod 12, a second swing arm synchronizing wheel 15 is arranged at the hinged position of the achilles tendon driving supporting arm 14 and the first achilles tendon connecting rod 12, a synchronizing wheel 16 of the second swing arm synchronizing wheel 15 is in transmission connection with the third driver 4, a swing arm 17 of the second swing arm synchronizing wheel 15 is hinged with the second achilles tendon connecting rod 13, the other end of the second achilles tendon connecting rod 13 is hinged with the phalange support 11, the rotation axis of the second achilles tendon connecting rod 13 relative to the phalange support 11 is not coincident with the rotation axis of the tibia rod 7 relative to the rotation axis of the bone support 11, the tibia rod 7, the phalange support 11, the phalange rod 11, the phalange support 11, the tibia rod 11, the phalange support 11, the phalange rod 7, the achilles support 11, the achilles tendon support 11, the calcaneus tendon support 11, the achilles tendon support 11, the tibia rod 14, the achilles tendon support 11, the achilles tendon support 14, and the achilles tendon support 14, The second achilles tendon connecting rod 13, the second swing arm synchronizing wheel 15 and the first achilles tendon connecting rod 12 form a five-rod mechanism, and the rear femoral rod 6, the first achilles tendon connecting rod 12, the achilles tendon driving supporting arm 14 and the shell 1 form a parallelogram mechanism. The tibia rod piece 7, the phalange supporting piece 11, the second achilles tendon connecting rod 13, the second swing arm synchronizing wheel 15 and the first achilles tendon connecting rod 12 form a five-rod mechanism, the tibia rod piece 7 and the femur connecting rod 9 are driven rod pieces in two parallelogram mechanisms and can be regarded as a whole with stable stress instantly, the five-rod mechanism can be regarded as a four-rod mechanism driven by the second swing arm synchronizing wheel 15 instantly, and the third driver 4 is used as a power source to realize the relative rotation of the phalange supporting piece 11.

It should be noted here that the first swing arm synchronizing wheel 10 and the second swing arm synchronizing wheel 15 are identical in structure and each include a synchronizing wheel 16 and a swing arm 17, the swing arm 17 is connected to a circumferential edge of the synchronizing wheel 16, the synchronizing wheel 16 is rotatably connected to the first driver 2 or the third driver 4, the swing arm 17 is hinged to the femur link 9 or the second achilles tendon link 13, and an axis of rotation of the femur link 9 or the second achilles tendon link 13 relative to the swing arm 17 is parallel to an axis of the synchronizing wheel 16.

In the present embodiment, the synchronous belts 18 are respectively disposed between the first swing arm synchronous wheel 10 and the first driver 2 and between the second swing arm synchronous wheel 15 and the third driver 4, that is, the first swing arm synchronous wheel 10 is connected to the first driver 2 by the synchronous belts 18, and the second swing arm synchronous wheel 15 is connected to the third driver 4 by the synchronous belts 18, so as to ensure the transmission accuracy; in the present embodiment, the first driver 2, the second driver 3, and the third driver 4 are all motors that output power by belt transmission.

Furthermore, the first driver 2, the second driver 3 and the third driver 4 are connected in a pairwise abutting mode and form a regular triangle in a surrounding mode, occupied space is reduced to the maximum extent, and therefore flexibility of the leg and foot mechanism of the bionic robot is guaranteed.

In other embodiments of the present invention, the output end of the second driver 3 is connected to the tibia driving arm 8 by using the flange 19, the output end of the second driver 3 is in interference fit with the flange 19, tight connection is ensured, and the torque transmission reliability is improved, and the flange 19 is detachably connected to the tibia driving arm 8, which facilitates the disassembly, assembly and maintenance of the mechanism.

Wherein, the flange 19 is connected with the tibia driving arm 8 through screws, and is connected and fastened, and the disassembly and the assembly are convenient.

In addition, the heat dissipation holes 20 are formed in the shell 1, heat dissipation performance of the installation module is improved, the shell 1 is of a split structure, disassembly and assembly are convenient, and maintenance convenience of the mechanism is improved.

According to the leg and foot mechanism of the bionic robot, the rotation of the three drivers is converted into highly bionic ankle-knee-hip three-joint rotation through the two driving parallelogram mechanisms, the driven parallelogram mechanism and the five-rod mechanism, so that the problems of low walking freedom degree, poor flexibility and poor bionic effect of the leg and foot type bionic robot are solved.

The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.