A hybrid elastically driven walking leg of a walking robot

A walking robot and elastic drive technology, applied in the field of bionic robots, can solve the problems of poor shock absorption and buffering effect, small robot load capacity, etc.

Inactive Publication Date: 2011-12-21
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Many experts at home and abroad use springs to alleviate this impact, and have designed various cushioning walking leg mechanisms, such as a robot leg mechanism invented by He Shengquan in Guangdong Province, application number: 200720176501.0, this robot leg structure uses What is more is a kind of cam link mechanism, connects robot foot by connecting rod and pendulum. The problem of poor buffering effect

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  • A hybrid elastically driven walking leg of a walking robot
  • A hybrid elastically driven walking leg of a walking robot
  • A hybrid elastically driven walking leg of a walking robot

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Embodiment Construction

[0026] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0027] At the present stage, the driving of the walking leg joints generally adopts a power source (such as a motor) directly driven by a transmission mechanism. This way is easy to damage the joints. The present invention uses an elastic driver to indirectly drive the joints to avoid damage to the joints. joint damage.

[0028] to combine Figure 1 to Figure 5 , the present embodiment is a hybrid elastically driven walking leg of a walking robot, which is a walking leg whose joint movement of a robot leg is indirectly driven by an elastic driver. Its main components include three ball hinges 2 fixed on the leg base 1, and the three ball hinges form an isosceles triangle 21 (see Figure 5 ) is arranged on the base, a ball hinge 2 is connected with the thigh part 3, and after the middle connecting seat 14 is connected with the thigh part 3 t...

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Abstract

The invention relates to the technical field of a bionic robot and particularly provides an elastically driven walking leg in hybrid connection for a walking robot. The elastically driven walking leg structurally comprises three spherical hinges fixed on a leg base, wherein one of the spherical hinges is connected to a thigh part; the other two spherical hinges are connected to two elastic drivers, then are connected to a Hooke hinge and are connected to the thigh part through a middle linkage base; a Hooke hinge connecting plate is arranged between the Hooke hinge and the middle linkage base; a leg part is coupled with the thigh part through leg and thigh part connecting shafts; the tail end of the leg part is fixed together with a toe base and then is connected to a spherical foot; another elastic driver is arranged between the leg part and the thigh part; the upper end of the elastic driver is coupled with the thigh part connecting shaft through a connecting plate; and the lower end of the elastic driver is coupled with the leg part connecting shaft through a circular base. The invention designs a walking leg for the walking robot, wherein the walking leg has the advantages that the load capacity is great, the walking capacity is strong, the damping buffering capacity is excellent, the research value is high and the application prospect is wide.

Description

Technical field: [0001] The invention relates to the technical field of bionic robots, and in particular provides a walking leg mechanism of a bionic robot. Background technique: [0002] The leg mechanism of a walking robot has a traditional open-loop chain structure, a closed-loop parallel structure or a combination of both. The traditional open-loop chain-type series-legged robot has defects such as long leg kinematic chain, large accumulation error, and poor bearing capacity; the application of parallel mechanism to the leg structure of the robot can make the robot have high rigidity, stable structure, and load-bearing capacity. Strong ability and other advantages; the research on the structure of walking robots is mainly the research on its leg mechanism, the configuration of its leg mechanism is becoming more and more complex, the structure has changed from the traditional serial type to the parallel type, single series and parallel In terms of mechanism design and mo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 王立权马洪文卿智忠张杰赵朋许俊伟
Owner HARBIN ENG UNIV
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