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Leg mechanism for four-legged robots

A quadruped robot and leg mechanism technology, applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of less physical production and greater influence on the research of quadruped robots, so as to improve motion performance, reduce control difficulty, and improve movement performance. The effect of flexible joints

Inactive Publication Date: 2013-06-05
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most of the current domestic research is in the stage of theoretical research, and there are relatively few physical productions, which has a great impact on the research of quadruped robots with high motion performance.

Method used

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  • Leg mechanism for four-legged robots
  • Leg mechanism for four-legged robots

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] see figure 2 , the leg mechanism of this quadruped robot includes the drive motor (A1), the femoral mechanism (1), the knee hinge (2), the tibial mechanism (3), the bare joint hinge (4) and the metatarsal mechanism (5):

[0026] 1) The femoral mechanism (1) is hinged to the tibial mechanism (3) through the knee hinge (2).

[0027] 2) The driving motor (A1) is fixedly installed on the femoral mechanism (1), and the output shaft of the driving motor drives the tibial mechanism (3) to rotate through the bevel gear transmission mechanism in the knee hinge (2).

[0028] 3) The tibial mechanism (3) is hinged to the metatarsal mechanism (5) through the bare joint hinge (4).

[0029] 4) The driving motor (A1) drives the metatarsal mechanism (5) through the bevel gear transmission mechanism in the knee joint hinge (2) and the bevel gear transmission mechanism in the bare joint hinge (4).

Embodiment 2

[0031]This embodiment is basically the same as Embodiment 1, and the features are as follows:

[0032] The femoral mechanism (1) includes a femoral connecting rod (A30) and a motor fixing bracket (A29), the motor fixing bracket (A29) is fixed on the femoral connecting rod (A30) through bolts, and the driving motor (A1) is fixedly installed on the motor fixing bracket (A29). Make sure that the output shaft of the drive motor (A1) is installed axially along the femoral rod (A30) on the bracket (A29).

[0033] The tibial mechanism (3) includes a tibial connecting rod (A8), a tibial transmission shaft (A23), an upper bearing seat (A7) and a lower bearing seat (A22), and the upper bearing seat (A7) and the lower bearing seat (A22) are respectively It is fixed on the tibial connecting rod (A8) by bolts, and the tibial transmission shaft (A23) is installed parallel to the tibial connecting rod (A8) through the support of the bearings (A24) in the upper and lower bearing seats (A7, A2...

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Abstract

The invention relates to a leg mechanism for four-legged robots, the leg mechanism comprises a drive motor, a femur mechanism, a knee-joint hinge, a tibia mechanism, a naked joint hinge and a metatarsus mechanism, wherein the femur mechanism is hinged with the tibia mechanism by the knee-joint hinge; the drive motor is fixed on the femur mechanism, and an output shaft of the drive motor drives the tibia mechanism to rotate by a bevel gear transmission mechanism in the knee-joint hinge; the tibia mechanism is hinged with the metatarsus mechanism by the naked joint hinge; and the drive motor drives the metatarsus mechanism to rotate by the bevel gear transmission mechanism in the knee-joint hinge and a bevel gear transmission mechanism in the naked joint hinge. In the invention, the number of joints of a leg structure is increased under the condition of not increasing the degree of freedom, so that the leg movement of the robot is more flexible, and the leg mechanism has the advantage of better movement performance.

Description

technical field [0001] The invention relates to a leg mechanism of a quadruped robot, which can well simulate the movement of animal joints without increasing the degree of freedom, and carry out bionic design for quadruped animals (horses and dogs). This design has a compact structure, The kinematic joints are flexible, which greatly improves the kinematic performance of the quadruped robot. Background technique [0002] Compared with other robots, quadruped robots have their own advantages: compared with wheeled or tracked robots, legged robots are more adaptable to more complex environments, such as forests, grasslands, wetlands, forests, etc.; Compared with hexapod robots, quadruped robots are more stable and easier to adapt to uneven ground; compared with hexapod robots, they are simpler in structure, more flexible in movement, easier in control, and lower in manufacturing cost. Generally speaking, the quadruped robot has great advantages and is one of the models most ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 范昌华蒋蓁史晓斌贺白羽薛金莲
Owner SHANGHAI UNIV
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