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Leg structure of quadruped bionic robot

A technology of bionic robots and shoulder joints, which is applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of high cost and complicated control, and achieve the effects of weight reduction, simple system structure and improved movement accuracy

Inactive Publication Date: 2013-12-18
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

High cost and complex control

Method used

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  • Leg structure of quadruped bionic robot
  • Leg structure of quadruped bionic robot
  • Leg structure of quadruped bionic robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] A quadruped bionic robot leg mechanism, consisting of scapula (I), shoulder joint (II), femur (or thigh) (III), knee joint (IV), tibia (or calf) (V), passive ankle joint (VI) ), feet (Ⅶ) and drive module (Ⅷ)

[0023] It is characterized by:

[0024] The scapula (I) is connected to the body through its upper fixed earring; the shoulder joint (II) is connected to the scapula (I) and the femur (III); the knee joint (IV) is connected to the femur (III) and the tibia (V) The passive ankle joint (VI) is connected to the tibia (V); the two drive modules (VIII) are respectively connected to drive the movement of the shoulder joint (II) and the knee joint (IV) to drive the movement of the whole leg mechanism.

Embodiment 2

[0026] The drive module (Ⅷ) includes a drive motor (1), a slotted cylindrical head screw (2), a ball screw (3), a nut (4), a push rod (5), a motor seat (6) and a hexagonal head Bolts (7); the drive motor (1) is fastened to the motor base (6) through slotted cylindrical head screws (2), and the motor base (6) is fixed to the shoulder blade (Ⅰ ) or the side plate of the femur (Ⅲ) to fix the entire driving module (Ⅷ); the lead screw (3) and the nut (4) form a helical pair, through the rotation of the lead screw (3), the drive nut (4) along It moves forward and backward in a straight line, and the nut (4) and the push rod (5) are fixedly connected, and the forward and backward movement of the nut (4) drives the push rod to realize the movement of the joint.

[0027] The shoulder joint (II) includes deep groove ball bearings (8), circlips (9), joint connectors (10), shoulder joint I shaft (11), hex head bolts (12), shoulder joint II shaft (13), circlip (14) and deep groove ball be...

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Abstract

The invention relates to a leg structure of a quadruped bionic robot. The leg structure comprises a shoulder blade, a shoulder joint, a femur (thign-bone), a knee joint, a tibia (shin bone), a passive ankle joint, a sole and a driving module. The shoulder joint of the leg structure of the quadruped bionic robot is connected with the shoulder blade and the femur, the knee joint is connected with the femur and the tibia, and the passive ankle joint is connected with the tibia and the sole. The joints are driven by ball screws, and accordingly the leg structure has the advantages of high driving efficiency and precision and the like; as the friction force of rolling friction is low, heat generated by friction is reduced and energy consumption is decreased. As the shoulder blade and the femur are of hollow casing structures, the weight is reduced and the energy consumption is further reduced. Since the femur is of elastic buffering and spring energy-storage structure, energy consumption can be further decreased and impact to ground can be buffered. Since the tail ankle joint is provided with a ball hinge coupling and the sole is in the shape of a circular face, the bionic robot can fall to the ground more stably.

Description

technical field [0001] The invention relates to a quadruped bionic robot leg mechanism, which has the advantages of compact overall structure, flexible movement, stable landing, buffering and energy storage, and can reduce the energy consumption of the quadruped robot walking at high speed. Background technique [0002] Due to the long-term evolution of quadrupeds, they have strong adaptability to terrain and can walk freely, run at high speed, and jump in complex terrain environments. Their structure and movement methods provide a good reference for the research of quadruped bionic robots. Improving the stability of the walking robot when walking, increasing the walking speed, enhancing its adaptability to the ground environment, and reducing the energy consumption during walking have increasingly become research hotspots in robotics circles in various countries. [0003] At present, prototypes of quadruped walking robots with different configurations have be...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 王峰雷静桃俞煌颖
Owner SHANGHAI UNIV
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