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A quadruped bionic robot leg mechanism

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 motion accuracy

Inactive Publication Date: 2016-08-10
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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  • A quadruped bionic robot leg mechanism
  • A quadruped bionic robot leg mechanism
  • A quadruped bionic robot leg mechanism

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0019] A quadruped bionic robot leg mechanism, which consists of scapula I, shoulder joint II, femur (or thigh) III, knee joint IV, tibia (or calf) V, passive ankle joint VI, foot sole VII and drive module VIII is characterized in that: 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 driving module VIII is respectively connected to drive the movement of the shoulder joint II and the knee joint IV, so as to drive the movement of the whole leg mechanism.

Embodiment 2

[0020] Embodiment 2: described drive module VIII comprises drive motor 1, slotted cylindrical head screw 2, ball screw 3, nut 4, push rod 5, motor seat 6 and hexagon head bolt 7; Described drive motor 1 passes through open The slotted cylindrical head screw 2 is fastened to the motor base 6, and the motor base 6 is fixed to the side plate of the scapula I or femur III through the hexagonal head bolt 7, thereby fixing the entire drive module VIII; the lead screw 3 and the nut 4 form a helical Auxiliary, through the rotation of the lead screw 3, the drive nut 4 moves back and forth along the linear direction, 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.

[0021] The shoulder joint II includes the first deep groove ball bearing 8, the elastic retaining ring 9, the joint connector 10, the shoulder joint I shaft 11, the hex head bolt 12, the shoulder joint II shaft...

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Abstract

The invention relates to a quadruped bionic robot leg mechanism. The present invention includes scapula, shoulder joint, femur (or thigh), knee joint, tibia (or lower leg), passive ankle joint, sole and driving module. The shoulder joint of the quadruped bionic robot connects the scapula and the femur of the robot; the knee joint of the quadruped bionic robot connects the femur and the tibia; the passive ankle joint connects the tibia and the sole of the foot. The present invention adopts the ball screw to drive the joint, which has the characteristics of high transmission efficiency and high transmission precision. At the same time, due to the small friction force of rolling friction, the heat generated by friction is reduced, thereby reducing energy consumption. The scapula and femur are hollow shell structures to reduce weight and energy consumption. The tibia adopts an elastic buffer and spring energy storage structure, which can reduce energy consumption and buffer the impact of the ground; the terminal ankle joint adopts a ball joint, and the sole of the foot is in a circular shape, making the walking robot land more stable.

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 been developed at...

Claims

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Application Information

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