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Quadruped robot leg with elastic four-rod mechanism

A four-legged robot and four-bar mechanism technology, which is applied in the directions of motor vehicles, transportation and packaging, can solve the problems of low utilization rate and energy waste, and achieve the effects of simple structure, reduced impact force, and convenient movement.

Active Publication Date: 2014-03-12
哈尔滨斑之斓海洋科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, in the research on bionic robots, the form of the leg structure is also various, but most of them use one power source to drive one joint, which causes a waste of energy and the utilization rate is not high

Method used

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  • Quadruped robot leg with elastic four-rod mechanism
  • Quadruped robot leg with elastic four-rod mechanism
  • Quadruped robot leg with elastic four-rod mechanism

Examples

Experimental program
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Effect test

Embodiment Construction

[0020] The specific implementation will be further described below in conjunction with the accompanying drawings.

[0021] Such as figure 1 As shown: the leg structure is composed of a thigh 1, a calf 2, a foot 3, a tension spring 6, a buffer device 8, and a winding wheel 10. One end of the thigh 1 is installed on the output shaft of the power source to form a hip joint, and the winding wheel 10 is installed on one end of the thigh, the axis of the reel 10 is in line with the axis of the hip joint rotation joint, the other end of the thigh 1 is connected with one end of the calf 2 to form a knee joint 16, and the other end of the calf 2 and the foot 3 are in a certain position. The position is connected to form an ankle joint 17, and a rubber spherical foot 15 is installed at the ground-touching end of the foot 3. This spherical foot has elasticity, and the bearing frame 12 of the buffer device 8 is installed on one-third of the thigh to form a rotating pair. The installation...

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Abstract

The invention provides a quadruped robot leg with an elastic four-rod mechanism. The quadruped robot leg comprises a thigh, a shank, a foot, a tension spring and a reeling wheel, wherein one end of the thigh is connected with an output shaft of a power source to form a hip joint; the reeling wheel and the end of the thigh are connected by a transmission pair and the axis of the reeling wheel is coaxial to the output shaft of the power source; the other end of the thigh is connected with one end of the shank by a transmission pair to form a knee joint, and the other end of the shank is connected with a quarter part of the foot by a transmission pair to form an ankle joint; one end of the tension spring is connected with the middle part of the thigh by a transmission pair and the other end of tension spring is connected with the end of one foot by a transmission pair; one end of a steel wire rope is fixedly arranged on the ankle joint and the steel wire ripe spans across the reeling wheel to be connected with the power source. According to the quadruped robot leg, a driven degree of freedom is adopted and the loss of energy is reduced; the driven degree of freedom is realized by a four-connection-rod mechanism; a spring is arranged on one side of the four-connection-rod mechanism so that the four-connection-rod mechanism can be freely retracted in a certain range and the free movement of the foot of the leg is realized.

Description

technical field [0001] The invention relates to a robot leg structure, in particular to a robot leg structure with elasticity. Background technique [0002] Robot is a comprehensive technology that integrates many disciplines such as machinery, electronics, computers, sensors, and control technology. It reflects a country's intelligence and automation research level, and is also a comprehensive expression of a country's high-tech technology. Legged robots have excellent performance over wheeled, tracked and creeping robots, have a variety of gaits, and have a certain obstacle-breaking function, which greatly improves the application range of robots, especially in complex terrain conditions. Exploration, survey and other fields can be widely used. [0003] Among the legged robots, quadruped robots occupy a large proportion in the whole legged mobile robots because of their stability superior to biped robots and avoiding the redundancy and complexity of hexapod and eight-leg ...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 陈东良刘琦王洪董立涛
Owner 哈尔滨斑之斓海洋科技有限公司
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