A bionic leg structure for legged robots

Abstract

The invention discloses a bionic leg structure applicable to a footed robot, wherein the leg structure is based on a rod mechanism and comprises a lifting system, a thrusting system, an auxiliary supporting system, a synergic movement system, and a rack. The lifting system substantially comprises a lifting motor and a lifting rod. The lifting motor is fixedly connected with the rack. The lifting rod is fixedly connected with the lifting motor, with the lifting rod and the lifting motor being rotated synchronously. The thrusting system substantially comprises a thrust motor, a first thrusting rod, and a second thrusting rod. The thrust motor is fixedly connected with the rack. The first thrusting rod is fixedly connected with the thrust motor, with the first thrusting rod and the thrust motor being rotated synchronously. The second thrusting rod is movably connected with the first thrusting rod, with the second thrusting rod and the first thrusting rod being capable of rotating relative to each other. The auxiliary supporting system substantially comprises a first supporting rod, a second supporting rod, a third supporting rod, a first long shaft, a fourth short shaft and a fifth short shaft. The synergic movement system substantially comprises a first connecting rod, a second connecting rod, foot plates, a first short shaft, a second short shaft, and a third short shaft.

Description

technical field [0001] The invention relates to foot robot technology, in particular to a bionic leg structure that can be used for foot robots. Background technique [0002] The legged robot is an intelligent robot with redundant drive, multi-branched, and time-varying topological motion mechanism. technology product. Footed robots show strong adaptability due to their non-continuous contact with the ground during walking, especially on passages with obstacles or inaccessible work sites, so they are considered It is widely used in emergency rescue, disaster relief, mine clearance, site exploration, entertainment and civil and other fields. [0003] The robot's leg (or mechanical leg) is an important part of the robot and plays a very important role in the movement of the legged robot. However, at present, each leg of the common legged robot has 3 active degrees of freedom, and each leg requires 3 active parts. The structure is complex, the control is difficult, the cost ...

AI Technical Summary

Problems solved by technology

The leg structure adopts a rod mechanism and has two driving motors, which can reduce the weight of the legs, reduce energy consumption, and at the same time greatly increase the load capacity. In order to solve the problems of high energy consumption and poor environmental adaptability of existing legged robots The problem has laid the foundation and has a good application prospect

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