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Leg structure of legged robot

A legged robot and leg technology, applied in the field of leg structure of legged robot, can solve the problems of low efficiency, slow movement, cumbersome footed robot, etc., and achieve the effects of simplified control, light structure and high movement speed.

Inactive Publication Date: 2016-01-06
NANJIANG ROBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of material transportation in complex terrain environment. In this terrain environment, wheeled and crawler robots cannot adapt well, and human transportation capacity is limited and the efficiency is not high. Type robots are bulky and slow, and are not suitable for transportation

Method used

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  • Leg structure of legged robot
  • Leg structure of legged robot
  • Leg structure of legged robot

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Experimental program
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Effect test

Embodiment Construction

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] as attached figure 1 , attached image 3 As shown, the leg structure of the legged robot of the present invention includes a support mechanism and a pull rod mechanism, and the support mechanism includes an upper leg support 6, a middle leg support 8, a lower leg support 9 and connecting parts for forming joints. The pull rod mechanism includes an upper pull rod 1, a lower pull rod 7, a pull rod bearing 2, and a pull rod shaft 3. The support mechanism is used to support the weight of the entire robot and generate thrust; the pull rod mechanism is used to adjust the angle of the support mechanism and stabilize the entire robot.

[0025] The lower leg support 9 and the middle leg support 8 are rotationally connected to the support shaft 5 through the support bearing 4 to form an ankle joint; the middle leg support 8 and the upper leg support 6 are connected to t...

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Abstract

The invention discloses a leg structure of a legged robot. The leg structure comprises a supporting mechanism and a pull rod mechanism; the supporting mechanism comprises an upper leg support, a middle leg support and a lower leg support; the pull rod mechanism comprises an upper pull rod and a lower pull rod; the lower leg support is rotatably connected with the middle leg support; the middle leg support is rotatably connected with the upper leg support; one end of the lower pull rod is rotatably connected with the upper leg support; the other end of the lower pull rod is rotatably connected with the lower leg support; the lower pull rod, the upper leg support, the lower leg support and the middle leg support form a parallelogram structure; one end of the upper pull rod is rotatably connected with the middle leg support, while the other end of the upper pull rod is connected with a reduction gear in a hip joint motor of a legged robot body. The power of the whole mechanism of the leg structure is provided by a hip joint, and a knee joint and an ankle joint do not contain a power source; the whole leg structure is light so that an extremely high speed of movement can be obtained; a connecting rod mechanism is capable of simplifying control on the whole leg.

Description

technical field [0001] The invention relates to the field of legged robots, in particular to the leg structure of legged robots. Background technique [0002] At present, most robots are driven by wheels or tracks. On ordinary roads and slightly complicated terrains, wheel and track drives have great adaptability and obvious advantages. However, when the terrain is more complex, such as Hilly mountain forests, wheeled and tracked driving methods have great limitations. [0003] At present, most of the legs of leg robots are equipped with power sources at each joint, and the whole mechanism is heavy and slow, making it difficult to walk on complex terrain. [0004] Therefore designing a kind of robot that can adapt to complex terrain and move quickly to solve the transportation problem under this terrain environment has become an urgent problem to be solved. Contents of the invention [0005] The purpose of the present invention is to solve the problem of material transpo...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 范杨涛
Owner NANJIANG ROBOT
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