Three-degree-of-freedom and small-inertia bionic leg of an armed robot based on wire transmission

Abstract

The invention belongs to the technical field of armed robots, and particularly relates to a three degree-of-freedom small-inertia bionic leg for an armed robot based on wire transmission. The three degree-of-freedom small-inertia bionic leg consists of three drives, buttocks, a thigh, a calf and a pulley block, wherein a joint consisting of a machine body and the buttocks is called as a hip X-direction joint; a joint consists of the buttocks and the thigh is called as a hip Y-direction joint; a joint consisting of the thigh and the calf is called as a knee joint; the hip X-direction joint drive is fixed on the machine body, and an output shaft is directly connected with the buttocks so as to drive the whole leg to rotate around an X axis; the hip Y-direction joint drive is fixed on the machine body, the output shaft is connected with the pulley block, a transmission wire is used for transmitting power to the pulley block, and the pulley block is connected with the thigh, so as to drive the thigh and the calf to rotate around a Y axis; the keen joint drive is fixed on the machine body, the pulley block connected with the knee joint drive transmits the power to the pulley block through a transmission wire by using a guide pulley block, and the pulley block is connected with the calf, so as to drive the calf to rotate around the Y axis.

Description

technical field [0001] The invention belongs to the technical field of armed robots, in particular to a three-degree-of-freedom and small-inertia bionic leg of an armed robot based on wire transmission. Background technique [0002] Irregular and uneven complex terrain environments limit the application of wheeled robots and tracked armed robots, because the movement trajectories of wheeled and tracked armed robots are continuous ruts. Rough terrain often contains obstacles such as rocks, mud, sand, and even cliffs and steep slopes, and the continuous paths that can stably support armed robots are very limited. Compared with wheeled or tracked armed robots, footed armed robots only need to touch the ground at discrete points when moving, and they are more adaptable to complex terrain. In addition, the legs of the footed armed robot have multiple degrees of freedom, which greatly enhances the flexibility of movement. It can maintain body balance by adjusting the length of th...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is: how to provide a footed armed robot walking device with simple structure, small moment of inertia and stable output force, so as to overcome the large moment of inertia, complex structure and low output force of existing footed armed robot bionic legs. unstable problem

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