Flexible bionic mechanical leg

Abstract

The invention discloses a flexible bionic mechanical leg which comprises a shank rod, an ankle assembly and a palm assembly, wherein the ankle assembly comprises a connecting upper plate, an ankle housing and at least one ankle elastic body; the palm assembly comprises a rear palm, a front palm, a connecting frame for the front palm and the rear palm, and a front palm protective shell; the angle elastic body comprises an upper spring seat, a cylindrical spring, a front four-bar mechanism, a rear four-bar mechanism, a lower spring seat, a first spring supporting pin and a second spring supporting pin. According to the mechanical leg, the front palm and the rear palm are elastically connected to form the palm; the front palm has certain rotation space and flexibility, and can better adapt to changes of ground terrain. The angle elastic body adopts two four-bar mechanisms, so that the cylindrical spring with elasticity in single direction is changed into a flexible special mechanism with flexibility on four corners of each four-bar mechanisms, and therefore, the flexibility of the mechanical foot is greatly strengthened, and the travelling stability of the robot is strengthened.

Description

technical field [0001] The invention relates to the field of mechanical design, in particular to a flexible bionic mechanical foot. Background technique [0002] Traditional mobile robots mainly refer to myriad mobile robots and wheeled robots, among which wheeled robots include crawler mobile robots and wheel-leg composite mobile robots. The myriad mobile robot has attracted great attention from the industry because of its excellent terrain adaptability. With the continuous deepening of research on myriad robots, more and more attention has been paid to the flexibility of the legs of myriad robots. Myriad robots with excellent leg flexibility can effectively weaken the contact between the robot's feet and the ground during walking. The contact force between them can ease the impact, prolong the life of the robot parts, and enhance the reliability of the robot parts; at the same time, the robot with a flexible leg structure has a higher energy utilization rate and better ov...

AI Technical Summary

Problems solved by technology

The design of the mechanical foot of the multi-legged robot is an important part of the single-leg design of the multi-legged robot. The structure of the traditional mechanical foot of the multi-legged robot is relatively simple, generally a planar structure, a spherical structure or a bionic arch structure. This type of mechanical foot has a simple structure and a single function, and cannot provide enough flexibility for the single leg of a myriad robot, and has become increasingly unsuitable for the development needs of myriad robots.

Patent No. ZL201310006996.2 discloses a ratchet foot for a quadruped robot. The lack of a flexible mechanism makes it impossible for a robot using this mechanical foot to provide the flexibility required by the robot itself.

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