Semi-passive biped walking machine provided with bionic metatarsophalangeal joints

A semi-passive, walking machine technology, applied in the field of robotics, can solve the problems of complex structure of the trunk equalization mechanism, poor terrain adaptability, etc., and achieve the effect of improving ground adaptability and stability

Active Publication Date: 2017-03-29
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a semi-passive biped walking machine with bionic metatarsophalangeal joints in order to solve the common problems of the existing semi-passive biped walking machine, such as the

Method used

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  • Semi-passive biped walking machine provided with bionic metatarsophalangeal joints
  • Semi-passive biped walking machine provided with bionic metatarsophalangeal joints
  • Semi-passive biped walking machine provided with bionic metatarsophalangeal joints

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Embodiment Construction

[0023] see figure 1 , figure 2 , image 3 , Figure 4 and Figure 5 As shown, this embodiment includes a hip assembly 1 , a leg assembly 2 and a foot assembly 3 .

[0024]The hip assembly 1 includes a first frame 11 , a second frame 12 , an upper limb 16 , a first shaft 17 , a first gear 18 , a hip-leg connecting piece 121 , a steering gear 123 and the like. Wherein, the second rack 12, the third rack 13, a pair of fourth racks 14, and a pair of fifth racks 15 are symmetrically arranged on both sides of the first rack 11 from inside to outside. The frame 12 and the third frame 13 are fixedly connected with the sixth frame 124 through the first hexagon socket head cap screws and 127 . The first shaft 17 is arranged between the third frame 13 and the fourth frame 14 on the same side as the third frame 13, and constitutes a turning pair with the third frame 13 and the fourth frame 14. The first gear 18 , The eighth gear 119 is fixedly connected to both ends of the first sh...

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Abstract

The invention discloses a semi-passive biped walking machine provided with bionic metatarsophalangeal joints. The semi-passive biped walking machine comprises a hip assembly, a leg assembly and a foot assembly. A second rack, a third rack, a pair of fourth racks and a pair of fifth racks are symmetrically arranged at the two sides of a first rack from inside to outside, so that a rack main body part of the walking machine is constituted. A left leg and a right leg are consistent in structure, and the length of each leg can be adjusted freely within a certain range. A left foot and a right foot are symmetrical in structure; through spherical hinges, functions of human ankles can be simulated; first foot toe connecting pieces, torsional springs and second foot toe connecting pieces constitute connecting parts of the bionic metatarsophalangeal joints; and the angle of the motional rotation axis of the bionic metatarsophalangeal joints is designed by referring to human metatarsophalangeal joints. According to the semi-passive biped walking machine provided with the bionic metatarsophalangeal joints, a gear set is utilized, so that the hip portion of the walking machine is always maintained on the angle bisector, on the sagittal plane, of the left leg and the right leg; and meanwhile, the bionic metatarsophalangeal joints are introduced, so that ground adaptability of the walking machine is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a completely passive biped walking machine with bionic toe joints. Background technique [0002] Since the biped walking robot has human-like walking characteristics, it can quickly adapt to the human living environment, so as to better serve human beings. Therefore, in recent years, research work on biped walking robots has been widely carried out around the world. [0003] Completely passive biped robot is a kind of biped walking robot. It can use its own gravity to realize stable walking on slopes. Compared with traditional active walking robots, it has the advantages of natural gait, simple structure and low energy consumption. Although fully passive biped robots have significant energy-saving effects (walking only by gravity), they can only walk on slopes and are not practical. Therefore, researchers have begun to develop semi-passive biped robots. Cornell Unive...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 钱志辉周亮任雷任露泉
Owner JILIN UNIV
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