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A biped robot with flexible ankle joints

A biped robot and ankle joint technology, applied in the field of humanoid robots, can solve the problems of poor ground adaptability, large energy loss, and low ability efficiency, and achieve the effects of improved motion performance, low energy loss, and improved energy efficiency

Active Publication Date: 2018-09-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problems of poor adaptability to the ground, large energy loss and low capacity efficiency of existing biped robots, and further provides a biped robot with flexible ankle joints

Method used

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  • A biped robot with flexible ankle joints
  • A biped robot with flexible ankle joints
  • A biped robot with flexible ankle joints

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Embodiment Construction

[0022] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0023] combine Figure 1-Figure 10 Explain that a biped robot with flexible ankle joints includes left leg A, right leg B and pelvis C; left leg A and right leg B respectively include thigh 4, calf 5, foot 6, hip joint 7, knee joint 8 and ankle joint 9; the left leg A and right leg B are connected through the pelvis C, the pelvis C is rotationally connected with the thigh 4 through the hip joint 7, the thigh 4 is rotationally connected with the lower leg 5 through the knee joint C, and the lower leg 5 is connected with the foot through the ankle joint 9 Part 6 is rotationally connected;

[0024] Each described hip joint 7 comprises hip joint motor 71, No. 1 hip joint sprocket wheel 72, No. 2 hip joint sprocket wheel 73, hip joint chain and hip joint drive shaft 74; The axial horizontal arrangement ...

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Abstract

The invention provides a biped robot with flexible ankle joints, relates to a biped robot, and aims to solve the problems that an existing biped robot is poor in ground adaptability, large in energy loss and low in capacity efficiency. The biped robot comprises a left leg, a right leg and a pelvis, wherein each of the left leg and the right leg comprises a thigh, a shank, a foot, a hip joint, a knee joint and an ankle joint; the left leg is connected with the right leg through the pelvis; each hip joint comprises a hip joint motor, a first hip joint chain wheel, a second hip joint chain wheel, a hip joint chain and a hip joint transmission shaft; each knee joint comprises a knee joint motor, a first knee joint chain wheel, a second knee joint chain wheel, a knee joint chain, a knee joint transmission shaft, a shank connecting seat and two thigh bearing blocks; a connecting rack is fixedly connected with each foot connecting seat; each foot connecting seat is mounted on a heel; and each shank is connected with the corresponding two ankle joint bearing blocks. The invention belongs to the technical field of robots.

Description

technical field [0001] The invention relates to a biped robot, in particular to a biped robot with flexible ankle joints, belonging to the technical field of humanoid robots. Background technique [0002] Humanoid robots began to appear in the 1960s. Compared with other types of robots, the development of humanoid robots is very rapid. In addition to robotics, the research on humanoid robots also covers different disciplines such as mechanics, biology, control science, and even psychology, and has gradually become a unique multidisciplinary research field. A class of humanoid robots with bipedal walking as the main form of motion has high flexibility and can adapt to different terrains. It is an important branch in the field of humanoid robots. More than half of the terrain in the world cannot be reached by current wheeled or tracked robots, but humans can walk around every corner with their feet, so legged humanoid robots are the best for completing ground tasks in natura...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 臧希喆林珍坤刘义祥赵杰
Owner HARBIN INST OF TECH
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