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A single-leg mechanism for a quadruped robot

A quadruped robot and single-leg technology, which is applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of insufficient driving capacity, large joint mass, small range of motion, etc., and achieve easy and accurate measurement, reduce weight and moment of inertia, increase The effect of large range of motion and output torque

Active Publication Date: 2018-12-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problems of large joint mass, small range of motion and insufficient driving ability of the existing quadruped robot leg mechanism, the present invention further proposes a quadruped robot single-leg mechanism

Method used

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  • A single-leg mechanism for a quadruped robot
  • A single-leg mechanism for a quadruped robot
  • A single-leg mechanism for a quadruped robot

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0026] Specific implementation mode one: combine Figure 1 to Figure 13 Describe this embodiment, a quadruped robot single-leg mechanism described in this embodiment includes a hip joint mechanism, a hip joint mechanism, a thigh, a knee joint mechanism and a lower leg, the upper end of the hip joint mechanism is connected to the fuselage 2, and the hip joint mechanism includes The hip joint driving assembly 1 and the hip joint transmission mechanism, the lower end and the upper end of the hip joint mechanism realize relative rotation through the hip joint driving assembly 1 and the hip joint transmission mechanism, the hip joint mechanism is arranged at the lower end of the hip joint mechanism, and the hip joint mechanism includes the hip joint Shaft 26, hip joint driving assembly 17 and hip joint transmission mechanism, the upper end of the thigh is connected with the hip joint shaft 26, and the hip joint shaft 26 realizes rotation through the hip joint driving assembly 17 and...

specific Embodiment approach 2

[0029] Specific implementation mode two: combination Figure 1 to Figure 8 Describe this embodiment, the hip joint mechanism described in this embodiment also includes an outer shell 7, a rotating shaft 19 and two hip joint connecting plates 5, the hip joint transmission mechanism includes a driving gear 3 and a driven gear 4, and two hip joint connecting plates The upper ends of 5 are fixedly connected with the fuselage 2 respectively, the outer casing 7 is arranged between the two hip joint connecting plates 5, the rotating shaft 19 is horizontally inserted in the middle of the outer casing 7, and the hip joint drive assembly 1 is arranged at the upper end of the outer casing 7 , the outer side of one of the hip joint connecting plates 5 is provided with a driving gear 3 and a driven gear 4, the driving gear 3 is fixedly connected with the hip joint driving assembly 1, and the two ends of the rotating shaft 19 respectively extend to the outside of the hip joint connecting pla...

specific Embodiment approach 3

[0031] Specific implementation mode three: combination Figure 1 to Figure 8 To illustrate this embodiment, the two ends of the rotating shaft 19 in this embodiment are respectively provided with a deep groove ball bearing 18 and a group of fastening screws 13, and each group of fastening screws 13 is arranged on the outer side of the rotating shaft 19 along the circumferential direction, and the rotating shaft 19 is fixedly connected to the outer casing 7 through fastening screws 13, and the rotating shaft 19 is rotatably connected to the hip joint connecting plate 5 through deep groove ball bearings 18. Other compositions and connection methods are the same as those in the second embodiment.

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Abstract

The invention relates to the field of creative applications of robots, in particular to a single leg mechanism of a quadruped robot. The single leg mechanism aims at solving the problems that a leg mechanism of an existing quadruped robot is large in joint weight, small in moving range and insufficient in driving power. The single leg mechanism of the quadruped robot comprises a hip joint mechanism, a femoral joint mechanism, a thigh, a knee joint mechanism and a shank, wherein the upper end of the hip joint mechanism is connected with a robot body, and the lower end and the upper end of the hip joint mechanism relatively rotate through a hip joint drive assembly and a hip joint transmission mechanism; the femoral joint mechanism is arranged at the lower end of the hip joint mechanism, and the upper end of the thigh is connected with a femoral joint shaft; the femoral joint shaft rotates through a femoral joint drive assembly and a femoral joint transmission mechanism, and the lower end of the thigh is connected with the upper end of the shank through a knee joint shaft; and the knee joint shaft rotates through a knee joint drive assembly and a shaft crossing transmission mechanism, and a three-dimensional sensor is arranged at the lower end of the shank. The single leg mechanism is applied to the quadruped robot.

Description

technical field [0001] The invention relates to the field of innovative application of robots, in particular to a single-leg mechanism of a quadruped robot. Background technique [0002] The quadruped robot adopts the bionic design method and uses the alternating motion of four bionic legs to realize walking. It is an important development direction in the field of robotics in the future and has broad application prospects in planetary exploration, rescue transportation, and nuclear energy maintenance. The single-leg system mechanism has an important influence on the locomotion ability of the quadruped robot. [0003] The traditional quadruped robot leg mechanism faces problems such as large joint mass, small range of motion, and insufficient driving ability, which seriously restrict the walking ability and engineering application of quadruped robots. The flexibility and quick response of the leg mechanism are important indicators for evaluating the performance of a single-...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 魏承谷海宇张大伟潘冬王萍萍赵阳
Owner HARBIN INST OF TECH