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A hybrid mechanical leg mechanism

A mechanical leg and hybrid technology, applied in the direction of manipulators, motor vehicles, manufacturing tools, etc., can solve problems such as difficulty in forming spherical joints, affecting the dynamic response ability of robots, and complex control of humanoid robots with parallel joint structures

Active Publication Date: 2020-10-30
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the ankle joint of the serial joint needs to install a drive motor and a reducer on the foot of the robot, resulting in a heavy foot for the robot, which affects the dynamic response capability of the robot
[0005] The parallel joint structure can place the motor at the ankle joint on the lower leg to reduce the weight of the foot plate and improve the responsiveness of the end of the mechanical leg; however, it is difficult to form a standard ball joint at the hip joint of the mechanical leg, resulting in a parallel joint. The structure of humanoid robot control is more complex

Method used

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  • A hybrid mechanical leg mechanism
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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] see figure 1 and figure 2 As shown, Embodiment 1 of the present invention provides a hybrid mechanical leg mechanism, including a foot plate 1 , an ankle joint 2 , a lower leg 3 , a knee joint 4 , a thigh 5 , a hip joint 6 and a torso 7 .

[0030] Foot plate 1, the foot plate 1 is used to provide a posture and position-invariant platform for the mechanical leg, and the overall support function; the ankle joint 2 is used to connect the above-mentioned foot plate 1 and the calf 3, and the ankle joint 2 adopts a parallel joint; the calf 3, The first motor 8 and the second motor 9 for installing and driving the ankle joint 2, the first motor 8 and the second motor 9 are connected with the foot plate 1 through a connecting rod; the knee joint 4 is used for connecting the thigh 5 and the calf 3; The thigh 5 is used to install the third motor 10 for driving the knee joint 4 and the fourth motor 11 for driving the hip joint 6; the hip joint 6 is used for connecting the above-...

Embodiment 2

[0033] see figure 1 and figure 2 As shown, Embodiment 2 of the present invention provides a hybrid mechanical leg mechanism, including a foot plate 1 , an ankle joint 2 , a lower leg 3 , a knee joint 4 , a thigh 5 , a hip joint 6 and a torso 7 .

[0034] Foot plate 1, the foot plate 1 is used to provide a posture and position-invariant platform for the mechanical leg, and the overall support function; the ankle joint 2 is used to connect the above-mentioned foot plate 1 and the calf 3, and the ankle joint 2 adopts a parallel joint; the calf 3, The first motor 8 and the second motor 9 for installing and driving the ankle joint 2, the first motor 8 and the second motor 9 are connected with the foot plate 1 through a connecting rod; the knee joint 4 is used for connecting the thigh 5 and the calf 3; The thigh 5 is used to install the third motor 10 for driving the knee joint 4 and the fourth motor 11 for driving the hip joint 6; the hip joint 6 is used for connecting the above-...

Embodiment 3

[0037] see figure 1 and figure 2 As shown, Embodiment 3 of the present invention provides a hybrid mechanical leg mechanism, including a foot plate 1 , an ankle joint 2 , a lower leg 3 , a knee joint 4 , a thigh 5 , a hip joint 6 and a torso 7 .

[0038] Foot plate 1, the foot plate 1 is used to provide a posture and position-invariant platform for the mechanical leg, and the overall support function; the ankle joint 2 is used to connect the above-mentioned foot plate 1 and the calf 3, and the ankle joint 2 adopts a parallel joint; the calf 3, The first motor 8 and the second motor 9 for installing and driving the ankle joint 2, the first motor 8 and the second motor 9 are connected with the foot plate 1 through a connecting rod; the knee joint 4 is used for connecting the thigh 5 and the calf 3; The thigh 5 is used to install the third motor 10 for driving the knee joint 4 and the fourth motor 11 for driving the hip joint 6; the hip joint 6 is used for connecting the above-...

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Abstract

The invention provides a hybrid mechanical leg mechanism including a foot plate, an ankle joint, a shank, a knee joint, a thigh, a hip joint and a trunk. The foot plate is used for providing a posture and position unchanging platform for a mechanical leg. The ankle joint is used for making the foot plate and the shank connected, the ankle joint is a parallel connection joint, and the degree of freedom of rolling and the degree of freedom of pitching can be controlled. The shank is used for installing a first motor and a second motor for driving the ankle joint, and the two motors are connected with the foot plate through a rolling shaft lead screw, a connection rod and a spherical joint. The knee joint is used for making the thigh and the shank connected. The thigh is used for installing a third motor and a fourth motor, the third motor is used for driving the knee joint, and the fourth motor is used for driving the hip joint. The hip joint is used for making the trunk and the thigh connected and installing a fifth motor for driving the hip joint. The trunk is used for installing a sixth motor for driving the hip joint.

Description

【Technical field】 [0001] The invention relates to the technical field of biped robots, in particular to a novel hybrid mechanical leg mechanism. 【Background technique】 [0002] The traditional leg mechanism of humanoid robot adopts serial joint structure or parallel joint structure. [0003] The serial joint structure is the joint structure adopted by most humanoid robots, which can realize the leg structure with six degrees of freedom, and realize the standard spherical joint at the hip joint of the robot, using the standard inverse kinematics calculation method. [0004] However, the ankle joint of the serial joint needs to install a driving motor and a reducer on the foot of the robot, resulting in a heavy foot for the robot, which affects the dynamic response capability of the robot. [0005] The parallel joint structure can place the motor at the ankle joint on the lower leg to reduce the weight of the foot plate and improve the responsiveness of the end of the mechani...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032B25J11/00
CPCB25J11/00B62D57/032
Inventor 徐方曲道奎杨奇峰唐冲王文钊徐冰
Owner SHENYANG SIASUN ROBOT & AUTOMATION