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Leg mechanism of bionic four-leg robot

A quadruped robot, foot-end technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problem that the overall mechanism is not well packaged, achieve good maintainability, reduce manufacturing costs, and reduce motion noise.

Inactive Publication Date: 2017-09-05
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The invention adopts the ball screw to drive the joint, which has the characteristics of high transmission efficiency and high transmission precision, and the elastic element is arranged at the ankle joint to play the role of cushioning and shock absorption, but the overall mechanism is not well packaged, and the foot end does not feel the touch of the ground. state element

Method used

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  • Leg mechanism of bionic four-leg robot
  • Leg mechanism of bionic four-leg robot
  • Leg mechanism of bionic four-leg robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] like figure 1 Shown, a kind of bionic quadruped robot leg mechanism comprises hip joint transmission module (I), knee joint transmission module (II), shank module (III) and foot end module (IV), is characterized in that: hip joint transmission module (I) is connected to the knee joint transmission module (II), and the calf module (III) is connected to the knee joint module (II) and the foot end module (IV). The hip joint transmission module (I) controls the abduction and adduction of the hip joint and the flexion and extension of the hip joint of the robot leg, and the knee joint transmission module (II) controls the flexion and extension of the knee joint.

[0029] like figure 2 and 3 As shown, the hip drive module (I-1) includes two motor end covers (I-1-1 and I-2-1), two motor housings (I-1-2 and I-2-2), Two planetary reducer housings (I-1-3 and I-2-3), two joint connection assembly housings (I-1-4 and I-2-4), two joint connection assemblies (I-1- 5 and I-2-5), ...

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PUM

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Abstract

The invention relates to a leg mechanism of a bionic four-leg robot. The leg mechanism comprises a hip joint transmission module, a knee joint transmission module, a shank module and a foot end module. According to the leg structure of the robot, the hip joint transmission module is connected with a speed reducer through a motor to directly drive a hip joint to move, and the scheme is high in transmission efficiency. The knee joint transmission module drives a ball screw mechanism to move through the motor, so as to drive a four-connection-rod mechanism to move to drive a knee joint to move, and the scheme is low in transmission friction and high in transmission efficiency. A shell of the shank module is made of a light-weight plastic material, and a carbon fiber tube is used as an internal framework, so that the intensity and the rigidity of the shank module are guaranteed, and collision buffer protection is provided. A force sensor and an elastic element are arranged in the foot end module, so that a ground touch state can be effectively sensed, and collision between the foot end and the ground is buffered.

Description

technical field [0001] The invention relates to a footed robot leg mechanism, in particular to a bionic quadruped robot leg mechanism. Background technique [0002] Foot locomotion has superior terrain adaptability, and is currently a research hotspot in the direction of mobile platforms. Using the musculoskeletal model in the principles of bionics to construct the mechanical system of a quadruped robot is an effective method for the design of the mechanical system of a quadruped robot, such as the Big Dog series robots of Boston Dynamics and the Cheetah series robots of MIT. [0003] Patent CN 103407514B discloses a quadruped bionic robot leg. The robot leg mechanism consists of rigid structures such as a body bracket, a thigh bracket, a calf connecting rod, a calf connecting plate, a joint disc limit block, a calf support seat and a calf sleeve, and The joint plate and the joint plate hydraulic cylinder shaft rigid-flexible modulation mechanism, and flexible structures su...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 贾文川杨将孙翊蒲华燕马书根田应仲黄钟书汪志威
Owner SHANGHAI UNIV