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A bionic quadruped robot leg mechanism

A quadruped robot and foot-end technology, which is applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of poor encapsulation of the overall mechanism, achieve good maintainability, reduce manufacturing costs, and achieve high transmission efficiency

Inactive Publication Date: 2019-02-19
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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  • A bionic quadruped robot leg mechanism
  • A bionic quadruped robot leg mechanism
  • A bionic quadruped robot leg mechanism

Examples

Experimental program
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Effect test

Embodiment 1

[0028] Such as figure 1 As shown, a bionic quadruped robot leg mechanism includes a hip joint transmission module I, a knee joint transmission module II, a calf module III and a foot end module IV, and is characterized in that: the hip joint transmission module I is connected to the knee joint transmission module II, The calf module III connects the knee joint transmission module II and the foot end module IV. The hip joint transmission module I controls the hip joint abduction and adduction of the robot leg and the flexion and extension of the hip joint. The knee joint transmission module II controls the flexion and extension of the knee joint.

[0029] Such as figure 2 with 3 As shown, the hip joint drive module I includes two hip joint motor end covers I-1-1 and I-2-1, two hip joint motor housings I-1-2 and I-2-2, two hip joints Planetary reducer housing I-1-3 and I-2-3, two joint connection component housings I-1-4 and I-2-4, hip joint connection component I-1-5, hip and kn...

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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 foot-type robot leg mechanism, in particular to a bionic quadruped robot leg mechanism. Background technique [0002] Foot movement has excellent terrain adaptability and is currently a research hotspot in the direction of mobile platforms. Drawing on the musculoskeletal model in the principle of bionics to build the mechanical system of the quadruped robot is an effective method for the design of the mechanical system of the quadruped robot, such as the Big Dog series robot of Boston Dynamics and the Cheetah series robot of MIT. [0003] Patent CN 103407514B discloses a quadruped bionic robot leg. The robot leg mechanism consists of rigid structures such as a body support, a thigh support, a calf connecting rod, a calf connecting plate, a joint disc limit block, a calf support seat and a calf sleeve, and The joint disc and the joint disc hydraulic cylinder shaft rigid-flexible modulation mechanism, and the sole and other flexible ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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
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