Multi-joint leg structure of biped walking robot

A walking robot, multi-joint technology, applied in the field of robotics, can solve the problems of the robot's multi-joint degrees of freedom movement is difficult, multi-degree-of-freedom difficult, complex structure and other problems

Active Publication Date: 2017-09-05
江门市华彬科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, in the existing robots, the multi-degree-of-freedom of the robot's motion joints has always been a problem for research and development institutions. T

Method used

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  • Multi-joint leg structure of biped walking robot
  • Multi-joint leg structure of biped walking robot
  • Multi-joint leg structure of biped walking robot

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0025] exist figure 1 , figure 2 , image 3 In the shown embodiment, the toe plate 12 is hinged with the foot plate through the toe joint shaft 14, the lower leg joint bracket 26 is hinged with the inner bracket 25 through the connecting shaft, the inner bracket 25 is hinged with the ankle joint support plate 18, and the drive motor 16 is installed on Connect and fix on the foot plate, drive motor 16 is connected with active connecting rod 15, and active connecting rod 15 is connected with transmission connecting rod 13, and transmission connecting rod 13 is connected with toe plate 12, and described driving motor 16 rotates and just drives driving connecting rod. The rod rotates 15, the rotation of the active link 15 drives the transmission link 13 to rotate, and the rotation of the transmission link 13 drives the toe board 12 to move around the toe joint axis 14, so as to realize the lifting movement of the toe board 12, and the innovative toe raising function assists 5 t...

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PUM

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Abstract

The invention relates to a multi-joint leg structure of a biped walking robot. The multi-joint leg structure comprises a foot sole movement mechanism, an ankle joint movement mechanism and a leg joint movement mechanism; toe joints are hinged with a foot sole by shafts; a shank lower joint support is hinged with an inner support by a shaft; the inner support is hinged with an ankle joint support plate; the foot sole movement mechanism can be used for controlling the toe joints to make a movement of lifting toes around the shafts through which the toe joints are hinged with the foot sole, so that the movement of lifting the toes is realized; the ankle joint movement mechanism can be used for controlling the foot sole to make a foot swing movement to the left or to the right, and also can be used for controlling the foot sole to move forwards or backwards, so that a foot sole joint of the robot can move in multiple degrees of freedom; the leg joint movement mechanism can be used for controlling the joints of the shank to realize a clockwise or anticlockwise leg raising movement, and also can be used for controlling the shank to make a rotational motion around the thigh. Therefore, after the multi-joint leg structure of the biped walking robot is adopted, the robot can make a biped walking movement since the leg raising movement is realized in the multiple degrees of freedom by the joints of the leg of the robot, and the biped walking of the humanoid robot is more flexible.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically relates to a multi-joint leg structure of a biped walking robot. Background technique [0002] In recent years, intelligent robots have gradually entered thousands of households. Various robots have appeared on the market. Although robots have developed rapidly, multi-joint biped robots have started slowly and developed slowly. There is a lack of multi-joint bipedal walking robots. Due to the multi-joint bipedal walking robots, they can perform a variety of services in the home, such as cleaning, entertainment, babysitting, and home security. They will become human partners and change the way people live. Therefore, Multi-joint biped walking robots are loved by most people. [0003] However, in the existing robots, the multi-degree-of-freedom of the robot's motion joints has always been a problem for research and development institutions. The multi-joint freedom of the robot...

Claims

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Application Information

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IPC IPC(8): B62D57/032B25J17/02
CPCB62D57/032B25J17/0258
Inventor 黄国彬
Owner 江门市华彬科技有限公司
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