Ostrich-like robot walking mechanism

Abstract

The invention discloses an ostrich-like robot walking mechanism. The mechanism comprises a torso, a thigh bone, a shin bone, an accessory metatarsal bone, a middle connecting rod and toes; a first camis fixed to the torso, the thigh bone is connected onto the torso in a hinged mode, a thigh bone push-pull and swinging mechanism is connected between the thigh bone and the torso, a second cam is fixed to the thigh bone, one end of the shin bone and one end of the middle connecting rod are connected with the thigh bone in a hinged mode, and the other end of the shin bone and the other end of themiddle connecting rod are connected with the accessory metatarsal bone in a hinged mode; a shin bone push-pull and swinging mechanism is connected between the thigh bone and the shin bone; the firsttoe is connected with the tail end of the accessory metatarsal bone in a hinged mode, the first toe, the second toe and the third toe are connected in a hinged mode in sequence, and a second toe push-pull and swinging mechanism is connected between the first toe and the second toe; a third toe push-pull and swinging mechanism is connected between the second toe and the third toe; a tension springis connected between the accessory metatarsal bone and the first toe, and a drawstring wound around the second cam and the first cam is connected between the torso and the third toe. According to themechanism, the walking and running gaits of an ostrich are fully imitated, and hitting the ground by legs, leg recovery in the air, leg extension in the air and landing of the toes can be achieved.

Description

technical field [0001] The invention relates to an ostrich-like biped robot mechanism, which belongs to the field of bionic robots. Background technique [0002] In nature, animals that rely on legs and feet to walk can reach almost any place on the land surface. In order to meet the needs of material transportation, exploration, rescue, and reconnaissance in complex terrain environments, humans have developed various leg-footed robots since the 1960s. . Ostriches are currently the biped walking animals with the fastest running speed and the highest energy efficiency on land. Biped walking robots using ostriches as bionic objects have important application value. [0003] Chinese patent document CN106184461A discloses "A Mechanical Leg Imitating Ostrich Hind Limb", which includes a fuselage, a hip joint motion mechanism, a knee joint motion mechanism and an ankle joint motion mechanism; the hip joint motion mechanism is composed of a motor and a crank rocker mechanism, wher...

AI Technical Summary

Problems solved by technology

[0004] Each leg of the above-mentioned ostrich-like motion mechanism forms a closed-chain form through connecting rods, and has only one degree of freedom. It is different from the topology of the ostrich skeleton and cannot fully imitate the gait of the ostrich.

Each leg is driven by a motor, which is much smaller than the driving force and movement speed of ostrich muscles, and it is difficult to achieve the movement speed and weight-bearing capacity of ostriches

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