Leg robot single-leg device with rigid and flexible switchable joint

A robot and joint technology, which is applied in the field of footed robot single-leg devices, can solve the problems of complex design of the lower leg and joints, and reduce the dynamic performance of the footed robot's single leg, so as to improve space utilization, light weight, and increase strength. Effect

Active Publication Date: 2018-02-02
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the flexible leg of the legged robot is directly added to the joint motor part, or the lower leg part, or the flexible part, or through the reduction box, or other transmission methods, so as to

Method used

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  • Leg robot single-leg device with rigid and flexible switchable joint
  • Leg robot single-leg device with rigid and flexible switchable joint
  • Leg robot single-leg device with rigid and flexible switchable joint

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Embodiment Construction

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0033] The footed robot single-leg device with rigid-flexible interchangeable joints of the present invention includes a hip part 1, a thigh part 2 and a lower leg part 3, such as figure 1 shown

[0034] The hip part 1 is directly fastened to the legged robot body. Hip part 1 adopts compact structure, comprises left connecting plate 101, right connecting plate 102 and hip driving mechanism 103, as figure 2 shown. Hip driving mechanism 103 comprises motor housing 103a, motor 103b, left bearing assembly 103c, right bearing assembly 103d and potentiometer 103e, as image 3 shown. Wherein, the motor casing 103a is fastened on the right connecting plate 102 by bolts, and the motor casing 103a utilizes the space of the motor reduction box, and is connected with the reduction box part casing of the motor 103b by bolts without changing the strength. ; Through t...

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Abstract

The invention discloses a leg robot single-leg device with a rigid and flexible switchable joint. The leg robot single-leg device comprises a hip component, a thigh component and a crus component andhas three degrees of freedom totally. A drive mounting part of the three degrees of freedom adopts a mounting mode with the compact structure, so that a robot single leg is simple in structure, the weight of the single leg is reduced, and the dynamic performance of the single leg is improved. The degree of freedom of a knee joint achieves the quick rigid and flexible joint switchable function by means of a parallel four-bar structure as well as change of the properties of connecting bars. As for the flexible single leg, the buffer resistance and flexible joint functions are achieved to a certain extent. By application of parallel four-bars, a single-leg drive motor and other modules are installed close to a hip joint, a simple carbon fiber tube is adopted by the crus component, accordingly, the weight is reduced, and the overall dynamic performance is improved. As the simple carbon fiber tube is adopted by the crus component, the function that the crus and the feet are quickly replacedcan be achieved.

Description

technical field [0001] The invention belongs to the field of mechanical design, and relates to a legged robot single-leg device with rigid-soft interchangeable joints. Background technique [0002] The rigid legs of traditional legged robots have three degrees of freedom, and the knee joint is the most important link. The rigid legs of legged robots are more suitable for light and small robots, and the rigid legs can realize the characteristics of precise control and stable operation. During the use of large-scale footed robots, they often have a huge impact on the knee joints of the legs due to rigid contact with the ground, which greatly shortens the service life of the legs. The flexible leg of the current research is a hotspot. At present, the flexible leg of the legged robot is directly added to the joint motor part, or the calf part, or the flexible part, or through the reduction box, or other transmission methods, so as to realize the impact resistance and flexibili...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 丁希仑陈佳伟张群徐坤康林红
Owner BEIHANG UNIV
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