Bionic leg capable of being assembled conveniently

Abstract

The invention discloses a bionic leg capable of being assembled conveniently. The bionic leg capable of being assembled conveniently comprises a thigh, a calf and a foot. The bionic leg capable of being assembled conveniently is characterized by further comprising a connecting frame, a power device and a control device, and the connecting frame, the thigh, the calf and the foot are connected in sequence through joints; the connecting frame is used for fixedly connecting or disassembling the bionic leg with a bionic robot; the power device is disposed in the thigh and / or the calf, and / or the foot for providing power drive for the bionic leg; and the control device is disposed in the thigh and / or the calf, and / or the foot, and / or the connecting frame for controlling movement of the bionic leg. The bionic leg capable of being assembled conveniently can be conveniently and fixedly connected and disassembled with the bionic robot, and operating control is simple.

Description

Technical field [0001] The invention relates to a bionic robot, in particular to a casual-fitted bionic leg of the bionic robot. Background technique [0002] Compared with wheeled and tracked mobile robots, the bionic robot only needs to touch the ground at discrete points when it moves. It can overcome larger obstacles and has a stronger ability to adapt to complex terrain. The legs of the bionic robot can have multiple degrees of freedom. Movement flexibility and performance are greatly enhanced. The body can be balanced by adjusting the angle of the support leg and the position of the foot point. It is not easy to tip over and has high stability. In the future, bionic robots will have broader application prospects in life services, pipeline maintenance, flood relief, film and television performances, security and military affairs. [0003] For the key component of the bionic robot-the bionic mechanical leg, there are rich research results at home and abroad, and there are many...

AI Technical Summary

Problems solved by technology

[0004] The first category is bionic mechanical legs using mechanical transmission. For example, CN 201510404058.7 discloses a leg structure of a legged robot, which uses chains, sprockets, and multi-link mechanisms to realize leg movement; this type of bionic leg has the following defects: One is that it is only suitable for light-duty or light-loaded robots, and the joint torque is small, so it cannot be applied to large-scale or heavy-duty bionic robots; the other is that these bionic legs have no power of their own, and the power is concentrated on the main frame, which has a complex structure and is inconvenient to install and maintain , poor reliability; third, the movement mode is single, which is only suitable for specific road surfaces, and cannot adapt to rough and complex terrain; fourth, the nonlinear relationship between the driver and the joint motion leads to a complex control system; fifth, the integrated centralized power supply has long charging time and The problem of inefficiency

[0005] The second category uses "servo motor + reducer" to drive the rotary motion of the bionic leg joints, such as an electronic robot disclosed in CN201220166860.9, which uses servo motors such as hip servos, leg servos, and ankle servos to realize leg swings Or turning movement, can perform dancing, twisting, walking and multiple complex movements; CN 201110142086.8 discloses a twelve-legged robot, which drives the leg joints with a main servo motor, a movable servo motor, and a rotating servo motor; this type of bionic The legs have the following deficiencies: First, they have no power, and the power is mainly concentrated on the main body of the robot. The driving mechanism and control cables of each joint in the bionic leg are directly connected to the main body of the robot. There are many connecting cables, and the connecting cables are easily worn out. And the whole machine is paralyzed; second, when disassembling and maintaining the bionic leg, it is quite inconvenient to disassemble and maintain due to the many connecting cables; For a large-capacity battery, the charging time is long and the charging efficiency is low; Fourth, a centralized controller is used to control the joint movements of all bionic legs, the control program is complicated, and the programming workload is large

[0006] The third category is bionic mechanical legs driven by hydraulic power, such as a quadruped robot disclosed in CN201510644743.7, which uses an electric servo hydraulic source drive system to drive the bionic leg joints; the bionic legs of these robots have the following problems: one , the power source is concentrated on the main frame, and the hydraulic power system on the main frame of the robot needs to provide the joint hydraulic power of each bionic leg, which is easily paralyzed due to the wear and tear of the connecting cables or hydraulic pipes; second, its integrated centralized power supply arrangement On the main body of the bionic robot, there are problems of long charging time and low charging efficiency; third, the joint motion of the linear oil cylinder and the driver present a nonlinear relationship, resulting in a complex control system; fourth, the bionic legs and the connecting cables arranged in them Or / and hydraulic pipes must be directly connected to the main frame of the robot, which is extremely inconvenient for disassembly and maintenance

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