Installing conveniently type multi-joint bionic mechanical leg with self-distributed power

Abstract

The invention relates to an installing conveniently type multi-joint bionic mechanical leg with self-distributed power. The installing conveniently type multi-joint bionic mechanical leg comprises a thigh, lower legs and a foot, a connecting frame, a power device and a control device, wherein the connecting frame, the thigh, the lower legs and the foot are sequentially connected through joints; the number of the lower legs is at least two; and the power device and the control device are arranged in a frame of the thigh and / or the lower legs and / or the connecting frame. The installing conveniently type multi-joint bionic mechanical leg is fixedly connected to a bio-robot main body, is convenient to disassemble and replace, has a wide application range, and is easy to operate and control.

Description

technical field [0001] The invention relates to an intelligent bionic robot, in particular to a multi-joint bionic mechanical leg for a large multi-legged robot. Background technique [0002] The footed robot with multi-degree-of-freedom bionic mechanical legs is flexible and flexible, and its flexibility and performance are greatly enhanced. It can cross larger obstacles, such as ditches and ridges. It has aroused the attention of scientific and technological workers in various countries. [0003] For the key component of the bionic robot—the bionic mechanical leg, the research results at home and abroad are quite rich, and there are many types, which can be summarized as follows. [0004] The first category is bionic mechanical legs with 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: firs...

AI Technical Summary

Problems solved by technology

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: first, the power is concentrated on the main frame, and the structure is complicated. The installation and maintenance are inconvenient and the reliability is poor; the second is that the movement mode is single, which is only suitable for specific road surfaces and cannot adapt to rough and complex terrain; 2-3 degrees of freedom, not easy to expand the degree of freedom to achieve more functions

For example, an electronic robot disclosed in CN201220166860.9 uses servo motors such as hip servos, leg servos, and ankle servos to realize leg swinging or turning motions, and can perform dancing, waist twisting, walking and various complex movements; CN 201110142086.8 discloses a twelve-legged robot, which drives the joint movement of the legs with the main servo motor, movable servo motor, and rotating servo motor; this type of bionic leg has the following disadvantages: first, these bionic legs have no self-powered power, and the power is concentrated in the robot. On the main frame, it needs to be transported to the bionic leg through a cable, and the whole machine is easily paralyzed due to the wear and tear of the connecting cable; second, the integrated centralized power supply is arranged on the main body of the bionic robot, which has the problems of long charging time and low charging efficiency. The third is that these mechanical legs are connected to the power on the main frame, and installation and maintenance are mostly inconvenient. Fourth, when a centralized controller is used to control the movements of all joints 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 joint motion of the bionic legs; although the bionic legs of these robots solve the problem of small joint torque It is suitable for large-scale multi-legged robots, but there are still the following problems: First, 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 hydraulic power for the joints of each bionic leg. Or the hydraulic pipeline is worn out and paralyzed; second, the integrated centralized power supply is arranged on the main body of the bionic robot, which has the problems of long charging time and low charging efficiency; third, the bionic legs and the connecting cables or / and hydraulic pipelines arranged in them It must be directly connected with the main body frame of the robot, which is extremely inconvenient for disassembly and maintenance; Fourth, generally only 2-4 degrees of freedom are set in consideration of the reliability and complexity of the connection between pipelines, lines and the main body of the bionic robot

[0007] On the other hand, industrial robots with multiple degrees of freedom have been used maturely, and the control algorithm and control accuracy can meet the actual industrial needs. system, base system, the mechanical arm system includes a shoulder joint, an upper arm rod, an elbow joint, a forearm rod and a wrist joint, the shoulder joint and the elbow joint are fixedly connected by the upper arm rod, and the elbow joint and the wrist joint are fixed by the forearm rod Connection; the flexibility brought by multiple degrees of freedom of this type of industrial robot, and the multi-degree-of-freedom control algorithm have a good reference for the development of bionic legs of footed robots; but if they are directly used as bionic mechanical legs, there are the following defects: First, industrial robots generally use large reducers and servo motors to ensure joint torque and running accuracy, which are large in size and weight, and are not suitable for use on bionic legs of legged robots; second, most industrial robots are driven by servo motors , the action precision is high, but the action is relatively stiff and not soft, which is not suitable for the actual situation of the bionic leg movement of the legged robot; third, most industrial robots are controlled by external power, and the cable harness is complicated, which is very easy to wear due to the connection cable And paralyzed

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