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Three-joint bionic mechanical leg capable of being assembled conveniently with autonomous distribution power

A technology of bionic mechanical legs and three joints, applied in the field of bionic robots, can solve the problems of inconvenient disassembly and maintenance, low charging efficiency, small joint torque, etc., and achieve the effect of improved reliability of the whole machine, simple structure and large joint torque

Pending Publication Date: 2018-09-28
长沙紫宸科技开发有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The technical problem to be solved by the present invention is to overcome the disadvantages of inconvenient disassembly and maintenance, small joint torque, complex structure and low charging efficiency in the above-mentioned prior art, and provide a kind of battery that is easy to install and disassemble, large joint torque, and relatively simple in structure. , three-joint bionic mechanical leg with self-distributed power, high reliability and high charging efficiency

Method used

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  • Three-joint bionic mechanical leg capable of being assembled conveniently with autonomous distribution power
  • Three-joint bionic mechanical leg capable of being assembled conveniently with autonomous distribution power
  • Three-joint bionic mechanical leg capable of being assembled conveniently with autonomous distribution power

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Embodiment 1

[0027] refer to figure 1 , figure 2, the present embodiment is a three-joint bionic mechanical leg with autonomous distribution of power, which has four degrees of freedom; it mainly includes a connecting frame 1, a three-dimensional joint 2, a thigh 3, a two-dimensional joint C, a calf 4, a two-dimensional joint D, and an elastic foot 5. Hydraulic power system 7, control device 6, hinge pin A, hinge pin B; connecting frame 1 is hinged through three-dimensional joint 2 and thigh 3; thigh 3 is hinged through two-dimensional joint C and lower leg 4; lower leg 4 is hinged through two-dimensional joint D It is hinged with the elastic foot 5; the connecting frame 1 is used to fixedly connect or disassemble the bionic mechanical leg with the bionic robot; the hydraulic power system 7 is fixed in the leg body of the thigh 3 and the calf 4, and is respectively connected with the three-dimensional joint 2, The hydraulic interfaces of the two-dimensional joint C and the two-dimensiona...

Embodiment 2

[0033] refer to image 3 , Figure 4 , the present embodiment is a three-joint bionic robot leg with autonomous distribution of power, which has four degrees of freedom. The main difference from Embodiment 1 is that the connecting frame 1 is provided with bolt mounting holes 102 to connect with the main body of the bionic robot; the thigh 3, calf 4 A circular member with a cavity is made of titanium alloy, wherein the thigh 3 and the lower leg 4 are provided with a solar thin film I 304, a solar thin film 404 is used for power generation; the elastic foot 5 adopts a hoof shape and is provided with a rubber damping member 501 and a piezoelectric member 502, which can realize vibration reduction and generate power by using walking vibration impact at the same time; the controller 601 is arranged in the thigh 3 and uses wireless bluetooth to transmit The device 603 replaces the electric plug-in and connects with the main body, and uses the wireless charging port 602 to charge t...

Embodiment 3

[0035] refer to Figure 5 , Figure 6 In this embodiment, the portable multi-joint bionic mechanical leg with autonomously distributed power has 4 degrees of freedom, and the main difference from Embodiment 1 is that the connecting frame 1 is provided with a card slot and a fixed pin hole 103 to connect with the main body of the bionic robot; the thigh 3. The calf 4 is made of aluminum alloy and is a square member with a cavity; the elastic foot 5 adopts a hoof shape and is provided with a leaf spring type vibration-absorbing and damping material 501; the controller 601 is arranged in the thigh 3; the hydraulic solenoid valve 704 is fixed on Upper leg 4; joint oil cylinder A204, joint oil cylinder B208, joint oil cylinder C02, and joint oil cylinder D02 use ordinary oil cylinders, and through the angle sensor I211, angle sensor 212. Angle sensor C05, angle sensor D05 to feed back the swing angle of the joint in real time; the joint is equipped with a multi-link mechanism...

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Abstract

The invention discloses a three-joint bionic mechanical leg capable of being assembled conveniently with autonomous distribution power. The three-joint bionic mechanical leg includes a thigh, a calf,an elastic foot, a connecting frame, a hydraulic power system and a control device, and the connecting frame, the thigh, the calf and the elastic foot are sequentially connected through joints in a hinged mode. The connecting frame is used for fixedly connecting or disassembling the bionic mechanical leg with the bionic robot. The hydraulic power system is disposed in a leg body of the thigh and / or the calf. The control device is disposed in the thigh and / or calf and / or a frame of the connecting frame, and is electrically connected to the hydraulic power system. A control system of the three-joint bionic mechanical leg capable of being assembled conveniently with the autonomous distribution power is simple in structure, convenient to install and disassemble, reliable in work, soft in action, large in joint torque, high in carrying capacity, high in charging efficiency and less in dependence on external energy.

Description

technical field [0001] The invention relates to a bionic robot, in particular to a three-joint bionic mechanical leg of a bionic robot with an autonomous distribution of power. Background technique [0002] In the prior art, compared with wheeled and tracked mobile robots, footed robots only need to touch the ground at discrete points when moving, can cross larger obstacles, and have a stronger adaptability to complex terrain, and the legs of footed bionic robots It can have multiple degrees of freedom, which greatly enhances the flexibility and performance of the movement. It can maintain the balance of the body by adjusting the angle of the supporting legs and the position of the elastic foot. It is not easy to tip over and has high stability. In the future, footed bionic robots will have broader application prospects in life services, pipeline maintenance, flood fighting and disaster relief, film and television performances, security and military affairs. [0003] For th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 尹小林韩建英
Owner 长沙紫宸科技开发有限公司
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