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Foot-type robot single-leg device and foot-type robot

A robot, single-leg technology, applied in the field of robots, can solve problems such as high cost and complex structure, and achieve the effects of low cost, simple structure and high parts reuse rate

Inactive Publication Date: 2018-11-13
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a footed robot single-leg device and a footed robot, which are used to solve the problems of complex structure and high cost in the existing footed robot single-leg structure

Method used

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  • Foot-type robot single-leg device and foot-type robot

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Embodiment Construction

[0026] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings, so that those skilled in the art can better understand the present invention. It should be noted that in the following description, when detailed descriptions of known functions and designs may dilute the main content of the present invention, these descriptions will be omitted here.

[0027] Such as figure 1 As shown, the present invention provides a legged robot single-leg device, including a hip part 12, a thigh part 13 and a calf part 14; the hip part 12 is connected to the hip drive mechanism 1 through a hip connector and forms a hip joint; The hip part 12 and the thigh part 13 are connected through the first rotation pair 4 to form a hip joint; the thigh part 13 and the lower leg part 14 are connected through the second rotation pair 5 to form a knee joint. Among them, the hip joint is the degree of freedom of rotation around the X axis; the hip jo...

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Abstract

The invention discloses a foot-type robot single-leg device and a robot. The foot-type robot single-leg device and the robot are used for solving the problems that an existing foot-type robot single-leg structure is complex in structure and high in cost. The foot-type robot single-leg device comprises a hip part, a thigh part and a shank part. The hip part and a hip driving mechanism are connectedthrough a hip connecting piece to form a hip joint; the hip part and the thigh part are connected through a first rotating pair to form a crotch joint; the thing part and the shank part are connectedthrough a second rotating pair to form a knee joint; the hip part is connected with the thigh part through a hip-leg connecting piece; the hip part is driven by the hip driving mechanism, thus the thigh part rotates around the X-axis, and the thigh part is driven by a crotch driving mechanism to rotate around the Y-axis; a knee driving mechanism on the thigh part is connected with the shank partthrough a shank connecting piece, and the shank part is driven by the knee driving mechanism to rotate around the Y-axis; and the hip driving mechanism, the crotch driving mechanism and the knee driving mechanism are of the same structure and are all ball screw driving units.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a footed robot single-leg device and a footed robot. Background technique [0002] At present, the walking mechanism of land walking robot mainly includes wheel type, crawler type and foot type. The biggest difference between legged robots and wheeled and tracked robots is that their contact with the ground is discontinuous during walking, so legged robots have good environmental adaptability and can walk on complex terrain Under certain conditions, it can be widely used in military, civilian and entertainment fields. The leg structure of the legged robot is an important part of the robot and plays a very important role in the movement of the legged robot. [0003] Existing legged robots have hydraulic drive, electric drive, pneumatic drive and so on. Hydraulic drive requires a complex hydraulic system. Pneumatic drive has the characteristics of uneven movement and difficult cont...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 郝家胜史天宝程洪罗双庆况逸群
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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