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Multi-connecting rod bionic mechanical leg and crawling robot

A technology of bionic mechanical legs and multi-links, which is applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of unbalanced force on the joints and complex mechanisms, and achieve the advantages of reducing the transmission angle, good bionic effect, and reducing bending Effect

Active Publication Date: 2019-06-21
瑞安市佰益医疗器械有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The specific actions are flexible and adapt to the environment of multiple working conditions. However, the existing mechanism is complex and the force on the joints is uneven.

Method used

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  • Multi-connecting rod bionic mechanical leg and crawling robot
  • Multi-connecting rod bionic mechanical leg and crawling robot
  • Multi-connecting rod bionic mechanical leg and crawling robot

Examples

Experimental program
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Embodiment Construction

[0018] Such as figure 1 As shown, the described multi-link bionic mechanical leg includes a base 1, a driving part 2, a rocker 3, a first connecting rod 4, an intermediate four-bar linkage 5 and an output four-bar linkage 6; the driving part 2 includes The steering gear and the steering gear disc installed on the output shaft of the steering gear, the steering gear is fixedly arranged on the base body 1, the end of the rocker 3 is connected to the base body 1 in rotation, and the eccentricity of one end of the first connecting rod 4 and the steering gear disc The positions are hinged, and the other end of the first connecting rod 4 is rotationally connected with the middle part of the rocking bar 3; the base 1, the steering wheel, the rocking bar 3 and the first connecting rod 4 constitute a crank rocker mechanism, and the base 1 is The frame is fixed, the steering wheel is a crank; the two known moving rods of the middle four-bar linkage mechanism 5 are the rocker 3 and the f...

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Abstract

The invention relates to the field of walking robots, in particular to a multi-connecting rod bionic mechanical leg and a crawling robot. The multi-connecting rod bionic mechanical leg comprises a matrix, a driving part, a rocking rod, a first connecting rod, an intermediate four-connecting rod mechanism and an output four-connecting rod mechanism; the driving part comprises a steering engine anda steering engine plate which is mounted on an output shaft of the steering engine; the output four-connecting rod mechanism 6 is hinged to two rods of the intermediate four-connecting rod mechanism 5; the intermediate four-connecting rod mechanism drives the output four-connecting rod mechanism 6 to work; an output rod of the output four-connecting rod mechanism 6 extends out to achieve the movement in a specified trajectory. The matrix, the steering engine plate, the rocking rod and the first connecting rod form a crank-rocker mechanism; the matrix is a fixed machine frame; the steering engine plate is a crank; the intermediate four-connecting rod mechanism consists of the rocking rod, the first connecting rod, a second connecting rod and a folding plate; the output four-connecting rod mechanism consists of a section of the rocking rod, the folding plate, a third connecting rod and an output rod.

Description

technical field [0001] The invention relates to the field of walking robots, in particular to a multi-link bionic mechanical leg and a crawling robot. Background technique [0002] Bionic robots refer to robots that imitate living things and work on biological characteristics. The specific action is flexible and adapts to the environment of multiple working conditions. However, the existing mechanism is complex and the force on the joints is uneven. [0003] The State Intellectual Property Office published the publication number CN105818881A on 2016.08.03, and the patent name is the link mechanism bionic mechanical leg and its quadruped robot, including the calf rod, the main driving part of the thigh for driving the calf rod to lift the leg and the driving part for driving the leg rod. The thigh auxiliary driving part of the calf rod for stepping also includes the power output end hinged to the main driving part of the thigh, the power output end of the auxiliary driving p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 林佳琳
Owner 瑞安市佰益医疗器械有限公司
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