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Three-degree-of-freedom leg joint based on differential gear train and method

A technology of differential gear train and degrees of freedom, which is applied in the fields of motor vehicles, transportation and packaging, can solve the problems of large volume of robot driving legs, large energy consumption of driving mechanism, complicated mechanism and control, etc., and achieves the realization of modular design, Simple structure, easy to use effect

Active Publication Date: 2019-08-06
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the mechanism and control of this type of robot are complicated at present.
The movement of the leg joints of most legged robots is driven by multiple actuators, such as motors, which are installed far away from each other, resulting in the robot's driving legs being too large in size, with scattered mass, and excessive inertia at the far end, resulting in energy consumption of the driving mechanism. is too big

Method used

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  • Three-degree-of-freedom leg joint based on differential gear train and method

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Embodiment Construction

[0027] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0028] This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

[0029] Such as figure 1 As shown, the present invention discloses a three-degree-of-freedom leg joint based on a differential gear train, including a bracket, first to third drive motors, first to second transmission gears, first to third bevel transmission gears, Swivel frame, proximal driving legs, distal driving legs, and first to third connection modules;

[0030] The bracket includes a first fixing plate, a second fixing plate, a front mounting plate, a middle mounting plate and...

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Abstract

The invention discloses a three-degree-of-freedom leg joint based on a differential gear train and a method. The leg joint comprises a support, a first driving motor, a second driving motor, a third driving motor, a first transmission gear, a second transmission gear, a first conical transmission gear, a second conical transmission gear, a third conical transmission gear, a rotary frame, a near-end driving leg and a far-end driving leg. According to the three-degree-of-freedom leg joint, the differential gear train is adopted for achieving rolling and pitching of the driving leg mechanism, andthe revolute pair is adopted for achieving relative rotation of the far-end driving leg and the near-end driving leg. The three-motor-driven leg joint based on the differential gear train has the advantages of being small in size, compact in driving mechanism and capable of reducing rotational inertia, and can be used as a driving joint on a small foot type robot.

Description

technical field [0001] The invention relates to the field of robot leg joints, in particular to a three-degree-of-freedom leg joint and method based on a differential gear train. Background technique [0002] In the 1960s, the process of humans understanding, researching and reproducing the outstanding characteristics of living things formed a discipline - Bionics. Experts and scholars in this field have conducted long-term experimental observations on creatures in nature, and conducted detailed analysis of their movement characteristics and biological characteristics, and found that legged animals have strong advantages in environmental adaptability. With the unremitting efforts of researchers at home and abroad, the bionic legged mobile robot imitates the movement characteristics of legged animals, and moves forward alternately by controlling the legs of one or more degrees of freedom. Its terrain adaptability is higher than that of wheeled and tracked mobile robots. Robo...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 王伟吉爱红沈欢张曦元李倩秦国栋袁吉伟
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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