Serial and parallel mixed connection arm/leg mechanism for prosthetic robot fore limb mechanical system

A bionic robot and mechanical system technology, applied in the field of serial-parallel hybrid arm/leg mechanism, can solve problems such as limited ability to cross obstacles, difficult walking and obstacle-crossing operations, and small working space for one leg, so as to improve joint flexibility The effect of improving the stability, improving the rotation accuracy and improving the stability

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A bionic robot and mechanical system technology, applied in the field of serial-parallel hybrid arm/leg mechanism, can solve problems such as limited ability to cross obstacles, difficult walking and obstacle-crossing operations, and small working space for one leg, so as to improve joint flexibility The effect of improving the stability, improving the rotation accuracy and improving the stability

CN110294043APending Publication Date: 2019-10-01CHANGAN UNIV

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[0025] The present invention will be further explained below in conjunction with the drawings:

[0026] See Figure 1 to Figure 5 , A serial-parallel hybrid arm / leg mechanism for the forelimb mechanical system of a bionic robot, including a body 100, a hip joint 200 and an outrigger 300; two bodies 100 are fixedly connected side by side to form a body body, and both ends of the body body are respectively arranged There are hip joints 200, and legs 300 are connected below each hip joint 200;

[0027] The body 100 includes a body frame 1 and a motion branch chain 101; every two motion branches 101 form a branch chain group, and several branch chain groups are vertically fixed on the inner wall of the body frame 1; the motion branch chains 101 are used for hip joints All directions of translation, pitch or yaw movement;

[0028] The hip joint 200 includes a housing, a drive motor, an encoder connecting shaft 18, a thigh planet carrier 26, a thigh reducer 28, a lower leg planet carrier...

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Abstract

The invention relates to a serial and parallel mixed connection arm / leg mechanism for a prosthetic robot fore limb mechanical system. The serial and parallel mixed connection arm / leg mechanism comprises mechanism bodies, hip joints and landing legs; and the two mechanism bodies are fixedly connected side by side to form mechanism main bodies, the two ends of each mechanism main body are provided with the hip joints, and the lower portion of each hip joint is connected with one landing leg. The serial and parallel mixed connection arm / leg mechanism comprises a mechanism body part, hip joint parts and landing leg parts, movement of six poles can obtain transverse motion, pitching and yawing of the hip joints in all directions, and the work space and the joint flexibility of the series leg parts are improved. The hip joint structure adopts double motors of big and small legs, the coaxial structure is achieved through thigh planet carriers, the rotation accuracy of swing rotation of the big and small legs can be improved when the leg part moves, and meanwhile the walking stability can be improved.

Description

Technical field [0001] The invention relates to the field of intelligent robots, in particular to a series-parallel hybrid arm / leg mechanism used in the forelimb mechanical system of a bionic robot. Background technique [0002] With the increasing development of science and technology, there are more and more applications of footed robots, and people have higher and higher requirements for their work performance. In the field of precision manufacturing, many jobs require not only robots with dexterous hands, but also robots with flexible and precise arms / legs. However, although the mechanical arm / leg of the tandem structure is simple in structure and convenient to control, its rigidity is low. Parallel robots have high rigidity, large load-to-weight ratio, and can move at high speeds, but the control is complex, the working space is small and interference is easy. These problems make the robot's motion stiff in the working process, the reachable position is restricted by the f...

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Application Information

Patent Timeline

01 Oct 2019

Publication

CN110294043A

IPC: B62D57/032

CPC: B62D57/032

Inventors: 刘琼; 朱雅光