High-load three-section type leg structure suitable for electric foot-type robot
A robot, high-load technology, applied in manipulators, motor vehicles, transportation and packaging, etc., can solve the problem of lack of high-motion flexibility and high-load performance electric leg structure solutions, and achieve high degrees of freedom and large joint swing angles. , to ensure the effect of flexibility
Active Publication Date: 2019-12-20
SHANGHAI UNIV
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[0005] Legged bionic robots are developing towards high dynamics, motorization, and high loads, but currentl
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[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0056] Attached below Figure 1-8 Embodiments of the present invention are described in detail.
[0057] Such as figure 1 As shown, a high-load three-stage leg structure suitable for electric legged robots is characterized in that it includes a hip joint drive module 1, a hip joint module 2, a side swing joint drive module 3, a knee joint module 4, an ankle joint Module 5, calf module 6; among them, the hip joint drive module 1, the side swing joint drive mo...
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The invention discloses a high-load three-section type leg structure suitable for an electric foot-type robot. The structure comprises a hip joint driving module, a hip joint module, a side swing joint driving module, a knee joint module, an ankle joint module and a calf module; the knee joint module is connected with the hip joint module, and the output rotary power is used for realizing the hipjoint movement of the robot leg structure; the power output interface of the side swing joint driving module is connected with the knee joint module, and the output rotary power is used for realizingthe side swing joint movement of the robot leg structure; the power output interface of the knee joint module is connected with the ankle joint module, and the output rotary power is used for realizing the knee joint movement of the robot leg structure; and the power output interface of the ankle joint module is connected with the calf module, and the output rotary power is used for realizing theankle joint movement of the robot leg structure. The structure has three degrees of freedom of motion, and each degree of freedom can realize large-amplitude rotation, so that the movement flexibilityis good, and the load carrying capacity is strong.
Description
technical field [0001] The invention relates to the technical field of electric robots, in particular to a high-load three-section leg structure suitable for electric legged robots. Background technique [0002] The multi-segment leg structure of mammals has flexible movement ability, which is an important bionic basis for the structural design of legged robots. Among them, the three-segment leg structure not only retains the flexibility of movement and dead point support characteristics, but also reduces the complexity of the limb structure to the greatest extent. It is one of the mainstream solutions for the leg structure of footed bionic robots. In order to reduce the difficulty of control and improve the load-carrying capacity of the leg-foot structure, the existing three-legged bionic robot mainly adopts a four-degree-of-freedom configuration, with a hydraulic or motor system as the power source, and a four-bar linkage as the transmission chain. [0003] Patent 2018116...
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Login to View More IPC IPC(8): B62D57/032B25J17/02
CPCB25J17/0241B62D57/032
Inventor 贾文川苏桂淦王泽宇马书根孙翊袁建军鲍晟蒲华燕
Owner SHANGHAI UNIV