A bionic knee joint with variable transmission ratio for robots

Abstract

The application discloses a robot bionic knee joint variable in transmission ratio. The bionic knee joint variable in transmission ratio can comprise a knee joint drive device, an inner leg plate, anouter leg plate, a triangular support and a trifurcate linkage rod. The outer leg plate, the inner leg plate, the triangular support, a first short linkage rod, a second short linkage rod and the trifurcate linkage rod can form a cross four linkage mechanism. The cross four linkage mechanism designed by imitating animal knee joint cruciate ligaments can realize reduction ratio change when the kneejoint bends and stretches, increases the reduction ratio along with increase of the required force moment in the bending movement process, reduces the demand for the torque of a motor, avoids large size and large wight for the large motor, saves space, and improves control accuracy. The bionic knee joint variable in transmission ratio not only is compact in structure, but also can provide the vibrable reduction ratio, and can meet the demand for the high torque on the premise of selecting a small size motor reducer.

Description

technical field [0001] The present application relates to the technical field related to robots, in particular to a bionic knee joint with a variable transmission ratio of a robot. Background technique [0002] In general, the knee torque required for a robot to stand is increased by bending the knee. also. When the robot performs dynamic movements such as jumping and running, the load on the knee joint will increase accordingly. That is, there is a relatively large relationship between the output torque of the knee joint and the kinematic performance of the robot. [0003] In order to increase the output torque, a high-torque motor or a motor with a high reduction ratio is generally used to meet the torque required for the flexion position of the leg. However. Using high-torque motors increases the size and weight of the robot, which is detrimental to motion performance. [0004] In addition, if a reducer with a high reduction ratio is used, the output speed at each jo...

AI Technical Summary

Problems solved by technology

Using high-torque motors will increase the size and weight of the robot, which is detrimental to motion performance

[0004] In addition, if a reducer with a high reduction ratio is used, the output speed at each joint will be reduced, and the reverse drivability will be reduced, which makes it difficult for them to move quickly and flexibly like animals

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