A bionic knee joint with variable transmission ratio for robots

A knee joint and robot technology, applied in the field of bionic knee joints, can solve problems such as difficulty in moving quickly and flexibly, increasing robot size and weight, and reducing reverse drivability, so as to improve speed and reverse drivability , reduce torque demand, and avoid the effect of large reduction ratio

Active Publication Date: 2020-12-22
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • A bionic knee joint with variable transmission ratio for robots
  • A bionic knee joint with variable transmission ratio for robots
  • A bionic knee joint with variable transmission ratio for robots

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Embodiment Construction

[0056] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0057] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J9/10
CPCB25J9/10B25J17/00
Inventor 黄强刘华欣刘伯韬何泽文孟非明爱国
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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