Biped robot lower limb structure based on modular joints

A biped robot and modular joint technology, applied in the field of lower limb structure of biped robots, can solve the problems of large inertia, unfavorable stable walking of biped robots, low center of gravity, etc., and achieve easy maintenance, improve interchangeability, and reduce costs. Effect

Active Publication Date: 2020-09-22
敬科(深圳)机器人科技有限公司
View PDF8 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The above-mentioned existing technical solutions have the following defects: the ankle motor is arranged at the ankle, and the knee joint motor is arranged at the knee joint, so that th

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Biped robot lower limb structure based on modular joints
  • Biped robot lower limb structure based on modular joints
  • Biped robot lower limb structure based on modular joints

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0036] The present invention will be further described in detail below with reference to the accompanying drawings.

[0037] refer to figure 1 and figure 2 , which is a lower limb structure of a biped robot based on modular joints disclosed in the present invention, which raises the center of gravity of the feet, so that the inertia of the feet will be smaller when swinging, which is helpful for the stable walking of the feet, including: Left and right feet, the left and right feet are vertically parallel, and the parts on the left and right feet are mirror images of each other, so as to facilitate the exchange of the upper parts of the left and right feet; the single foot includes: hip joint mechanism 1, thigh piece 2 , Knee joint mechanism 3 and calf mechanism 4, the lower end of the hip joint mechanism 1 is rotatably connected with the upper end of the thigh piece 2, the hip joint mechanism 1 is used to drive the knee joint mechanism 3 and the calf mechanism 4 to swing ba...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a biped robot lower limb structure based on modular joints. The biped robot lower limb structure comprises hip joint mechanisms, thigh pieces, knee joint mechanisms and shankmechanisms, the lower ends of the hip joint mechanisms are rotationally connected with the thigh pieces, and the hip joint mechanisms are used for driving the knee joint mechanisms and the shank mechanisms to swing front and back, swing left and right and rotate inside and outside; the knee joint mechanisms are fixedly arranged on the thigh pieces and used for driving the shank mechanisms to swingfront and back; and the shank mechanisms are movably arranged at the lower ends of the thigh pieces and driven by the knee joint mechanisms to rotate forwards and backwards. The gravity center of thelegs of the biped robot can be adjusted upwards, so that the inertia of the legs of the biped robot is smaller during swinging, and the biped robot can walk more stably and quickly.

Description

technical field [0001] The invention relates to the technical field of biped robots, in particular to a lower limb structure of a biped robot based on modular joints. Background technique [0002] Bipedal robot is a multi-disciplinary integration and interdisciplinary comprehensive discipline, involving bionics, mechanics, control theory and control engineering, sensor information fusion, computer science and other disciplines, involving mechanics, stability theory, control theory and many other issues. [0003] Because the biped robot is designed to imitate the human feet, the whole leg is divided into the sole, the calf and the thigh. ; Generally, in order to drive the sole of the foot to lift, an ankle drive motor will be set at the ankle, and the purpose of driving the sole of the foot to lift is achieved by the drive of the ankle drive motor, and in order to drive the calf to swing backward, it will also be set at the knee joint A knee joint drive motor makes the knee...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 郭廷山孙敬颋王恒恒陈杰
Owner 敬科(深圳)机器人科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap