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A humanoid robot leg with step forward function

A robot leg and machine technology, applied in the field of humanoid robot legs, can solve problems such as the inability to translate the center of gravity, break the balance of force, and prone to tilting, etc., and achieve the effect of simple and reasonable structure, high motion stability, and improved stability

Active Publication Date: 2021-07-09
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This is because if a biped robot has one of its feet off the ground, its force balance must be broken, and it is prone to tilt.
That is, there are certain defects in the existing biped robots: because the center of gravity cannot be translated, it is impossible to walk

Method used

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  • A humanoid robot leg with step forward function
  • A humanoid robot leg with step forward function
  • A humanoid robot leg with step forward function

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Experimental program
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Embodiment Construction

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0017] see figure 1 and figure 2 As shown, a humanoid robot leg with a step forward function of the present invention includes a hip joint, a robot leg A4 and a robot leg B5 that are rotatably mounted on the hip joint.

[0018] see figure 2 As shown, the hip joint includes a hip joint base plate 10, a bracket A33 and a bracket B34 fixedly installed on the hip joint base plate 10, and a lead screw 11 and a guide rail 12 respectively installed at both ends on the bracket A33 and the bracket B34. The hollow rotating shaft A21 and the hollow rotating shaft B22 collinear on the bottom plate of the hip joint 10, rotate the driving wheel A23 installed on the hollow rotating shaft A21, rotate the driving wheel B24 installed on the hollow rotating shaft B22, and pass through the hollow rotating shaft A21 and the hollow rotating shaft A21. ...

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Abstract

The invention discloses a humanoid robot leg with the function of stepping forward, belonging to the field of humanoid robot legs. It includes the hip joint, the machine leg A and the machine leg B which are rotated on the hip joint; the hip joint includes the bottom plate of the hip joint, bracket A, bracket B, screw, guide rail, hollow shaft A, hollow shaft B, driving wheel A , the driving wheel B and the rotating shaft, the rotating shaft is equipped with friction wheel A, anti-compression coil spring A, thrust bearing A, thrust bearing B, anti-compression coil spring B, pressure applying slider and friction wheel B; machine legs A and The structure of the machine leg B is exactly the same, including the machine thigh, fixed shaft, driven wheel, machine shank and machine foot. The invention is a walking robot leg with a simple and reasonable structure, which can realize the translation of the center of gravity before and after the step, is suitable for the walking of a robot, and has higher motion stability.

Description

technical field [0001] The invention mainly relates to the field of humanoid robot legs, in particular to a humanoid robot leg with the function of stepping forward. Background technique [0002] With the continuous development of robot technology, the application of biped robot will require it to have strong energy to overcome obstacles, so as to adapt to the complex landform environment in nature. Most of the biped robots walking in the prior art are based on rolling forward, that is, the robot feet never leave the ground during the walking process. This is because, if one of the robot feet of the biped robot leaves the ground, its force balance must be broken, and it is prone to tilt. That is, there is a certain defect in the existing biped robot: it is impossible to walk because the center of gravity cannot be translated. Therefore, it is of great significance to design a robot leg that can realize the translation of the center of gravity and have the effect of steppin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 班书昊李晓艳席仁强
Owner CHANGZHOU UNIV