Bionic mechanical leg

Abstract

The invention belongs to the related technical field of humanoid robots, and discloses a bionic mechanical leg which comprises a hip, a hip joint, a thigh, a knee joint, wherein the hip and the hip joint are composed of shape memory alloy, reset springs, cross shafts and screw rods, the thigh is composed of second telescopic pieces, and the knee joint is provided with two rotating shafts. Besides, the leg also includes a shank part and an ankle joint that are composed of shape memory alloy and cross shafts. The bionic mechanical leg has the advantages that the joint movement of the bionic mechanical leg is driven by the shape memory alloy, so that the bionic mechanical leg can be better matched with the physiological property of the muscle of a human body, and the three degrees of freedom at the hip joint are mutually independent, so as not to interfere with each other; and a displacement compensation structure is adopted, so that the problem that the joint is easy to block during movement is solved, and the flexibility and the precision of movement are greatly improved.

Description

technical field [0001] The invention belongs to the related technical field of humanoid robots, and more specifically relates to a bionic mechanical leg. Background technique [0002] The development of prosthetics requires the disabled to assist in the test to evaluate the function and quality of the prosthesis, but this increases the development cost and prolongs the development time. Since the tested prostheses are not always fully functional, it may also cause secondary injuries to the disabled. . With the development of society, people have more and more stringent requirements on the comfort of prosthetics. Bionic technology can break the boundaries between organisms and machines, and communicate different systems. It is widely used in the technical field of prosthetics, especially bionic mechanical legs. Chinese patent CN108438090A discloses a bionic mechanical leg driven by artificial muscles. The hip joint is driven by three motors to achieve three-degree-of-freedo...

AI Technical Summary

Problems solved by technology

However, in this patent, two driving sources are used, which lack anthropomorphism. In terms of the hip joint, the bionic drive mechanism is not designed for the hip joint, and the internal and external rotation of the hip joint and the varus and valgus movement interfere; in terms of the knee joint , the bottom of the thigh support and the calf knee cap are connected by a connecting rod, which does not conform to the state that the human femur and calf bone are always connected during the backbending movement; in terms of the ankle joint, the design of the displacement compensation part is too complicated and there are many parts , high manufacturing precision requirements, many processing procedures, increased costs, and prone to jamming

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