A seven-link based robot leg structure

A robot and seven-link technology, applied in the field of robotics, can solve the problems of lack of biped robots, low load, weak strength, etc., to achieve the effect of improving energy utilization, improving load capacity, and reducing peak torque

Active Publication Date: 2022-06-03
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in complex environments, the ability to walk and run anti-disturbance like humans is still "lacking" for biped robots
[0004] The existing robot series structure and four-link structure have the disadvantages of low load, weak strength, large energy loss, and large inertia of the legs, which need to be improved urgently

Method used

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  • A seven-link based robot leg structure
  • A seven-link based robot leg structure
  • A seven-link based robot leg structure

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Embodiment Construction

[0035] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0036] The present invention provides a seven-link leg structure of a robot, see figure 1 , mainly including the frame 1, the thigh link (the first thigh link 4 and the second thigh link 9), the calf link (the first calf link 5 and the second calf link 8), the auxiliary leg link ( The first auxiliary leg link 6 and the second auxiliary leg link 7), the friction foot 10 and the sliding wheel 11. A hip / knee joint motor 2, 3 is respectively installed on both ends of the frame 1, and the output shaft of the hip / knee joint motor 2, 3 is fixed with the hip joint connector 21. see Image 6 In this embodiment, the hip joint connector 21 is embedded in the groove provided by the frame 1, and the hip joint connector 21 has a rotating ring portion 21b and a connecting portion 21a connected to each other. The rotating ring portion 21b is fixed on the output shaf...

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Abstract

The invention discloses a robot seven-link leg structure, which includes a frame, and a hip / knee joint motor is respectively installed at both ends of the frame, and the output shaft of the hip / knee joint motor is fixedly connected to a hip joint connector; The connecting part of the hip joint connector is fixedly connected to the thigh link; each thigh link is freely twisted to connect the lower leg link through the knee joint; among the two lower leg links, the first calf link, the first secondary leg link and the friction foot Jointly hinged at one point, the second calf link and the second auxiliary leg link are jointly hinged at one point and a sliding wheel is installed at the hinge; the first auxiliary leg link and the second auxiliary leg link are mutually hinged; the first auxiliary leg link Connection springs are connected between the first lower leg connecting rod and the second auxiliary leg connecting rod and the second lower leg connecting rod through the spring; the auxiliary leg connecting rod, the lower leg connecting rod and the connecting spring form a triangular relationship. The invention can reduce the moment of inertia of the foot end, thereby improving the load-bearing capacity of the single leg of the robot and the control degree of the foot.

Description

technical field [0001] The invention relates to the field of robots, in particular to a seven-link-based robot leg structure. Background technique [0002] A biped robot is a bionic type of robot that can realize bipedal walking and related actions of the robot. In the future production and life, humanoid biped walking robots can help humans solve many problems, such as a series of dangerous or heavy tasks such as carrying objects and emergency rescue. [0003] The leg structure of the bipedal walking robot is similar to that of human beings, and it can walk like a human being. How to maintain balance without sacrificing speed is one of the obstacles to the development of bipedal robots. Today's state-of-the-art bipedal robots are capable of walking and running at relatively high speeds. However, in complex environments, the ability to walk and run as anti-interference as humans is still "lack" for biped robots. [0004] The existing robot tandem structure and four-bar l...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032Y02P70/10
Inventor 宋文杰钱义肇彭光越
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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