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Bionic mechanical leg and bionic robot

A technology of bionic mechanical legs and steering gear, applied in the field of robotics, can solve problems such as limitations, restrictions on the movement ability of mechanical legs, and increased cost and weight of mechanical legs

Active Publication Date: 2021-06-11
SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Existing bionic mechanical legs are usually composed of several parts such as power actuators, legs, and soles. By using the power actuators to drive and control the legs and soles, the mechanical legs can perform bionic functions such as walking, jumping, and stepping. ; When the mechanical legs move, the soles of the feet and the ground often produce an impact, and the impact force will be transmitted to the power actuator through the legs. From the control aspect, it is often necessary to control the power actuator to generate a response force to offset the impact Since the impact force that the power actuator can withstand is very limited, if the impact resistance of the power actuator is simply improved, the cost and weight of the mechanical leg will increase; otherwise, the preset motion performance of the mechanical leg needs to be improved. Restriction, which will seriously restrict the movement ability of the mechanical leg

Method used

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  • Bionic mechanical leg and bionic robot
  • Bionic mechanical leg and bionic robot
  • Bionic mechanical leg and bionic robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] Please refer to Figure 1 to Figure 3 , the present embodiment provides a bionic mechanical leg, which is mainly composed of a hip steering gear 1, a leg steering gear 2, a leg bone part 3, a heel part 4, a knee joint rotation pair 5, and a leg buffer part 6; the following Explain separately.

[0043] see figure 1 , figure 2 with image 3, the hip steering gear 1 and the leg steering gear 2 belong to the power components of the entire mechanical leg, both of which can be composed of existing components such as motors, reducers, gears (or synchronous wheels, synchronous belts) and a driving device capable of outputting rotational power; wherein, the body of the hip steering gear 1 is mainly used to be fixed at a preset position according to the application scenarios of the mechanical legs, for example, when the mechanical legs are used as a walking function part of the machine equipment, The body of the hip steering gear 1 can be fixedly installed on the main body o...

Embodiment 2

[0056] see Figure 4 to Figure 7 , this embodiment provides a bionic robot, which is mainly composed of body mechanism A and leg mechanism B; wherein, body mechanism A can be understood as the upper limb part of the robot or other parts except the leg mechanism B, which can be It is a combination of such as upper limb actuators, control systems, vision systems, etc. It can also be used to provide a structural assembly space for the leg mechanism B and can be driven by the leg mechanism B at any location. The structural carrier for position movement in the space environment; the leg mechanism B plays the role of realizing the bionic functional actions of the robot as a whole such as walking, jumping, stepping, turning, etc. The bionic mechanical leg is fixedly installed on the body mechanism A through the body of the hip steering gear 1 (specifically, the body of the third steering gear part 13); and the number of leg mechanisms B can be determined according to the simulated or...

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Abstract

The invention discloses a bionic mechanical leg and a bionic robot. The bionic mechanical leg comprises a leg bone piece, a leg steering engine for driving the leg bone piece to swing and rotate, a hip steering engine for driving the leg steering engine to swing and rotate, a heel part connected with the leg bone part through a knee joint rotating pair, and a leg buffering part connected between the heel part and the hip steering engine body and used for absorbing and / or transmitting impact force borne by the heel part. The hip steering engine, the leg steering engine, the leg bone part, the heel part and the leg buffering part jointly form a closed connecting rod mechanism, part of impact force can be absorbed through the leg buffering piece so as to achieve the damping and buffering effect, and the effect that the impact force is converted into the whole mechanical leg and a mechanical leg application carrier to be borne can be achieved; and therefore, the impact resistance of the mechanical leg can be greatly improved, and favorable conditions can be created for improving the movement ability (such as walking speed, jumping height and the like) of the mechanical leg and expanding the application scene of the mechanical leg.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a bionic mechanical leg and a bionic robot. Background technique [0002] As we all know, the bionic mechanical leg is a mechanical device that imitates the physiological structure and functional actions of animal legs. It is widely used in many fields such as medical rehabilitation, industrial production, life entertainment, etc. Human exoskeleton and so on are the embodiment of the specific application of bionic mechanical legs. [0003] Existing bionic mechanical legs are usually composed of several parts such as power actuators, legs, and soles. Using the power actuators to drive and control the legs and soles, the mechanical legs can perform bionic functions such as walking, jumping, and stepping. ; When the mechanical legs are moving, the soles of the feet and the ground often have an impact, and the impact force will be transmitted to the power actuator through the legs. F...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 潘阳余杰先
Owner SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA