Human walking simulating mechanical leg

Abstract

The invention relates to a humanoid walking mechanical leg which comprises a hip support, a thigh support, a shank support, a foot supporting plate and an ankle joint unit, the ankle joint unit comprises a plurality of groups of ankle driving mechanisms and an ankle connecting support, and each ankle driving mechanism comprises an ankle driving motor, an ankle transmission assembly, an ankle sliding assembly and an ankle connecting rod. An output shaft of the ankle driving motor controls the foot supporting plate to rotate through transmission of other components, the ankle connecting rod is connected with the ankle sliding assembly and the foot supporting plate through spherical hinges, and the shank support is rotationally connected with the foot supporting plate through the ankle connecting support. A driving or transmission mechanism does not need to be mounted near the rotating shaft of the ankle joint, so that the complexity of the mechanism is reduced, the weight of the ankle joint is reduced, the driving force for controlling the ankle joint is reduced, and the sensitivity of the ankle joint is improved; the ankle telescopic piece is arranged on the thigh support, so that the weight of the shank support can be reduced, and the torque required for driving the hip joint and the knee joint is reduced.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a humanoid walking mechanical leg. Background technique [0002] In the prior art, the design of the legs of the robot mostly adopts the coaxial scheme of the drive motor and the degree of freedom. The drive motor itself is large and takes up a lot of space. The internal space cannot be used reasonably, which affects the setting of other components in the robot. If you want to keep the size of the robot from being too bloated, it will lead to large restrictions on the volume and shape of the motor and reducer, and problems such as limiting the power of the drive will affect the accuracy and strength of the robot. The specific situation is particularly obvious in the design of the legs, because the legs need stronger supporting force and a larger drive motor. [0003] The hip joint needs to have 3 degrees of freedom (the front and back swing of the thigh, the left and right swin...

AI Technical Summary

Problems solved by technology

The drive of the hip joint in the up and down direction adopts a coaxial reduction mechanism, and the up and down directions from the motor to the hip joint are all coaxial, the motor is in a vertical state, and the space utilization rate is not high; the drive of the hip joint in the front, back, left and right directions is The motors are all installed near the hip joint, resulting in complex and bloated hip joint mechanism. When the motor is placed inside the thigh, the axial direction of the motor is the width direction of the thigh, which limits the length of the motor and reducer and limits the driving power.

At the same time, the motor in the existing structure obviously protrudes from the main structure of the mechanical leg, which affects the "sit down" action of the robot

The knee joint needs to have one degree of freedom (for the forward and backward swing of the calf). In the existing technology, the driving motor is placed on the axis of the knee joint. If you want to simplify the volume of the knee joint, the space is small, the driving force is limited, and the space utilization rate is low. Not high; the ankle joint needs to have 2 degrees of freedom (forward and backward rotation of the foot, left and right rotation). In the existing technology, the motor is placed on the two shafts of the ankle joint or driven by a synchronous belt. The mechanism is more complicated, bloated, and takes up a lot of space , the space utilization rate is not high

If the driving mechanism is placed inside the calf, the weight of the calf will still be increased, which is not conducive to the driving of the upper degree of freedom of the mechanical leg

And due to the inability to balance the strength of the driving force and the size of the volume, the existing robot control is rigid control, which cannot achieve flexible control

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