Cable-free three-degree-of-freedom joint module and bionic leg and foot structure

Abstract

The invention relates to a cableless three-degree-of-freedom joint module and a bionic leg-foot structure, the cableless three-degree-of-freedom joint module comprises a lateral extension joint, a forward swing joint and a knee joint, and the bionic leg-foot structure comprises a three-degree-of-freedom joint module, a thigh, a shank, a foot end and a foot-ground sensing unit. The cableless three-degree-of-freedom joint realizes a structural form of built-in knee joint cables, knee joint module power and signal cables realize protection and wiring through a front swing joint hollow shaft connected in series with the knee joint module power and signal cables, interference and reliability problems caused by external knee joint cables during movement of the bionic robot are reduced and avoided, and after the whole machine is integrated, the reliability of the bionic robot is improved. And no external cable is arranged, so that the reliability and the safety of the system can be greatly improved. The modularized single-leg module of the bionic robot is modularized, high in reliability and convenient to mount and dismount. The bionic robot leg-foot and cable-free bionic joint is high in modularization degree and good in reliability and stability, and can be widely applied to biped, quadruped, hexapod, wheel-foot and other bionic robots.

Description

technical field [0001] The invention belongs to the field of bionic robots, and particularly relates to a cableless three-degree-of-freedom joint module and a bionic leg-foot structure, which are used for bionic robots such as biped and quadruped robots. Background technique [0002] Legged robot research is increasingly pursuing high-speed and high-dynamic maneuverability under higher load capacity. However, it poses more stringent challenges to the design of robot action and drive systems. Under realistic size and weight constraints, Designing joint actuators that meet the requirements of high dynamic performance has become the pursuit of many robot designers, and has even become a rigid condition that limits and constrains the robot's capability boundary. The flexibility and reliability of the robot's motion posture are particularly prominent and important. The degree of freedom configuration of the robot's joints and the wiring method directly affect the flexibility and...

AI Technical Summary

Problems solved by technology

[0003] The invention provides a cable-free three-degree-of-freedom joint module and a bionic leg-foot structure. The technical problems to be solved are: (1) the three-degree-of-freedom joint motor cable of the bionic robot is externally placed, and the fatigue caused by long-term reciprocating motion The cable breakage, poor contact and other reliability reduction problems ensure the modularization of the system while improving the range of motion of the robot's multi-degree-of-freedom joints and system reliability.

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