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

A technology of degrees of freedom and joints, applied in the field of bionic robots, can solve problems such as cable breakage and poor contact, and achieve the effects of high reliability, easy disassembly and maintenance, large movement space and maneuverability

CN114771688APending Publication Date: 2022-07-22CHINA NORTH VEHICLE RES INST
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2022-07-22

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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.
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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...

Examples

Embodiment Construction

[0029] In order to make the purpose, content and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below.

[0030] A cable-free three-degree-of-freedom joint module proposed by the present invention includes a lateral expansion joint 101, a front swing joint 102, a knee joint 103, and a knee joint installation flange 104;

[0031] The knee joint and the front swing joint are arranged in the same direction, the rotation axis of the lateral joint 101 is perpendicular to the axis of the front swing knee joint, the front swing joint is a hollow structure, and the power line and control line of the knee joint module pass through the front swing motor hollow shaft. lead out, so as to realize the cable-free design of the knee joint module.

[0032] The tail end of the knee joint is fixedly connected to the output end of the front swing joint, the motor of the front swing joint is fixedly connected to the...