212 results about "Robot leg" patented technology

A humanoid robot leg that may include a shank, an ankle that includes an ankle joint that is configured to perform yaw and pitch rotations, a knee joint, multiple ankle related (AR) rotational motors that are in mechanical communication, via multiple AR transmission mechanisms, with the ankle joint, and a knee related (KR) rotational motor that is in mechanical communication, via a KR transmission mechanism, with the knee joint. The multiple AR rotational motors and the KR rotational motor are positioned above the knee joint.

The invention discloses a covariance self-adaptive control method for a quadruped robot for spine joint adjustment. The method comprises the following steps that 1, a spine quadruped robot kinematics model with spine joints, a robot trunk dynamics model with the spine joints and a robot leg multi-rigid-body dynamics model are established; 2, based on the energy stability margin theorem and the spine joint coupling effect, a posture control method of the spine joint quadruped robot is provided by combining a covariance self-adaptive evolutionary strategy, and the angle, rigidity and damping coefficient of spine joints are estimated and adjusted according to the terrain gradient; 3, extracting the spatial relationship between the trunk mass center and the foot ends of the robot as an expected reference, updating the expected mass center position in real time, and constructing a model prediction control method to control the posture of the spinal joint quadruped robot; 4, the position of the foot falling point of the swing leg is designed in advance in combination with the additional freedom degree provided by the spine joint and MPC prediction state information. The motion stability of the robot in the complex terrain is improved.

The invention relates to the technical field of humanoid robots, and particularly discloses a robot leg mechanism which comprises thighs, shanks, feet, adjusting driving parts and transmission parts. Wherein the shank is rotationally connected with the thigh, and a transmission channel is formed in the shank; the feet are rotationally connected to one ends of the shanks away from the thighs; the adjusting driving piece is arranged in the transmission channel; the transmission part penetrates through the transmission channel and extends in the same direction as the shank, one end of the transmission part is in transmission connection with the output end of the adjusting driving part, the other end of the transmission part is rotationally connected with the foot, and the adjusting driving part drives the transmission part to move so as to drive the foot and the shank to rotate relatively. According to the arrangement, the number of parts is greatly reduced, the assembling procedure is saved, and the assembling efficiency is improved; meanwhile, as the robot needs to serve as a supporting structure, the structural strength is large, the transmission part is arranged in the transmission channel, even if the robot falls down, the shanks cannot deform, and the possibility that the transmission part in the robot is bent is effectively reduced.

The utility model provides a robot leg structure and a robot, and relates to the technical field of robots, the robot leg structure comprises a driver, a shear fork mechanism and a horizontal supporting platform, the driver is in driving connection with the control end of the shear fork mechanism, and the horizontal supporting platform is connected with the lifting end of the shear fork mechanism; the driver is used for driving the horizontal supporting platform to move in the vertical direction through the shear fork mechanism. Compared with a traditional multi-driver structure, lifting motion of the horizontal supporting platform can be achieved only through one driver, the number of the drivers and complexity of related control circuits are remarkably reduced, and therefore the manufacturing cost and debugging difficulty of the system are effectively reduced. Moreover, the shear fork mechanism can keep the horizontal state of the horizontal supporting platform in the whole lifting process, so that the posture of the upper body of the robot is more stable, and the operation precision or stability is prevented from being affected by inclination or shaking. In addition, due to the fact that the scissor fork mechanism and the driver are simple in structure, the maintenance requirement of the system is remarkably reduced.

The utility model discloses a leg device of a foot type robot and the foot type robot. The leg device of the foot type robot comprises a robot leg and further comprises a driving motor arranged in the robot leg, the driving motor comprises a shell, a power cavity formed in the shell and a power assembly arranged in the power cavity, and a first containing cavity is formed in the end face of the tail of the shell; a motor controller electrically connected with the power assembly is arranged in the first containing cavity, and cooling fins are arranged on the motor controller and connected with the shell in a heat conduction mode. The utility model further discloses the foot type robot which adopts the leg device of the foot type robot. The motor controller has the advantage of solving the problem that the motor controller for installing the motor in the leg of the humanoid robot is easy to overheat. The cooling fins are connected with the shell in a heat conduction mode, heat generated by the motor controller can be rapidly transmitted to the shell and then dissipated to the surrounding environment through the shell, faults caused by overheating of the motor controller are avoided, and stable operation of the motor controller is guaranteed.

The utility model discloses a leg parallel structure of a bionic wheel-foot robot, which comprises a machine body, a support, motors and wheel feet, and is characterized in that a plurality of first motors are fixedly connected onto the machine body, spacing frames are fixedly connected onto rotating shafts of the first motors, and second motors are fixedly connected onto the spacing frames through bolts; a first support is fixedly connected to a rotating shaft of the second motor and rotationally connected with a second support through a bearing. The robot has the advantages that the occupied space is small, the layout between the two execution motors is compact, the number of structural parts is reduced, the requirement for light weight is met under the condition that the strength is not changed, and the two motors are controlled respectively and matched with each other to achieve robot control.

The application relates to the technical field of robots, and discloses a robot leg walking mechanism and a quadruped robot, which comprise a plurality of large arms, one side of each large arm is connected with a floating assembly, the floating assembly comprises a connecting box and an air bag, the connecting box is fixedly connected with one side of the large arm, a placing groove is formed in the side of the connecting box away from the large arm, and the air bag is fixedly connected in the placing groove; the large arm is sequentially connected with an air charging assembly, an air discharging assembly and a jetting assembly from top to bottom on one side; and the connecting box is connected with a closing assembly on one side. The robot leg walking mechanism and the quadruped robot utilize the floating assembly, the quadruped robot can float in a deep water area, the body is prevented from being completely immersed in water, the risk that a camera lens is splashed with water is reduced, the quality and accuracy of real-time image transmission are ensured, a clear field of vision and stable walking ability are provided for the quadruped robot, visual misjudgment or distortion is reduced, and the accuracy and efficiency of a patrol task are improved.

The low-inertia small robot leg structure comprises a first connecting piece, a second connecting piece and a shank, the first connecting piece is provided with a first joint motor, the first joint motor is connected with the second connecting piece, and the axis of the first joint motor is perpendicular to the axis of the second connecting piece; a second joint motor is arranged on the second connecting piece, and a thigh clamping plate is connected to the second joint motor; a third joint motor is arranged between the thigh clamping plates, the shanks are rotationally arranged between the bottoms of the thigh outer clamping plates and the thigh inner clamping plates to form knee joints, and connecting rods are rotationally connected between the positions, lower than the knee joints, of the shanks and the third joint motor. According to the leg compact structure design suitable for the small robot, the number of transmission mechanisms at the knee joints is reduced, the rotational inertia of the legs of the robot is reduced, the energy consumption intensity is reduced under the condition that the battery energy of the small robot is low, and the standby time of the small robot is prolonged.

A rigid-flexible coupled leg structure of a biped robot comprises a trunk module, a hip joint module, a thigh module, a shank module and a foot module which are sequentially connected from top to bottom. Shock absorbers are connected between the thigh module and the shank module and between the shank module and the foot module. The compact design of the leg structure is realized through the series layout of the motor and the reasonable integration of key parts; meanwhile, a four-connecting-rod driving mechanism is introduced, so that the joint torque transmission efficiency and the overall movement performance are improved; and on the premise of ensuring the light weight of the system, the stability and response capability of the robot in dynamic actions such as walking and take-off are effectively enhanced.

The invention discloses a hexapod robot leg and arm multiplexing control method and device based on reinforcement learning, and relates to the field of motion control. The method comprises the following steps: acquiring observation information of a target hexapod robot; inputting the observation information into the control strategy model to obtain an expected joint angle of the target hexapod robot; the control strategy model is obtained by performing strategy updating on a training framework based on a value network by adopting a reinforcement learning method according to a constructed multi-task training environment; the training architecture is determined based on privilege learning of teachers and students; the value network comprises a shared feature layer and a multi-task head which are connected in sequence; the training architecture comprises a state estimation encoder, a topographic information encoder, a privilege information encoder, a historical information encoder and an ontology network; and a PD control method is adopted to determine the joint torque based on the expected joint angle so as to control leg-arm multiplexing of the target hexapod robot. According to the invention, leg and arm multiplexing control of the hexapod robot can be realized.

The invention discloses a rigid-flexible coupled walking robot leg mechanism and a walking robot. The walking robot is provided with a walking robot leg mechanism, and the walking robot leg mechanism comprises a shank driving motor (4) and a shank driving connecting rod (7); the shank driving motor is assembled and connected with a thigh component (6), a crank connecting piece (5) is installed at the driving end of the shank driving motor and provided with a crank end (51), one end of the shank driving connecting rod is assembled and connected with the crank end, and the other end of the shank driving connecting rod is assembled and connected with the portion, close to the upper end, of a shank component (8) through a rotating pair. The shank driving connecting rod is an elastic connecting rod. The shank driving connecting rod serves as a structural part to transmit motion and also serves as an elastic component to play a role of an elastic plate spring, external loads are buffered through structural elastic deformation, the structural characteristics of bones, muscles and ligaments of an organism can be simulated, and a leg mechanism has good passive compliance.

The invention discloses a flexible robot foot end device capable of detecting multi-dimensional contact force, and relates to the technical field of foot type robots. The sensor comprises a mounting shell, a hemispherical flexible protective sleeve, a pressed block, a spring, a Hall circuit board, a buffer sponge, a magnetic mechanism and a flexible constraint film, the mounting shell is fixedly connected with legs of the foot type robot, and the lower end of the mounting shell is fixedly connected with the Hall circuit board and the upper end of the spring. Through the unique combination of the pressed block, the magnetic mechanism and the Hall circuit board, the component of the contact force in a three-dimensional space can be accurately solved, the limitation of the detection dimension of a traditional foot end device is broken through, the robot can more accurately sense the environment in complex terrains and tasks, the accuracy and stability of motion control are improved, and the robot is more suitable for popularization and application. Powerful support is provided for efficient operation of the robot in a complex environment, the flexible protective sleeve and the buffer sponge effectively absorb impact energy, and internal elements are prevented from being damaged due to rigid collision.

The application discloses a robot leg structure and a control method thereof. The structure comprises a hip joint module, a thigh module, a knee joint module, a shank module and a foot end module. A flat plate stopper is arranged on a structure connecting surface of each of the hip joint module, the thigh module, the knee joint module, the shank module and the foot end module, and the modules are connected based on the flat plate stopper. The hip joint module comprises a first driving unit, a second driving unit and a third driving unit. The first driving unit controls a roll freedom degree, the second driving unit controls a pitch freedom degree, and the third driving unit controls a yaw freedom degree. Driving axes of the first driving unit, the second driving unit and the third driving unit are perpendicular to each other and intersect at the same point. The knee joint module is driven based on a torque motor. A rotor of the torque motor is connected with the thigh module, and a stator of the torque motor is connected with the shank module. The robot leg structure has the advantages of improving motion stability, enhancing joint control precision and optimizing dynamic response capability.

The utility model discloses a robot foot sole, a robot leg and a robot. The foot sole comprises a foot sole supporting piece, a foot sole mounting piece and an elastic piece. The plantar supporting piece comprises a plantar supporting outer surface far away from one side of the robot and a plantar supporting inner surface close to one side of the robot, and a plantar supporting mounting part is arranged on the plantar supporting inner surface; the plantar mounting piece is detachably connected with the plantar supporting mounting part; the elastic piece is arranged in the sole supporting piece; the foot sole mounting piece is detachably connected with the foot sole supporting mounting part, so that the foot sole supporting piece is convenient to disassemble and assemble, the operation time is greatly shortened, and the maintenance efficiency is greatly improved; the elastic piece is arranged in the sole supporting piece, the mechanical damping function is achieved, the sole supporting piece can be made of a hard material, then the abrasion resistance of the sole supporting piece is improved, meanwhile, it is guaranteed that the sole has the good buffering performance through the arrangement of the elastic piece, and the selection contradiction problem of damping performance and durability in a traditional structure is solved.

The invention discloses a robot leg transmission structure with a flexible joint, a common rigid joint and a flexible link. The robot leg transmission structure mainly comprises a motor module, a connecting rod transmission module and a sole module. The motor module is composed of two motor joint modules with the flexible torque measuring function, a rigid joint module and a motor connecting piece, and multi-axis cooperative driving is achieved. The connecting rod transmission module is of a parallel four-rod structure, a driving crank is connected with the output end of a rigid joint, a flexible crank structure formed by compounding aluminum alloy and a rubber layer is adopted, and good buffering capacity and dynamic response performance are achieved. The sole module is of a multi-cavity air chamber structure and comprises a conical hole used for absorbing high-frequency vibration, a main air chamber used for absorbing low-frequency impact and a supporting column structure used for preventing collapse, a force sensor is arranged on the top, and real-time force sensing of the foot end is achieved. The transmission configuration has excellent impact resistance, structural flexibility and sensing integration, and is suitable for robot platforms in various complex terrains and dynamic task environments.

This invention discloses a damped adjustable robot leg system and its control method. The leg system includes a thigh, a lower leg, a link, an adjustable damper, wheel feet, and a wheel-side motor. One end of the thigh is hinged to one end of the lower leg, while the lower leg is hinged to the other end of the thigh via a link, forming a parallelogram mechanism. The wheel feet are located at the other end of the lower leg, and the wheel-side motor is fixed to the side of the wheel feet to drive their movement. The adjustable damper is fixed between the wheel-side motor and the other end of the lower leg. The adjustable damper can adjust the damping of the leg system. When the adjustable damper is locked, the leg system is in a fully rigid state. This invention not only increases the robot's obstacle-crossing ability when walking on wheels, but also reduces the vibration of walking on bumpy roads and reduces damage to the joint motors.

The utility model discloses a leg structure with a vibration reduction function and a robot, and the leg structure comprises a leg assembly and further comprises a vibration reduction assembly; the leg assembly comprises a first rotating disc, a second rotating disc, a first connecting rod, a second connecting rod, a third connecting rod, a triangular plate and a fourth connecting rod, one end of the first rotating disc and one end of the second rotating disc are used for being connected with an external power source, the other end of the first rotating disc is hinged to one end of the first connecting rod, and the other end of the second rotating disc is hinged to one end of the second connecting rod; one end of a third connecting rod parallel to the first connecting rod is hinged to the middle of the second connecting rod, the other end of the third connecting rod is hinged to the first corner end of a triangular plate, the other end of the first connecting rod is hinged to the second corner end of the triangular plate, and the third corner end of the triangular plate is hinged to the middle of a fourth connecting rod. One end of the fourth connecting rod is connected with one end of the damping assembly, and the other end of the damping assembly is connected with the first connecting rod. Through ingenious combination of the damping assembly and the multi-connecting-rod leg assembly, effective hardware support is provided for efficient buffering of the leg structure.

The invention discloses a driving joint of a robot. The driving joint drives legs of the robot to achieve posture conversion. The driving joint comprises a speed reducer assembly, a stator shell, a stator assembly, a rotor assembly, a driving plate and a driving cover; a stator assembly and a rotor assembly which is accommodated in the stator assembly and can rotate relative to the stator assembly are fixed in the stator shell; a central gear is arranged at one end, facing the speed reducer assembly, of the rotor assembly; the speed reducer assembly comprises a planetary speed reducing mechanism which is in meshing transmission with the sun gear; the rotor assembly is arranged in an annular space formed by the stator assembly, and the projections of the speed reducer assembly, the driving plate and the driving cover in the axial direction are at least partially overlapped with the radial projection of the stator assembly; according to the driving joint for the robot, installation is convenient, the space utilization rate is extremely high, a wire harness can be arranged in the driving joint, compact layout is achieved, and motion interference is avoided.

The invention discloses a harmonic reducer humanoid robot leg power mechanism and a gait optimization method.The harmonic reducer humanoid robot leg power mechanism comprises a mounting frame and a foot bottom plate, and a mounting cylinder is fixedly mounted at the bottom end of the mounting frame; a first driving assembly used for driving the mechanical legs to rotate simply and a second driving assembly used for driving the mechanical legs to bend, stretch and turn are arranged outside the mounting cylinder, and the mounting frame and the foot bottom plate are connected through the first driving assembly. The leg power mechanism has the beneficial effects that by arranging the second driving assembly, harmonic speed reducers are distributed in a concentrated mode, external force interference borne by flexible gears in the harmonic speed reducers is reduced, and therefore the reliability of the leg power mechanism is improved, and the service life of the harmonic speed reducers is prolonged; and due to centralized arrangement, technicians can conveniently check, maintain and replace the flexible gear and related parts, and the maintainability of the robot is improved.

The application relates to the technical field of robot equipment, and particularly discloses a high-load humanoid robot leg exoskeleton structure and a processing method thereof. The application comprises the following steps: S1, preliminary preparation and optimization: adopting a titanium alloy ingot as raw material, performing topology optimization and lightweight design on the leg exoskeleton structure based on CAE finite element analysis, and generating an optimized processing model; then performing forging or rolling treatment on the titanium alloy ingot to obtain a titanium alloy blank; S2, precision mechanical processing: clamping the titanium alloy blank, and sequentially performing rough machining, semi-finishing and finishing based on the optimized processing model to obtain a processed piece; S3, heat treatment and stress control; and S4, post-processing and detection. The humanoid robot leg exoskeleton structure can be used for high-dynamic and high-load humanoid robots, and has the advantages of light structure weight, high bearing efficiency, fast dynamic response and long fatigue life.

The application relates to a low-energy-consumption hexapod robot based on nonlinear rope geometric constraints and a foot end linearization compensation method thereof, and relates to the field of robot design. In order to solve the problem that the robot leg makes circular arc motion with the hip joint as the center, resulting in transverse displacement of the foot end and affecting the motion precision of the robot, the leg mechanism is arranged on both sides of the fuselage in six pairs and is symmetrically arranged left and right, three leg mechanisms on the same side are sequentially arranged from front to back and are arranged as front legs, middle legs and rear legs, each leg mechanism comprises a thigh, a shank and a foot which are sequentially connected, the thigh is rotatably installed on the fuselage through a hip joint shaft, the thigh and the shank are rotatably connected through a knee joint shaft, and the thigh and the shank form an inverted V shape, and the shank is a telescopic leg; the hip joint driving mechanism can drive the thigh to rotate around the Z axis to control the front and back swing of the thigh; the knee joint driving mechanism can transmit power in the process of the front and back swing of the thigh, convert the rotary motion of the thigh into the extension and contraction motion of the shank, and correct the motion track of the foot end.

The present invention discloses a compound quadruped locomotion method for a purely pneumatically driven quadruped robot, including a compound Walk gait and a compound Trot gait. The compound Walk gait involves the robot bending and extending its body as it steps, moving an additional distance equal to the length of the body's inflation. The compound Trot gait involves the robot bending from the left to the right, undergoing three stages: bending, full extension, and bending. The robot's pneumatic trunk assembly simulates the trunk of a quadruped reptile, while the robot's leg assembly simulates the quadruped's two-degree-of-freedom legs, thereby mimicking the trunk and leg structures of amphibians to a significant degree.

This application provides a method, apparatus, device, and storage medium for planning the leg position of a multi-legged robot. The method includes: acquiring a gait sequence of a target leg of the multi-legged robot and the current pose of the multi-legged robot, wherein the target leg is any one of the legs of the multi-legged robot; determining the phase of the target leg in each time segment corresponding to the gait sequence based on the gait sequence; and planning the lift-off point and foot-landing point of the target leg in each time segment based on the current pose and the phase. This technical solution can realize the planning of the lift-off point and foot-landing point of a multi-legged robot's leg over a period of time.

The control device (10) according to this disclosure switches parameters that affect the ground reaction force at the feet of the robot's (20) legs (22) in response to a change in the robot's (20) gait pattern, and outputs control information used to control the legs (22) based on the parameters.

The invention discloses a robot leg and foot structure capable of reversing front and back based on double-connecting-rod transmission. The leg and foot structure comprises a thigh component, a hip joint, a shank component and a knee joint. The thigh component comprises a thigh component outer side piece and a thigh component inner side piece; the thigh component outer side piece and the thigh component inner side piece are fixedly connected, and other parts in the thigh component are enveloped by the thigh component outer side piece and the thigh component inner side piece; the hip joint is arranged at the upper end of the thigh component and is a rotational degree of freedom joint, and the knee joint is arranged at the lower end of the thigh component and is a rotational degree of freedom joint; the upper end of the shank component is of a three-axis hinged structure connected with the thigh component and the double-connecting-rod structure, the lower end of the shank component is a part making contact with the ground, and the position making contact with the ground is a semi-cylinder. The large-range forward and backward movement of the shank component relative to the thigh component is achieved through the double-connecting-rod structure, that is, the knee joint can bend forwards or backwards, and no dead point position exists.

1. The name of this design product: Robotic Legs and Feet. 2. Purpose of this design product: This design product is used as the legs and feet of a robot. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the key points of the design: Design 1 Stereoscopic Drawing 1. 5. Designate Design 1 as the base design.

The invention relates to the technical field of humanoid robots, and discloses a humanoid robot leg structure which comprises a hip structure and further comprises a thigh structure which comprises a rotating part and an extending part, the rotating part is connected with the hip structure, and the extending part is connected with the rotating part; the rotating part and the extending part are respectively used for driving the thigh to rotate and adjusting the length of the thigh; the knee structure is mounted on the extension part, can rotate relative to the thigh structure and can swing back and forth along the thigh structure; the shank structure is mounted on the knee structure and used for adjusting the length of the shank; the foot structure comprises an autorotation part, an adjusting part and a foot plate, the autorotation part is connected with the shank structure, the adjusting part is connected with the autorotation part, and the foot plate is connected with the adjusting part; according to the robot, more movement automation degrees, variable limb lengths and better bionic characteristics can be realized while compact structure and accurate control are ensured, and the movement performance and adaptive capacity of the robot are improved.

The application relates to a shock-absorbing leg structure and a quadruped robot, and belongs to the quadruped robot field. The leg structure comprises a thigh rod, a first flexible joint and a second flexible joint. The thigh rod is provided with a mounting hole. The first flexible joint comprises a sealing ring, a plurality of first compression springs, a joint ring and a plurality of blocking blocks, the sealing ring is fixedly installed on one side of the outer edge of the mounting hole and coaxially aligned with the mounting hole. Since the joint ring is connected with the sealing ring through the compression springs, the vibration of the thigh rod is converted into the deformation of the compression springs, so that the direct impact of the bevel gear output shaft connected with the joint ring on the first flexible joint is avoided, the impact force is relieved, the robot movement joint is protected, and the problem that the joint of the robot leg structure is difficult to restore the movement posture after being impacted is solved.

The present invention discloses a parallel robot adaptive adjustment method and system based on an attention mechanism, comprising obtaining a trajectory time series sample dataset of the parallel robot based on real-time trajectory error and joint space control torque; constructing a SeNet-Transformer action network model based on PPO reinforcement learning; training the SeNet-Transformer action network model based on the trajectory time series sample dataset to obtain an optimal parallel robot PID adaptive adjustment model, and obtaining the parallel robot's PID adjustment parameters based on the optimal parallel robot PID adaptive adjustment model to achieve parallel robot PID adaptive adjustment. The present invention solves the problems of traditional parallel robot legs parallel structure leading to nonlinear coupling between joints, traditional PID control parameters being fixed and unable to cope with sudden load changes, and analytical algorithms based on Newton iteration having high computational complexity and being unable to meet millisecond-level control closed-loop requirements.

The invention relates to the technical field of advanced robot structures and driving, and discloses a half-horse robot leg structure integrated with a rapid tensioning mechanism, which comprises a thigh supporting component, a driving belt wheel assembly, a driven belt wheel assembly, a synchronous belt and a tensioning mechanism, the driving assembly mounting hole and the driven assembly mounting hole are formed in the thigh supporting component and are connected through a synchronous belt; the tensioning mechanism comprises a fixed base, an ejection screw, a tensioning sliding support and a tensioning wheel assembly. The fixed base is arranged in the thigh supporting component, a sliding hole is formed in the fixed base, the tensioning sliding support is arranged in the sliding hole in a sliding mode, the tensioning wheel assembly is connected with the tensioning sliding support, the ejection screw is in threaded connection with the tensioning sliding support, and the head of the ejection screw abuts against the thigh supporting component and right faces the tensioning mechanism maintenance hole. The ejection screw is rotated through the tensioning mechanism maintenance hole, the tensioning wheel assembly can be driven to move, and therefore the synchronous belt is tensioned or loosened.