Energy saving damping bionic knee joint for biped walking robot

Abstract

The invention discloses an energy saving damping bionic knee joint for a biped walking robot; the energy saving damping bionic knee joint comprises a bionic femur, a bionic tibia and a bionic kneecap; a cylinder is fixedly connected on a femur condyle connector through a cylinder support; leg extension motions of the knee joint is completed by cylinder active acting; the bionic femur condyle makes contacts with a third roller through a first slide rail, so a meniscus assembly can support and guide the bionic femur condyle; a second roller rolls in a second slide rail so as to simulate mankind knee joint instant center change motions; the second slide rail has two motion limit positions so as to limit the knee joint motion scope; a kneecap assembly uses the motions of the first roller in the first slide rail to simulate mankind kneecap, thus increasing an acting force arm of the cylinder output force in the leg extension motions, and saving energy; the bionic femur condyle, bionic kneecap and meniscus assembly are employed to realize knee joint instant center change motions, low energy consumption, and high buffer performance.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to an energy-saving shock-absorbing bionic knee joint for a biped walking robot. Background technique [0002] Because of its shape and movement mode are very close to human beings, the biped walking robot is suitable for working in the living environment of human beings and completing tasks such as walking on complex road conditions and carrying heavy objects. Therefore, research work on biped walking robots has received extensive attention in recent years. However, the knee joints of the current biped walking robots are mostly designed in an articulated way, although the requirements for the rotational freedom of the robot knee joints in the sagittal plane are largely met, but the current mechanically articulated knee joints During flexion and extension, the position of the instantaneous center of rotation remains almost unchanged, so that the joint motion and its stability are ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a bionic knee joint for a biped walking robot in order to solve the problems of high energy consumption, unnatural movement and unsatisfactory shock absorption performance of the existing biped walking robot knee joint. The joint improves the energy consumption and shock absorption performance of the biped walking robot while making its movement more natural

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