Leg robot single-leg device with rigid and flexible switchable joint

Abstract

The invention discloses a leg robot single-leg device with a rigid and flexible switchable joint. The leg robot single-leg device comprises a hip component, a thigh component and a crus component andhas three degrees of freedom totally. A drive mounting part of the three degrees of freedom adopts a mounting mode with the compact structure, so that a robot single leg is simple in structure, the weight of the single leg is reduced, and the dynamic performance of the single leg is improved. The degree of freedom of a knee joint achieves the quick rigid and flexible joint switchable function by means of a parallel four-bar structure as well as change of the properties of connecting bars. As for the flexible single leg, the buffer resistance and flexible joint functions are achieved to a certain extent. By application of parallel four-bars, a single-leg drive motor and other modules are installed close to a hip joint, a simple carbon fiber tube is adopted by the crus component, accordingly, the weight is reduced, and the overall dynamic performance is improved. As the simple carbon fiber tube is adopted by the crus component, the function that the crus and the feet are quickly replacedcan be achieved.

Description

technical field [0001] The invention belongs to the field of mechanical design, and relates to a legged robot single-leg device with rigid-soft interchangeable joints. Background technique [0002] The rigid legs of traditional legged robots have three degrees of freedom, and the knee joint is the most important link. The rigid legs of legged robots are more suitable for light and small robots, and the rigid legs can realize the characteristics of precise control and stable operation. During the use of large-scale footed robots, they often have a huge impact on the knee joints of the legs due to rigid contact with the ground, which greatly shortens the service life of the legs. The flexible leg of the current research is a hotspot. At present, the flexible leg of the legged robot is directly added to the joint motor part, or the calf part, or the flexible part, or through the reduction box, or other transmission methods, so as to realize the impact resistance and flexibili...

AI Technical Summary

Problems solved by technology

At present, the flexible leg of the legged robot is directly added to the joint motor part, or the lower leg part, or the flexible part, or through the reduction box, or other transmission methods, so as to realize the impact resistance and flexibility of the leg, so that the lower leg and the joint part The design becomes complex, which greatly reduces the dynamic performance of the legged robot's single leg

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