A semi-automatic control of the support stiffness of a machine leg

Abstract

The invention discloses a semi-automatic regulating machine leg for supporting rigidity, comprising a hip joint plate, a knee joint plate and a supporting leg. The hip joint plate connected with the robot main body comprises an integrally arranged mounting plate and a connecting rod. The mounting plate is fixedly provided with a hip joint motor and the connecting rod is fixedly provided with a knee joint motor. The end of the connecting rod of the hip joint plate and the knee joint plate is movably connected through the knee joint rolling bearing, and the output shaft of the knee joint motor is movably connected with the knee joint plate and exerts driving force; The bottom end of the knee joint plate is fixedly connected to the support leg. The support rigidity of the invention is semi-automatically regulated by a machine leg, By changing the number of layers of the coil and adjusting the magnitude of the power supply current, the strength of the magnetic field generated by the electromagnetic coil and the distribution of the magnetic induction lines can be changed, thereby changing the interaction force between the electromagnetic coils. Furthermore, according to the load size and the task terrain requirements, the semi-active adjustable support stiffness of the machine leg can be realized.

Description

technical field [0001] The invention relates to the technical field of robotic arms, in particular to a robotic leg with semi-automatic regulation of support stiffness. Background technique [0002] The robot legs of existing robots or other devices can usually only complete the action of walking or moving, but they cannot have a good buffering effect when encountering changes in road conditions like the human body, and the joint flexibility of the robot legs is poor. It brings a lot of inconvenience in the use process, so that the use of the robot legs is limited. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to provide a robot leg with semi-automatic adjustment of support stiffness, so as to solve the problems existing in the above-mentioned prior art, realize semi-automatic adjustment of the support stiffness of the robot leg according to the load size and the requirements of the task terrain, and have better joint flexibility sex. [0004]...

AI Technical Summary

Problems solved by technology

[0002] The robot legs of existing robots or other devices can usually only complete the action of walking or moving, but they cannot have a good buffering effect when encountering changes in road conditions like the human body, and the joint flexibility of the robot legs is poor. It brings a lot of inconvenience during use, which makes the use of the machine legs limited

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