Low-inertia and high-load-bearing leg structure and foot type robot applying same

Abstract

The invention belongs to the related technical field of robots, and discloses a low-inertia and high-load-bearing leg structure and a foot type robot applying the same. The leg structure comprises a crotch connector, a pelvis assembly, a knee joint motor, a hip joint motor, a side-sway joint motor and leg connecting rods, the crotch connector is connected with stators of the three motors at the same time, rotors of the three motors are connected with the pelvis assembly, the side-sway joint motor is coaxially opposite to the hip joint motor, the axis of the knee joint motor is perpendicular to the axes of the two motors, the hip joint motor drives the thigh connecting rod to rotate, the knee joint motor drives the shank connecting rod to rotate, and the side swing joint motor drives the leg connecting rod to swing laterally, so that outward swing and inward retraction of the legs of the robot and flexion and extension of the thighs and the shanks are achieved. According to the robot, the three joint motors are connected to the robot body and the pelvis assembly in parallel for power distribution, so that the inertia of the legs is reduced, the rigidity of the legs is enhanced, and the bearing and dynamic response capabilities are improved.

Description

technical field [0001] The invention belongs to the technical field related to robots, and more specifically relates to a leg structure with low inertia and high load and a legged robot using the same. Background technique [0002] Legged robots generally use a multi-link leg configuration to achieve walking and jumping movements, so the overall performance of the robot largely depends on the mobility of the robot legs. High-performance legged robots require legs with high load-carrying capacity, light weight, small inertia, and high dynamic response. However, due to the existence of scale effects, these target requirements often conflict, which poses challenges to the structural design of the legs. How to adopt delicate It has become a hot and difficult point in the research and development of high-performance legged robots to resolve the conflict of design goals by rationally configuring the structural parameters. [0003] At present, relevant institutions and R&D personn...

AI Technical Summary

Problems solved by technology

[0005] (1) The tandem leg structure with hip-knee coaxiality mainly relies on joint shaft transmission, the transmission relationship is coupled with each other, and the load is amplified layer by layer, resulting in heavy weight of the joint support structure, weakening the stiffness of the joint, and reducing the bearing capacity;

[0006] (2) Due to the existence of the series relationship of the joints, the joints of the latter stage as a whole act as the load of the joints of the previous stage, thus increasing the equivalent moment of inertia of the joints of the previous stage and reducing the dynamic response capability of the leg structure

[0007] The existence of these problems leads to the limitation of the load capacity of the robot

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