CN110294043A - A kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system - Google Patents
A kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system Download PDFInfo
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- CN110294043A CN110294043A CN201910677918.2A CN201910677918A CN110294043A CN 110294043 A CN110294043 A CN 110294043A CN 201910677918 A CN201910677918 A CN 201910677918A CN 110294043 A CN110294043 A CN 110294043A
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- 210000003194 forelimb Anatomy 0.000 title claims abstract description 24
- 210000002414 leg Anatomy 0.000 claims abstract description 59
- 210000000689 upper leg Anatomy 0.000 claims abstract description 51
- 210000004394 hip joint Anatomy 0.000 claims abstract description 45
- 230000033001 locomotion Effects 0.000 claims abstract description 42
- 239000003638 chemical reducing agent Substances 0.000 claims description 26
- 239000000969 carrier Substances 0.000 claims description 6
- 238000005192 partition Methods 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 5
- 238000009941 weaving Methods 0.000 claims description 3
- 244000309466 calf Species 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 210000001364 upper extremity Anatomy 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 241000282376 Panthera tigris Species 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 241000167880 Hirundinidae Species 0.000 description 1
- 101000911390 Homo sapiens Coagulation factor VIII Proteins 0.000 description 1
- 206010049214 Monopodia Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 102000057593 human F8 Human genes 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 229940047431 recombinate Drugs 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
A kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system, including body, hip joint and supporting leg；Two bodies are fixedly connected to form machine main body side by side, and the both ends of machine main body are respectively arranged with hip joint, are respectively connected with supporting leg below each hip joint；The present invention includes body part, hip joint part, supporting leg three parts, and each to translation, pitching and sideway of hip joint can be obtained by the movement of six struts, improve the working space and joint mobility of series connection leg.Hip joint structure realizes coaxial configuration by thigh planet carrier using thigh and calf bi-motor, so that the rotation precision of thigh and shank rotation can be improved when leg exercise, while can promote the stationarity of walking.
Description
Technical field
The present invention relates to field in intelligent robotics, in particular to a kind of string for bio-robot forelimb mechanical system is simultaneously
Mixed connection arm/leg mechanism.
Background technique
With science and technology it is increasingly developed, legged type robot application it is also more and more, people want for its working performance
Ask also higher and higher.In sophisticated manufacturing field, many work not only need robot to have dexterous both hands, more need machine
People has flexibly and moves accurate both arms/leg.Although easy to control however, the mechanical arm of cascaded structure/leg structure is simple,
But rigidity is small.Parallel robot rigidity is big, and payload-weight ratio is big, can high-speed motion, but control it is complicated, working space it is small and
Easily interference.These problems limit stiff in the movements during the work time, the reachable position of robot by mechanism freedom, it is difficult to
Complete refinement, it is more difficult to play strength that robot should have it is big and can accurate manipulation ability.
Based on this, it is necessary to a kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system is provided, with
It solves the above problems.
The leg mechanical structure of existing quadruped robot is nearly all serial mechanism composition.This cascaded structure is simple,
Control model is easy, but has the limitation of the following aspects: 1. driver is mounted on leg more, so that junior's driver becomes upper
The load of grade driver, driving capability require high；2. Robot Stiffness is smaller, it is more difficult to bear the high-mechanic task of repeatability.State
The inside and outside research to mixed connection legged mobile robot is placed on monopodia or bipod walking robot direction more.Such as Japanese Waseda University
The design of WL series walking chair, the design of the Para-Walker of the research department Guang Lai.The design such as wide English of domestic Ze You Shandong University horse
Serial-parallel mirror robot leg configuration, structure is simple, but single leg working space is smaller, so that the ability of across obstacle
It is limited.Four-footed/two of the propositions such as University On The Mountain Of Swallows's king's big waves can recombinate the conception of walker completely, and leg structure has biggish rigidity,
The payload-weight ratio of robot can be improved, but be limited in terms of the working space of mechanism itself, it is more difficult to complete outdoor more landform
Walking and obstacle detouring operation.
Summary of the invention
The purpose of the present invention is to provide a kind of serial-parallel mirror arm/leg machines for bio-robot forelimb mechanical system
Structure, to solve the above problems.
To achieve the above object, the invention adopts the following technical scheme:
A kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system, including body, hip joint and branch
Leg；Two bodies are fixedly connected to form machine main body side by side, and the both ends of machine main body are respectively arranged with hip joint, each hip joint
Lower section be respectively connected with supporting leg；
Body includes body rack and movement branched chain；Every two movement branched chain forms a branch chain group, several branch chain groups
It is vertically and fixedly arranged on the inner sidewall of body rack；Movement branched chain is each to translation, pitching or weaving for hip joint；
Hip joint includes shell, driving motor, coder connecting shaft, thigh planet carrier, thigh speed reducer, shank planet carrier
With shank speed reducer；Two driving motor output ends are opposite to be co-axially located in shell, and two driving motor output ends are all provided with
It is equipped with coder connecting shaft；The output end of one driving motor connects thigh speed reducer, and thigh speed reducer is connected by encoder
Two thigh planet carriers of axis connection, two thigh planet carriers are fixedly connected；The output end connection shank of another driving motor subtracts
Fast machine, shank speed reducer connect shank planet carrier by coder connecting shaft；
Further, supporting leg includes shank link, thigh and shank；One end of thigh is connect with thigh planet carrier, thigh
The other end and shank one end it is hinged, one end of shank link and shank planet carrier are hinged, the end of the other end and shank hinge
It connects.
Further, movement branched chain includes motor support base, motor, lead screw, screw slider and connecting rod；Motor fixed setting
Lead screw is connected in the output shaft of the inner opposite end of motor support base, motor, the end of lead screw is connected to motor support base by bearing
The other end；Screw slider is provided on lead screw, one end of connecting rod is hinged on screw slider, and the other end is hinged on hip joint
On shell.
Further, branch chain group shares three groups, three groups of branch composition equilateral triangle arrangements；One end of connecting rod is fixed to be connected
Lower Hooke center hinge is connect, the other end is fixedly connected with Hooke center hinge；Screw slider is cut with scissors by upper Hooke center hinge and connecting rod
It connects；Corresponding position is provided with lower Hooke list hinge on the shell of hip joint, and connecting rod is cut with scissors by lower Hooke center hinge and lower Hooke list
It is hinged.
Further, motor support base is U-type groove shape, and the output end of motor is connect by flexible clutch with lead screw；Motor
Partition is provided in support, lead screw is arranged across partition, and the parallel beneath of lead screw is provided with polished rod in lead screw, sets on screw slider
It is equipped with through-hole, polished rod is arranged across through-hole.
Further, driving motor includes motor housing, stator, rotor and rotor sleeve；Stator is co-axially located at motor
In shell, rotor coaxial is arranged in stator, and the end of rotor is fixedly connected with rotor sleeve, coder connecting shaft coaxial arrangement
It in rotor sleeve, is connect with rotor sleeve flat key, (one end is connected in encoder inner hole coder connecting shaft, encoder
Main body is fixed on thigh shell or shank shell.
Compared with prior art, the present invention has following technical effect:
The present invention includes body part, hip joint part, supporting leg three parts, and hip joint can be obtained by the movement of six struts
It is each to translation, pitching and sideway, improve the working space and joint mobility of series connection leg.Hip joint structure uses size
Leg bi-motor realizes coaxial configuration by thigh planet carrier, so that the rotation of thigh and shank rotation can be improved when leg exercise
Precision, while the stationarity of walking can be promoted.
The present invention by movement branched chain, hip joint part, shank link, thigh, shank coordinated under, it can be achieved that hip
The each of joint can expand mixed connection arm/leg three-dimensional working space to translation, pitching and sideway, realize the mixed connection of forelimb mechanical system
Arm/leg mechanism crooks one's arm, embraces shoulder, translation, pitching and sideway movement, and then can realize mixed connection arm/leg machine of forelimb mechanical system
Each movement of the multi-angle position of structure.Therefore, mechanism of the invention, mechanism can walk as leg when bending, mechanism when standing
It can be operated as arm, expand the multifunctional application range of existing robots arm/leg mechanism.
The screw slider of single branch is connected using lead screw, not only can reduce the friction of worm drive, is improved and is passed
The service life of motivation structure；And it can be improved the sensitivity of worm drive and the precision of positioning；And there is good antivibration
Property and stationarity, can guarantee to bear certain impact and vibration during transmission, realize the steady progress of movement.Secondly,
When designing polished rod, screw slider cannot have rotation during the motion, since screw slider must be linear movement, so
The both ends of intermediate lead screw have separately designed polished rod, ensure that screw rod sliding block can only be along linear motion.Furthermore it is set in order to realize
Meter robot forelimb mechanical system mixed connection list leg mechanism is able to achieve flexible rotating, when designing screw slider, using voluntarily setting
The screw slider of meter a, it may be assumed that single-hinge design of screw rod sliding block and Hooke's hinge is integral, and distinctive feature is to complete to slide
The function of block can complete the function of Hooke's hinge again.Finally, when designing connecting rod, the same connecting rod for using designed, designed, connection
The upper end of bar and a single-hinge design of Hooke's hinge are integral, will not rotate each other.And single hinge of upper end fully according to
The structural principle of Hooke's hinge is designed, can be the same with screw rod slider designs, will not break the corner model of Hooke's hinge in guarantee
The function of Hooke's hinge is completed on the basis of enclosing.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot forelimb system mixed connection list leg mechanism of the present invention；
Fig. 2 is the forelimb system mixed connection list leg mechanism structural schematic diagram that robot of the present invention hides left side machine shell；
Fig. 3 is the movement branched chain structural schematic diagram of robot forelimb system mixed connection list leg mechanism of the present invention；
Fig. 4 is the schematic diagram of internal structure of robot forelimb system mixed connection list leg mechanism hip joint of the present invention；
Fig. 5 is robot forelimb system mixed connection list leg mechanism leg structure schematic diagram of the present invention；
Wherein: body part 100；Hip joint part 200；Leg portion 300；Movement branched chain 101；Body rack 1；Motor
Support 2；Motor 3；Motor shaft 4；Flexible clutch 5；Lead screw 6；Polished rod 7；Screw slider 8；Upper Hooke center hinge 9；Connecting rod 10；
Lower Hooke center hinge 11；Lower Hooke list hinge 12；Hip joint shell 13；Motor housing 14；Stator 15；Rotor 16；Rotor sleeve 17；
Coder connecting shaft 18；Shank planet carrier 19；Shank speed reducer 20；Thigh planet carrier 26；Thigh speed reducer 28；Shank link
29；Thigh 30；Shank 31.
Specific embodiment
Below in conjunction with attached drawing, the present invention is further described:
Please refer to Fig. 1 to Fig. 5, a kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system, including
Body 100, hip joint 200 and supporting leg 300；Two bodies 100 are fixedly connected to form machine main body, the both ends of machine main body side by side
It is respectively arranged with hip joint 200, the lower section of each hip joint 200 is respectively connected with supporting leg 300；
Body 100 includes body rack 1 and movement branched chain 101；Every two movement branched chain 101 forms a branch chain group, if
A dry branch chain group is vertically and fixedly arranged on the inner sidewall of body rack 1；Movement branched chain 101 for hip joint it is each to translation,
Pitching or weaving；
Hip joint 200 include shell, driving motor, coder connecting shaft 18, thigh planet carrier 26, thigh speed reducer 28,
Shank planet carrier 19 and shank speed reducer 20；Two driving motor output ends are opposite to be co-axially located in shell, two drivings
Motor output end is provided with coder connecting shaft 18；The output end of one driving motor connects thigh speed reducer 28, and thigh subtracts
Fast machine 28 connects two thigh planet carriers 26 by coder connecting shaft 18, and two thigh planet carriers 26 are fixedly connected；Another
The output end of driving motor connects shank speed reducer 20, and shank speed reducer 20 connects shank planet carrier by coder connecting shaft 18
19；
Supporting leg 300 includes shank link 29, thigh 30 and shank 31；One end of thigh 30 is connect with thigh planet carrier 26,
The other end of thigh 30 and one end of shank 31 are hinged, and one end of shank link 29 and shank planet carrier 19 are hinged, the other end with
The end of shank 31 is hinged.
Movement branched chain 101 includes motor support base 2, motor 3, lead screw 6, screw slider 8 and connecting rod 10；The fixation of motor 3 is set
The inner opposite end in motor support base 2 is set, the output shaft of motor 3 connects lead screw 6, and the end of lead screw 6 is connected to motor by bearing
The other end of support 2；Screw slider 8 is provided on lead screw 6, one end of connecting rod 10 is hinged on screw slider 8, other end hinge
It connects on the shell of hip joint.
Branch chain group shares three groups, three groups of branch composition equilateral triangle arrangements；One end of connecting rod 10 is fixedly connected with lower tiger
Gram center hinge 11, the other end are fixedly connected with Hooke center hinge 9；Screw slider 8 is cut with scissors by upper Hooke center hinge 9 with connecting rod 10
It connects；Corresponding position is provided with lower Hooke list hinge 12 on the shell of hip joint 200, and connecting rod 10 is by lower Hooke center hinge 11 under
Hooke list hinge 12 is hinged.
Motor support base 2 is U-type groove shape, and the output end of motor 3 is connect by flexible clutch 5 with lead screw 6；Motor support base 2
Inside it is provided with partition, lead screw 6 is arranged across partition, and the parallel beneath of lead screw 6 is provided with polished rod 7 in lead screw 6, on screw slider 8
It is provided with through-hole, polished rod 7 is arranged across through-hole.
Driving motor includes motor housing 14, stator 15, rotor 16 and rotor sleeve 17；Stator 15 is co-axially located at motor
In shell 14, rotor 16 is co-axially located in stator 15, and the end of rotor is fixedly connected with rotor sleeve 17, coder connecting shaft
18 are co-axially located in rotor sleeve, one end connection thigh speed reducer or shank speed reducer of coder connecting shaft 18, the other end
Connect thigh planet carrier 26 or shank planet carrier 19.
Bio-robot forelimb system mixed connection list leg mechanism designed by this paper is six degree of freedom, is closed by body part 100, hip
Part 200, Leg portion 300 3 big part compositions are saved, the component part of left and right is identical and symmetrical.Power drive unit is adopted
Use motor driven.Each body part includes: 1, six movement branched chain of body rack, wherein each movement branched chain includes motor branch
Seat 2, motor 3, motor shaft 4, flexible clutch 5, lead screw 6, polished rod 7, screw slider 8, upper Hooke center hinge 9, connecting rod 10, under
Hooke center hinge 11, lower Hooke list hinge 12.Each hip joint part includes: 13, two motors of hip joint shell (No. A and No. B) A
Number identical with B electric machine structure, wherein A motor includes motor housing 14, stator 15, rotor 16, rotor sleeve 17, encoder
Connecting shaft 18, shank planet carrier 19, shank speed reducer 20, B motor include motor housing 14, stator 15, rotor 16, rotor set
Cylinder 17, coder connecting shaft 18, thigh planet carrier 26 and 27, thigh speed reducer 28.Each Leg portion includes: shank link
29, thigh 30, shank 31.
The space layout of bio-robot forelimb system mixed connection list leg mechanism are as follows: the identical movement branched chain of six strips, every
The driving end of one movement branched chain is all connected on the body of robot, and every two movement branched chains are one group；Folder between every group
Angle is 120 degree, has good symmetry between group and group.Each branch all uses PTRT forms of motion, it may be assumed that is connected in machine
Prismatic pair P on body is moved along a straight line by driving motor driving screw slider along lead screw guide rails；Intermediate connecting rod and deep groove ball bearing
Revolute pair R is formed, connecting rod can be around the Hooke's hinge rotation being connected on hip joint shell；Revolute pair and prismatic pair and revolute pair with
Pass through a pair of of Hooke's hinge T connection between hip joint respectively；Each pair of Hooke's hinge can be rotated along orthogonal direction, every a pair of Hooke
Hinge is all two degree-of-freedom motion pair；Realize that hip joint shell energy six degree of freedom flexibly turns by the different location status of six-bar linkage
It is dynamic.
Motor support base 2 is fixed in machine shell 1, and motor shaft 4 drives flexible clutch 5 to rotate under the driving of motor 3,
The lead screw 6 that the other end of flexible clutch 5 is connected to lead screw guide rails is pushed away in a manner of worm drive by the rotation of ball
Dynamic screw slider 8 is moved in a straight line along polished rod 7；Screw slider 8 is connect by center hinge 9 with connecting rod 10, therefore screw slider 8
It can mutually be rotated with connecting rod 10；Connecting rod 10 is connected by center hinge 11 with lower Hooke list hinge 12, therefore connecting rod 10 and lower tiger
Gram single hinge 12 can be rotated mutually；Lower Hooke list hinge 12 is fixed together with hip joint part 200；Pass through movement branched chain V in this way
With VI corresponding to motor shaft 4 rotate clockwise (Fig. 2 is seen from left to right) so that screw slider 8 moves along a straight line to the left, finally make
200 left half of hip joint part (Fig. 2 is seen from left to right) deviates (Fig. 2 is viewed from above) to the left；Corresponding to movement branched chain I and II
Motor shaft 4 do not rotate；The rotation (Fig. 2 is seen from left to right) counterclockwise of motor shaft 4 corresponding to movement branched chain III and IV, so that silk
Thick stick sliding block 8 moves along a straight line to the right, and hip joint right half (Fig. 2 is seen from left to right) is finally made to deviate (Fig. 2 is viewed from above) to the right；
Thereby realize the left-hand bend of bio-robot upper limb system mixed connection list leg mechanism.
Similarly, by the rotation (Fig. 2 is seen from left to right) counterclockwise of motor shaft 4 corresponding to movement branched chain V and VI, so that
Screw slider 8 moves along a straight line to the right, finally make 200 left half of hip joint part (Fig. 2 is seen from left to right) deviate to the right (Fig. 2 from
On look down)；Motor shaft 4 corresponding to movement branched chain I and II does not rotate；Motor shaft 4 corresponding to movement branched chain III and IV is suitable
Hour hands rotate (Fig. 2 is seen from left to right), so that screw slider 8 moves along a straight line to the left, finally making hip joint right half, (Fig. 2 is from a left side
Turn right and see) (Fig. 2 is viewed from above) is deviated to the left, thereby realize the right side of bio-robot upper limb system mixed connection list leg mechanism
Turning.
In the inside of hip joint part 200, the motor housing 14 and stator 15 of A motor are fixed together, 16 He of rotor
Rotor sleeve 17 is fixed together, and after electrical power, drives shank speed reducer 20 by the rotation of rotor 16 and rotor sleeve 17
Rotation, wherein by coder connecting shaft 18 to shank speed reducer 20 carry out angular displacement control, and then drive shank planet
Then the rotation of frame 19 pulls shank link 29, finally realize shank 31 around the node of 29 junction of shank 31 and shank link
It rotates upwardly and downwardly, thereby realizes bending with extensional motion (when rotor 16 for bio-robot upper limb system mixed connection list leg mechanism
It is seen from left to right with rotor sleeve 17 according to the direction Fig. 4, when rotating clockwise, realization bends to move；When rotor 16 and rotor set
Cylinder 17 is seen from left to right according to the direction Fig. 4, when rotating counterclockwise, realizes extensional motion)
The motor housing 14 and stator 15 of B motor are fixed together, and rotor 16 and rotor sleeve 17 are fixed together, electricity
After machine is powered, the rotation of thigh speed reducer 28 is driven by the rotation of rotor 16 and rotor sleeve 17, wherein connecting by encoder
Spindle 25 carries out the control of angular displacement to thigh speed reducer 28, and then drives rotation (the thigh planet of thigh planet carrier 26 and 27
Frame 26 and 27 is fixed together), finally realize that thigh 30 is rotated around the central axis of motor housing 21；Simultaneously in the preceding paragraph
Under the cooperation bent with extensional motion, the final translational motion for realizing bio-robot upper limb system mixed connection list leg mechanism.
Claims (6)
1. a kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system, which is characterized in that including body
(100), hip joint (200) and supporting leg (300)；Two bodies (100) are fixedly connected to form machine main body side by side, machine main body
Both ends are respectively arranged with hip joint (200), are respectively connected with supporting leg (300) below each hip joint (200)；
Body (100) includes body rack (1) and movement branched chain (101)；Every two movement branched chain (101) forms a branch
Group, several branch chain groups are vertically and fixedly arranged on the inner sidewall of body rack (1)；Movement branched chain (101) is for hip joint
Respectively to translation, pitching or weaving；
Hip joint (200) includes shell, driving motor, coder connecting shaft (18), thigh planet carrier (26), thigh speed reducer
(28), shank planet carrier (19) and shank speed reducer (20)；Two driving motor output ends are opposite to be co-axially located in shell,
Two driving motor output ends are provided with coder connecting shaft (18)；The output end of one driving motor connects thigh speed reducer
(28), thigh speed reducer (28) connects two thigh planet carriers (26), two thigh planet carriers by coder connecting shaft (18)
(26) it is fixedly connected；The output end of another driving motor connects shank speed reducer (20), and shank speed reducer (20) passes through coding
Device connecting shaft (18) connects shank planet carrier (19).
2. a kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system according to claim 1,
It is characterized in that, supporting leg (300) includes shank link (29), thigh (30) and shank (31)；One end of thigh (30) and thigh row
Carrier (26) connection, one end of the other end and shank (31) of thigh (30) is hinged, one end of shank link (29) and shank row
Hingedly, the other end and the end of shank (31) are hinged for carrier (19).
3. a kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system according to claim 1,
It is characterized in that, movement branched chain (101) includes motor support base (2), motor (3), lead screw (6), screw slider (8) and connecting rod
(10)；Motor (3) is fixed at the inner opposite end of motor support base (2), and the output shaft of motor (3) connects lead screw (6), lead screw
(6) end is connected to the other end of motor support base (2) by bearing；Screw slider (8), connecting rod are provided on lead screw (6)
(10) one end is hinged on screw slider (8), and the other end is hinged on the shell of hip joint.
4. a kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system according to claim 3,
It is characterized in that, branch chain group shares three groups, three groups of branch composition equilateral triangle arrangements；One end of connecting rod (10) is fixedly connected down
Hooke center hinge (11), the other end are fixedly connected with Hooke center hinge (9)；Screw slider (8) by upper Hooke center hinge (9) with
Connecting rod (10) is hinged；Corresponding position is provided with lower Hooke list hinge (12) on the shell of hip joint (200), and connecting rod (10) passes through
Lower Hooke center hinge (11) cuts with scissors (12) with lower Hooke list and is hinged.
5. a kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system according to claim 3,
It is characterized in that, motor support base (2) is U-type groove shape, and the output end of motor (3) is connect by flexible clutch (5) with lead screw (6)；
Partition is provided in motor support base (2), lead screw (6) is arranged across partition, and the parallel beneath of lead screw (6) is provided in lead screw (6)
Polished rod (7), through-hole is provided on screw slider (8), and polished rod (7) is arranged across through-hole.
6. a kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system according to claim 1,
It is characterized in that, driving motor includes motor housing (14), stator (15), rotor (16) and rotor sleeve (17)；Stator (15) is same
In motor housing (14), rotor (16) is co-axially located in stator (15) for axis setting, the end and rotor sleeve (17) of rotor
It is fixedly connected, coder connecting shaft (18) is co-axially located in rotor sleeve, is connect with rotor sleeve flat key, coder connecting shaft
(18) one end is connected in encoder inner hole, and encoder main body is fixed on thigh shell or shank shell.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111830986A (en) * | 2020-07-24 | 2020-10-27 | 北京理工大学 | Three-dimensional path planning method for biped robot |
| CN112319209A (en) * | 2020-11-18 | 2021-02-05 | 内蒙古第一机械集团股份有限公司 | Driving device suitable for leg joint movement of robot |
| CN116118894A (en) * | 2021-11-15 | 2023-05-16 | 腾讯科技（深圳）有限公司 | Hip joint assembly and robot |
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| CN116118894A (en) * | 2021-11-15 | 2023-05-16 | 腾讯科技（深圳）有限公司 | Hip joint assembly and robot |
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