CN117382766A - Mechanical leg and biped robot - Google Patents
Mechanical leg and biped robot Download PDFInfo
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- CN117382766A CN117382766A CN202311310502.XA CN202311310502A CN117382766A CN 117382766 A CN117382766 A CN 117382766A CN 202311310502 A CN202311310502 A CN 202311310502A CN 117382766 A CN117382766 A CN 117382766A
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- hip
- thigh
- knee joint
- connection point
- knee
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- 210000000629 knee joint Anatomy 0.000 claims abstract description 115
- 210000000689 upper leg Anatomy 0.000 claims abstract description 102
- 210000002414 leg Anatomy 0.000 claims abstract description 81
- 210000004394 hip joint Anatomy 0.000 claims abstract description 42
- 210000001624 hip Anatomy 0.000 claims description 89
- 210000003127 knee Anatomy 0.000 claims description 40
- 244000309466 calf Species 0.000 abstract description 15
- 230000005021 gait Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 5
- 230000032683 aging Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- PUZPDOWCWNUUKD-UHFFFAOYSA-M sodium fluoride Chemical compound [F-].[Na+] PUZPDOWCWNUUKD-UHFFFAOYSA-M 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention relates to a mechanical leg and a bipedal robot. The mechanical leg comprises a hip joint part, a thigh part, a knee joint part, a shank part and a foot part; the thigh comprises a thigh front part and a thigh rear part, the upper ends are both rotationally connected with the hip joint part, and the lower ends are both rotationally connected with the knee joint part; the lower leg part comprises a lower leg front part and a lower leg rear part, the upper ends are both rotationally connected with the knee joint part, and the lower ends are both rotationally connected with the foot part; the hip joint part, the front thigh part, the knee joint part and the rear thigh part form a first parallel connecting rod mechanism, the knee joint part, the front calf part, the foot part and the rear calf part form a second parallel four-bar mechanism, and the cooperation of the first parallel four-bar mechanism and the second parallel four-bar mechanism ensures that the foot part is in a horizontal state when standing up and moving, thereby reducing the control difficulty of the mechanical legs and realizing the low-power consumption gait walking of the robot; the foot does not need to be provided with the degree of freedom, so that the lower leg can be made finer, and the weight, the cost and the control difficulty of the mechanical leg are reduced.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a mechanical leg and a bipedal robot.
Background
Humanoid robots (also known as humanoid robots) are becoming a hotspot development direction in the current robot field. The problem of aging of society is more and more serious, and the development of humanoid robots can make up for the deficiency of young labor force and solve various problems of the aging society.
One research focus of humanoid robots is mechanical legs. Compared with crawler-type or wheel-type mechanical legs, the bipedal robot is closer to a real person. The mechanical legs of the biped robot generally have multiple degrees of freedom, the mechanical structure design is complex, and the weight and the control difficulty of the mechanical legs are increased.
Disclosure of Invention
The invention aims to provide a mechanical leg and a bipedal robot comprising the mechanical leg.
In order to achieve the above object, the present invention provides the following technical solutions:
1. a mechanical leg comprising a hip joint, a thigh, a knee joint, a shank and a foot;
the thigh comprises a thigh front part and a thigh rear part, the upper ends are both rotationally connected with the hip joint part, and the lower ends are both rotationally connected with the knee joint part;
the lower leg comprises a lower leg front part and a lower leg rear part, the upper ends of the lower leg parts are both rotationally connected with the knee joint part, and the lower ends of the lower leg parts are both rotationally connected with the foot part;
The hip joint part, the thigh front part, the knee joint part and the thigh rear part form a first parallel link mechanism, the knee joint part, the shank front part, the foot part and the shank rear part form a second parallel four-link mechanism, and the first parallel four-link mechanism and the second parallel four-link mechanism are in linkage fit to enable the foot part to be in a horizontal state when standing up and moving.
2. The mechanical leg of claim 1, the knee joint portion comprising a knee joint structural member having a first connection point, a second connection point, a third connection point, and a fourth connection point; the first connection point and the second connection point are positioned on a first straight line L 1 The third connection point and the fourth connection point are located at a second straight line L 2 The first straight line L 1 And the second straight line L 2 Meeting at one point;
the knee joint structural member is rotatably connected with the thigh portion at the first connection point and the second connection point, and the knee joint structural member is rotatably connected with the shank portion at the third connection point and the fourth connection point.
3. The mechanical leg according to claim 2, wherein the first straight line L 1 And the second straight line L 2 Is positioned at the junction of the knee joint structural part。
4. The mechanical leg of claim 3, wherein the first and/or third connection points coincide with the junction.
5. According to the mechanical leg of claim 4, the knee joint structural member has a triangular structure, and three vertexes are a first vertex a, a second vertex B and a third vertex C respectively;
the first connection point and/or the third connection point coincide with the first vertex a, the second connection point coincides with the second vertex B, and the fourth connection point coincides with the third vertex C.
6. The mechanical leg according to claim 2, wherein the first straight line L 1 And the second straight line L 2 Is located outside the knee joint structural member.
7. According to the mechanical leg of claim 6, the knee joint structural member is a trapezoid structure, and the first connection point, the second connection point, the third connection point and the fourth connection point are respectively located at four vertexes of the trapezoid structure.
8. The mechanical leg according to any one of claims 2 to 7, the first straight line L 1 And the second straight line L 2 The knee joint structural part is intersected at a point in the front side direction; or (b)
The first straight line L 1 And the second straight line L 2 And the knee joint structural part is intersected at a point in the rear side direction.
9. The mechanical leg according to any one of claims 2 to 8, the knee joint portion including two of the knee joint structural members arranged in parallel and a fixing member for fixedly connecting the two of the knee joint structural members.
10. The mechanical leg according to any one of claims 1 to 9, the thigh front comprising:
a first body;
the hip connecting part is positioned at the upper end of the first body and is rotationally connected with the hip joint part;
the first knee connecting part is positioned at the lower end of the first body and is rotationally connected with the knee joint part.
11. The mechanical leg according to claim 10, wherein the first body includes a first front support and a pair of first side supports connected to both sides of the first front support, respectively;
the hip connection part is connected to the upper end of the first front support and/or the first side support;
the first knee connection part is connected to the lower end of the first front support and/or the first side support.
12. The mechanical leg of claim 10, wherein the first body is a housing structure having a first receiving cavity.
13. The mechanical leg according to any one of claims 1 to 12, wherein the thigh rear portion includes a pair of second side supports, and upper and lower ends are rotatably connected to the rear side of the hip joint portion and the rear side of the knee joint portion, respectively.
14. The mechanical leg according to any one of claims 1 to 13, the shank front portion comprising:
a second body;
the second knee connecting part is positioned at the upper end of the second body and is rotationally connected with the knee joint part;
the foot connecting part is positioned at the lower end of the second body and is rotationally connected with the foot.
15. The mechanical leg according to claim 14, the second body includes a second front support and a pair of third side supports connected to both sides of the second front support, respectively;
the second knee connecting part is connected to the upper end of the second front support piece and/or the third side support piece;
the foot connecting part is connected to the lower end of the second front support and/or the third side support.
16. The mechanical leg of claim 14, wherein the second body is a housing structure having a second receiving cavity.
17. The mechanical leg according to any one of claims 1 to 16, wherein the shank rear portion includes a pair of fourth side supports, and upper and lower ends are rotatably connected to a rear side of the knee joint portion and a rear side of the foot portion, respectively.
18. The mechanical leg according to claim 17, wherein the lower leg portion is an integral structure, and wherein the lower portions of the pair of fourth side supports are an integral structure.
19. The mechanical leg according to any one of claims 1 to 18, the thigh section further comprising: a first push rod device, the upper end of which is connected with the hip joint part and the lower end of which is connected with the front part of the thigh; and/or
The lower leg portion further includes: and the upper end of the second push rod device is connected with the front part of the thigh, and the lower end of the second push rod device is connected with the front part of the shank.
20. The mechanical leg of claim 19, the first pushrod device having a first upper connection and a first lower connection;
the first pushrod device is connected to the hip joint section through the first upper connection section and to the thigh front section through the first lower connection section.
21. The mechanical leg of claim 20, wherein the first upper connecting portion is located at two sides of the first push rod device.
22. The mechanical leg of claim 21, the first pushrod device comprising:
the motor is provided with first upper connecting parts at two sides below;
the screw rod is connected with an output shaft of the motor; and
a push rod connected to the screw rod, the lower end having a first lower connection portion and configured to: when the motor rotates, the screw rod is driven to do linear motion along the axial direction of the output shaft of the motor.
23. The mechanical leg of any one of claims 19 to 22, the second pushrod device having a second upper connection and a second lower connection;
the second push rod device is connected to the front thigh through the second upper connecting part and to the front calf through the second lower connecting part.
24. The mechanical leg of claim 23, wherein the second upper connecting portions are disposed on two sides of the second pushrod device.
25. The mechanical leg of claim 24, the second pushrod device comprising:
the motor is provided with second upper connecting parts at two sides below;
the screw rod is connected with an output shaft of the motor; and
a push rod connected to the screw rod, the lower end having a second lower connection portion, and configured to: when the motor rotates, the screw rod is driven to do linear motion along the axial direction of the output shaft of the motor.
26. The mechanical leg of any one of claims 1 to 25, the hip joint comprising a hip support comprising a hip top and a hip anterior side and a hip posterior side connected respectively anterior and posterior to the hip top;
the thigh front part is rotationally connected with the hip front side part;
the thigh rear is rotatably connected to the hip rear side.
27. The mechanical leg of claim 26, wherein the hip joint further comprises a hip rotation joint module, and wherein an output shaft is perpendicular to the ground and fixedly connected to the hip top for driving the hip support to rotate about the output shaft of the hip rotation joint module on a horizontal plane.
28. The mechanical leg according to any one of claims 1 to 27, the foot 150 comprising:
a foot plate;
the first installation part is positioned at the front side of the foot plate and is connected with the front part of the lower leg; and
and the second installation part is positioned at the rear side of the foot plate and is connected with the rear part of the lower leg.
29. A bipedal robot comprising two mechanical legs according to any one of claims 1 to 28.
30. The bipedal robot of claim 29, further comprising a lumbar device; the two mechanical legs are respectively positioned at two sides of the waist device.
31. The bipedal robot of claim 30, the lumbar device comprising:
a lumbar support;
the first waist joint module is arranged on the waist support, and an output shaft is perpendicular to the ground and used for driving the waist support to rotate around an output shaft of the first waist joint module;
the second waist joint module is arranged on the side face of the waist support, and the output shaft is parallel to the ground and used for driving the waist support to rotate around the output shaft of the second waist joint module.
The technical scheme of the invention has the following advantages:
the thigh is designed to comprise a thigh front part and a thigh rear part, the shank is designed to comprise a shank front part and a shank rear part, the hip joint part, the thigh front part, the knee joint part and the thigh rear part form a first parallel link mechanism, the knee joint part, the shank front part, the foot part and the shank rear part form a second parallel four-link mechanism, under the constraint of the first parallel four-link mechanism and the second parallel four-link mechanism, the foot part is horizontal when standing upright, and can be still horizontal when moving, so that the control difficulty of the mechanical leg is reduced, and the low-power gait walking of the robot is realized; the foot does not need to be provided with the degree of freedom, so that the lower leg can be made finer, and the weight, the cost and the control difficulty of the mechanical leg are reduced.
The knee joint part is used as a structural member for associating the first parallel four-bar mechanism and the second parallel four-bar mechanism, and the foot part can be in a horizontal state when the thigh part drives the shank part to move through the knee joint part through the triangular structural design.
The push rod structure is adopted to realize the front-back swing of the thigh part relative to the hip joint part and the front-back swing of the shank part relative to the thigh part through the knee joint part, so that the robot is more suitable for a bipedal robot, the weight of the mechanical leg can be reduced, the structural stability is enhanced, and the rotational inertia of the leg can be reduced.
The waist of the biped robot of design can realize horizontal rotation and left and right rotation, and shank can horizontal rotation, thigh portion can the back-and-forth swing, and shank can the back-and-forth swing, and each part cooperation can realize that the robot walks with the form of human walking.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some embodiments of the invention. Other figures may be derived from these figures without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic view of a mechanical leg according to an embodiment of the present application;
FIG. 2 is a schematic structural view of a mechanical leg according to another embodiment of the present application;
FIG. 3 is a schematic view of a knee joint construct having 4 connection points;
FIG. 4 is a schematic view of the connection points of the knee joint structural members;
FIG. 5 is a schematic view of a knee joint construct having 3 connection points;
FIG. 6 is a schematic diagram;
FIG. 7 is another schematic view of a knee joint construct having 4 connection points;
FIG. 8 is a schematic view of another use of the knee joint construct;
FIG. 9 is a schematic view of a split knee joint construct;
fig. 10 is a perspective view of the knee joint;
FIG. 11 is a perspective view of the front of the thigh at two angles;
FIG. 12 is a perspective view of the front of the calf at two angles;
FIG. 13 is a schematic view of the structure of the push rod device, a is a schematic view of the first push rod device in an upright state, and b is a schematic view of the second push rod device in an upright state;
fig. 14 is a perspective view of a mechanical leg of an embodiment of the present application at two angles.
Reference numerals illustrate:
110: a hip joint; 111: hip top; 112: a hip anterior portion; 113: a hip posterior lateral portion; 114: a hip rotation joint module;
120: thigh section; 121: thigh front; 1211: a first body; 12111: a first front support; 12112: a first side support; 1212: a hip connection; 1213: a first knee connection; 122: thigh rear; 123: a first push rod device; 1231: a first upper connection portion; 1232: a first lower connection portion;
130: a knee joint portion; 131: knee joint structural members; 1311: a first connection point; 1312: a second connection point; 1313: a third connection point; 1314: a fourth connection point; 132: a fixing member;
140: a lower leg portion; 141: the front of the lower leg; 1411: a second body; 14111: a second front support; 14112: a third side support; 1412: a second knee connection; 1413: a foot connection; 142: the rear of the lower leg; 143: a second pushrod device; 1431: a second upper connection portion; 1432: a second lower connection portion;
150: a foot; 151: a foot plate; 152: a first mounting portion; 153: a second mounting portion;
210: a lumbar support; 220: a first waist joint module; 230: the second waist joint module.
Description of the embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below in connection with the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present application, the terms "first," "second," "third," and the like are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present application, the term "and/or" is merely an association relation describing an associated object, and means that three relations may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone.
In the description of the present application, the terms "connected" or "coupled" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In the description of the present application, "upper", "lower", "left", "right", and the like are used only to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.
The features of the following examples and embodiments may be combined with each other without any conflict.
One embodiment of the present application provides a mechanical leg, referring to fig. 1. Another embodiment of the present application provides a mechanical leg, referring to fig. 2. The mechanical leg in the above embodiment includes the hip joint part 110, the thigh part 120, the knee joint part 130, the shank part 140, and the foot part 150;
thigh 120 includes thigh front 121 and thigh rear 122, both upper ends are rotatably connected to hip joint 110, and both lower ends are rotatably connected to knee joint 130;
Shank 140 includes a shank anterior portion 141 and a shank posterior portion 142, each rotatably coupled at an upper end to knee joint portion 130 and each rotatably coupled at a lower end to foot 150;
wherein the hip joint part 110, the thigh front part 121, the knee joint part 130 and the thigh rear part 122 constitute a first parallel linkage mechanism, the knee joint part 130, the shank front part 141, the foot part 150 and the shank rear part 142 constitute a second parallel four-bar linkage mechanism, and the first parallel four-bar linkage mechanism and the second parallel four-bar linkage mechanism are in linkage coordination so that the foot part 150 can be in a horizontal state when standing up and when moving.
In the above embodiment, the thigh 120 is designed to include the thigh front 121 and the thigh rear 122, the shank 140 is designed to include the shank front 141 and the shank rear 142, and the hip joint 110, the thigh front 121, the knee joint 130 and the thigh rear 122 form a first parallel linkage mechanism, the knee joint 130, the shank front 141, the foot 150 and the shank rear 142 form a second parallel four-bar linkage mechanism, and under the constraint of the associated first parallel four-bar linkage mechanism and second parallel four-bar linkage mechanism, the foot 150 is horizontal when standing upright, and can be always horizontal when moving, so that the control difficulty of the mechanical leg is reduced, and the low-power walking of the robot is realized; the foot 150 also does not require a degree of freedom, and the lower leg 140 can be made thinner, thereby reducing the weight, cost and control difficulty of the mechanical leg.
In the above embodiment, the thigh section 120 can swing back and forth with respect to the hip joint section 110, and the shank section 140 can swing back and forth with respect to the thigh section 120 through the knee joint section 130.
The center of gravity of the bipedal robot when standing is perpendicular to the ground.
Referring to fig. 3, the knee joint part 130 includes a knee joint structural member 131, the knee joint structural member 131 having a first connection point 1311, a second connection point 1312, a third connection point 1313, and a fourth connection point 1314; the first connection point 1311 and the second connection point 1312 are located in a first line L 1 The third 1313 and fourth 1314 connection points are located in a second line L 2 First straight line L 1 And a second straight line L 2 Meeting at one point; the knee structural member 131 is pivotally connected to the thigh 120 at a first connection point 1311 and a second connection point 1312, and the knee structural member 131 is pivotally connected to the shank 140 at a third connection point 1313 and a fourth connection point 1314.
The knee joint structural member 131 may be rotatably connected to the thigh front 121 at one of the first connection point 1311 and the second connection point 1312, and rotatably connected to the thigh rear 122 at the other; the knee structure 131 may be rotatably coupled to the anterior calf portion 141 at one of the third 1313 and fourth 1314 connection points and the posterior calf portion 142 at the other.
Based on the relative positions of the various connection points shown in fig. 3, when the knee structure 131 is rotationally coupled with the thigh front 121 at the first connection point 1311, the knee structure 131 is rotationally coupled with the calf front 141 at the third connection point 1313;
when the knee structural member 131 is pivotally connected to the thigh section 121 at the second connection point 1312, the knee structural member 131 is pivotally connected to the calf section 141 at the fourth connection point 1314.
The knee joint part 130 is configured to associate the first parallel four-bar mechanism with the second parallel four-bar mechanism, and two connection points rotatably connected to the thigh 120 are located on a first straight line L 1 The two connection points with the lower leg 140 are located at the second straight line L 2 And a first straight line L 1 And a second straight line L 2 This intersection places the knee joint 130 in a triangular constraint relationship with the thigh 120 and calf 140, with this design allowing the foot 150 to be horizontal not only when standing upright, but also when exercising.
It should be appreciated that the first line L 1 With a first straight line L 2 Is a virtual line and does not represent a physical line on the knee joint structural member 131 where the two straight lines must be drawn.
It should be appreciated that the first connection point 1311 and the second connection point 1312 lie in a first line L 1 It can be understood that the center of the first connection point 1311 and the center of the second connection point 1312 are located on the first straight line L 1 The method comprises the steps of carrying out a first treatment on the surface of the The third 1313 and fourth 1314 connection points are located in a second line L 2 It can be understood that the center of the third connection point 1313 and the center of the fourth connection point 1314 are located on the second straight line L 2 。
It should also be understood that the location and size of each connection point shown in the figures are merely illustrative, and that the actual location and size may be determined according to actual requirements.
With continued reference to FIG. 3, a first straight line L 1 And a second straight line L 2 Is located at the knee joint structural member 131. This solution is described in detail below with reference to fig. 4.
Let the junction be a 1 The first connection point 1311 and the second connection point 1312 may be located in theory at a 1 First as starting pointA straight line L 1 At any location (needless to say, the first connection point 1311 and the second connection point 1312 must be on the knee structural member 131); the third 1313 and fourth 1314 connection points may be located at a in theory 1 A second straight line L as a starting point 2 At any location (needless to say, the third 1313 and fourth 1314 points must be on the knee structural member 131).
The first connection point 1311 may be at a 1 At point a, the second connection point 1312 may be at point a 2 Site or a 3 Site or a 4 A place; the first connection point 1311 may be at a 2 At point a, the second connection point 1312 may be at point a 3 Site or a 4 A place; the first connection point 1311 may be at a 3 At point a, the second connection point 1312 may be at point a 4 Where it is located.
Third connection point 1313 may be at a 1 At the fourth connection point 1314 may be at a 5 Site or a 6 Site or a 7 A place; third connection point 1313 may be at a 5 At the fourth connection point 1314 may be at a 6 Site or a 7 A place; third connection point 1313 may be at a 6 At the fourth connection point 1314 may be at a 7 Where it is located.
The first connection point 1311 and the second connection point 1312 are on the first line L 1 Either aspect may be in a second line L with the third 1313 and fourth 1314 connection points 2 Any of the above arrangements combine to form a layout arrangement of the connection points on the knee structural member 131.
In theory, although this is the case, the positions of the respective connection points should be determined in consideration of actual design.
With continued reference to fig. 4, the first connection point 1311 and/or the third connection point 1313 coincide with an intersection point.
As can be seen from the foregoing, when only the first connection point 1311 coincides with the junction, i.e., only the first connection point 1311 is at a 1 Where present, the second connection point 1312 may be at a 1 A first straight line L as a starting point 1 At any position (not including a 1 Position), the third connection point 1313 and the fourth connection point 1314 may be at a 1 First as starting pointTwo straight lines L 2 At any position (not including a 1 Position).
When only third connection point 1313 coincides with the intersection, i.e. only third connection point 1313 is at a 1 Where present, the fourth connection point 1314 may be at a 1 A second straight line L as a starting point 2 At any position (not including a 1 Position), the first connection point 1311 and the second connection point 1312 may be at a 1 A first straight line L as a starting point 1 At any position (not including a 1 Position).
When the first joint 1311 and the third joint 1313 are both coincident with the junction, i.e., the first joint 1311 and the third joint 1313 are both at a 1 Where there are three points of attachment on knee structure 131, the second point of attachment 1312 may be at point a 1 A first straight line L as a starting point 1 At any position (not containing a 1 Position), the fourth connection point 1314 may be at a 1 A second straight line L as a starting point 2 At any position (not containing a 1 Position).
In the technical solution provided in the present application, the knee joint structural member 131 may be any shape. For example, the structure may be circular, trapezoid, triangle, or abnormal (e.g., T-shaped). Referring to fig. 5, in some embodiments, knee structure 131 is a triangular structure with three vertices, a first vertex a, a second vertex B, and a third vertex C, respectively; the first connection point 1311 and/or the third connection point 1313 coincides with the first vertex a, the second connection point 1312 coincides with the second vertex B, the fourth connection point 1314 coincides with the third vertex C, i.e. the first connection point 1311 and/or the third connection point 1313 is at the first vertex a, the second connection point 1312 is at the second vertex B, and the fourth connection point 1314 is at the third vertex C.
As shown in fig. 1, the knee structural member 131 of fig. 1 has a triangular structure and four connection points. The three vertexes are a first vertex a, a second vertex B and a third vertex C, the first connection point 1311 coincides with the first vertex a, the second connection point 1312 coincides with the second vertex B, the fourth connection point 1314 coincides with the third vertex C, and the third connection point 1313 is located on a straight line formed by the first vertex a and the third vertex C and between the first vertex a and the third vertex C.
The anterior thigh section 121 is rotatably coupled to the knee joint 130 at a second connection point 1312 (or second vertex B), the posterior thigh section 122 is rotatably coupled to the knee joint 130 at a first connection point 1311 (or first vertex a), the anterior calf section 141 is rotatably coupled to the knee joint 130 at a fourth connection point 1314 (or third vertex C), and the posterior calf section 142 is rotatably coupled to the knee joint 130 at a third connection point 1313.
As shown in fig. 2, the knee structural member 131 of fig. 2 has a triangular structure and three connection points. The three vertices are a first vertex a, a second vertex B, and a third vertex C, respectively, the first connection point 1311 and the third connection point 1313 are both coincident with the first vertex a, the second connection point 1312 is coincident with the second vertex B, and the fourth connection point 1314 is coincident with the third vertex C.
The thigh front 121 is rotatably connected with the knee joint part 130 at a second vertex B, the thigh rear 122 is rotatably connected with the knee joint part 130 at a first vertex a, the shank front 141 is rotatably connected with the knee joint part 130 at a third vertex C, and the shank rear 142 is rotatably connected with the knee joint part 130 at a first vertex a.
The lower leg 140 of the structure shown in fig. 1 can be made thinner than the structure shown in fig. 2, and the weight of the mechanical leg can be further reduced, thereby making it easier to make the mechanical leg lighter.
The principle of implementing the foot 150 in a horizontal state both when standing upright and when moving will be described below with reference to fig. 2 and 6.
The upper end of the thigh front 121 is rotatably connected with the hip joint part 110, the connection point is denoted as D, the lower end is rotatably connected with the knee joint part 130, and the connection point is denoted as B; the upper end of the thigh section 122 is pivotally connected to the hip joint section 110, the connection point being denoted as E, and the lower end is pivotally connected to the knee joint section 130, the connection point being denoted as a. The hip joint 110, the thigh front 121, the knee joint 130, and the thigh rear 122 constitute a first parallel link mechanism, and the four connection points A, B, D, E are connected in a parallelogram shape.
The upper end of the shank front 141 is rotatably connected to the knee joint part 130, the connection point is C, the lower end is rotatably connected to the foot 150, and the connection point is denoted as F; the upper end of the lower leg portion 142 is pivotally connected to the knee joint 130 at a connection point a and the lower end is pivotally connected to the foot 150 at a connection point G. The knee joint portion 130, the shank forward portion 141, the foot portion 150, and the shank rearward portion 142 constitute a second parallel four-bar linkage, and the four connection points A, C, F, G are connected in a parallelogram.
For convenience of description, the virtual structure formed by the connection lines D and E is named as a rod 1, the virtual structure formed by the connection lines B and D is named as a rod 2, the virtual structure formed by the connection lines A and B is named as a rod 3, the virtual structure formed by the connection lines A and E is named as a rod 4, and the rods of the group 4 can be regarded as virtual connecting rods of the first parallel four-bar mechanism.
The virtual structure formed by the connection lines of B and C is named as a rod 5.
The virtual structure formed by connecting lines A and C is named as a rod 6, the virtual structure formed by connecting lines C and F is named as a rod 7,F, the virtual structure formed by connecting lines G is named as a rod 8, the virtual structure formed by connecting lines A and G is named as a rod 9, and the rods of the group 4 can be regarded as virtual connecting rods of a second parallel four-bar mechanism.
The bars 3, 5 and 6 can be seen as three virtual sides of the knee joint structure 131.
The movement process of standing up-leg lifting-re-landing is described as an example.
In the first parallel four-bar linkage, the hip joint is a fixed structure, so the rod 1 is stationary. When the thigh 120 is lifted upwards, the rod 2 and the rod 4 swing upwards synchronously, the rod 3 parallel to the rod 1 translates upwards, and because the rod 3 is one side of the triangular knee joint structural member 131, the second parallel four-bar linkage mechanism is driven to translate upwards wholly under the constraint of the knee joint part 130. The foot 150 during this process remains horizontal at all times.
The re-landing process is similar to the above process, and when the thigh 120 is put down, the rods 2 and 4 swing downward synchronously, and the rod 3 parallel to the rod 1 translates downward, and under the constraint of the knee joint part 130, the second parallel four-bar linkage is driven to translate downward as a whole. The foot 150 during this process remains horizontal at all times.
It should be noted that the above description is given by way of leg lifting and re-landing, and the technical solution provided in the present application is not represented by the fact that the foot 150 can be only placed in a horizontal position in the two motion states. The technical solution provided in the present application enables the foot 150 to be horizontal in any motion state that can be achieved based on the mechanical leg.
It should be appreciated that knee structure 131 may be any triangular configuration, and not just the triangular configuration shown in fig. 2.
It should be understood that the first parallel four-bar linkage and the second parallel four-bar linkage may be any parallelogram, and not just the parallelogram shown in fig. 6.
In some embodiments, referring to fig. 7, a first straight line L 1 And a second straight line L 2 Is located outside of the knee structural member 131, i.e., the intersection is not located on the knee structural member 131. Likewise, as can be appreciated from the foregoing, the first connection point 1311 and the second connection point 1312 can theoretically be located on the first straight line L starting from the intersection point 1 Any position; the third 1313 and fourth 1314 connection points may theoretically be located in a second line L starting from the point of intersection 2 At any location.
It should be appreciated that the first, second, third and fourth connection points 1311, 1312, 1313, 1314 must be on the knee structural member 131.
With continued reference to fig. 7, in some embodiments, the knee structure 131 is a trapezoidal structure with the first, second, third, and fourth connection points 1311, 1312, 1313, 1314 located at the four vertices of the trapezoidal structure, respectively.
Referring to fig. 3, 4, 5 and 7, a first straight line L 1 And a second straight line L 2 Meets at a point in the posterior direction of the knee structural member 131. Referring to fig. 8, fig. 8a is a schematic view of a knee joint structure having 4 connection points in another use; FIG. 8b is a schematic view of the connection points of the knee joint structural member in another use; FIG. 8c is a schematic view of a knee joint construct having 3 connection points in another use; FIG. 8d shows another userIn this case, the knee joint structure has another schematic view with 4 connection points. In the solution shown in fig. 8, a first straight line L 1 And a second straight line L 2 Meets at a point in the anterior direction of the knee structural member 131. The knee joint structural member 131 can be used in any of the above-described manners in the mechanical leg.
In some embodiments, knee structure 131 is a unitary structure, i.e., knee structure 131 is a triangular plate. In some embodiments, as in fig. 9, knee structural member 131 may be a split structure comprising a plurality of structural units. In the technical solution shown in fig. 9, the knee joint structural member 131 includes a first connecting member, a second connecting member and a third connecting member, which are fixedly connected end to end in sequence to form a triangular structure with holes.
It should be appreciated that when knee structural member 131 is a split structure including a plurality of structural units, each structural unit may be the same or different.
Referring to fig. 10, the knee joint part 130 includes two knee joint structural members 131 disposed in parallel and a fixing member 132 for fixedly connecting the two knee joint structural members 131.
In some embodiments, referring to fig. 11, thigh front 121 includes:
a first body 1211;
a hip joint 1212, which is rotatably coupled to the hip joint 110, at an upper end of the first body 1211;
the first knee connecting portion 1213 is located at the lower end of the first body 1211 and is rotatably connected to the knee joint portion 130.
In some embodiments, the first body 1211 includes a first front support 12111 and a pair of first side supports 12112 connected to both sides of the first front support 12111, respectively; the hip connection 1212 is connected to the upper end of the first front support 12111 and/or the first side support 12112; the first knee connection 1213 is connected to a lower end of the first front support 12111 and/or the first side support 12112. In some embodiments, the first body 1211 is a housing structure having a first receiving cavity. Various implementations of the first front support 12111 and the first side support 12112 may be implemented, for example, each of the first front support 12111 and the first side support 12112 may have a plate-shaped structure, which enhances the strength of the front thigh 121, and the three may enclose a housing structure having a first receiving chamber.
In some embodiments, the hip connection 1212 is constricted toward the middle of the pair of first side supports 12112 and connected to the inner side of the hip joint 110; the first knee connecting portion 1213 is connected to the outer side of the knee joint portion 130.
In some embodiments, an encoder is provided at the rotational connection of the hip connection 1212 with the hip joint 110 for obtaining the angle of rotation of the thigh 120.
In some embodiments, the thigh posterior 122 includes a pair of second side supports, with upper and lower ends pivotally connected to the posterior side of the hip joint 110 and the posterior side of the knee joint 130, respectively. There are a number of implementations of the second side support. For example, a rod-like structure may be employed to reduce leg weight. When the first front support 12111 and the first side support 12112 of the thigh front 121 are each in a plate-like structure and the second side support of the thigh rear 122 is in a rod-like structure, the thigh 120 forms a structure in which the front structure is strong and the rear structure is weak, the front part serves as a load-bearing main member, the rear part assists in bearing and receiving a tensile force, and structural strength is ensured while reducing the overall weight of the thigh 120.
In some embodiments, referring to fig. 12, the lower leg front 141 comprises:
a second body 1411;
a second knee joint part 1412 located at an upper end of the second body 1411 and rotatably connected to the knee joint part 130;
a foot connecting portion 1413 is provided at a lower end of the second body 1411 to be rotatably connected with the foot 150.
In some embodiments, the second body 1411 includes a second front support 14111 and a pair of third side supports 14112 connected to both sides of the second front support 14111, respectively; the second knee joint 1412 is connected to an upper end of the second front support 14111 and/or the third side support 14112; foot link 1413 is connected to a lower end of second anterior support 14111 and/or third lateral support 14112. In some embodiments, the second body 1411 is a housing structure having a second receiving chamber. The second front support 14111 and the third side support 14112 may be implemented in various manners, for example, the second front support 14111 and the third side support 14112 may each have a plate-shaped structure to enhance the strength of the front calf portion 141, and the three may enclose a housing structure having a second receiving cavity.
In some embodiments, an encoder is provided at the rotational connection of second knee joint 1412 and knee joint 130 for obtaining the rotational angle of lower leg 140.
In some embodiments, the calf posterior 142 includes a pair of fourth side supports with upper and lower ends pivotally connected to the posterior side of the knee joint 130 and the posterior side of the foot 150, respectively.
The pair of fourth side supports may be independent of each other, allowing the calf rear 142 to be a split construction. The pair of fourth side supports may also be formed as a unitary structure, e.g., the lower portions of the pair of fourth side supports are formed as a unitary structure, such that the rear calf portion 142 is formed as a unitary structure.
Referring to fig. 1, 2 and 13, thigh 120 may further include: the first push rod device 123 has an upper end connected to the hip joint part 110 and a lower end connected to the thigh front 121. The lower leg 140 may further include: the second push rod device 143 has an upper end connected to the thigh front 121 and a lower end connected to the shank front 141. In some embodiments, when the first body 1211 is a housing structure having a first receiving cavity, the first push rod device 123 is at least partially positioned within the first receiving cavity, which may reduce device exposure. In some embodiments, when the second body 1411 is a housing structure having a second receiving chamber, the second push rod device 143 is at least partially positioned within the second receiving chamber, which may reduce device exposure.
The push rod device is adopted as a drive, so that the thigh 120 can swing back and forth relative to the hip joint part 110, the shank 140 can swing back and forth relative to the thigh 120 through the knee joint part 130, various movement states of the mechanical leg such as front and back swinging, leg lifting, walking and the like are realized, and compared with a joint module, the weight of the mechanical leg can be reduced. Moreover, because the push rod device is obliquely arranged, and the length of the push rod device is adjustable, the push rod device can play a role in fixing under different motion states, and the stability of the mechanical leg is enhanced. In addition, the push rod device can enable the mass center of the knee joint to move upwards, and the moment of inertia is reduced.
Referring to fig. 13, the first push rod device 123 has a first upper connection part 1231 and a first lower connection part 1232; the first push rod device 123 is connected to the hip joint part 110 through a first upper connection part 1231 and to the thigh front part 121 through a first lower connection part 1232.
The first upper connection part 1231 may be a rotation shaft structure, the first lower connection part 1232 may be a structure with a shaft hole, and connection structures cooperating with the hip joint part 110 and the thigh front part 121 are provided on the two parts.
In some embodiments, the first upper connecting portions 1231 are distributed on both sides of the first push rod device 123, such that the first push rod device 123 is connected to both sides of the hip joint 110. The control accuracy is increased compared to single point connections.
In some embodiments, the first push rod device 123 includes:
the motor, there are first upper connecting portions 1231 at both sides of lower side;
the screw rod is connected to the output shaft of the motor; and
a push rod connected to the screw, having a first lower connection part 1232 at a lower end thereof, and configured to: when the motor rotates, the linear motion is carried out along the axial direction of the output shaft of the motor under the drive of the screw rod, so that the push rod stretches out and draws back.
The second push rod device 143 has a second upper connection 1431 and a second lower connection 1432; the second push rod device 143 is connected to the thigh front 121 by a second upper connection 1431 and to the shank front 141 by a second lower connection 1432.
The second upper connection part 1431 may be a rotation shaft structure, the second lower connection part 1432 may be a connection structure with a shaft hole, and connection structures matched with the thigh front 121 and the shank front 141 are provided on the thigh front and the shank front.
In some embodiments, the second upper connection 1431 is distributed on both sides of the second push rod device 143, such that the second push rod device 143 is connected on both sides of the thigh front 121. The control accuracy is increased compared to single point connections.
In some embodiments, the second push rod device 143 includes:
the motor is provided with second upper connecting parts 1431 at two sides below;
the screw rod is connected to the output shaft of the motor; and
a push rod connected to the screw, having a second lower connection portion 1432 at a lower end thereof, and configured to: when the motor rotates, the motor is driven by the lead screw to do linear motion along the axial direction of the output shaft of the motor.
In some embodiments, the motors in the first push rod device 123 and the second push rod device 143 may be brushless motors, the screw may be a ball screw or a planetary roller screw, and the motors and the screw may be provided with encoders to form a closed-loop servo system. In some embodiments, the first push rod device 123 and the second push rod device 143 further comprise band-type switches, so that the leg devices can be kept upright in the power-off state, and power consumption is reduced.
In some embodiments, the hip 110 includes a hip bracket including a hip top 111 and a hip anterior side 112 and a hip posterior side 113 connected respectively anterior and posterior to the hip top 111;
thigh front 121 is rotatably connected to hip front 112;
thigh rear 122 is rotatably connected to hip rear side 113.
When thigh 130 further includes a first pushrod device, the first pushrod device is rotatably attached to hip posterior segment 113.
In some embodiments, the hip 110 further includes a hip rotation joint module 114 with an output shaft perpendicular to the ground and connected to the hip top 111 for driving the hip support to rotate on a horizontal plane, enabling the mechanical leg to rotate on the horizontal plane about the output shaft.
In some embodiments, foot 150 includes: a foot plate 151; a first mounting portion 152 located on the front side of the foot plate 151 and connected to the lower leg front 141; and a second mounting portion 153 located at the rear side of the foot plate 151 and connected to the shank rear portion 142.
In some embodiments, foot 150 may be provided with a damping structure for cushioning the transient impact forces.
The application also provides a bipedal robot, as shown in fig. 14, comprising two mechanical legs provided by any one of the embodiments, which are equivalent to left and right bipedal legs of a person.
In some embodiments, the bipedal robot further comprises a lumbar device, the two mechanical legs being located on either side of the lumbar device, respectively, emulating a person's bipeds. The following is a description with reference to fig. 14.
The lumbar device includes:
a lumbar support 210; taking a single mechanical leg as an example, the lower end face of the waist support 210 is opposite to the upper end face of the hip top 111, the hip rotary joint module 114 is installed on the upper end face of the waist support 210, and an output shaft of the hip rotary joint module 114 is perpendicular to the ground and connected to the hip top 111, so that the upper end face of the hip top 111 can rotate relative to the lower end face of the waist support 210, and the mechanical leg can rotate around the output shaft of the hip rotary joint module 114 on the horizontal plane relative to the waist device;
the first waist joint module 220 is mounted on the waist support 210, and the output shaft is perpendicular to the ground and is used for driving the waist support 210 to rotate around the output shaft of the first waist joint module 220;
the second waist joint module 230 is mounted on the side of the waist support 210, and the output shaft is parallel to the ground, and is used for driving the waist support 210 to rotate around the output shaft of the second waist joint module 230.
The utility model provides a biped robot waist can realize horizontal rotation and left and right rotation, and shank can horizontal rotation, and thigh portion can the back-and-forth swing, and shank can the back-and-forth swing, and each part cooperation can realize that the robot walks with the form of human walking.
The first waist joint module 220, the second waist joint module 230 and the hip rotary joint module 114 are arranged at the same plane height, so that the robot is suitable for a humanoid robot, and a sufficient space is reserved for a battery compartment.
It should be noted that any of the joint modules in any of the above embodiments may be an existing product. For example, any of the joint modules may include a brushless motor, a speed reducer (harmonic or planetary or cycloidal), and a dual encoder, and in some embodiments, a band brake.
It should be noted that the specific implementation of the rotational connection in any of the foregoing embodiments may use existing shaft connection, hinge connection, and so on.
The foregoing has outlined the detailed description of the embodiments of the present invention, and the detailed description of the principles and embodiments of the present invention is provided herein by way of example only to facilitate the understanding of the method and core concepts of the present invention; meanwhile, according to the thought of the invention, the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents to those skilled in the art; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A mechanical leg, comprising a hip joint (110), a thigh (120), a knee joint (130), a shank (140), and a foot (150);
the thigh (120) comprises a thigh front part (121) and a thigh rear part (122), the upper ends are both rotationally connected with the hip joint part (110), and the lower ends are both rotationally connected with the knee joint part (130);
the lower leg part (140) comprises a lower leg front part (141) and a lower leg rear part (142), the upper ends of the lower leg part and the lower end of the lower leg part are respectively connected with the knee joint part (130) in a rotating way, and the lower ends of the lower leg part and the lower leg part are respectively connected with the foot part (150);
wherein the hip joint part (110), the thigh front part (121), the knee joint part (130) and the thigh rear part (122) form a first parallel link mechanism, the knee joint part (130), the shank front part (141), the foot part (150) and the shank rear part (142) form a second parallel four-link mechanism, and the first parallel four-link mechanism and the second parallel four-link mechanism are in linkage fit so that the foot part (150) is in a horizontal state when standing and moving.
2. The mechanical leg according to claim 1, wherein the knee joint part (130) comprises a knee joint structural member #131 -the knee structure (131) has a first connection point (1311), a second connection point (1312), a third connection point (1313) and a fourth connection point (1314); the first connection point (1311) and the second connection point (1312) are located on a first straight line L 1 The third (1313) and fourth (1314) connection points are located in a second line L 2 The first straight line L 1 And the second straight line L 2 Meeting at one point;
the knee joint structural member (131) is rotatably connected with the thigh section (120) at the first connection point (1311) and the second connection point (1312), and the knee joint structural member (131) is rotatably connected with the shank section (140) at the third connection point (1313) and the fourth connection point (1314).
3. The mechanical leg according to claim 2, characterized in that the first straight line L 1 And the second straight line L 2 Is located at the knee joint structural member (131); or (b)
The first straight line L 1 And the second straight line L 2 Is located outside the knee structural member (131).
4. A mechanical leg according to claim 3, characterized in that the first (1311) and/or third (1313) connection point coincides with the junction when the junction is located in the knee joint structural part (131).
5. The mechanical leg according to claim 4, wherein the knee joint structural member (131) has a triangular structure, and three vertices are a first vertex a, a second vertex B and a third vertex C, respectively;
The first (1311) and/or third (1313) connection points coincide with the first vertex a, the second connection point (1312) coincides with the second vertex B, and the fourth connection point (1314) coincides with the third vertex C.
6. The mechanical leg according to any one of claims 2 to 5, characterized in that the knee joint part (130) comprises two knee joint structural members (131) arranged in parallel and a fixing member (132) for fixedly connecting the two knee joint structural members (131).
7. The mechanical leg according to claim 1, characterized in that the thigh front (121) comprises a first body (1211), a hip connection (1212) and a first knee connection (1213), the hip connection (1212) being located at an upper end of the first body (1211) in rotational connection with the hip joint (110), the first knee connection (1213) being located at a lower end of the first body (1211) in rotational connection with the knee joint (130); and/or
The shank front part (141) comprises a second body (1411), a second knee connecting part (1412) and a foot connecting part (1413), wherein the second knee connecting part (1412) is positioned at the upper end of the second body (1411) and is rotationally connected with the knee joint part (130), and the foot connecting part (1413) is positioned at the lower end of the second body (1411) and is rotationally connected with the foot (150); and/or
The thigh rear part (122) comprises a pair of second side supporting pieces, and the upper end and the lower end are respectively connected with the rear side of the hip joint part (110) and the rear side of the knee joint part (130) in a rotating way; and/or
The shank rear portion (142) includes a pair of fourth side supports, upper and lower ends of which are rotatably connected to the rear side of the knee joint portion (130) and the rear side of the foot portion (150), respectively; and/or
The thigh section (120) further comprises: a first push rod device (123) with an upper end connected to the hip joint part (110) and a lower end connected to the thigh front part (121); and/or
The lower leg portion (140) further includes: a second push rod device (143) with an upper end connected to the thigh section (121) and a lower end connected to the shank section (141).
8. The mechanical leg according to claim 1, wherein the hip joint (110) comprises a hip support comprising a hip top (111) and a hip front side (112) and a hip rear side (113) connected respectively to the front and rear of the hip top (111);
-said thigh front (121) is rotatably connected to said hip front side (112);
the thigh rear (122) is rotatably connected to the hip rear side (113).
9. The mechanical leg according to claim 8, wherein the hip joint (110) further comprises a hip rotary joint module (114), an output shaft being perpendicular to the ground and fixedly connected to the hip head (111) for driving the hip support in a horizontal plane about the output shaft of the hip rotary joint module (114).
10. A bipedal robot comprising two mechanical legs according to any one of claims 1 to 9;
preferably, the bipedal robot further comprises a lumbar device comprising:
a lumbar support (210);
the first waist joint module (220) is arranged on the waist support (210), and an output shaft is perpendicular to the ground and is used for driving the waist support (210) to rotate around the output shaft of the first waist joint module (220);
the second waist joint module (230) is arranged on the side face of the waist support (210), and the output shaft is parallel to the ground and used for driving the waist support (210) to rotate around the output shaft of the second waist joint module (230).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311310502.XA CN117382766A (en) | 2023-10-10 | 2023-10-10 | Mechanical leg and biped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311310502.XA CN117382766A (en) | 2023-10-10 | 2023-10-10 | Mechanical leg and biped robot |
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| CN117382766A true CN117382766A (en) | 2024-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311310502.XA Pending CN117382766A (en) | 2023-10-10 | 2023-10-10 | Mechanical leg and biped robot |
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| CN (1) | CN117382766A (en) |
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