CN208602587U - Easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap - Google Patents
Easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap Download PDFInfo
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- CN208602587U CN208602587U CN201821113222.4U CN201821113222U CN208602587U CN 208602587 U CN208602587 U CN 208602587U CN 201821113222 U CN201821113222 U CN 201821113222U CN 208602587 U CN208602587 U CN 208602587U
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Abstract
Easy assembling type can be additionally provided with connection frame, self-locking joint, power battery pack and control device from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, including thigh, shank, foot, and connection frame, thigh, shank and foot pass sequentially through self-locking joint and be connected；Form of Bionics Mechanical Legs is fixedly connected or is dismantled with bio-robot by connection frame, the power battery pack is used to provide power drive to the Form of Bionics Mechanical Legs, and the control device is used to control the movement of the Form of Bionics Mechanical Legs.The utility model is by setting connection frame, it can be achieved that being quickly connected, dismantling or replacing with bionic machine human agent, by self-locking joint, it can be achieved that swing or the locking of Form of Bionics Mechanical Legs；By setting power battery pack, it can be achieved that the autonomous dynamic of Form of Bionics Mechanical Legs is supplied, operation control is simple, and charge efficiency is high, applied widely.
Description
Technical field
The utility model relates to bio-robots, can independently be distributed from lock strap more particularly, to the easy assembling type of bio-robot
The Form of Bionics Mechanical Legs of power.
Background technique
In the prior art, the sufficient formula bio-robot activity for having multi freedom degree mechanical leg is strong and vigorous, and flexible movements have much table
" ability " is drilled, may span across biggish obstacle (Ru Gou, bank), there is extremely strong kame-and-kettle topography adaptability and operation stability, because
And become the research and development focus of various countries scientific worker.
For the critical component of bio-robot --- Form of Bionics Mechanical Legs, research achievement both domestic and external is quite abundant, type
Very much.
Wherein main technical solution is to drive joint rotary motion and system using " servo motor+speed reducer+brake "
It is dynamic.If CN201510456807.0 discloses a kind of robotic scenarios, it is provided with lower arm, upper arm, driver and braking
Device；Upper arm is supported by lower arm, and brake is mounted on the output shaft of driver and brakes to driver；
CN201510861034.4 discloses a kind of robot of achievable miniaturization, main that the 1st arm, the 2nd arm, brake is arranged
Structure, driving device, the 1st arm are arranged to be swung around the 1st axis.2nd arm can be swingingly linked to the around the 2nd axis
1 arm.Arrestment mechanism is set between radicle and top end part on the 1st arm and brakes to the 2nd arm.These Form of Bionics Mechanical Legs
Scheme is all made of brake and carries out braking and locking to joint to accurately control joint of robot rotary position；But it is this kind of imitative
Raw leg technology has the following deficiencies: first, to execute component more, and each joint needs driver simultaneously and 2, brake execute member
Device；Second, control component is more, installation trouble, while controlling program and control complex circuit；Third, brake opens
It moves between joint-friction locking there are the time difference, causes position control accuracy low；Fourth, only adapting to light-duty or underloading machine
People is unable to ensure joint with brake and locks, there are sliding risks on large-scale legged type robot；Fifth, on these bionic legs
Without self power, power concentration, need to be by cable transfer to bionic leg, easily because of connection cables on robot body's frame
It wears and paralyses；Sixth, its monoblock type centrally connected power source has that the charging time is long, charge efficiency is low；Seventh, these machines
Tool leg is connected with the power on main body frame, and installation maintenance is mostly inconvenient.
In addition, using mechanically operated Form of Bionics Mechanical Legs, the leg of the legged type robot as disclosed in CN 201510404058.7
Portion's structure realizes leg exercise using chain, sprocket wheel, multi-connecting-rod mechanism；A kind of four-footed machine disclosed in CN201510644743.7
Device people drives Form of Bionics Mechanical Legs joint motions using the hydraulic source driving system of electrical servo；The Form of Bionics Mechanical Legs of these robots
There are the following problems: first is that power source concentrates on main body frame, need to be provided by the dynamical system on robot body's frame each
The joint power of a bionic leg is easily paralysed due to connection cables or hydraulic pipeline are worn；Second is that its monoblock type centrally connected power source
There is a problem of that the charging time is long, charge efficiency is low；Third is that bionic leg and the connection cables wherein arranged or/and hydraulic pipeline with
And mechanical component must be connected directly with component in robot body's frame, extremely inconvenient dismounting maintenance；Fourth is that driving motor
Or the drivers such as linear oil cylinder and joint motions are in non-linear relation, cause control system complicated.
Utility model content
Technical problem to be solved in the utility model is to overcome above-mentioned dismounting maintenance existing in the prior art pole not side
Just, structure is complicated, charge independence and can not cannot be applicable in the defect of large machines people's self-locking joint, provide a kind of installing and dismounting side
Just, structure is simple, reliable operation, can charge independence and can be applicable in large size, small scale robot self-locking joint easy assembling type can be self-locking
Form of Bionics Mechanical Legs with autonomous distributed power.
The utility model solve its technical problem the technical solution adopted is that, easy assembling type can be from the autonomous distributed power of lock strap
Form of Bionics Mechanical Legs, including thigh, shank and foot are additionally provided with connection frame, self-locking joint, power battery pack and control device, institute
It states connection frame, thigh, shank and passes sequentially through the self-locking joint with foot and be connected；The connection frame is used for the bionic mechanical
Leg is fixedly connected or dismantles with bionic machine human agent；The power battery pack is located at the thigh and/or shank and/or foot
Portion；The control device is located at the thigh and/or shank and/or connection frame and/or foot, the control device respectively with institute
State power battery pack, self-locking joint electrical connection.
Further, the connection frame is equipped with bolt hole and/or pin hole and/or card slot；The thigh, shank and joint are
Framing component with cavity, the cavity is for being arranged the power battery pack and/or control device.
Further, the self-locking joint is three-dimensional self-locking joint and/or two-dimentional self-locking joint, the three-dimensional self-locking joint packet
Include worm-gear speed reducer, drive motor and joint frame, the worm-gear speed reducer and drive motor of the three-dimensional self-locking joint
It is two groups, drive motor described in two groups is separately fixed at the power intake of the worm-gear speed reducer, snail described in two groups
Worm and gear speed reducer is separately positioned on the both ends of the joint frame, in mutual non-parallel state, keeps the three-dimensional self-locking joint real
The swing of existing three-dimensional space or locking.
Further, the two-dimentional self-locking joint includes worm-gear speed reducer and drive motor, and the drive motor is fixed
In the power intake of the worm-gear speed reducer, the two-dimentional self-locking joint is made to realize swing or the locking of two-dimensional surface.
Further, the control device includes controller, charge port, electric plug；The controller is located at the connection frame
And/or thigh and/or shank, for controlling the movement of the self-locking joint；The charge port is located at the foot and/or described
Connection frame and/or thigh and/or shank, for charging to the power battery pack；One end of the electric plug and the control
Device connection, the other end connect with bionic machine human agent, for by the wired or wireless connection realization Form of Bionics Mechanical Legs and
Communication between the bionic machine human agent.
Further, the controller can be also two-level controller, for executing the command signal of bionic machine human agent.
Further, the control device further includes aiding sensors, and the aiding sensors are pressure sensor, stress biography
One of sensor, oil temperature sensor, ultrasonic sensor, laser sensor are a variety of.
Further, the thigh, shank are made of high-strength light alloy and/or titanium material；The also settable bullet of the foot
One of property alloy material component, elastic energy storage material members, piezoelectric material component are a variety of.
Further, the worm-gear speed reducer is with self-locking worm-gear speed reducer, for realizing big retarding ratio
Torque increase and self-locking and positioning.
Further, the worm-gear speed reducer further includes angular transducer, for self-locking joint described in real-time delivery
Signal is to the control device.
Further, the drive motor is servo motor with encoder；The power battery pack is one or more groups of lithiums
Battery pack and/or solid state battery group and/graphene battery group；The power battery pack is electrically connected with the drive motor.
Further, the thigh, shank can be round, rectangular or special-shaped；The thigh, the cavity of shank are also settable floating
Dead-wood material；The also settable reinforcing rib of the thigh, shank and self-locking joint and/or protective materials；The thigh, shank outer surface
Also settable solar panel and/or solar energy film；The foot can be sufficient shape, shoes or different form；The foot is also
Settable elastic component.
Compared with existing all kinds of Form of Bionics Mechanical Legs, the utility model easy assembling type can be from the bionical machine of the autonomous distributed power of lock strap
Tool leg specifically has the advantages that: 1, can be from the Form of Bionics Mechanical Legs structure of lock strap distributed power using easy assembling type, it is only necessary to connect
Frame and electric plug, which are achieved that, to be connected and is communicated with bionic machine human agent, is connected without a large amount of fluid pressure lines, electric wiring, knot
Structure is simple, and installation and removal are convenient；Pipeline wear-out failure is greatly reduced simultaneously, and complete machine functional reliability improves；2, each bionical
The joint action of leg can realize that stagewise intelligent controller controls, relative to the integrated control concentrated on bionic machine human agent
System, can be greatly reduced the complexity of control system；3, revolute joint use with self-locking function worm-gear speed reducer into
Row locking is not necessarily to brake, simple and reliable for structure, and joint is avoided to slide hidden danger；4, distribution is set on every bionic leg
Formula battery pack and charge port are connected in main body without a large amount of electric wirings, i.e. raising reliability, and improve charge efficiency；Together
When each bionic leg on the solar panels or diaphragm, thermoelectric generation film, piezo-electric generating piece that are arranged, can be on the bionic leg of place
Power battery pack charges, and reduces the dependence to extra power；5, the driving of relative mechanical connecting rod class and hydraulic linear oil cylinder side
Linear relationship, program composition is presented in the scheme that formula drives bionical leg joint to swing, joint swing angle and driver swing angle
Simply, facilitate debugging and operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model embodiment 1；
Fig. 2 is the three dimensional structure diagram of the utility model embodiment 1；
Fig. 3 is the structural schematic diagram of the utility model embodiment 2；
Fig. 4 is the three dimensional structure diagram of the utility model embodiment 2；
Fig. 5 is the structural schematic diagram of the utility model embodiment 3；
Fig. 6 is the three dimensional structure diagram of the utility model embodiment 3.
Specific embodiment
With reference to the accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that this place is retouched
The specific embodiment stated is only used to explain the utility model, is not used to limit the utility model.
Embodiment 1
Referring to Fig.1, Fig. 2, the present embodiment easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, certainly with 4
It mainly include connection frame 1, three-dimensional self-locking joint A, thigh 2, two-dimentional self-locking joint B, shank 3, two-dimentional self-locking joint C, foot by spending
Portion 4, power battery pack 5, control device 6；Three-dimensional self-locking joint A is fixed on connection frame 1 and is connected with thigh 2, and thigh 2 passes through
Two-dimentional self-locking joint B is connected with shank 3, and shank 3 is connected by two dimension self-locking joint C with foot 4；Power battery pack 5 is fixed on
In the leg body of thigh 2 and shank 3, it is electrically connected, controls with three-dimensional self-locking joint A, two-dimentional self-locking joint B, two dimension self-locking joint C respectively
Device 6 processed is fixed in 2 frame of thigh, control device 6 respectively with power battery pack 5, three-dimensional self-locking joint A, two-dimentional self lock
Save B, two dimension self-locking joint C electrical connection.
The three-dimensional self-locking joint A mainly includes I A1 of worm-gear speed reducer, I A2 of drive motor, joint frame A5, worm gear
II A3 of worm decelerating machine, II A4 of drive motor, I A2 of drive motor are fixed on I A1 power intake of worm-gear speed reducer, driving
II A4 of motor is fixed on II A3 power intake of worm-gear speed reducer, I A1 of worm-gear speed reducer, worm-gear speed reducer II
A3 is staggered with 90 degree and is fixed on the both ends of joint frame, and three-dimensional self-locking joint A is also made to realize three-dimensional space swing or locking；Institute
Stating two-dimentional self-locking joint B mainly includes III B1 of worm-gear speed reducer and III B2 of drive motor for being fixed on its input terminal；It is described
Two-dimentional self-locking joint C mainly includes IV C1 of worm-gear speed reducer and IV C2 of drive motor for being fixed on its input terminal, also makes two
It ties up self-locking joint B, two dimension self-locking joint C and realizes the swing of row two-dimensional surface or locking.
The connection frame 1 is equipped with bolt mounting holes 11A, for three joints of the autonomous distributed power of multiple bands are bionical
Leg is quickly fastened on bio-robot main body frame.Tool is made using high-strength light alloy in the thigh 2, shank 3
Have the square member of cavity, facilitate internal arrangement power battery pack 5, control device 6, and with lightweight filler 23 to cavity into
Row filling.Spring energy storage component 401 is provided on the foot 4 to slow down vibratory impulse in motion process.The power electric
Pond group 5 uses two groups of rechargeable lithium battary groups I 501, lithium battery group II 502.The control device 6 mainly includes controller
601, charge port 602, electric plug 603；Controller 601 is fixed in 2 framework of thigh, can be according to I A02 of drive motor, driving horse
The joint angles signal fed back up to II A05, III B02 of drive motor, IV C02 of drive motor, carrys out 3 joint essences of control biomimetics leg
Really movement；Charge port 602 is arranged on foot 4, for charging to the power battery pack 5 inside bionic leg；The electric plug 603
Be arranged on connection frame 1, for Form of Bionics Mechanical Legs and with the communication on robot body.I A1 of worm-gear speed reducer,
II A3 of worm-gear speed reducer, III B1 of worm-gear speed reducer, IV C1 of worm-gear speed reducer are used with self-locking worm and gear
Speed reducer, realization big retarding facilitate self-locking and positioning than torque increase.I A2 of drive motor, II A4 of drive motor, driving horse
Servo motor with encoder is used up to III B2, IV C2 of drive motor, driving joint is swung simultaneously can real-time delivery angle of revolution
To controller 601.
The utility model easy assembling type can carry control device 6 and power electric from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap
Pond group 5, can be with every Form of Bionics Mechanical Legs self-movement of autonomous control；Every Form of Bionics Mechanical Legs can be quick entirely through connection frame
Ground is fixedly connected with bio-robot main body frame, need repair demolition maintain and replacement when, can also realize quickly remove and more
Change Form of Bionics Mechanical Legs.In bio-robot motion process, the controller 601 of each bionic leg can be used as two-level controller, can
According to the control instruction of upper (level-one) controller of bionic machine human agent, calculates and determine three-dimensional joint A, two dimension on respective bionic leg
The kinematic parameter and motion profile of joint B, two dimension joint C.I A2 of drive motor of every Form of Bionics Mechanical Legs, II A4 of drive motor,
III B2 of drive motor, IV C2 of drive motor drive worm gear in the case where lithium battery group I 501, lithium battery group II 502 provide power support
I A1 of worm decelerating machine, II A3 of worm-gear speed reducer, III B1 of worm-gear speed reducer, IV C1 of worm-gear speed reducer are swung, real
Now deceleration torque increase and joint are swung；Simultaneously controller 601 according to I A2 of drive motor, II A4 of drive motor, III B2 of drive motor,
Encoder feedback swing angle on IV C2 of drive motor forwards and reverses drive motor, halted state controls.Wherein exist
Under halted state, three-dimensional self-locking joint A, two-dimentional self-locking joint B, two dimension self-locking joint C are in the self-locking feature of worm-gear speed reducer
Lower locking ensures fricton-tight swing hidden danger.
Control device 6 also may include a variety of aiding sensors, imitative for improving three joints of the installation with autonomous distributed power
The bio-robot molar behavior harmony and stationarity of raw leg.It is preferred that pressure sensor is mounted on foot 4, vola branch is monitored
Support force situation；It is preferred that strain gauge is mounted on connection frame 1 or/and thigh 2 or/and shank 3, monitoring of structures part upper stress becomes
Change；It is preferred that ultrasonic sensor and/or airborne laser range finder are mounted on foot 4 or/and thigh 2 or/and shank 3, obstacle is detected
The distance between the position of object and distance and each leg section and state.
Embodiment 2
Referring to Fig. 3, Fig. 4, the present embodiment easy assembling type can be from the Form of Bionics Mechanical Legs and embodiment 1 of the autonomous distributed power of lock strap
The main distinction is: the connection frame 1 uses fast pin hole 11B structure type；The thigh 2, shank 3 use titanium alloy
The round member with cavity is made；It is dynamic for reinforcement structure and fixing internal that reinforcing rib 22,32 is provided on thigh 2, shank 3
Power battery pack 5, control device 6, thigh 2,3 outer surface of shank are provided with solar energy film 24, solar energy film 34 for generating electricity；
Piezoelectric material component 402 is provided on the foot 4 to generate electricity using vibratory impulse；The power battery pack 5 is arranged
One group of battery；The control device 6 uses wireless mode and bio-robot agent communication, right using wireless charging power port 602
The charging of bionic leg battery.
Embodiment 3
Referring to Fig. 5, Fig. 6, the present embodiment easy assembling type can be from the Form of Bionics Mechanical Legs and embodiment 1 of the autonomous distributed power of lock strap
The main distinction is: the connection frame 1 is connected and is fixed with fixed pin holes 11C with bionic machine human agent using card slot；Institute
Thigh 2, the shank 3 stated have the abnormity component of cavity using aluminium alloy；Thigh 2, shank 3 are additionally provided with reinforcing rib 22, are used for
Reinforcement structure and fixing internal power battery pack 5, control device 6；The foot 4 is equipped with elasticity and is closed using sufficient shape form
Golden component carrys out vibration reduction and cushioning；Three-dimensional self-locking joint A, two-dimentional self-locking joint B, increase angular transducer I on two-dimentional self-locking joint C
A6, II A7 of angular transducer, III B3 of angular transducer, IV C3 of angular transducer feed back real-time delivery angle of revolution, described
I A2 of drive motor, II A5 of drive motor, III B2 of drive motor, IV C2 of drive motor use stepper motor, by using stepping electricity
Machine+forms of sensor reduces manufacturing cost.
The utility model easy assembling type can carry control device 6 and power electric from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap
Pond group 5, can be with every Form of Bionics Mechanical Legs self-movement of autonomous control；Every Form of Bionics Mechanical Legs can be fast entirely through connection frame 1
Fast ground is fixedly connected with bio-robot main body frame, when needing repair demolition to maintain and replacement, can also realize quickly dismounting and
Replace Form of Bionics Mechanical Legs；In bio-robot motion process, the controller 601 of each bionic leg can be used as two-level controller,
It can calculate according to the control instruction of upper (level-one) controller of bionic machine human agent and determine three-dimensional joint A, two on respective bionic leg
Tie up the kinematic parameter and motion profile of joint B, two dimension joint C.Every Form of Bionics Mechanical Legs, drive motor is in power battery pack 5
It provides under power support, driving worm-gear speed reducer is swung, and realizes that deceleration torque increase and joint are swung；Controller 601 simultaneously
According in drive motor encoder or angular transducer feedback oscillating angle drive motor is forwarded and reversed, halted state
Control；Wherein under halted state, three-dimensional self-locking joint A, two-dimentional self-locking joint B, two dimension self-locking joint C slow down in worm and gear
Locking ensures fricton-tight swing hidden danger under the self-locking feature of machine.And solar panel/film or the temperature and pressure hair being arranged on bionic leg
Electric installation and piezo-electric device may be implemented to charge to power battery pack 5, reduce the dependence to external power supply.
The better embodiment of the utility model is described above, but those skilled in the art should understand that,
Above-mentioned better embodiment is only used to illustrate the utility model, is not used to limit the protection scope of the utility model, Ren He
Within the scope of the spirit and principles of the utility model, any modification, equivalence replacement, improvement for being done etc. should be included in this reality
Within novel rights protection scope.
Claims (27)
1. easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, including thigh, shank and foot, which is characterized in that
It is additionally provided with connection frame, self-locking joint, power battery pack and control device, the connection frame, thigh, shank and foot pass sequentially through
Self-locking joint is connected；The connection frame is for the Form of Bionics Mechanical Legs to be fixedly connected or dismantle with bionic machine human agent；Institute
It states power battery pack and is located at the thigh and/or shank and/or foot；The control device be located at thigh and/or shank and/or
Connection frame and/or foot, the control device are electrically connected with the power battery pack, self-locking joint respectively.
2. easy assembling type as described in claim 1 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that the company
It connects and is provided with bolt hole and/or pin hole and/or card slot；The thigh, shank and joint are the framing component with cavity, institute
Cavity is stated for the power battery pack and/or control device to be arranged.
3. easy assembling type as claimed in claim 1 or 2 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that institute
Self-locking joint is stated as three-dimensional self-locking joint and/or two-dimentional self-locking joint, the three-dimensional self-locking joint include worm-gear speed reducer,
Drive motor and joint frame, the worm-gear speed reducer and drive motor of the three-dimensional self-locking joint are two groups, described in two groups
Drive motor is separately fixed at the power intake of the worm-gear speed reducer, and worm-gear speed reducer described in two groups is set respectively
Set at the both ends of the joint frame, in mutual non-parallel state, make the three-dimensional self-locking joint realize three-dimensional space swing or
Locking.
4. easy assembling type as claimed in claim 3 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described two
Tieing up self-locking joint includes worm-gear speed reducer and drive motor, and the drive motor is fixed on the worm-gear speed reducer
Power intake makes the two-dimentional self-locking joint realize swing or the locking of two-dimensional surface.
5. easy assembling type as claimed in claim 1 or 2 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that institute
Stating control device includes controller, charge port and electric plug；The controller is located at the connection frame and/or thigh and/or small
Leg, for controlling the movement of the self-locking joint, the charge port is located at the foot and/or the connection frame and/or thigh
And/or shank, for charging to the power battery pack；One end of the electric plug is connect with the controller, the other end with
Bionic machine human agent connection, by wired or wireless connection realize the Form of Bionics Mechanical Legs and the bionic machine human agent it
Between communication.
6. easy assembling type as claimed in claim 3 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that the control
Device processed includes controller, charge port and electric plug；The controller is located at the connection frame and/or thigh and/or shank, uses
In the movement for controlling the self-locking joint, the charge port be located at the foot and/or the connection frame and/or thigh and/or
Shank, for charging to the power battery pack；One end of the electric plug is connect with the controller, the other end and bionical machine
Device human agent connection is realized logical between the Form of Bionics Mechanical Legs and the bionic machine human agent by wired or wireless connection
News.
7. easy assembling type as claimed in claim 4 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that the control
Device processed includes controller, charge port and electric plug；The controller is located at the connection frame and/or thigh and/or shank, uses
In the movement for controlling the self-locking joint, the charge port be located at the foot and/or the connection frame and/or thigh and/or
Shank, for charging to the power battery pack；One end of the electric plug is connect with the controller, the other end and bionical machine
Device human agent connection is realized logical between the Form of Bionics Mechanical Legs and the bionic machine human agent by wired or wireless connection
News.
8. easy assembling type as claimed in claim 5 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that the control
Device processed is two-level controller, for executing the command signal of bionic machine human agent.
9. easy assembling type as claimed in claim 5 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that the control
Device processed further includes aiding sensors, and the aiding sensors are pressure sensor, strain gauge, oil temperature sensor, ultrasound
One of wave sensor, laser sensor are a variety of.
10. easy assembling type as claimed in claim 1 or 2 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that institute
Thigh, shank is stated to be made of high-strength light alloy and/or titanium material；The foot is additionally provided with elastic alloy material component, elasticity
One of energy storage material component, piezoelectric material component are a variety of.
11. easy assembling type as claimed in claim 3 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are made of high-strength light alloy and/or titanium material；The foot is additionally provided with elastic alloy material component, elasticity storage
One of energy material members, piezoelectric material component are a variety of.
12. easy assembling type as claimed in claim 4 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are made of high-strength light alloy and/or titanium material；The foot is additionally provided with elastic alloy material component, elasticity storage
One of energy material members, piezoelectric material component are a variety of.
13. easy assembling type as claimed in claim 5 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are made of high-strength light alloy and/or titanium material；The foot is additionally provided with elastic alloy material component, elasticity storage
One of energy material members, piezoelectric material component are a variety of.
14. easy assembling type as claimed in claim 9 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are made of high-strength light alloy and/or titanium material；The foot is additionally provided with elastic alloy material component, elasticity storage
One of energy material members, piezoelectric material component are a variety of.
15. easy assembling type as claimed in claim 3 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Worm-gear speed reducer is with self-locking worm-gear speed reducer, for realizing big retarding than torque increase and self-locking and positioning.
16. easy assembling type as claimed in claim 4 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Worm-gear speed reducer is with self-locking worm-gear speed reducer, for realizing big retarding than torque increase and self-locking and positioning.
17. easy assembling type as claimed in claim 15 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Worm-gear speed reducer further includes angular transducer, and the signal for self-locking joint described in real-time delivery is to control device.
18. easy assembling type as claimed in claim 3 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Drive motor is servo motor with encoder；The power battery pack is one or more groups of lithium battery groups and/or solid state battery
Group and/graphene battery group；The power battery pack is electrically connected with the drive motor.
19. easy assembling type as claimed in claim 4 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Drive motor is servo motor with encoder；The power battery pack is one or more groups of lithium battery groups and/or solid state battery
Group and/graphene battery group；The power battery pack is electrically connected with the drive motor.
20. easy assembling type as claimed in claim 2 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are round, rectangular or special-shaped；The thigh, shank cavity be also filled with buoyant material；The thigh, shank
Reinforcing rib and/or protective jacket are additionally provided with self-locking joint；The thigh, shank outer surface be additionally provided with solar panel and/or
Solar energy film part；The foot is sufficient shape, shoes or different form；The foot is additionally provided with elastic component.
21. easy assembling type as claimed in claim 3 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are round, rectangular or special-shaped；The thigh, shank cavity be also filled with buoyant material；The thigh, shank
Reinforcing rib and/or protective jacket are additionally provided with self-locking joint；The thigh, shank outer surface be additionally provided with solar panel and/or
Solar energy film part；The foot is sufficient shape, shoes or different form；The foot is additionally provided with elastic component.
22. easy assembling type as claimed in claim 4 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are round, rectangular or special-shaped；The thigh, shank cavity be also filled with buoyant material；The thigh, shank
Reinforcing rib and/or protective jacket are additionally provided with self-locking joint；The thigh, shank outer surface be additionally provided with solar panel and/or
Solar energy film part；The foot is sufficient shape, shoes or different form；The foot is additionally provided with elastic component.
23. easy assembling type as claimed in claim 5 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are round, rectangular or special-shaped；The thigh, shank cavity be also filled with buoyant material；The thigh, shank
Reinforcing rib and/or protective jacket are additionally provided with self-locking joint；The thigh, shank outer surface be additionally provided with solar panel and/or
Solar energy film part；The foot is sufficient shape, shoes or different form；The foot is additionally provided with elastic component.
24. easy assembling type as claimed in claim 8 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are round, rectangular or special-shaped；The thigh, shank cavity be also filled with buoyant material；The thigh, shank
Reinforcing rib and/or protective jacket are additionally provided with self-locking joint；The thigh, shank outer surface be additionally provided with solar panel and/or
Solar energy film part；The foot is sufficient shape, shoes or different form；The foot is additionally provided with elastic component.
25. easy assembling type as claimed in claim 9 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are round, rectangular or special-shaped；The thigh, shank cavity be also filled with buoyant material；The thigh, shank
Reinforcing rib and/or protective jacket are additionally provided with self-locking joint；The thigh, shank outer surface be additionally provided with solar panel and/or
Solar energy film part；The foot is sufficient shape, shoes or different form；The foot is additionally provided with elastic component.
26. easy assembling type as claimed in claim 15 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are round, rectangular or special-shaped；The thigh, shank cavity be also filled with buoyant material；The thigh, shank
Reinforcing rib and/or protective jacket are additionally provided with self-locking joint；The thigh, shank outer surface be additionally provided with solar panel and/or
Solar energy film part；The foot is sufficient shape, shoes or different form；The foot is additionally provided with elastic component.
27. easy assembling type as claimed in claim 17 can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap, which is characterized in that described
Thigh, shank are round, rectangular or special-shaped；The thigh, shank cavity be also filled with buoyant material；The thigh, shank
Reinforcing rib and/or protective jacket are additionally provided with self-locking joint；The thigh, shank outer surface be additionally provided with solar panel and/or
Solar energy film part；The foot is sufficient shape, shoes or different form；The foot is additionally provided with elastic component.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821113222.4U CN208602587U (en) | 2018-07-13 | 2018-07-13 | Easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821113222.4U CN208602587U (en) | 2018-07-13 | 2018-07-13 | Easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap |
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| CN208602587U true CN208602587U (en) | 2019-03-15 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583725A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap |
| CN114044066A (en) * | 2021-11-22 | 2022-02-15 | 长春工业大学 | Humanoid foot type mechanism and device based on octahedral mast type tensioning integral structure |
-
2018
- 2018-07-13 CN CN201821113222.4U patent/CN208602587U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583725A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap |
| CN114044066A (en) * | 2021-11-22 | 2022-02-15 | 长春工业大学 | Humanoid foot type mechanism and device based on octahedral mast type tensioning integral structure |
| CN114044066B (en) * | 2021-11-22 | 2023-09-01 | 长春工业大学 | Humanoid foot type mechanism and device based on octahedral mast type stretching integral structure |
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