CN208715326U - The bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band - Google Patents
The bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band Download PDFInfo
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- CN208715326U CN208715326U CN201821113777.9U CN201821113777U CN208715326U CN 208715326 U CN208715326 U CN 208715326U CN 201821113777 U CN201821113777 U CN 201821113777U CN 208715326 U CN208715326 U CN 208715326U
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Abstract
The bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band, including thigh, shank and elasticity foot, it is additionally provided with connection frame, hydraulic power system, control device, the connection frame, thigh, shank pass sequentially through joint with elastic foot and be connected, and connection type is hinged；The connection frame is for the Form of Bionics Mechanical Legs to be fixedly connected or dismantle with bio-robot；The hydraulic power system is set in the leg body of the thigh and/or shank；The control device is set in the frame of the thigh and/or shank and/or connection frame, and is electrically connected with hydraulic power system.The utility model Control system architecture is simple, installation, convenient disassembly, reliable operation, and movement is soft, and joint torque is big, and bearing capacity is high, and charge efficiency is high, smaller to extra power dependence.
Description
Technical field
The utility model relates to bio-robot, more particularly, to the autonomous distributed power of easy assembling type band of bio-robot
Bionics mechanical legs with three joints.
Background technique
In the prior art, relatively wheeled, caterpillar mobile robot, legged type robot only need discrete point contact when moving
Ground may span across biggish obstacle, stronger to complicated landform adaptability, and the leg of sufficient formula bio-robot can have it is multiple
Freedom degree greatly enhances kinematic dexterity and performance property, can be kept by adjusting supporting leg angle and the sufficient drop point site of elasticity
Balance is not easy to tumble, and stability is high.Future, sufficient formula bio-robot will service for life, tubular service, fight flood and relieve victims,
Video display performance, security and military affairs etc. have more extensive application prospect.
For critical component --- the Form of Bionics Mechanical Legs of sufficient formula bio-robot, research achievement both domestic and external is abundant, type
Very much, following three classes can be substantially divided into.
The first kind, using the Form of Bionics Mechanical Legs of " servo motor+speed reducer " driving joint rotary motion.Such as
CN200520077114.2 discloses a kind of biped robot that can be generated various deformation and significantly deform, and is watched by six
A kind of mechanical structure of the interconnection composition of motor, two direct current generators, speed reducer, bracket, upper plate and upper cover is taken to drive
Leg exercise；A kind of electronic robot disclosed in CN 201220166860.9, with hip servo, leg servo, ankle servo
Equal servo motors realize swing of leg or rotational motion, it is executable dances, sway one's hips, walking and Various Complex move；CN
201110142086.8 disclose a kind of 12 biped robots, are driven with main servo motor, movable servo motor, rotating servo motor
Dynamic leg joint motions；This kind of Form of Bionics Mechanical Legs have the disadvantage that first is that only adapt to it is light-duty or underloading robot, generally adopt
It is small-sized or light-duty servo motor and speed reducer, causes joint torque small, it is bionical large-scale or heavy-load type can not be applied to
Robot；Second is that power concentration, need to be by cable transfer extremely on robot body's frame without self power on these bionic legs
On bionic leg；Third is that its monoblock type centrally connected power source has that the charging time is long, charge efficiency is low；Fourth is that easily because of connection electricity
Cable wears and paralyses, fifth is that these pedipulators are connected with the power on main body frame, installation maintenance is mostly inconvenient.
Second class is the Form of Bionics Mechanical Legs using mechanical transmissioning technology.Kind of the biped as disclosed in CN201710429571.0
Walking robot multi-joint leg structure, including sole movement mechanism, ankle arthrosis movement mechanism, leg articulation mechanism,
Leg exercise is realized using components such as driving motor, drive connecting rod, kinematic link, joint shafts；CN201710536920.9 is public
A kind of leg mobile mechanism and quadruped robot are opened, leg mechanism is mainly stepping mechanism, and stepping mechanism includes taking a step to drive
Dynamic motor, crank, joint link lever, thick link, shank link and foot；This kind of mechanically operated bionic leg of connecting rod is lacked with specific
Fall into: first is that most use single action force driving machine tool mechanism kinematic, freedom degree is few, and motor pattern is single, is suitable only for specific road surface, nothing
Method adapts to rugged complicated landform；Second is that only adapting to light-duty or underloading robot, what is generallyd use is small-sized machine structure to pass
Graduating power causes joint torque small, can not be applied to large-scale or heavy-load type bio-robot；Third is that without itself on these bionic legs
Power, power concentration is on robot body's frame, and for majority using battery power supply is concentrated, charge efficiency is low；Fourth is that machine need to be passed through
Tool structure is in power transmission to bionic leg, and structure is complicated, extremely inconvenient dismounting maintenance；Fifth is that mechanical drive part is more, it can
It is poor by property, easily cause bio-robot to be paralysed because machine driving fails.
Third class is the Form of Bionics Mechanical Legs using hydraulic power driving.One kind four as disclosed in CN201510644743.7
Biped robot drives Form of Bionics Mechanical Legs joint motions using the hydraulic source driving system of electrical servo；CN201010153671.3 is public
A kind of hydraulic drive system of four-foot walking robot has been opened, it is main to be driven using the hydraulic power unit being arranged on robot body
Movement is realized in dynamic leg servo-cylinder assembly movement.Though the bionic leg of these robots solves the problems, such as that joint torque is small, fit
Large-scale multi-foot robot is closed, but still there are the following problems: first, power source concentrates on main body frame, it need to be by robot body
Hydraulic power system on frame provides the joint hydraulic power of each bionic leg, easily because connection cables or hydraulic pipeline are worn
And it paralyses；Second, being power concentration on robot body, charge efficiency is low；Third, bionic leg and the connecting line wherein arranged
Cable and/or hydraulic pipeline must be connected directly with robot body's frame, extremely inconvenient dismounting maintenance.
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
Just, joint torque is small, and structure is complicated, the low defect of charge efficiency, provide it is a kind of it is easy for assemble or unload, joint torque is big, structure
It is relatively simple, the bionics mechanical legs with three joints for the autonomous distributed power of easy assembling type band that functional reliability is high, charge efficiency is high.
The utility model solve its technical problem the technical solution adopted is that, the three of a kind of autonomous distributed power of easy assembling type band
Joint Form of Bionics Mechanical Legs, including thigh, shank and elasticity foot, which is characterized in that be additionally provided with connection frame, hydraulic power system, control
Device processed, the connection frame, thigh, shank pass sequentially through joint with elastic foot and are connected, and connection type is hinged；The connection frame
For the Form of Bionics Mechanical Legs to be fixedly connected or dismantle with bio-robot；The hydraulic power system is set to the thigh
And/or in the leg body of shank；The control device is set in the frame of the thigh and/or shank and/or connection frame, and and liquid
Press Force system electrical connection.
Further, the joint is three-dimensional joint, two dimension joint C, two-dimentional joint D, and the three-dimensional joint mainly includes hinge
Outbound A, swivel pin B, joint oil cylinder A, joint frame, joint oil cylinder B, oil cylinder pin, the both ends of joint frame respectively with connection frame, thigh
It is hinged with non-parallel alternating expression by swivel pin A, swivel pin B；The both ends of joint oil cylinder A pass through respectively oil cylinder pin and connection frame,
Three-dimensional joint frame connection, the both ends of joint oil cylinder B pass through oil cylinder pin respectively and connect with three-dimensional joint frame, thigh；It is closed by three-dimensional
It saves and thigh can be achieved relative to the swing of connection frame three-dimensional space；The two dimension joint C mainly include swivel pin C, joint oil cylinder C,
Oil cylinder pin, the two dimension joint D mainly includes swivel pin D, joint oil cylinder D, oil cylinder pin, wherein thigh and shank, shank and bullet
Property foot between be hinged and connected respectively by swivel pin C, swivel pin D, and by joint oil cylinder C, joint oil cylinder D drive, realize it is small
Leg is swung in two-dimensional surface with respect to thigh, the opposite shank of elasticity foot.
Further, the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band, which is characterized in that the connection
It is provided with bolt hole and/or pin hole and/or card slot；The thigh, shank and joint are the framing component with cavity, described
It is equipped with fluid pressure line in thigh, shank, is equipped with hydraulic interface in the joint, one end of the fluid pressure line hydraulic connects with described
Mouth is connected.
Further, the joint oil cylinder is servo-hydraulic linear oil cylinder, and the driving motor is direct current generator, described hydraulic
Pump is gear pump and/or plunger pump, and the Mini oil tank is metal material fuel tank and/or the fuel tank with elastic rubber shell, institute
Stating hydraulic electromagnetic valve group can be used integrated magnet valves and/or multiple three position four-way electromagnetic valves composition, and the battery pack can be used one
Group or multiple groups rechargeable lithium battary group and/or solid state battery group and/or graphene battery group.
Further, which is characterized in that the control device includes controller, charge port and electric plug；The controller is set
In the thigh and/or shank, for controlling the movement in the joint；It is sufficient and/or described that the charge port is located at the elasticity
Connection frame and/or thigh and/or shank charge to the battery pack by wired or wireless induction mode；The electric plug
One end is connect with the controller, and the other end is connect by wired or wireless with bionic machine human agent, for realizing described imitative
Communication between raw pedipulator and the bionic machine human agent.
Further, the controller is 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, which is characterized in that the hydraulic power system further includes cooling device and/or power generator, described cold
But device is cooling fan and/or cooling fin, is cooled down with for the driving motor and the Mini oil tank；The power generation dress
It is set to thermoelectric generation film, solar panels or solar energy film piece, the thermoelectric generation film is arranged on the Mini oil tank, described
Solar panels or solar energy film piece are on thigh, shank outer wall.
Further, the hinged place of the connection frame, three-dimensional joint, thigh, shank and elasticity foot is equipped with angular transducer, uses
The control device is given in Real-time Feedback swing angle.
Further, the hinged place of the connection frame, three-dimensional joint, thigh, shank and elasticity foot is additionally provided with multi-link structure,
For realizing the bigger swing angle in the three-dimensional joint.
Compared with existing all kinds of Form of Bionics Mechanical Legs, the bionical machine in three joints of the autonomous distributed power of the utility model easy assembling type band
Tool leg specifically has the advantages that:Using the bionics mechanical legs with three joints structure of the autonomous distributed power of easy assembling type band, it is only necessary to
Fast-assembling connection frame and electric plug, which are achieved that, to be connected and is communicated with bionic machine human agent, and a large amount of fluid pressure lines and electric wire are not necessarily to
The connection on road, structure is simple, and installation and removal are convenient；Pipeline wear-out failure is greatly reduced simultaneously, and whole aircraft reliability improves；
The joint action of each bionic leg can realize that stagewise controller controls, integrated on bionic machine human agent relative to concentrating on
Control, can be greatly reduced the complexity of control system；It is closed using the hydraulic gyration oil cylinder driving Form of Bionics Mechanical Legs of high torque
Section is swung, and opposite servo motor+speed reducer mode drives joint to swing, and movement is than milder, and joint torque is big, bearing capacity
Height can meet the needs of large-scale legged type robot impact resistance and complicated landform locomitivity；With hydraulic cylinder+more connect
Bar angling cylinder driving method, swing angle can achieve 270 degree, substantially be more than hydraulic linear oil cylinder joint full swing angle
No more than the limitation of 180 degree；Distributed battery group and charge port are set on every Form of Bionics Mechanical Legs, without a large amount of electrical
On connection to main body, i.e. raising reliability, and raising charge efficiency；The temperature and pressure power generation sheet being arranged on each bionic leg simultaneously
Deng can be charged to battery pack on the Form of Bionics Mechanical Legs at place, reduce external energy requirement.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of the utility model embodiment 1；
Fig. 2 is the structural schematic diagram of the utility model embodiment 1；
Fig. 3 is the three dimensional structure diagram of the utility model embodiment 2；
Fig. 4 is the structural schematic diagram of the utility model embodiment 2；
Fig. 5 is the three dimensional structure diagram of the utility model embodiment 3；
Fig. 6 is the structural schematic 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 bionics mechanical legs with three joints of the autonomous distributed power of the present embodiment easy assembling type band, freely with 4
Degree；It mainly include connection frame 1, three-dimensional joint 2, thigh 3, two dimension joint C, shank 4, two-dimentional joint D, elasticity foot 5, hydraulic power
System 7, control device 6, swivel pin A, swivel pin B；Connection frame 1 passes through three-dimensional joint 2 and thigh 3 is hinged；Thigh 3 passes through two dimension
Joint C and shank 4 are hinged；Shank 4 passes through two-dimentional joint D and elasticity foot 5 is hinged；Connection frame 1 is used for the Form of Bionics Mechanical Legs
It is fixedly connected or dismantles with bio-robot；Hydraulic power system 7 is fixed in the leg body of thigh 3 and shank 4, passes through hydraulic tube
Road is connected with the hydraulic interface of three-dimensional joint 2, two dimension joint C, two-dimentional joint D respectively, and control device 6 is fixed on three-dimensional joint 2
It is interior and be electrically connected with hydraulic power system 7.
The three-dimensional joint 2 mainly comprising joint frame 201, obturator 202, hinging pin shaft A 203, joint oil cylinder A 204,
Oil cylinder pin205, oil cylinder pin206, hinging pin shaft B 207, joint oil cylinder B 208, oil cylinder pin III 209, oil cylinder pin IV 210；It closes
The both ends of section frame 201 pass through hinging pin shaft A 203, hinging pin shaft B 207 and connection frame 1, thigh 3 respectively with non-parallel alternating expression
Hingedly, the both ends of joint oil cylinder A204 pass through oil cylinder pin respectively205, oil cylinder pin206 and connection frame 1, three-dimensional joint frame 201
Hingedly, the both ends of joint oil cylinder B208 pass through oil cylinder pin III 209, oil cylinder pin IV 210 and three-dimensional joint frame 201, thigh 3 respectively and cut with scissors
It connects, three-dimensional joint 2 can realize that thigh 3 is swung with respect to 1 three-dimensional space of connection frame；The two-dimentional joint C mainly includes swivel pin
Axis C01, joint oil cylinder C02, oil cylinder pinC03, oil cylinder pinC04, it may be achieved the two dimension in joint is flat between shank 4 and thigh 3
Face is swung；The two-dimentional joint D mainly includes hinging pin shaft D01, joint oil cylinder D02, oil cylinder pinD03, oil cylinder pin
D04, it may be achieved the two-dimensional surface in joint is swung between elasticity foot, shank.
The connection frame 1 is equipped with pin hole 101, for by three joint bionic legs of the autonomous distributed power of multiple bands, fastly
Fast bolt mode is fastened on bio-robot main body frame.The thigh 3, shank 4 are that aluminium alloy is made and has sky
The special-shaped framework component of chamber facilitates leg section cavity inside to arrange hydraulic power system 7, control device 6, and in remaining cavity
Fill buoyant material303, buoyant material403；Elastic foot 5 is using the elastic alloy material for slowing down vibratory impulse in movement
It is made.
The hydraulic power system 7 mainly includes driving motor 701, hydraulic pump 702, Mini oil tank 703, hydraulic electromagnetic
Valve group 704 and battery pack 705；Driving motor 701, hydraulic pump 702, Mini oil tank 703 are sequentially connected and are fixed on the chamber of thigh 3
In vivo, hydraulic electromagnetic valve group 704 is connected with hydraulic pump 702 by pipeline；Battery pack 705 and driving motor 701 are electrically connected, hydraulic
Solenoid valve block 704 is fixed in thigh 3, and battery pack 705 is fixed in shank 4, and hydraulic power system 7 is driven by hydraulic power
Joint oil cylinder stretches and locking, realizes to thigh 3, shank 4, elasticity 5 relative motions of foot and stopping.The control device 6 is main
It to include controller 601, charge port 602, electric plug 603；Controller 601 is fixed in 201 framework of joint frame, imitative for controlling
3 joint precise motions of raw leg；Charge port 602 is arranged on elastic foot 5, for charging to the battery pack inside bionic leg,
Electric plug 603 is arranged on connection frame 1, is used for and bio-robot agent communication.
The joint oil cylinder A204, joint oil cylinder B208, joint oil cylinder C02, joint oil cylinder D02 use servo-fluid straightening
Line oil cylinder realizes that joint large torque is swung, while on Real-time Feedback oil cylinder collapsing length to controller 601, to judge that joint is put
Dynamic relative position.The preferred direct current generator of the driving motor 701, the hydraulic pump 702 use gear pump, the Mini oil tank
703 use elastic rubber shell fuel tank, and the hydraulic electromagnetic valve group 704 uses integrated magnet valves.The battery pack 705 uses one
Group rechargeable lithium battary group.
Embodiment 2
Reference Fig. 3, Fig. 4, the bionics mechanical legs with three joints of the autonomous distributed power of the present embodiment easy assembling type band, certainly with 4
By spending, be with the main distinction of embodiment 1: bolt mounting holes 102 are arranged in connection frame 1 and bionic machine human agent connect；Greatly
The round member with cavity is made using titanium alloy in leg 3, shank 4, wherein thigh 3, be provided with solar energy film part on shank 4
I 304, solar energy film part404 for generating electricity；Elastic foot 5 is using style of the shoe and is provided with rubber damping component 501, piezoelectricity
Component 502 is, it can be achieved that vibration damping is generated electricity using walking vibratory impulse simultaneously；Controller 601 is arranged in thigh 3, using nothing
Line bluetooth transmitters 603 substitute electric plug and connect with main body, are charged using wireless charging power port 602 to bionic leg battery；Hydraulic electricity
Magnet valve 704 is fixed on shank 4；Joint oil cylinder A 204, joint oil cylinder B 208, joint oil cylinder C02, joint oil cylinder D02 are used
Rotary angle transmitter 211, rotary angle transmitter 212, rotary angle transmitter C05, rotation angular sensing are arranged on the oil cylinder of joint for Normal hydraulic oil cylinder
Device D05 carrys out Real-time Feedback joint swing angle.
Embodiment 3
Referring to Fig. 5, Fig. 6, the autonomous distributed power multi-joint Form of Bionics Mechanical Legs of the present embodiment easy assembling type band, there are 4 freedom
Degree, is with the main distinction of embodiment 1: connection frame 1 is provided with card slot and fixed pin holes 103 and bionic machine human agent connects
It connects；The square member with cavity is made using aluminium alloy in thigh 3, shank 4；Elastic foot 5 uses style of the shoe, and is provided with leaf spring type
Absorbing damping material 501；Controller 601 is arranged in thigh 3；Hydraulic buttery valve 704 is fixed on shank 4；Joint oil cylinder
A204, joint oil cylinder B208, joint oil cylinder C02, joint oil cylinder D02 use common oil cylinder, and pass through rotary angle transmitter I211, turn
Angle transducer212, rotary angle transmitterC05, rotary angle transmitterD05 carrys out Real-time Feedback joint swing angle;On joint
It is provided with multi-connecting-rod mechanism, passes through joint oil cylinder A204, joint oil cylinder B208, joint oil cylinder C02, joint oil cylinder D02 driving support
Rod piece213, strut member214, strut memberC06, strut memberC07, strut memberD06, strut memberD07 movement,
Expand joint swing angle, realizes more flexible movement.
The bionics mechanical legs with three joints of the autonomous distributed power of the utility model easy assembling type band carries control device and hydraulic dynamic
Force system, 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 maintenance, replacement, can also realize quick dismounting, side
Just it repairs, replace.In bio-robot motion process, the controller 601 of bionic leg is controlled according on bionic machine human agent
Instruction calculates the kinematic parameter and fortune for determining joint oil cylinder A204, joint oil cylinder B208, joint oil cylinder C02, joint oil cylinder D02
Dynamic rail mark；Then for driving motor 701 in the case where battery pack 705 provides power support, driving hydraulic pump 702 extracts Mini oil tank 703
Middle hydraulic oil；Hydraulic oil enters joint oil cylinder A204, joint oil cylinder B208, joint by hydraulic electromagnetic valve group 704, fluid pressure line
Oil cylinder C02, joint oil cylinder D02 realize that large torque moves bionic leg in three-dimensional space；Controller 601 is according to servo oil simultaneously
Cylinder power on signal adjusts the on-off of hydraulic electromagnetic valve group 704, realizes to joint oil cylinder A204, joint oil cylinder B208, joint oil
The flexible and locking of cylinder C02, joint oil cylinder D02.
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 (23)
1. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band, including thigh, shank and elasticity foot, feature exist
In being additionally provided with connection frame, hydraulic power system, control device, the connection frame, thigh, shank and elasticity foot pass sequentially through pass
Section is connected, and connection type is hinged；The connection frame is for the Form of Bionics Mechanical Legs to be fixedly connected or tear open with bio-robot
It unloads；The hydraulic power system is set in the leg body of the thigh and/or shank；The control device be set to the thigh and/
Or in the frame of shank and/or connection frame, and it is electrically connected with hydraulic power system.
2. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as described in claim 1, which is characterized in that the pass
Section is three-dimensional joint, two dimension joint C, two-dimentional joint D, and the three-dimensional joint mainly includes swivel pin A, swivel pin B, joint oil cylinder
A, joint frame, joint oil cylinder B, oil cylinder pin, the both ends of joint frame respectively with connection frame, thigh by swivel pin A, swivel pin B with
Non-parallel alternating expression is hinged；The both ends of joint oil cylinder A pass through oil cylinder pin respectively and connect with connection frame, three-dimensional joint frame, joint oil
The both ends of cylinder B pass through oil cylinder pin respectively and connect with three-dimensional joint frame, thigh；Thigh can be realized relative to connection by three-dimensional joint
Frame three-dimensional space is swung；The two dimension joint C mainly includes swivel pin C, joint oil cylinder C, oil cylinder pin, the two dimension joint D master
Wherein to pass through swivel pin respectively between thigh and shank, shank and elastic foot including swivel pin D, joint oil cylinder D, oil cylinder pin
C, swivel pin D is hinged and connected, and is driven by joint oil cylinder C, joint oil cylinder D, realizes that shank is relatively small with respect to thigh, elasticity foot
Leg is swung in two-dimensional surface.
3. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 2, 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
State thigh, be equipped with fluid pressure line in shank, be equipped with hydraulic interface in the joint, one end of the fluid pressure line with it is described hydraulic
Interface is connected.
4. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 3, which is characterized in that the liquid
Pressing Force system includes driving motor, hydraulic pump, Mini oil tank, hydraulic electromagnetic valve group and battery pack；It is the driving motor, hydraulic
Pump, Mini oil tank are sequentially connected, and are fixed in the thigh and/or shank；The hydraulic electromagnetic valve group and the hydraulic pump
It is connected by the fluid pressure line, the battery pack is connected with the driving motor, the hydraulic electromagnetic valve group and the battery
Group is located at the thigh and/or shank and/or elasticity foot, and the hydraulic power system drives the joint rotating forward, reversion, lock
Only, the relative motion or stopping of the connection frame, thigh, shank and elasticity foot are realized.
5. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 4, which is characterized in that the pass
Fuel-economizing cylinder is servo-hydraulic linear oil cylinder, and the driving motor is direct current generator, and the hydraulic pump is gear pump and/or plunger
Pump, the Mini oil tank are metal material fuel tank and/or the fuel tank with elastic rubber shell, and the hydraulic electromagnetic valve group can be used
Integrated magnet valves and/or multiple three position four-way electromagnetic valves composition, the battery pack use one or more groups of rechargeable lithium battaries
Group and/or solid state battery group and/or graphene battery group.
6. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 4, which is characterized in that the control
Device processed includes controller, charge port and electric plug；The controller is located at the thigh and/or shank, described for controlling
The movement in joint；The charge port is located at the sufficient elasticity and/or the connection frame and/or thigh and/or shank, by wired
Or wireless induction mode charges to the battery pack；One end of the electric plug is connect with the controller, and the other end is by having
Line is wirelessly connect with bionic machine human agent, for realizing between the Form of Bionics Mechanical Legs and the bionic machine human agent
Communication.
7. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 5, which is characterized in that the control
Device processed includes controller, charge port and electric plug；The controller is located at the thigh and/or shank, described for controlling
The movement in joint；The charge port is located at the sufficient elasticity and/or the connection frame and/or thigh and/or shank, by wired
Or wireless induction mode charges to the battery pack；One end of the electric plug is connect with the controller, and the other end is by having
Line is wirelessly connect with bionic machine human agent, for realizing between the Form of Bionics Mechanical Legs and the bionic machine human agent
Communication.
8. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 6, 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.
9. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 8, which is characterized in that the liquid
Pressing Force system further includes cooling device and/or power generator, and the cooling device is cooling fan and/or cooling fin, with for
The driving motor and the Mini oil tank are cooled down；The power generator is thermoelectric generation film, solar panels or solar energy
Diaphragm, the thermoelectric generation film are arranged on the Mini oil tank, the solar panels or solar energy film piece be set to thigh,
On shank outer wall.
10. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 3, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are equipped with angular transducer, are used for Real-time Feedback swing angle
To the control device.
11. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 4, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are equipped with angular transducer, are used for Real-time Feedback swing angle
To the control device.
12. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 5, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are equipped with angular transducer, are used for Real-time Feedback swing angle
To the control device.
13. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 6, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are equipped with angular transducer, are used for Real-time Feedback swing angle
To the control device.
14. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 8, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are equipped with angular transducer, are used for Real-time Feedback swing angle
To the control device.
15. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 9, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are equipped with angular transducer, are used for Real-time Feedback swing angle
To the control device.
16. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 3, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are additionally provided with multi-link structure, for realizing the three-dimensional pass
Save bigger swing angle.
17. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 4, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are additionally provided with multi-link structure, for realizing the three-dimensional pass
Save bigger swing angle.
18. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 5, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are additionally provided with multi-link structure, for realizing the three-dimensional pass
Save bigger swing angle.
19. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 6, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are additionally provided with multi-link structure, for realizing the three-dimensional pass
Save bigger swing angle.
20. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 8, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are additionally provided with multi-link structure, for realizing the three-dimensional pass
Save bigger swing angle.
21. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 9, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are additionally provided with multi-link structure, for realizing the three-dimensional pass
Save bigger swing angle.
22. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 10, which is characterized in that described
Connection frame, three-dimensional joint, thigh, shank and elastic sufficient hinged place are additionally provided with multi-link structure, for realizing the three-dimensional pass
Save bigger swing angle.
23. the bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band as claimed in claim 16, which is characterized in that described
Connection frame, thigh, shank and elastic sufficient hinged place are additionally provided with multi-link structure, for realizing the bigger pendulum in the three-dimensional joint
Dynamic angle.
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| CN201821113777.9U CN208715326U (en) | 2018-07-13 | 2018-07-13 | The bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band |
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| CN201821113777.9U CN208715326U (en) | 2018-07-13 | 2018-07-13 | The bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583724A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band |
| WO2021004179A1 (en) * | 2019-07-11 | 2021-01-14 | 北京理工大学 | Composite lower leg structure, and humanoid robot comprising same |
-
2018
- 2018-07-13 CN CN201821113777.9U patent/CN208715326U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583724A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band |
| WO2021004179A1 (en) * | 2019-07-11 | 2021-01-14 | 北京理工大学 | Composite lower leg structure, and humanoid robot comprising same |
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