CN208602586U - Easy assembling type bionic leg - Google Patents
Easy assembling type bionic leg Download PDFInfo
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- CN208602586U CN208602586U CN201821112253.8U CN201821112253U CN208602586U CN 208602586 U CN208602586 U CN 208602586U CN 201821112253 U CN201821112253 U CN 201821112253U CN 208602586 U CN208602586 U CN 208602586U
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Abstract
Easy assembling type bionic leg, including thigh, shank and foot, which is characterized in that be additionally provided with connection frame, power device and control device, the connection frame, thigh, shank and foot pass sequentially through joint and be connected；The connection frame is for the bionic leg to be fixedly connected or dismantle with bio-robot；The power device is located in the thigh and/or shank and/or on the foot, for providing power drive to the bionic leg；The control device setting is in the thigh and/or the shank and/or on the foot and/or the connection frame, for controlling the movement of the bionic leg.The utility model easy assembling type bionic leg, is connected with bio-robot and convenient disassembly, operation control are simple.
Description
Technical field
The utility model relates to bio-robots, more particularly, to the easy assembling type bionic leg of bio-robot.
Background technique
Relatively wheeled, caterpillar mobile robot, bio-robot only need discrete point contact ground when moving, may span across
Biggish obstacle, it is stronger to complicated landform adaptability, and the leg of bio-robot can have multiple freedom degrees, make movement spirit
Activity and performance property greatly enhance, and can be kept one's balance by adjusting supporting leg angle and foot drop point site, be not easy to tumble,
Stability is high.Future, bio-robot will in service for life, tubular service, fight flood and relieve victims, video display performance, security and military affairs etc.
Aspect has more extensive application prospect.
For the critical component of bio-robot --- Form of Bionics Mechanical Legs, research achievement both domestic and external is abundant, and there are many type,
It substantially may be summarized to be following several classes.
The first kind discloses a kind of sufficient formula machine using mechanically operated Form of Bionics Mechanical Legs, such as CN 201510404058.7
The leg structure of people realizes leg exercise using chain, sprocket wheel, multi-connecting-rod mechanism；This kind of bionic leg have the following deficiencies: first is that
It is only applicable to light-duty or underloading robot, joint torque is small, can not be applied to large-scale or heavy-load type bio-robot；Second is that these
Without self power on bionic leg, power concentration is on main body frame, and its structure is complicated, and installation maintenance is inconvenient, poor reliability；Third is that
Motor pattern is single, is suitable only for specific road surface, can not adapt to rugged complicated landform；Fourth is that driver and joint motions are in non-linear
Relationship causes control system complicated；Fifth is that its monoblock type centrally connected power source has that the charging time is long, charge efficiency is low.
Second class drives bionical leg joint rotary motion, such as CN using " servo motor+speed reducer "
A kind of electronic robot disclosed in 201220166860.9 is come with servo motors such as hip servo, leg servo, ankle servos
Realize swing of leg or rotational motion, it is executable dances, sway one's hips, walking and Various Complex move；CN 201110142086.8 is public
A kind of 12 biped robots have been opened, leg joint motions are driven with main servo motor, movable servo motor, rotating servo motor；
This kind of bionic leg has the disadvantage that first, itself is unpowered, and power is concentrated mainly on robot body, each in bionic leg
Driving mechanism, controlling cable and the robot body in a joint are directly connected to, and connection cables are more, easily due to connection cables are worn
Complete machine paralysis；Second, since connection cables are more, dismounting maintenance is inconvenient when bionic leg is dismounted and safeguarded；Third, bionic leg
Power device --- battery is arranged on bionic machine human agent, only a charge port, for high capacity cell, charging
Time is long, and charge efficiency is low；Fourth, controlling each joint motions of all bionic legs using the controller concentrated, journey is controlled
Sequence is complicated, and programing work amount is big.
Third class is one kind four as disclosed in CN201510644743.7 using the Form of Bionics Mechanical Legs of hydraulic power driving
Biped robot drives bionic leg joint motions using the hydraulic source driving system of electrical servo；The bionic leg of these robots exists
Following problem: it first, power source concentrates on main body frame, need to be provided by the hydraulic power system on robot body's frame each
The joint hydraulic power of a bionic leg is easily paralysed due to connection cables or hydraulic pipeline are worn；Second, its monoblock type concentrates electricity
Source is arranged on bionic machine human agent, there is a problem of that the charging time is long, charge efficiency is low；Third, using linear oil cylinder
Non-linear relation is presented in joint motions and driver, causes control system complicated；Fourth, bionic leg and the connecting line wherein arranged
Cable or/and hydraulic pipeline must be connected directly with robot body's frame, and dismounting maintenance is extremely inconvenient.
Utility model content
The utility model technical problem of being solved is to overcome the problems of the above-mentioned prior art, provides a kind of dismounting
Easy to maintain, structure is simple, and functional reliability is high, easy assembling type bionic leg applied widely.
The utility model solve its technical problem the technical solution adopted is that, a kind of easy assembling type bionic leg, including thigh, small
Leg and foot, are additionally provided with connection frame, power device and control device, and the connection frame, thigh, shank and foot pass sequentially through pass
Section is connected；The connection frame is for the bionic leg to be fixedly connected or dismantle with bio-robot；The power device is located at
In the thigh and/or shank and/or on the foot, for providing power drive to the bionic leg；The control device
Setting is described imitative for controlling in the thigh and/or the shank and/or on the foot and/or the connection frame
The movement of raw leg.
Further, the power device is battery pack and/or solar energy film part and/or piezoelectric material, the battery
Group is lithium battery group or graphene battery group；The solar energy film part is arranged on the thigh and/or the shank, described
Piezoelectric material is arranged on the foot.
Further, the control device includes controller, charge port and electric plug, the controller be located at the thigh or
In shank, for controlling the movement in the joint；The charge port is arranged on the foot；The electric plug is arranged in institute
It states on connection frame, is used for and bio-robot agent communication.
Further, the joint is three-dimensional joint and/or two-dimentional joint, and the three-dimensional joint includes joint frame, speed reducer
And drive motor；The two dimension joint includes speed reducer and drive motor；The drive motor is fixed on the dynamic of the speed reducer
Power input terminal, the drive motor are connected with the power device.
Further, the joint is three-dimensional joint and/or two-dimentional joint, and the three-dimensional joint includes joint frame, speed reducer
And drive motor；The two dimension joint includes speed reducer and drive motor；The drive motor is fixed on the dynamic of the speed reducer
Power input terminal, the drive motor are connected with the power device.
Further, the speed reducer in the three-dimensional joint and drive motor are two groups, and two groups of speed reducers are separately positioned on institute
The both ends of joint frame are stated, in mutual non-parallel state.
Further, the three-dimensional joint and two-dimentional joint are equipped with angular transducer.
Further, the drive motor is the servo motor of band brake or the stepper motor of band brake；The speed reducer is
Right angle reductor or RV speed reducer or worm-gear speed reducer.
Further, the connection frame is bolt-type connection frame or buckle-type connection frame or bolt type connection frame.
Bionic leg is fixedly connected by the utility model by connection frame with bionic machine human agent, need to bionic leg into
When row maintenance or maintenance, it is easy to which bionic leg is disassembled to carry out maintenance, repair from bionic machine human agent；Maintenance, dimension
After repairing, also it is easy to for bionic leg and bionic machine human agent being connected and fixed；By being set in thigh and/or shank, and/
Or it autonomous dynamic device on foot and is set in thigh and/or the shank and/or the foot and/or the connection frame
On control device, the faster connection and replacement of bionic leg can be further realized, the scope of application is wider, and installing and dismounting is more convenient,
Operation control is simpler.
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 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 present embodiment easy assembling type bionic leg have 4 freedom degrees, mainly comprising connection frame 1, three-dimensional pass
Section 2, thigh A, two-dimentional joint I 3, shank B, two-dimentional joint II 4, foot C, power device 5, control device 6；Three-dimensional joint 2 is solid
It is scheduled on connection frame 1 and is connected with thigh A, thigh A passes through two-dimentional joint I 3 and is connected with shank B, and shank B passes through two-dimentional joint II
4 are connected with foot C；Power device 5 is fixed in thigh A and shank B；Control device 6 is fixed in thigh A, and is closed with three-dimensional
Section 2, two-dimentional joint I 3, two-dimentional joint II 4 are electrically connected.
The connection frame 1 is equipped with pin hole 11A, for by three joint bionic legs of the autonomous distributed power of multi-group, quickly
It is fastened on bio-robot main body frame.Thigh A, the shank B is that the abnormity component selection with cavity is high-strength
Aluminium alloy is made, convenient in cavity inside arrangement and rigidly-fixed power plant 5, control device 6；It is arranged on the foot C flexible
Rubber parts C1, for slowing down vibratory impulse in motion process.
Three-dimensional joint 2 includes right angle reductor I 201, drive motor I 202, joint frame 203, right angle reductor II 204, drives
Dynamic motor II 205；The drive motor I 202 is fixed on the power intake of right angle reductor I 201, the drive motor II
205 are fixed on the power intake of right angle reductor II 204, and the right angle reductor I 201, right angle reductor II 204 are with 90 degree
Row, which is staggered, is separately fixed at the both ends of joint frame 203, and three-dimensional joint 2 can be made to realize three-dimensional rotations.Two-dimentional joint I 3
Main includes right angle reductor III 301 and the drive motor III 302 for being fixed on power intake.It mainly wraps in two-dimentional joint II 4
It includes right angle reductor IV 401 and is fixed on the drive motor IV 402 of power intake, two-dimentional joint I 3, two-dimentional joint can be made
II 4 realize two-dimensional surface rotation.Power device 5 mainly includes two groups of rechargeable lithium batteries: battery pack I 501, battery pack II 502；
Battery pack I 501, battery pack II 502 and drive motor I 202, drive motor II 205, drive motor III 302, drive motor IV
402 electrical connections；Control device 6 mainly includes controller 601, charge port 602, electric plug 603；Controller 601 is fixed on thigh A
3 joint precise motions in framework, for control biomimetics leg；Charge port 602 is arranged on foot C, for in bionic leg
The battery pack 5 in portion charges;Electric plug 603 is arranged on connection frame 1, is used for and bio-robot agent communication.Drive motor I
202, drive motor II 205, drive motor III 302, the servo motor that drive motor IV 402 is band brake, belt sensor, can be real
When transmit angle of revolution to control device 6.
When assembling manufacturing, after the Form of Bionics Mechanical Legs integral installation, by connection frame 1, electric plug 603 can rapidly with it is imitative
Raw robot body is connected and communication；In bio-robot motion process, the controller 601 of each bionic leg is according to bionical machine
The fuzzy command of the upper control system of device human agent determines three-dimensional joint 2 on respective bionic leg, two-dimentional joint I 3, two-dimentional joint II 4
Precise motion parameter；On the basis of battery pack 5 provides electric power, the driving in three-dimensional joint 2, two-dimentional joint I 3, two-dimentional joint II 4
Motor I 202, drive motor II 205, drive motor III 302, drive motor IV 402 drive speed reducer I 201, speed reducer II 204,
Speed reducer III 301, speed reducer IV 401 rotate, and realize deceleration torque increase and articulation；Simultaneously each joint also according to encoder or
The rotational angle information of sensor feedback adjusts the movement such as main story, reversion, acceleration, deceleration, stopping in time.When bionic leg battery pack
When 5 not enough power supply, can by each bionic leg carry 602 quick charge of charge port.
Embodiment 2
Referring to Fig. 3, Fig. 4, the present embodiment easy assembling type bionic leg, there are 4 freedom degrees, exist with the main distinction of embodiment 1
In: the connection frame 1 reinforces fixed pin hole form using card slot, for quickly connecting with robot；The thigh A, shank B are titanium
It is circular component that the cross section with cavity, which is made, in alloy；Wherein thigh A, the outer surface shank B are additionally provided with solar energy film part I
A4, II B4 of solar energy film part power for collecting solar energy to bionic leg;Flexible stretch is arranged in thigh A, the end shank B
Contracting protective case A5, resilientiy stretchable protective case B5 are used for Saving cortilage；The foot C is subtracted using having elastic alloy material
The sufficient shape elasticity foot for buffering of shaking；The three-dimensional joint 2, two-dimentional joint I 3, two-dimentional joint II 4 are respectively arranged with angular transducer
I 206, angular transducer II 207, angular transducer III 303, angular transducer IV 403, can real-time delivery angle of revolution information give
Control device 6；The speed reducer I 201, speed reducer II 204, speed reducer III 301, speed reducer IV 401 use RV speed reducer；It is described
Drive motor I 202, drive motor II 205, drive motor III 302, drive motor IV 402 using band brake stepper motor；
The battery pack 5 uses two groups of chargeable solid state batteries；The charge port 602 uses radio induction charging mouth, the electric plug
603 are communicated using wireless blue tooth formula.
Embodiment 3
Referring to Fig. 5, Fig. 6, the present embodiment easy assembling type bionic leg, there are 4 freedom degrees, exist with the main distinction of embodiment 1
In: the connection frame 1 is equipped with bolt mounting holes 11A, for connecting with bionic machine human agent；The speed reducer I 201,
Speed reducer II 204, speed reducer III 301, speed reducer IV 401 are using worm-gear speed reducer, it can be achieved that self-locking prevent from trackslipping；It is described
Thigh A, shank B the square component with cavity is made using aluminium alloy；Wherein thigh A, the outer surface shank B are additionally provided with the sun
I A3 of energy thin-film member, II B3 of solar energy film part power for collecting solar energy to bionic leg;Pressure is provided on the foot C
Electric material part C2, is generated electricity using vibratory impulse；The battery pack 5 uses two groups of chargeable graphene batteries.
Various embodiments of the utility model easy assembling type bionic leg has following good effect: (1) passing through connection frame and electricity
Plug-in unit, which is 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, structure letter
Single, installation and removal are convenient；Pipeline wear-out failure is greatly reduced simultaneously, and whole aircraft reliability improves；(2) joint of each bionic leg
Movement is controlled by distributed-power and distributed director, goes up integrated control relative to bionic machine human agent is concentrated on,
Control system complexity can be greatly reduced, programming is simple, while also avoiding between each bionic leg of integrated power system
Movement influences mutually；(3) articulation is driven using drive motor+speed reducer.Relative to hydraulic linear oil cylinder and other machinery
Linear relationship is presented in link rotatable, the rotational angle and drive motor in joint, and program composition is simple, facilitates debugging and operation；Together
When can also realize large rotation angle；(4) battery and charge port are set on each bionic leg, it is opposite using whole power supply, both
Reliability is improved, and improves charge efficiency.And solar panels or film can be set on the leg section of bionic leg, it can be achieved that bionic leg
Self charging reduces energy requirement.Temperature and pressure power generation sheet be may also set up in drive motor, absorb waste heat and generated electricity, or in bullet
Property foot setting piezo-electric generating piece, absorb walking process in vibratory impulse and power generation.
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 (14)
1. easy assembling type bionic leg, including thigh, shank and foot, which is characterized in that be additionally provided with connection frame, power device and control
Device, the connection frame, thigh, shank and foot pass sequentially through joint and are connected；The connection frame be used for by the bionic leg with
Bio-robot is fixedly connected or dismantles；The power device is located in the thigh and/or shank and/or on the foot,
For providing power drive to the bionic leg；The control device is arranged in the thigh and/or the shank, and/or
On the foot and/or the connection frame, for controlling the movement of the bionic leg.
2. easy assembling type bionic leg as described in claim 1, which is characterized in that the power device is battery pack and/or solar energy
Thin-film member and/or piezoelectric material, the battery pack are lithium battery group or graphene battery group；The solar energy film part is set
It sets on the thigh and/or the shank, the piezoelectric material is arranged on the foot.
3. easy assembling type bionic leg as claimed in claim 1 or 2, which is characterized in that the control device includes controller, charge port
And electric plug, the controller be located at the thigh or in shank, for controlling the movement in the joint；The charge port is set
It sets on the foot；The electric plug is arranged on the connection frame, is used for and bio-robot agent communication.
4. easy assembling type bionic leg as claimed in claim 1 or 2, which is characterized in that the joint is that three-dimensional joint and/or two dimension are closed
Section, the three-dimensional joint includes joint frame, speed reducer and drive motor；The two dimension joint includes speed reducer and drive motor；
The drive motor is fixed on the power intake of the speed reducer, and the drive motor is connected with the power device.
5. easy assembling type bionic leg as claimed in claim 3, which is characterized in that the joint is three-dimensional joint and/or two-dimentional joint,
The three-dimensional joint includes joint frame, speed reducer and drive motor；The two dimension joint includes speed reducer and drive motor；It is described
Drive motor is fixed on the power intake of the speed reducer, and the drive motor is connected with the power device.
6. easy assembling type bionic leg as claimed in claim 4, which is characterized in that the speed reducer and drive motor in the three-dimensional joint are equal
It is two groups, two groups of speed reducers are separately positioned on the both ends of the joint frame, in mutual non-parallel state.
7. easy assembling type bionic leg as claimed in claim 4, which is characterized in that the three-dimensional joint and two-dimentional joint are passed equipped with angle
Sensor.
8. easy assembling type bionic leg as claimed in claim 4, which is characterized in that the drive motor be band brake servo motor or
The stepper motor of band brake；The speed reducer is right angle reductor or RV speed reducer or worm-gear speed reducer.
9. easy assembling type bionic leg as claimed in claim 1 or 2, which is characterized in that the connection frame is bolt-type connection frame or card
Button connection frame or bolt type connection frame.
10. easy assembling type bionic leg as claimed in claim 3, which is characterized in that the connection frame is bolt-type connection frame or buckle
Formula connection frame or bolt type connection frame.
11. easy assembling type bionic leg as claimed in claim 4, which is characterized in that the connection frame is bolt-type connection frame or buckle
Formula connection frame or bolt type connection frame.
12. easy assembling type bionic leg as claimed in claim 6, which is characterized in that the connection frame is bolt-type connection frame or buckle
Formula connection frame or bolt type connection frame.
13. easy assembling type bionic leg as claimed in claim 7, which is characterized in that the connection frame is bolt-type connection frame or buckle
Formula connection frame or bolt type connection frame.
14. easy assembling type bionic leg as claimed in claim 8, which is characterized in that the connection frame is bolt-type connection frame or buckle
Formula connection frame or bolt type connection frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821112253.8U CN208602586U (en) | 2018-07-13 | 2018-07-13 | Easy assembling type bionic leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821112253.8U CN208602586U (en) | 2018-07-13 | 2018-07-13 | Easy assembling type bionic leg |
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| Publication Number | Publication Date |
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| CN208602586U true CN208602586U (en) | 2019-03-15 |
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ID=65669480
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821112253.8U Active CN208602586U (en) | 2018-07-13 | 2018-07-13 | Easy assembling type bionic leg |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583721A (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 bionic leg |
| CN116161250A (en) * | 2023-04-04 | 2023-05-26 | 南京航空航天大学 | Hip-knee drivable bionic landing leg type six-rotor unmanned aerial vehicle and control method thereof |
-
2018
- 2018-07-13 CN CN201821112253.8U patent/CN208602586U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583721A (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 bionic leg |
| CN116161250A (en) * | 2023-04-04 | 2023-05-26 | 南京航空航天大学 | Hip-knee drivable bionic landing leg type six-rotor unmanned aerial vehicle and control method thereof |
| CN116161250B (en) * | 2023-04-04 | 2023-09-26 | 南京航空航天大学 | Hip-knee drivable bionic landing leg type six-rotor unmanned aerial vehicle and control method thereof |
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