The invention relates to a cableless three-degree-of-freedom joint module and a bionic leg-foot structure, the cableless three-degree-of-freedom joint module comprises a lateral extension joint, a forward swing joint and a knee joint, and the bionic leg-foot structure comprises a three-degree-of-freedom joint module, a thigh, a shank, a foot end and a foot-ground sensing unit. The cableless three-degree-of-freedom joint realizes a structural form of built-in knee joint cables, knee joint module power and signal cables realize protection and wiring through a front swing joint hollow shaft connected in series with the knee joint module power and signal cables, interference and reliability problems caused by external knee joint cables during movement of the bionic robot are reduced and avoided, and after the whole machine is integrated, the reliability of the bionic robot is improved. And no external cable is arranged, so that the reliability and the safety of the system can be greatly improved. The modularized single-leg module of the bionic robot is modularized, high in reliability and convenient to mount and dismount. The bionic robot leg-foot and cable-free bionic joint is high in modularization degree and good in reliability and stability, and can be widely applied to biped, quadruped, hexapod, wheel-foot and other bionic robots.

    本发明涉及一种无缆三自由度关节模组及仿生腿足结构,所述无缆三自由度关节模组包含:侧展关节、前摆关节及膝关节,所述仿生腿足结构包含三自由度关节模组、大腿、小腿、足端及足地感知单元。无缆三自由度关节实现膝关节线缆内置的结构形式,膝关节模组动力与信号线缆通过与其串联的前摆关节中空轴实现保护和布线,减少了避免仿生机器人在运动时由于膝关节线缆外置导致的干涉以及可靠性问题,整机集成后,无外置线缆,可大大提高系统可靠性与安全性。实现一种模块化、高可靠、安装与拆卸方便的仿生机器人模块化单腿模块。该仿生机器人腿足及无缆仿生关节模块化程度高,可靠性与稳定性较好,可广泛应用于双足、四足、六足、轮足等仿生机器人上。


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    Titel :

    Cable-free three-degree-of-freedom joint module and bionic leg and foot structure


    Weitere Titelangaben:

    一种无缆三自由度关节模组及仿生腿足结构


    Beteiligte:
    LIANG ZHENJIE (Autor:in) / JIANG LEI (Autor:in) / XU WEI (Autor:in) / DANG RUINA (Autor:in) / WANG ZHIRUI (Autor:in) / LIU YUFEI (Autor:in) / ZHAO JIANXIN (Autor:in) / QIU TIANQI (Autor:in) / XU PENG (Autor:in) / XING BOYANG (Autor:in)

    Erscheinungsdatum :

    2022-07-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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