The invention discloses a multi-joint bionic mechanical leg with a multi-mechanism combined joint and a multi-stage control module. The multi-joint bionic mechanical leg comprises a base joint, a rotary joint, a thigh joint, a shank joint and a shin joint which are connected in sequence, a bionic robot body is connected with the base joint of the bionic mechanical leg and leg joints of the bionicmechanical leg through rotary joints and/or multi-mechanism combined joints, and multi-stage control modules are further arranged. The multi-mechanism combined joint comprises a propelling mechanism,a rod mechanism, a sliding mechanism and a rotating mechanism. The multi-stage control modules are used for motion control of joints and arranged on the base joint and/or the swivel joint and/or the thigh joint and/or the shank joint and/or the shin joint, the control modules have a hierarchical master-slave relation, the number of hierarchies of the control modules is larger than or equal to 2, and the control modules are distributed on different leg joints; and the connecting joints among the leg joints comprise multi-mechanism combined joints. The multi-joint bionic mechanical leg has the advantages of large torque, small occupied space, simple structure and control, high safety, stability and reliability, and can be widely applied.

    具备多机构组合关节及多级控制模块的多关节仿生机械腿,包括依次连接的基节、转节、大腿节、小腿节和胫节,仿生机器人主体与仿生机械腿的基节以及仿生机械腿的各腿节间通过旋转关节和/或多机构组合关节连接,且还设有多级控制模块;所述多机构组合关节包括推进机构、杆机构、滑动机构和旋转机构;所述多级控制模块用于关节的运动控制,设于基节和/或转节和/或大腿节和/或小腿节和/或胫节,各控制模块之间具备层级主从关系,其层级数≥2,且分布于不同的腿节;所述腿节间的连接关节包括多机构组合关节。本发明提供的扭矩大,占用空间小,结构与控制简单,安全且稳定可靠,可广泛应用。


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    Title :

    Multi-joint bionic mechanical leg with multi-mechanism combined joint and multi-stage control module


    Additional title:

    具备多机构组合关节及多级控制模块的多关节仿生机械腿


    Contributors:
    LIANG XU (author) / YU ZHIYING (author)

    Publication date :

    2020-11-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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