The invention discloses an active and passive combined multi-degree-of-freedom bionic mechanical leg which comprises a first straight arm section, a second straight arm section, a third straight arm section, a fourth straight arm section and a bionic sole. The first straight arm section, the second straight arm section, the third straight arm section, the fourth straight arm section and the bionic sole are connected to form a structure with four autorotation control activities and two controlled activities; wherein the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism which are used for active control are of structures jointly driven by direct-current brushless frameless torque motors and harmonic reducers; under the cooperation, the defect of low load of a steering engine is overcome, the mechanical leg has the advantages of small size, large reduction ratio and large torque output, and the problems that a traditional industrial robot is bloated in joint and not bionic in appearance are solved.

    本发明公开了一种主被动结合的多自由度仿生机械腿,包括第一直臂段、第二直臂段、第三直臂段、第四直臂段和仿生脚掌;第一直臂段、第二直臂段、第三直臂段、第四直臂段和仿生脚掌连接为具有四个自转控制活动和两个被控制活动的结构;其中,用于主动控制的第一驱动机构、第二驱动机构、第三驱动机构和第四驱动机构均为直流无刷无框力矩电机与谐波减速器联合驱动的结构;在此配合下,既弥补了舵机低负载的缺点,又使得机械腿具备了小体积、大减速比、大扭矩输出的优点,更解决了传统工业机器人关节臃肿、外形不仿生的问题。


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    Title :

    Active-passive combined multi-degree-of-freedom bionic mechanical leg


    Additional title:

    一种主被动结合的多自由度仿生机械腿


    Contributors:
    JIANG JIANPING (author) / ZHUO ZHIQIN (author) / ZENG QIN (author) / FENG CHUANGXIN (author) / HUANG KEFAN (author) / HE JUNXUAN (author) / XU XIAOMING (author) / WU JIANING (author)

    Publication date :

    2022-12-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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