The invention discloses a walking robot flexible ankle joint mechanism and a walking robot. The flexible ankle joint mechanism and the walking robot comprise a shank part (6) and a foot part (7) and further comprise two ankle elastic mechanisms (1), namely an ankle rear elastic mechanism (11) and an ankle front elastic mechanism (12). For the ankle rear elastic mechanism, the linear driving mechanism is based on the shank part, one end of an elastic batten (15) is connected with the driving force output end of the linear driving mechanism, and the other end of the elastic batten is connected with the heel part of the foot part; and for the anterior ankle elastic mechanism, the other end of the elastic batten is connected with the toe part of the foot part. The ankle elastic mechanism arranged in the flexible ankle joint mechanism can adjust the overall rigidity of the flexible ankle joint mechanism while achieving rotation of the ankle joint, the passive compliance of the ankle joint is improved, and the flexible ankle joint mechanism and the walking robot can adapt to different movement requirements and reduce rigid impact in the walking process.
本发明公开了一种步行机器人柔性踝关节机构和步行机器人。本发明的柔性踝关节机构和步行机器人包括小腿部件(6)和足部件(7),还包括两踝部弹力机构(1),即踝后部弹力机构(11)和踝前部弹力机构(12);对于踝后部弹力机构,直线驱动机构基于小腿部件,弹性板条(15)的一端与直线驱动机构的驱动力输出端连接,弹性板条的另一端与足部件的足跟部连接;对于踝前部弹力机构,弹性板条的另一端与足部件的足尖部连接。柔性踝关节机构中设置的踝部弹力机构在实现踝关节转动的同时,还能够调节柔性踝关节机构整体的刚度,提升了踝关节的被动顺应性,柔性踝关节机构和步行机器人能够适应不同的运动需求并减小步行过程中的刚性冲击。
Flexible ankle joint mechanism of walking robot and walking robot
步行机器人柔性踝关节机构和步行机器人
07.01.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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