The invention belongs to the related technical field of biomimetic robots, and discloses a leg structure of an amphibious crawling biomimetic robot and a lightweight design method of the amphibious crawling biomimetic robot. The first end of the thigh inner side plate and the first end of the thigh outer side plate are connected to the driving assembly and can be driven by the driving assembly to rotate integrally; the shank assembly comprises a shank bone, and the top of the shank bone is rotationally connected between the second ends of the thigh assembly; the transmission assembly is arranged between the thigh inner side plate and the thigh outer side plate, and the transmission assembly can be driven by the driving assembly to drive the shank to rotate; the sole assembly is connected to the bottom of the shank bone, and the thigh inner side plate, the thigh outer side plate and the shank bone are of a dot matrix structure. The thigh assembly comprises the independent thigh inner side plate and the independent thigh outer side plate, the thigh inner side plate, the thigh outer side plate and the shank are of a lattice structure, light weight can be better achieved, and the structural performance of the leg is improved.
本发明属于仿生机器人相关技术领域,其公开了一种两栖爬行仿生机器人腿部结构及其轻量化设计方法,腿部结构为:大腿组件包括大腿内侧板和大腿外侧板,大腿内侧板和大腿外侧板的第一端分别连接在驱动组件上、能够在驱动组件的驱动下一体转动;小腿组件包括小腿骨,小腿骨的顶部转动连接在大腿组件的第二端之间;传动组件设在大腿内侧板和大腿外侧板之间,且传动组件能够在驱动组件的驱动下带动小腿骨转动;足底组件连接在小腿骨的底部,大腿内侧板、大腿外侧板和小腿骨设为点阵结构。本发明设置大腿组件包括独立的大腿内侧板和大腿外侧板,将大腿内侧板、大腿外侧板和小腿骨设为点阵结构,有利于更好的实现轻量化,提高腿部结构性能。
Amphibious crawling bionic robot leg structure and lightweight design method thereof
一种两栖爬行仿生机器人腿部结构及其轻量化设计方法
01.04.2025
Patent
Elektronische Ressource
Chinesisch