The invention discloses a stepping mechanical leg capable of being used for a biped obstacle crossing robot, and belongs to the field of stepping robots. The stepping mechanical leg comprises two setsof mechanical single legs which are rotationally arranged on a robot body and are completely the same in structure. Each mechanical single leg comprises a connecting rod thigh with the upper end rotationally arranged on the robot body and a walking shank hinged to the lower end of the connecting rod thigh. The connecting rod thigh comprises a thigh top plate, a connecting rod A, a connecting rodB, a connecting rod C, a connecting rod D, connecting rod springs, lifting rods, anti-compression springs, steel wire ropes A and steel wire ropes B; the walking shank comprises a shank rod, a lockingplate, a motor B, a lead screw and a nut; a torsion spiral spring B is arranged between the sole plate and the shank rod, and torsional elastic deformation occurs when the shank moves forwards. The stepping mechanical leg is simple and reasonable in structure, capable of achieving gravity center translation during stepping to improve stepping stability, capable of crossing obstacles and capable of being used for a biped obstacle crossing robot.
本发明公开了一种可用于双足越障机器人的迈步机械腿,属于迈步机器人领域。它包括转动装设于机器人躯体上的两组结构完全相同的机械单腿,机械单腿包括上端转动装设于机器人躯体上的连杆大腿,与连杆大腿下端铰接的迈步小腿;连杆大腿包括大腿顶板、连杆A、连杆B、连杆C、连杆D、连杆弹簧、升降杆、抗压缩弹簧、钢丝绳A和钢丝绳B;迈步小腿包括小腿杆、锁紧板、电机B、丝杠和螺母;脚底板与小腿杆之间装设有扭转螺旋弹簧B,在迈步小腿向前迈步时发生扭转弹性变形。本发明是一种结构简单合理、可以在迈步时实现重心平移来提高迈步稳定性、具有越障能力、可用于双足越障机器人的迈步机械腿。
Stepping mechanical leg capable of being used for biped obstacle crossing robot
一种可用于双足越障机器人的迈步机械腿
2020-11-17
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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