The invention discloses a bionic leg of a four-joint foot type robot. The bionic leg comprises a side extension motor, a thigh rod, a shank rod, a foot end rod, a knee joint motor, an ankle joint motor and a forward swing motor. An output shaft of the side extension motor is fixedly connected with a shell of the front swing motor; an output shaft of the forward swing motor is fixedly connected with a shell of the knee joint motor; shells of the knee joint motor and the ankle joint motor are fixedly connected; the top end of the thigh rod is fixedly connected to a shell of the knee joint motor, and the bottom end is coaxially hinged to the top ends of the triangular plate and the shank rod to form a composite revolute pair; the second connecting rod is hinged between the knee joint crank and the shank rod; the first connecting rod is hinged between the ankle joint crank and the first connecting rod; the bottom end of the shank rod is hinged to the top end of the foot end rod to form a revolute pair; the third connecting rod is hinged between the triangular plate and the foot end rod. The bionic leg adopts a structure that the motor is arranged on the top and the connecting rod is used for transmission, the rotational inertia of the bionic leg can be greatly reduced, and robot control is facilitated.

    本发明公开了一种四关节足式机器人仿生腿,该仿生腿包括侧展电机、大腿杆、小腿杆、足端杆、膝关节电机、踝关节电机以及前摆电机;侧展电机的输出轴与前摆电机的外壳固定连接;前摆电机的输出轴与膝关节电机的外壳固定连接;膝关节电机和踝关节电机的外壳固定连接;大腿杆的顶端固定连接于膝关节电机的外壳,底端与三角板和小腿杆的顶端同轴铰接形成复合转动副;第二连杆铰接于膝关节曲柄与小腿杆之间;第一连杆铰接于踝关节曲柄和之间;小腿杆的底端与足端杆的顶端铰接形成转动副;第三连杆铰接于三角板与足端杆之间。上述仿生腿采用电机上置、连杆传动的结构,能够大幅减小仿生腿的转动惯量,利于机器人控制。


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    Title :

    Bionic leg of four-joint foot type robot


    Additional title:

    一种四关节足式机器人仿生腿


    Contributors:
    WANG ZHIRUI (author) / QIU TIANQI (author) / DANG RUINA (author) / JIANG LEI (author) / SU BO (author) / XU WEI (author) / XING BOYANG (author) / LIU YUFEI (author) / LIANG ZHENJIE (author) / MU LINDONG (author)

    Publication date :

    2022-10-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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