The invention discloses a quadruped robot leg structure based on pneumatic muscles, and relates to the field of biomimetic robots, the quadruped robot leg structure comprises a hip connecting block, an upper leg, the pneumatic muscles, a middle leg, a humanoid knee joint, a lower leg and a toe, when the robot leg falls to the ground, a hydraulic buffer of the toe can provide a good buffer effect and a stable landing posture for the robot leg, and the robot leg can fall to the ground stably. The pneumatic muscles can provide rotating driving force for all parts of the legs of the robot so that the landing posture can be adjusted, the humanoid knee joint is of a combined structure in the vertical direction, and when impacted, impact can be transferred to the pneumatic muscles in the sliding direction through sliding (or deflection) of the rotating body relative to the rotating plate; buffering is achieved by absorbing impact through the pneumatic muscles, and the quadruped robot leg based on the pneumatic muscles is simple in structure, exquisite in design, stable in landing, flexible in posture adjustment and good in adaptability to complex ground conditions.

    本发明公开了一种基于气动肌肉的四足机器人腿部结构,涉及仿生机器人领域,包括髋连接块、上腿、气动肌肉、中腿、仿人膝关节、下腿、趾部,当机器人腿部落地时,趾部的液压缓冲器会为机器人腿部提供很好的缓冲作用和平稳的落地姿态,气动肌肉不仅可以为机器人腿部各部分提供转动的驱动力,从而调整落地姿态,仿人膝关节是垂直方向的组合结构,受冲击时可通过转动体相对于转动板的滑移(或偏转)将冲击转移给滑移方向的气动肌肉,靠气动肌肉吸收冲击从而实现缓冲,所述基于气动肌肉的四足机器人腿部结构简单,设计精巧,落地平稳,姿态调整灵活,对复杂的地面状况适应性好。


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    Title :

    Quadruped robot leg structure based on pneumatic muscles


    Additional title:

    一种基于气动肌肉的四足机器人腿部结构


    Contributors:
    CAO JIAN (author) / HAN SHUN (author) / XUE LIANG (author) / YAN YONGFU (author) / WANG FAZHI (author)

    Publication date :

    2024-05-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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