The invention relates to the technical field of leg-foot type robots, in particular to a clutch type parallel elastic driver for a leg-foot type robot, which comprises a parallel elastic mechanism arranged on a knee connecting shaft at the joint of a thigh arm and a shank arm, and the parallel elastic mechanism comprises a shell arranged outside the knee connecting shaft in a sleeving manner; a front planet carrier and a rear planet carrier are arranged on the two sides in the shell respectively, a front sun gear and a rear sun gear are arranged on the front planet carrier and the rear planet carrier respectively, at least one front planet gear is arranged on the front planet carrier and connected with the inner side wall of the front sun gear in a meshed mode, and at least one rear planet gear is arranged on the rear planet carrier and connected with the inner side wall of the rear sun gear in a meshed mode. The rear planet gears are connected with the inner side wall of the rear sun gear in a meshed mode, a torsion spring is connected between the front sun gear and the rear sun gear, and a front brake piece and a rear brake piece which are used for braking the front sun gear and the rear sun gear are arranged on the shell. According to the invention, the parallel elastic mechanism can be effectively controlled to intervene in rotation control of the knee connecting shaft, so that the flexibility of the robot in a non-jumping gait is not influenced.
本发明涉及腿足式机器人技术领域,具体涉及一种腿足式机器人用离合式并联弹性驱动器,包括设置在大腿臂与小腿臂连接处的膝连接轴上的并联弹性机构,并联弹性机构包括套设在膝连接轴外的壳体,壳体内两侧分别设置前行星架和后行星架,前行星架和后行星架上分别设置前太阳轮和后太阳轮,前行星架上设置至少一个前行星轮,前行星轮均与前太阳轮内侧壁啮合连接,后行星架上设置至少一个后行星轮,所后行星轮均与后太阳轮内侧壁啮合连接,前太阳轮和后太阳轮之间连接扭转弹簧,壳体上设置用于制动前太阳轮和后太阳轮的前刹车件和后刹车件。本发明可效控制并联弹性机构介入膝连接轴的转动控制,从而不影响机器人在非跳跃步态中的灵活性。
Clutch type parallel elastic driver for leg-foot type robot
一种腿足式机器人用离合式并联弹性驱动器
2024-07-09
Patent
Electronic Resource
Chinese
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