The invention discloses a modular docking mechanism and a biped robot, and relates to the technical field of robots. The problems that at the present stage, a biped robot is poor in running stability in complex terrains, and the loading capacity of the biped robot is poor are solved. The clamping device comprises a middle connecting block and clamping structures, the middle connecting block is provided with two clamping ends, and each clamping end corresponds to one clamping structure and is clamped; a middle driving unit in the clamping structure comprises a middle driving shaft and a driving cam, and the driving cam is arranged on the middle driving shaft in a sleeving mode and can rotate along with the middle driving shaft. Each finger unit corresponds to one driving cam; the finger unit comprises a feeler lever, fingers, a pin shaft I and a return spring; the fingers are hinged to one sides of the driving cams through first pin shafts, one ends of the feeler levers make contact with the surfaces of the corresponding driving cams, and the other ends of the feeler levers are connected to the tail ends of the fingers and can rotate. One end of the return spring is connected to the finger, and the other end is fixed and stretched. The modular connection device is mainly used for modular connection of the biped robot.

    一种模块化对接机构及双足机器人,涉及机器人技术领域。为解决现阶段的双足机器人在复杂地形运行的稳定性差,且双足机器人的负载能力差的问题。本发明包括中间连接块和夹紧结构,中间连接块具有两个夹持端,每个夹持端对应一个夹紧结构并被夹持;夹紧结构中的中间驱动单元包括中间驱动轴和驱动凸轮,驱动凸轮套装于中间驱动轴并可随中间驱动轴转动;每个手指单元对应一个驱动凸轮;手指单元包括触杆、手指、销轴一和回位弹簧;手指经由销轴一被铰接于驱动凸轮的一侧,触杆的一端与对应的驱动凸轮的表面接触,另一端连接于手指的末端并可转动;回位弹簧的一端连接于手指,另一端被固定并拉伸。本发明主要用于双足机器人的模块化连接。


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    Title :

    Modularized docking mechanism and biped robot


    Additional title:

    一种模块化对接机构及双足机器人


    Contributors:
    YU HAITAO (author) / QU MINGCHENG (author) / TIAN BAOLIN (author) / MAO SHIHAO (author) / XIA JIFENG (author)

    Publication date :

    2024-11-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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