The invention belongs to the field of mechanical legs, and particularly relates to a parallel elastic driving leg-foot structure with tension springs in centralized layout and a using method, and the leg-foot structure comprises a parallel elastic driving mechanism, and a thigh, a knee joint, a shank, an ankle joint and a sole which are arranged in sequence; the parallel elastic driving mechanism comprises a shank elastic part and a sole elastic part, one end of the shank elastic part is fixedly arranged on the thigh, the other end of the shank elastic part is connected with a shank rigid rope, one end of the sole elastic part is fixedly arranged on the thigh, and the other end of the sole elastic part is connected with a sole rigid rope; the shank rigid rope is fixed on the front side of the shank after passing through the front side of the knee joint; the sole rigid rope passes through the front side of the knee joint, then penetrates from the front side of the shank to the rear side of the shank and is fixed to the heel of the sole from the rear side. According to the associated elastic driving mechanism, the mounting stability of the shanks and the soles can be improved, higher output power can be provided for the shanks and the soles, and high-outbreak actions such as running and jumping can be easily achieved.

    本发明属于机械腿领域,具体涉及到一种拉簧集中式布局的并联弹性驱动腿足结构及使用方法,其中腿足结构包括并联弹性驱动机构以及依次设置的大腿、膝关节、小腿、踝关节和脚掌;所述并联弹性驱动机构包括小腿弹性件和脚掌弹性件,所述小腿弹性件的一端固定设置在所述大腿上,另一端连接有小腿刚性绳,所述脚掌弹性件的一端固定设置在所述大腿上,另一端连接有脚掌刚性绳;所述小腿刚性绳经过膝关节前侧后固定于所述小腿前侧;所述脚掌刚性绳经过膝关节前侧后从小腿前侧穿至小腿后侧,并从后侧固定于所述脚掌后跟。本发明关联弹性驱动机构可以提高小腿和脚掌的安装稳定性,提供小腿和脚掌更大的输出功率,容易实现奔跑、跳跃等高爆发动作。


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    Title :

    Parallel elastic driving leg and foot structure with tension springs arranged in centralized mode and using method of parallel elastic driving leg and foot structure


    Additional title:

    一种拉簧集中式布局的并联弹性驱动腿足结构及使用方法


    Contributors:
    ZENG ZHIWEN (author) / TANG MAOQI (author) / ZHANG DAOXUN (author) / LI JINZHE (author) / ZHONG RUI (author) / LU HUIMIN (author) / HUANG KAIHONG (author) / TANG WENTAO (author) / ZHANG ENQI (author) / GUO XU (author)

    Publication date :

    2025-04-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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