The invention belongs to the technical field of a humanoid service robot and relates to a walking structure and a robot. In the walking structure, two sets of foot connecting pieces and connecting rods are arranged between a hip and a body, the hip, the body and the set of foot connecting pieces and connecting rods form a four-rod mechanism, the hip is relatively fixed, a hip steering engine can drive the body to swing relative to the hip, so the connecting rods and the foot connecting pieces are in linkage, the two foot connecting pieces are fixed to output shafts of the two foot steering engines respectively, and each set of four-bar mechanisms and the corresponding foot steering engine serve as one leg. Through digital accurate control of the steering engine, the robot can achieve flexible movement and gait control in all directions. All movement forms of the hip and the legs are achieved through the four-rod mechanism and the hip steering engine, cost of the steering engine is effectively saved, the power requirement is low, and energy consumption is low,. And moreover, the structure is more compact and reliable, the action of the whole robot is coordinated and controllable, and more anthropomorphic dynamic is shown.
本申请属于类人形服务机器人技术领域,涉及行走结构及机器人。该行走结构中,髋部与躯干部之间配置有两组脚连接件与连杆,髋部、躯干部、一组的脚连接件与连杆构成四杆机构,髋部相对固定不动,髋舵机能够驱动躯干部相对于髋部摆动,使连杆与脚连接件联动。两个脚连接件分别固定至两个脚舵机的输出轴,每组四杆机构与对应的脚舵机作为一个腿部。通过舵机的数字精确控制,机器人能够实现各个方向的灵活运动和步态控制。利用四杆机构与一个髋舵机就实现了髋部与腿部的全部运动形态,有效节约了舵机成本,动力需求少,耗能少。同时让结构更加的紧凑与可靠,让整个机器人的动作协调可控,且表现更加的拟人动感。
Walking structure and robot
行走结构及机器人
2020-05-05
Patent
Elektronische Ressource
Chinesisch
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