The invention relates to the technical field of engineering bionics, in particular to a multi-degree-of-freedom series-parallel low-frequency mechanical foot of a bionic robot. The multi-degree-of-freedom series-parallel low-frequency mechanical foot comprises a shank, the shank is provided with a horizontal adjusting mechanism, the horizontal adjusting mechanism comprises a first rotating rod, afirst bearing, a first gear ring, a mounting plate, a first low-frequency driving motor and a second gear ring, wherein the mounting plate is provided with the first low-frequency driving motor, the first low-frequency driving motor is provided with the second gear ring, the second gear ring is provided with the first gear ring, the first gear ring is provided with the first rotating rod, and thefirst rotating rod is connected with the first bearing; and the horizontal adjusting mechanism is connected with a vertical adjusting structure, the vertical adjusting structure is provided with a base, the base is provided with a sleeve pipe, the sleeve pipe is provided with a damping spring, the damping spring is provided with a sliding rod, the sliding rod is provided with a bottom plate, the base is provided with toe adjusting structures, a middle toe adjusting structure is provided with a middle toe, the toe adjusting structures on the two sides are provided with side toes, and the side toes and the middle toe are provided with rubber plates. According to the multi-degree-of-freedom series-parallel low-frequency mechanical foot, the base and the bottom plate can be conveniently rotated to different directions to walk, and actual use is facilitated.
本发明涉及工程仿生技术领域的一种仿生机器人多自由度混联低频机械足,包括小腿,小腿有水平调节机构,水平调节机构包括第一转动杆、第一轴承、第一齿圈、安装板、第一低频驱动电机和第二齿圈,安装板有第一低频驱动电机,第一低频驱动电机有第二齿圈,第二齿圈有第一齿圈,第一齿圈有第一转动杆,第一转动杆与第一轴承连接,水平调节机构连接有竖向调节结构,竖向调节结构有底座,底座的有套管,套管有减震弹簧,减震弹簧有滑杆,滑杆有底板,底座有脚趾调节结构,中间脚趾调节结构有中间脚趾,两侧脚趾调节结构有边脚趾,边脚趾和中间脚趾有橡胶板,本发明通过方便将底座和底板转动至不同方向进行行走,利于实际使用。
Multi-degree-of-freedom series-parallel low-frequency mechanical foot of bionic robot
仿生机器人多自由度混联低频机械足
2020-11-27
Patent
Elektronische Ressource
Chinesisch
Lightweight four-degree-of-freedom leg mechanism of four-foot bionic robot
Europäisches Patentamt | 2020
|Bionic foot and multi-foot insect bionic robot thereof
Europäisches Patentamt | 2024
|Three-degree-of-freedom bionic leg-foot structure and quadruped robot applying same
Europäisches Patentamt | 2022
|