The invention relates to a humanoid walking mechanical leg which comprises a hip support, a thigh support, a shank support, a foot supporting plate and an ankle joint unit, the ankle joint unit comprises a plurality of groups of ankle driving mechanisms and an ankle connecting support, and each ankle driving mechanism comprises an ankle driving motor, an ankle transmission assembly, an ankle sliding assembly and an ankle connecting rod. An output shaft of the ankle driving motor controls the foot supporting plate to rotate through transmission of other components, the ankle connecting rod is connected with the ankle sliding assembly and the foot supporting plate through spherical hinges, and the shank support is rotationally connected with the foot supporting plate through the ankle connecting support. A driving or transmission mechanism does not need to be mounted near the rotating shaft of the ankle joint, so that the complexity of the mechanism is reduced, the weight of the ankle joint is reduced, the driving force for controlling the ankle joint is reduced, and the sensitivity of the ankle joint is improved; the ankle telescopic piece is arranged on the thigh support, so that the weight of the shank support can be reduced, and the torque required for driving the hip joint and the knee joint is reduced.

    本发明涉及一种仿人行走机械腿,包括臀支架、大腿支架、小腿支架、足支撑板、踝关节单元,踝关节单元包括多组踝驱动机构、踝连接支架,踝驱动机构包括踝驱动电机、踝传动组件、踝滑动组件、踝连接杆,踝驱动电机的输出轴通过其他部件的传动控制足支撑板转动,踝连接杆与踝滑动组件、足支撑板通过球铰连接,小腿支架与足支撑板通过踝连接支架转动连接,本发明中多个踝伸缩件驱动踝连接杆,使得踝关节的转轴附近无需安装驱动或传动机构,降低了机构复杂度,减轻了踝关节的重量,降低操控踝关节的驱动力大小,提高踝关节的灵敏度;将踝伸缩件设置在大腿支架上,可以减轻小腿支架的重量,降低了髋关节、膝关节部位驱动所需的力矩。


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    Titel :

    Human walking simulating mechanical leg


    Weitere Titelangaben:

    仿人行走机械腿


    Beteiligte:
    WANG JUN (Autor:in)

    Erscheinungsdatum :

    2022-04-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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