The invention relates to a three-degree-of-freedom bionic leg and foot structure and a quadruped robot applying the three-degree-of-freedom bionic leg and foot structure, the three-degree-of-freedom bionic leg and foot structure comprises a thigh assembly, a shank assembly, a forward swing joint motor and a hip abduction joint motor, and the knee joint motor is also integrated at the hip position of the robot mainly through a transmission mechanism; rotational inertia generated when the leg assembly moves is reduced, and the maneuvering performance of the robot is improved. In the prior art, a parallelogram or contra-parallelogram mechanism is most commonly used for transmitting power of a knee joint motor for driving a shank, and multi-connecting-rod transmission with a transmission ratio has the advantages of light weight, small rotational inertia, no dead point, stable transmission ratio, low noise, high reliability, no rigidity requirement on materials and the like; and the synchronous belt has certain vibration absorption and shock absorption and impact resistance capabilities, so that the belt transmission can greatly reduce the performance requirement and the use burden on the joint motor, and the reliability of the whole robot is improved.

    本发明涉及一种三自由度仿生腿足结构及应用其的四足机器人,三自由度仿生腿足结构包括大腿总装、小腿总装、前摆关节电机和髋部外展关节电机,主要利用传动机构将膝关节电机也集成在机器人的髋部位置,以减少腿部总成运动时产生的转动惯量,提高机器人机动性能。现有技术中最为常用的就是利用平行四边形或反平行四边形机构传递膝关节电机驱动小腿的动力,而带传动比起多连杆传动具有质量轻、转动惯量小、无死点、传动比稳定、噪音低、可靠性高、对材料没有刚度要求等优点,且同步带具有一定吸振减震和抗冲击的能力,因此带传动可以大大减小对关节电机的性能要求和使用负担,提高机器人整机可靠性能。


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    Titel :

    Three-degree-of-freedom bionic leg-foot structure and quadruped robot applying same


    Weitere Titelangaben:

    一种三自由度仿生腿足结构及应用其的四足机器人


    Beteiligte:
    LIANG ZHENJIE (Autor:in) / JIANG LEI (Autor:in) / ZHAO JIANXIN (Autor:in) / YAN TONG (Autor:in) / LIU YUFEI (Autor:in) / DANG RUINA (Autor:in) / WANG ZHIRUI (Autor:in) / XU PENG (Autor:in) / XU WEI (Autor:in) / DENG QINDAN (Autor:in)

    Erscheinungsdatum :

    2022-09-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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