The invention discloses an active two-degree-of-freedom bionic foot device which is characterized in that rope fixing blocks are arranged on the edges of the two sides of each winding wheel in the axial direction of the winding wheel, and the two rope fixing blocks are arranged in the circumferential direction of the winding wheel at intervals; the foot plate is provided with two pairs of connecting ropes arranged on the front side and the rear side of the driving assembly respectively in a matched mode, the two connecting ropes located on the front side are arranged in parallel in a spaced mode, one ends of the connecting ropes are connected to the edge of the foot plate, and the other ends of the connecting ropes are fixed to rope fixing blocks, away from the driving shaft side, of the two winding wheels after winding around the guide wheels on the same side. A rope fixing block pulls a corresponding rope to move through a driving shaft of a swing motor, corresponding positions on a foot plate are driven to move, two-degree-of-freedom rotation on a sagittal plane and a coronal plane is achieved, four series-parallel elastic drivers of a driving assembly and four parallel elastic drivers of an ankle joint assembly form four series-parallel elastic drivers, and the four series-parallel elastic drivers are driven to rotate in the sagittal plane and the coronal plane. The buffering and damping performance of the bionic foot when the bionic foot touches the ground from a high place is improved while the bionic foot can adapt to various road conditions.
本发明公开一种主动式两自由度的仿生足装置,各卷线轮沿其轴向上的两侧边缘均设有绳索固定块,两绳索固定块沿卷线轮周向间隔设置;脚板配套有两对分别设置在驱动组件前侧和后侧的连接绳索,位于前侧的两连接绳索平行且间隔设置,其一端连接在脚板的边缘位置处,另一端绕过与其同侧的导向轮后,分别固定在两卷线轮上远离驱动轴侧的绳索固定块上,通过摆动电机的驱动轴使绳索固定块拉动相应的绳索移动,带动脚板上相应位置移动,实现在矢状面和冠状面进行两自由度的转动,驱动组件的四个串联弹性驱动器和踝关节组件中四个并联弹性驱动器组成四个串并联弹性驱动器,在提高仿生足适应多种路况的同时提高仿生足从高处着地时的缓冲减震性能。
Active two-degree-of-freedom bionic foot device
一种主动式两自由度的仿生足装置
2022-12-13
Patent
Elektronische Ressource
Chinesisch
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