The invention discloses a two-degree-of-freedom parallel driving humanoid ankle joint mechanism, and relates to the technical field of biped humanoid robot ankle joints. The problems that an existing robot ankle joint is insufficient in driving force, small in rigidity and free of perception are solved, and meanwhile the problem that the structure is complex and heavy due to the complex structure of a multi-degree-of-freedom human leg ankle joint is solved. Piston rods in two ankle joint piston assemblies are hinged to the head ends of two ankle joint two-force rods through two two-force rod connecting hinges correspondingly, and the tail ends of the two ankle joint two-force rods are hinged to two two-force rod shaft seats through two two-force rod cross shaft hinges correspondingly. When the two hydraulic cylinders push the two piston rods to move synchronously, the humanoid foot rotates in the pitching direction, and when the two hydraulic cylinders push the two piston rods to move asynchronously, the humanoid foot rotates in the side-sway direction. According to the invention, the driving torque can be provided exponentially, and the advantages of high rigidity and large load are achieved.

    一种二自由度并联驱动仿人踝关节机构,它涉及双足仿人机器人踝关节技术领域。本发明解决了现有的机器人踝关节存在驱动力不足,刚度小,无感知的问题,同时还存在多自由度仿人腿踝关节的复杂结构带来的结构复杂、笨重的问题。本发明的两组踝关节活塞组件中的活塞杆分别通过两个二力杆连接铰链与两个踝关节二力杆首端铰接,两个踝关节二力杆末端分别通过两个二力杆十字轴铰链与两个二力杆轴座铰接,小腿骨架底部通过踝关节十字轴铰链与踝关节轴座铰接,当两组液压缸推动两组活塞杆同步运动时,仿人足实现俯仰方向转动,当两组液压缸推动两组活塞杆异步运动时,仿人足实现侧摆方向转动。本发明能够成倍地提供驱动力矩,具有刚度高、负载大的优势。


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    Titel :

    Two-degree-of-freedom parallel driving humanoid ankle joint mechanism


    Weitere Titelangaben:

    一种二自由度并联驱动仿人踝关节机构


    Beteiligte:
    FU YILI (Autor:in) / LI XU (Autor:in) / FENG HAIBO (Autor:in)

    Erscheinungsdatum :

    2023-03-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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