The invention discloses a biped walking robot ankle joint balance compensation mechanism which comprises a foot sole assembly, a containing cavity is formed in the foot sole assembly, the containing cavity and the foot sole assembly are arranged in the same direction, a strip-shaped hole communicated with the containing cavity is formed in the upper portion of the foot sole assembly, and the strip-shaped hole is communicated with the containing cavity. An angle is formed between the strip-shaped hole and the accommodating cavity; the driven part is rotatably arranged in the accommodating cavity; the shank assembly is vertically arranged above the strip-shaped hole; the connecting piece is provided with a first end and a second end which are opposite to each other, the first end of the connecting piece is installed at the lower end of the shank assembly in a turnover mode through a driving piece, and the second end of the connecting piece is movably arranged in the strip-shaped hole in a penetrating mode and connected to the driven piece. According to the invention, the problem that the existing humanoid robot detects the attitude through a sensor and then adjusts the balance through algorithm calculation has time delay is solved.
本发明公开了一种双足行走机器人踝关节平衡补偿机构,包括:脚掌组件,所述脚掌组件的内部形成有容置空腔,所述容置空腔与所述脚掌组件同向设置,所述脚掌组件的上部形成有连通于所述容置空腔的条形孔,所述条形孔与所述容置空腔呈角度设置;被动件,可转动地所述容置空腔中;小腿组件,竖向设置于所述条形孔的上方;连接件,所述连接件具有相对的第一端和第二端,所述连接件的第一端通过驱动件可翻转地安装于所述小腿组件的下端,所述连接件的第二端可活动地穿设于所述条形孔中且连接于所述被动件。本发明解决了现有的仿人机器人通过传感器检测姿态再经过算法计算来调节平衡有延时性的问题。
Ankle joint balance compensation mechanism of biped walking robot
双足行走机器人踝关节平衡补偿机构
2023-06-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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