The invention provides a rigid-flexible coupling buffer leg for extraterrestrial exploration. The rigid-flexible coupling buffer leg comprises a horizontal driving joint, a fixed bracket, a hip driving joint, a knee driving joint, a dual-driving four-bar linkage transmission mechanism and a bionic multi-stage buffer mechanism, the horizontal driving joint is in transmission connection with the fixing support and rotates in the horizontal direction to drive the fixing support. The hip driving joint and the knee driving joint are fixed to the two sides of the fixing support and are in transmission connection with the dual-drive four-connecting-rod transmission mechanism. The bionic multi-stage buffer mechanism is connected with the dual-drive four-bar linkage transmission mechanism; and the hip driving joint and the knee driving joint respectively comprise a series elastic driver. According to the rigid-flexible coupling buffer leg for extraterrestrial exploration, hip joint muscles, knee joint tendons and ankles of mammals are simulated, the good buffer performance matched with the extraterrestrial star catalogue environment is achieved, and the rigid-flexible coupling buffer leg is simple and reliable in structure, stable and efficient; and meanwhile, the four-footed detection robot designed based on the invention also has a relatively high patrol speed and a relatively large patrol range.
本发明提供一种面向地外探测的刚柔耦合缓冲腿,包括一水平驱动关节、一固定支架、一髋驱动关节、一膝驱动关节、一双驱动四连杆传动机构和一仿生多级缓冲机构;水平驱动关节与固定支架传动连接并沿水平方向旋转传动固定支架;髋驱动关节和膝驱动关节固定于固定支架的两侧并与双驱动四连杆传动机构传动连接;仿生多级缓冲机构连接双驱动四连杆传动机构;髋驱动关节和膝驱动关节分别包括一串联弹性驱动器。本发明的一种面向地外探测的刚柔耦合缓冲腿,模仿哺乳动物的髋关节肌肉、膝关节肌腱和脚踝,实现了较好的与地外星表环境适配的缓冲性能,结构简单可靠、稳定高效;同时基于本发明设计的四足探测机器人也具有较快的巡视速度和较大的巡视范围。
Rigid-flexible coupling buffer leg for out-of-ground detection
面向地外探测的刚柔耦合缓冲腿
2023-08-11
Patent
Elektronische Ressource
Chinesisch
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