The invention provides a biped robot which comprises a supporting frame, a left leg assembly and a right leg assembly, the left leg assembly and the right leg assembly are symmetrical about the center of the supporting frame, and the supporting frame is used for installing control devices and installing and supporting the left leg assembly and the right leg assembly. The biped robot only relates to a lower limb structure, modular matching is adopted, the left leg assembly and the right leg assembly are each composed of three joint modules arranged on the supporting frame in a tripod layout and combined with a connecting rod mechanism, the overall gravity center of the biped robot moves upwards, inertia generated when the legs swing is reduced, and the leg control difficulty is lowered; meanwhile, the thighs are located at the intersection points of the three joint modules and clamped between the two joint modules for driving the thighs and the shanks to swing front and back, the feet are of a structure in flexible point contact with the ground, lateral and front-back walking actions of the biped robot are achieved, meanwhile, balance and stability of the robot in the walking process are reliably guaranteed, and the walking efficiency of the biped robot is improved. Furthermore, all the control devices are installed on the supporting frame in a centralized mode, so that signal lines and electric connecting lines are wired respectively, and maintenance and heat dissipation of the control devices are facilitated.
本申请提供了一种双足机器人,包括支承架以及对称于支承架中心的左、右腿组件,支承架用于安装各控制器件并安装和支承左、右腿组件。本申请仅涉及下肢结构,采用模块化搭配,左、右腿组件分别由支承架上设置的呈三足鼎立布局的三个关节模块并结合连杆机构构建,使双足机器人整体重心上移,减小了腿部摆动时的惯性,降低了腿部控制难度,同时将大腿分别位于三个关节模块的交点上并夹在带动大、小腿前后摆动的两关节模组之间,足部采用与地面柔性点接触结构,在实现双足机器人侧向和前、后行走动作的同时,可靠保证了机器人行走过程中平衡和稳定,进一步将各控制器件集中安装在支承架上,使信号线和电连接线分别走线,便于控制器件的维护及散热。
Biped robot
双足机器人
2023-12-15
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |