The invention relates to a foot-type robot single-leg mechanism with high explosive jumping ability. The foot-type robot single-leg mechanism comprises a thigh assembly. The first end of the shank assembly is hinged to the second end of the thigh assembly; the foot plate is hinged to the second end of the shank assembly; the shank driving device comprises a shank driver arranged on the thigh assembly and a stroke amplification device driven by the output end of the shank driver, and the output end of the stroke amplification device is hinged to the shank and amplifies the displacement stroke of the output end of the shank driver; the foot plate driving device comprises a motor arranged on the thigh assembly, an active energy storage device driven by an output shaft of the motor and a foot plate connecting rod assembly, the foot plate connecting rod assembly is connected between the output end of the active energy storage device and the foot plate, and when the shank assembly and the thigh assembly rotate, the rotation included angle between the foot plate and the ground is kept. The shank assembly and the foot plate of the robot both adopt lightweight design, so that the robot can realize high gravity center arrangement, the inertia of the shank assembly part of the robot is reduced, and the jumping height of the robot can be greatly increased.
本发明涉及一种具有高爆发跳跃能力的足式机器人单腿机构,包括大腿总成;小腿总成,小腿总成的第一端铰接在大腿总成的第二端;脚板,铰接在小腿总成的第二端;小腿驱动装置,包括设置在大腿总成上的小腿驱动器和由小腿驱动器的输出端驱动的行程放大装置,行程放大装置的输出端与小腿铰接且放大小腿驱动器输出端的位移行程;脚板驱动装置,包括设置在大腿总成上的电机、由电机的输出轴驱动的主动蓄能装置和脚板连杆组件,脚板连杆组件连接在主动蓄能装置的输出端及脚板之间,并且在小腿总成和大腿总成之间发生转动时,保持脚板与地面之间的转动夹角。机器人小腿总成和脚板均采取轻量化设计,使得机器人能够实现高重心布置,减少机器人小腿总成部分的惯量,能大大提高机器人的跳跃高度。
Foot type robot single-leg mechanism with high explosive jumping ability
一种具有高爆发跳跃能力的足式机器人单腿机构
2024-01-26
Patent
Elektronische Ressource
Chinesisch
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