The invention relates to a parallel hip joint mechanism and a robot. The parallel hip joint mechanism comprises a fixed base; the leg unit comprises a thigh part, and the thigh part is movably connected with the fixed base; the connecting unit comprises a first connecting rod and a second connecting rod which are equal in length; the driving unit comprises a first driving part and a second driving part, and the first driving part and the second driving part are arranged on the fixed base; the output end of the first driving part is connected with the thigh part through a first connecting rod, the output end of the second driving part is connected with the thigh part through a second connecting rod, and the second connecting rod is movably connected with the thigh part. The mechanism is simple in structure, low in cost, large in rigidity, high in action precision and capable of bearing larger loads, and under the condition that the number and parameters of the used driving units are not changed, the two driving parts jointly act on torque output of a sagittal plane or a coronal plane through coordinated control of the two driving parts, so that the driving efficiency is improved. Therefore, the output torque of the hip joint on the degree of freedom in two directions can be larger.

    本发明涉及一种并联式髋关节机构及机器人,包括固定基座;腿部单元,其包括大腿部,大腿部与所述固定基座活动连接;连接单元,其包括长度相等的第一连接杆和第二连接杆;驱动单元,其包括第一驱动件和第二驱动件,第一驱动件和第二驱动件设置于所述固定基座;第一驱动件的输出端通过第一连接杆与所述大腿部相连,第二驱动件的输出端通过第二连接杆与大腿部相连,且所述第二连接杆与大腿部活动连接。本发明结构简单,成本低,具有较大的刚度,动作精度高,能够承担更大的负载,在不改变使用驱动单元个数和参数的情况下,通过两个驱动件的协调控制,共同作用于矢状面或冠状面的力矩输出,使得髋关节在两个方向的自由度上输出的力矩可以更大。


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    Titel :

    Parallel hip joint mechanism and robot


    Weitere Titelangaben:

    一种并联式髋关节机构及机器人


    Beteiligte:
    LI WEIDA (Autor:in) / LI JUAN (Autor:in)

    Erscheinungsdatum :

    26.04.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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