The invention discloses a bionic biped robot with variable rigidity joints and double-joint flexibility, which comprises a trunk, thighs, variable rigidity knee joints, shanks and feet, and the double-joint flexible part of each leg is driven by three elastic drivers connected in series; a front-side linear motor of the rigidity-variable knee joint is rotationally connected to a mounting frame at the lower end of the thigh, and an output shaft of the front-side linear motor is connected with one end of an L-shaped connecting piece; the rear-side linear motor is mounted on the mounting frame, an output shaft of the rear-side linear motor is sequentially sleeved with a rear-side shell, a rear-side spring and a front-side shell and then fixed to the output end connecting piece, and the two sides of the rear-side spring make contact with the rear-side shell and the output end connecting piece respectively; a rope is led out from the tail end of the front side shell, is wound on a rear side shaft and a knee joint shaft in sequence, penetrates through two pairs of rollers and is fixed on a knee joint output shaft; the rollers are installed at the other ends of the L-shaped connecting pieces, and the knee joint shaft is connected with the switching parts of the two L-shaped connecting pieces through bearings. The robot has good stability, flexibility and adaptability.
本发明公开了一种具有可变刚度关节和双关节柔性的仿生双足机器人,包括躯干、大腿、可变刚度膝关节、小腿及脚部,每条腿的双关节柔性部分由3个串联弹性驱动器驱动;可变刚度膝关节的前侧直线电机转动连接在大腿下端的安装架上,其输出轴与L型连接件一端连接;后侧直线电机安装在安装架上,其输出轴上依次套设后侧外壳、后侧弹簧和前侧外壳,然后与输出端连接件固定,后侧弹簧两侧分别与后侧外壳、输出端连接件接触;前侧外壳尾端引出绳索,依次绕在后侧轴、膝关节轴上,然后穿过两对滚轮,固定在膝关节输出轴上;滚轮安装在L型连接件另一端,膝关节轴通过轴承连接两L型连接件的转接部分。本发明的机器人具有良好的稳定性、灵活性和适应性。
Bionic biped robot with variable-rigidity joints and double-joint flexibility
一种具有可变刚度关节和双关节柔性的仿生双足机器人
10.01.2025
Patent
Elektronische Ressource
Chinesisch
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