The invention discloses a leg and foot structure of a quadruped robot, and relates to the technical field of robots, the leg and foot structure comprises a leg orientation adjusting mechanism, the leg orientation adjusting mechanism comprises a support plate, two ends of the support plate are movably connected with two side plates respectively, and the two side plates are connected with the support plate through steering control assemblies; the leg-foot structure of the quadruped robot further comprises a leg mechanism, a leg driving mechanism and a foot mechanism, the leg mechanism comprises a thigh, the top of the side, away from the supporting plate, of each side plate is movably connected with the top end of the thigh through a leg shaft, and the bottom of each thigh is movably connected with one end of a first cooperation rod through a first movable shaft. The rotating power assembly can be prevented from being damaged due to large pressure when standing is stopped, the foot mechanism can move relative to the shank, the foot mechanism and the shank are connected through the ankle buffering mechanism so as to simulate the effect of the ankle of the human body, enough friction force exists between the foot mechanism and the ground in the advancing process, and meanwhile fluctuation and jolting caused by the foot mechanism in the advancing process are avoided.
本发明公开了一种四足机器人的腿足部结构,涉及机器人技术领域,包括腿部朝向调整机构,腿部朝向调整机构包含有支板,支板的两端分别活动连接有两个侧板,两个侧板均通过转向控制组件连接支板,还包括腿部机构、腿部驱动机构和脚部机构,腿部机构包含有大腿,每个侧板远离支板的一侧顶部分别通过腿轴活动连接大腿的顶端,每个大腿的底部分别通过活动轴一活动连接协作杆一的一端,该四足机器人的腿足部结构,能够避免停止站立时旋转动力组件受到较大压力而损坏,脚部机构可以相对于小腿活动,且脚部机构和小腿通过脚踝缓冲机构连接,以此模拟人体脚踝的作用,行进时脚部机构与地面具有足够的摩擦力,同时避免行进时造成自身起伏颠簸。
Leg and foot structure of quadruped robot
一种四足机器人的腿足部结构
18.02.2025
Patent
Elektronische Ressource
Chinesisch
Foot end structure of foot type robot, leg movement mechanism and quadruped robot
Europäisches Patentamt | 2021
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