The invention discloses a biped robot leg structure which comprises a center base, a hip joint flexion and extension motor, a hip joint abduction motor, a hip joint internal and external rotation motor, a knee joint motor and a shank component, the shank component comprises a shank support and a foot, and the shank support is provided with a first ankle joint motor and a second ankle joint motor; a universal joint is arranged between the foot and the shank support, a first crank rocker mechanism is arranged between the first ankle joint motor and the foot, and a second crank rocker mechanism is arranged between the second ankle joint motor and the foot. A driving rod is transversely arranged at the rear part of the foot; the first crank rocker mechanism comprises a first rotating disc, a first eccentric column is arranged on the first rotating disc, a relay rotating disc is rotationally connected to the shank support, a second eccentric column and a third eccentric column are arranged on the relay rotating disc, a connecting rod is arranged between the second eccentric column and the first eccentric column, and a first universal connecting rod is arranged between the third eccentric column and the driving rod. The invention has the advantages of flexibility, small volume and low energy loss.
本发明公开了一种双足机器人腿部结构,包括中心基座、髋关节屈伸电机、髋关节外展电机、髋关节内外旋电机、膝关节电机、和小腿组件,小腿组件包括小腿支架和足部,小腿支架上设有第一踝关节电机和第二踝关节电机,足部和小腿支架间设有万向节,第一踝关节电机和足部间设有第一曲柄摇杆机构,第二踝关节电机和足部间设有第二曲柄摇杆机构;足部后部横置驱动杆;第一曲柄摇杆机构包括第一转盘,第一转盘上设有第一偏心柱,小腿支架上转动连接有中继转盘,中继转盘上设有第二偏心柱、第三偏心柱,第二偏心柱和第一偏心柱间设有连杆,第三偏心柱和驱动杆间设有第一万向连接杆。本发明具有灵活、体积小、能量损耗小的优点。
Biped robot leg structure
一种双足机器人腿部结构
18.03.2025
Patent
Elektronische Ressource
Chinesisch