The invention discloses a high-energy-efficiency walking biped robot leg and foot structure. The structure comprises a driving unit, a knee joint, a telescopic shank, a telescopic connecting rod unitand feet, the driving unit is installed in the knee joint, and the driving unit, the telescopic shank, the foot, the telescopic connecting rod unit and the driving unit are connected end to end to form a four-connecting-rod mechanism. The quadrilateral connecting rod mechanism drives the feet and ankle joints to move, the mass distribution of the leg and foot structure of the biped robot can be effectively optimized, the rotational inertia of the leg and foot structure of the biped robot is reduced, energy required for driving the legs and the feet to move is reduced, and the walking energy efficiency of the biped robot is improved. Besides, the shank part and the connecting rod part are each provided with a damping and buffering device, impact energy between feet and the ground in the walking process of the biped robot can be effectively absorbed and utilized, and therefore the walking energy efficiency of the biped robot is further improved.

    本发明公开一种高能效步行的双足机器人腿足结构,其包括驱动单元、膝关节、可伸缩的小腿、可伸缩的连杆单元、足,驱动单元安装在膝关节内部,驱动单元、可伸缩的小腿、足、可伸缩的连杆单元、驱动单元收尾连接组成四连杆机构。本发明通过四边形连杆机构驱动足与踝关节的运动,能有效优化双足机器人腿足结构的质量分布,降低双足机器人腿足结构的转动惯量,减少驱动腿足运动所需的能量,提高双足机器人的步行能效。此外,小腿部分及连杆部分均加入了减震缓冲装置,能有效吸收及利用双足机器人步行过程足与地面之间的冲击能量,从而进一步提高双足机器人的步行能效。


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    Title :

    High-energy-efficiency walking biped robot leg and foot structure


    Additional title:

    一种高能效步行的双足机器人腿足结构


    Contributors:
    DU RUILONG (author) / LI TE (author) / GU JIANJUN (author) / ZHU SHIQIANG (author)

    Publication date :

    2020-04-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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