The invention provides a variable-curvature hybrid elastic buffer robot bionic shank and an adjusting method. The variable-curvature hybrid elastic buffer robot bionic shank comprises a shank connecting piece and a vibration reduction mechanism connected with the shank connecting piece, and the connecting curvature between the shank connecting piece and the vibration reduction mechanism is adjustable; and the vibration reduction mechanism is provided with a mixed elastic buffer mechanism. By means of the structural design that the connecting curvature between the shank connecting piece and thevibration reduction mechanism is adjustable, the curvature between the shank connecting piece and the vibration reduction mechanism can be adjusted according to the environment requirement, so that the larger deviation angle between the foot end stress direction and the straight line direction of a shank connecting rod is reduced, and the extra movement torque needing to be borne by the shank isreduced; besides, by adopting the mixed elastic buffer mechanism, the problem that the vibration reduction effect of a spring is difficult to adjust by a single spring vibration reduction mechanism according to the weight of the spring vibration reduction mechanism is solved, so that the support walking task on the rugged road surface can be well completed.

    本发明提供一种可变曲度的混合弹性缓冲机器人仿生小腿及调节方法,其中,可变曲度的混合弹性缓冲机器人仿生小腿,包括小腿连接件及其连接的减振机构,其中:小腿连接件和减振机构之间的连接曲度可调;减振机构设有混合弹性缓冲机构。本发明提供的可变曲度的混合弹性缓冲机器人仿生小腿,通过在小腿连接件和减振机构之间的连接曲度可调的结构设计,能够根据环境需要调节小腿连接件和减振机构之间的曲度,从而减小足端受力方向与小腿连杆的直线方向有交大的偏差角度,减小小腿需承受额外的运动力矩;另外,通过采用混合弹性缓冲机构,解决单一的弹簧减振机构较难根据自身的重量调节弹簧的减振效果的问题,使其能很好的完成崎岖路面的支撑行走任务。


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    Title :

    Variable-curvature hybrid elastic buffer robot bionic shank and adjusting method


    Additional title:

    一种可变曲度的混合弹性缓冲机器人仿生小腿及调节方法


    Contributors:
    CHEN XIANYI (author) / ZHONG XUNYU (author) / PENG XIAFU (author) / LI ZHAOLU (author)

    Publication date :

    2020-07-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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