The invention provides a single-leg mechanism of a four-foot bionic robot. The single-leg mechanism comprises a driving module, a hip joint unit, a hydraulic cylinder, a thigh unit, a knee joint and ashank unit, wherein the driving module, the hip joint unit, the thigh unit, the knee joint and the shank unit are rotatably connected in sequence, and the driving module and the thigh unit are directly connected with the hydraulic cylinder. The hydraulic cylinder drives the multi-connecting-rod mechanism at the knee joint, and therefore large-angle swinging of the shank unit is achieved; a linearbearing positioning sleeve is additionally arranged on the thigh unit, so that a piston of the integrated hydraulic cylinder can be prevented from being subjected to non-axial force, a linear motionpositioning effect on the piston is achieved, and the service life of the integrated hydraulic cylinder is prolonged; the shank unit is provided with a spring as an energy consumption reducing, buffering and damping structure, so that the energy consumption during exercise can be reduced, and the vibration impact on the legs can be reduced; the hydraulic motor drives the joints to move, the structure is simple, and control is convenient.
本发明提供了一种四足仿生机器人单腿机构,包括驱动模块、髋关节单元、液压缸、大腿单元、膝关节、小腿单元;所述驱动模块、髋关节单元、大腿单元、膝关节、小腿单元依次可转动连接,驱动模块和大腿单元直接连接有液压缸。本发明液压缸带动膝关节处的多连杆机构,从而实现小腿单元的大角度摆动;在大腿单元增加一个直线轴承定位套筒,能防止一体化液压缸的活塞受到非轴向力,对其起到直线运动定位的作用,提高一体化液压缸寿命;小腿单元设置有弹簧作为降低能耗和缓冲减震结构,既能降低运动时能量消耗,又可减少对腿部的震动冲击;采用液压马达驱动关节运动,结构简单、控制方便。
Single-leg mechanism of four-foot bionic robot
一种四足仿生机器人单腿机构
2020-08-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Lightweight four-degree-of-freedom leg mechanism of four-foot bionic robot
European Patent Office | 2020
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