The invention relates to a biped robot lower limb structure based on modular joints. The biped robot lower limb structure comprises hip joint mechanisms, thigh pieces, knee joint mechanisms and shankmechanisms, the lower ends of the hip joint mechanisms are rotationally connected with the thigh pieces, and the hip joint mechanisms are used for driving the knee joint mechanisms and the shank mechanisms to swing front and back, swing left and right and rotate inside and outside; the knee joint mechanisms are fixedly arranged on the thigh pieces and used for driving the shank mechanisms to swingfront and back; and the shank mechanisms are movably arranged at the lower ends of the thigh pieces and driven by the knee joint mechanisms to rotate forwards and backwards. The gravity center of thelegs of the biped robot can be adjusted upwards, so that the inertia of the legs of the biped robot is smaller during swinging, and the biped robot can walk more stably and quickly.
本发明涉及一种基于模块化关节的双足机器人下肢结构,其包括:髋关节机构、大腿件、膝关节机构以及小腿机构,髋关节机构下端与大腿件转动连接,髋关节机构用于驱动膝关节机构和小腿机构前后摆动、左右摆动以及内外旋转;膝关节机构固定设置在大腿件上,膝关节机构用于驱动小腿机构前后摆动;小腿机构活动设置在大腿件下端且被膝关节机构驱动前后转动。本发明能够将双足机器人腿部的重心向上调整,使得双足机器人的腿部在摆动时惯性会更小,有助于双足机器人更加稳定、快速地行走。
Biped robot lower limb structure based on modular joints
一种基于模块化关节的双足机器人下肢结构
2020-09-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Shank structure, lower limb assembly, robot, biped robot and humanoid robot
European Patent Office | 2024
|Biped robot lower limb structure with passive soft shank
European Patent Office | 2023
|