The invention relates to a shank mechanism. The shank mechanism comprises a shank framework and an integrated foot, and further comprises an ankle supporting assembly and two ankle driving assemblies.The shank framework and the integrated foot are universally hinged through the ankle supporting assembly. Each ankle driving assembly comprises a rotary driving part installed on one side of the upper end of the shank framework, an output rod fixedly connected to an output shaft of the rotary driving part and a connecting rod hinged to the end, away from the rotary driving part, of the output rod, and the connecting rod is universally hinged to the upper side of the integrated foot; and the rotary driving parts in the two ankle driving assemblies are symmetrically arranged on the two sides ofthe shank framework respectively. The shank mechanism has the following advantages: the rotary driving parts are arranged at the upper ends of the shank framework, and then the action of the rotary driving parts is transmitted to the integrated foot through the output rod and the connecting rod, so that the weight of the ankle is reduced, the mass center of the shank is raised, and shank movementis easier to control.

    本发明涉及一种小腿机构,包括小腿骨架和集成脚,还包括脚踝支撑组件以及两组脚踝驱动组件;所述小腿骨架与集成脚通过所述脚踝支撑组件万向铰接;所述脚踝驱动组件包括安装在小腿骨架上端一侧的旋转驱动件、固接在旋转驱动件输出轴上的输出杆以及铰接在输出杆远离旋转驱动件一端的连接杆,所述连接杆万向铰接于所述集成脚上侧;两个脚踝驱动组件中的旋转驱动件分别对称布置于小腿骨架两侧。本发明的优点是:通过将旋转驱动件设置到小腿骨架上端,然后由输出杆和连接杆将旋转驱动件的动作传递到集成脚上,降低了脚踝处的重量,抬高了小腿质心,使得小腿运动更易于被控制。


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    Title :

    Shank mechanism and biped robot provided with shank mechanism


    Additional title:

    一种小腿机构及装有该小腿机构的双足机器人


    Contributors:
    GUO TINGSHAN (author) / SUN JINGTING (author) / WANG HENGHENG (author) / CHEN JIE (author)

    Publication date :

    2020-09-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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