A biped robot with variable-rigidity ankle joints comprises a left leg, a right leg and a pelvis. The left leg and the right leg comprise thighs, shanks and feet respectively, the pelvis is connectedwith the thighs through hip joints, the thighs are connected with the shanks through knee joints, the shanks are connected with the feet through the ankle joints, and the left leg and the right leg are connected through the pelvis; each ankle joint comprises an ankle joint driving motor, an ankle joint transmission gear pair, a rotating crank, an ankle joint rotating shaft and a passive exhaust variable rigidity mechanism; the passive exhaust variable rigidity mechanism comprises an air cylinder and a connecting piece; and a connecting piece is installed at an end of a piston rod of the air cylinder, the ankle joint driving motor is installed on each thigh, the rotating crank is rotatably installed on the knee joint rotating shaft, the ankle joint driving motor drives the rotating crank torotate around the knee joint rotating shaft through the ankle joint transmission gear pair, and a cylinder body of the air cylinder is rotatably connected with the feet. Walking movement in a two-dimensional plane can be achieved, and walking stability of the biped robot and an adaptability of the biped robot to uneven ground are improved.
一种具有变刚度踝关节的双足机器人,包括左腿、右腿和盆骨,左腿和右腿分别包括大腿、小腿和足部,盆骨通过髋关节与大腿连接,大腿通过膝关节与小腿连接,小腿通过踝关节与足部连接,左腿和右腿通过骨盆连接;踝关节包含踝关节驱动电机、踝关节传动齿轮副、转动曲柄、踝关节转动轴和被动排气变刚度机构;被动排气变刚度机构包含气缸和连接件,气缸的活塞杆端部安装有连接件,踝关节驱动电机安装在大腿上,转动曲柄可转动地安装在膝关节转动轴上,踝关节驱动电机通过踝关节传动齿轮副驱动转动曲柄绕膝关节转动轴转动,气缸的缸体与足部转动连接。本发明能够实现在二维平面内步行运动,提高了双足机器人行走稳定性及对不平整地面的适应能力。
Biped robot with variable-rigidity ankle joints
一种具有变刚度踝关节的双足机器人
2020-10-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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