The invention provides a parallel leg structure for a bionic robot and the bionic robot. The parallel leg structure comprises an outward swing motor, a U-shaped frame, a leg rod assembly and two leg rod motors. The outward swing motor is used for being fixed to a robot body of the robot, and the output end of the outward swing motor is fixedly connected with the end of the U-shaped frame. Shells of the two leg rod motors are fixed to two side arms of the U-shaped frame respectively, and output shafts of the two leg rod motors are coaxially arranged. The leg rod assembly comprises a first leg rod, a second leg rod, an ankle joint, a foot, two thigh power arms and two knee joints, wherein the two knee joints are located on the two sides of the axes of the output shafts of the leg rod motorsrespectively, the first ends of the two thigh power arms are fixedly connected with the output ends of the two leg rod motors respectively, and the second ends of the two thigh power arms are connected with the first end of the first leg rod and the first end of the second leg rod through the knee joints respectively. The leg rod assembly of the parallel leg structure can rotate in the vertical plane, so that the robot has multiple motion modes.

    本发明提供一种用于仿生机器人的并联腿结构及仿生机器人,该并联腿结构包括外摆电机、U型架、腿杆组件和两个腿杆电机,外摆电机用于与机器人的机身本体固定,外摆电机的输出端与U型架的端部固定连接;两个腿杆电机的外壳分别固定在U型架的两个侧臂上,且两个腿杆电机的输出轴同轴设置;腿杆组件包括第一腿杆、第二腿杆、踝部关节、足部、两个大腿动力臂和两个膝部关节,两个膝部关节分别位于腿杆电机输出轴轴线的两侧,两个大腿动力臂的第一端分别与两个腿杆电机的输出端固定连接,两个大腿动力臂的第二端通过膝部关节分别与第一腿杆的第一端和第二腿杆的第一端连接。该并联腿结构的腿杆组件在竖直平面内可转动,使机器人具备多种运动模式。


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    Title :

    Parallel leg structure for bionic robot and bionic robot


    Additional title:

    一种用于仿生机器人的并联腿结构及仿生机器人


    Contributors:
    FAN XUXIAO (author) / WU GUOLIANG (author) / HUANG RICHENG (author) / MENG FEI (author) / CHEN DAHAI (author) / HUANG QIANG (author) / YU ZHANGGUO (author) / MING AIGUO (author)

    Publication date :

    2020-12-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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