The invention discloses a bionic biped walking robot with heavy-load vibration buffering and stabilizing functions. The bionic biped walking robot is composed of a robot body, a coronal plane swinging mechanism and two mechanical legs. The coronal plane swinging mechanism comprises a motor, a crank and a main shaft; each mechanical leg comprises a hip joint movement mechanism, a knee joint movement mechanism, an ankle joint movement mechanism and a mechanical foot mechanism. The hip joint movement mechanism comprises a leg motor, a crank, a hip connecting rod and a thigh; the knee joint movement mechanism comprises thighs, middle legs and leg connecting rods; the ankle joint movement mechanism comprises a middle leg and a shank; the mechanical foot mechanism comprises two foot motors and two toes, and each toe is composed of a damping spring, an upper foot plate and a foot bottom plate. The biped robot capable of achieving two-dimensional movement, heavy load and vibration reduction is designed by simulating the biological anatomical structure and hind limb movement characteristics of an ostrich. Movement of the mechanical leg on the sagittal plane and the coronal plane is achieved through the coronal plane swing mechanism and the hip joint movement mechanism, and the heavy load vibration reduction target of the mechanical leg is achieved through the bearing joints and the toe mechanism.

    一种具有重载缓振平稳功能的仿生双足行走机器人,由机身、冠状面摆动机构和两条机械腿组成。冠状面摆动机构包括电机、曲柄和主轴;机械腿包括髋关节运动机构、膝关节运动机构、踝关节运动机构和机械足机构。髋关节运动机构包括腿部电机、曲柄、髋部连杆和大腿;膝关节运动机构包括大腿、中腿和腿部连杆;踝关节运动机构包括中腿和小腿;机械足机构包括两个足部电机和两个足趾,足趾由减振弹簧、上足板和足底板组成。本发明通过模仿鸵鸟生物解剖结构和后肢运动特点设计了一种可实现二维运动、重载、减振的双足机器人。本发明利用冠状面摆动机构和髋关节运动机构来实现机械腿在矢状面和冠状面的运动,利用承重关节和足趾机构来实现机械腿的重载减振目标。


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    Title :

    Bionic biped walking robot with heavy-load vibration buffering and stabilizing functions


    Additional title:

    一种具有重载缓振平稳功能的仿生双足行走机器人


    Contributors:
    ZHANG RUI (author) / PANG HAO (author) / WANG CHENGJIN (author) / ZHANG HUA (author) / HU ZHENYU (author)

    Publication date :

    2021-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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