The invention discloses a leg power system mechanism of a leg-foot type robot and the leg-foot type robot. The system mechanism comprises a hip joint power unit, a thigh power unit, a shank power unit and a trunk unit. The hip joint motor drives the thigh connecting rod and the shank connecting rod to swing within a certain range on the two sides of the body, the thigh motor drives the thigh connecting rod to swing within a certain range in the front-back direction of the body, and the shank motor drives the balance power transmission mechanism to achieve swing of the shank connecting rod within a certain range in the front-back direction of the body. According to the leg power system mechanism of the leg-foot type robot and the leg-foot type robot, the leg power system mechanism has no singular position in the moving process, stable and balanced torque output of a power system is achieved, precision and controllability are achieved, and the overall bearing capacity is improved; and the accuracy of the control position of a leg power system of the leg-foot type robot and the reliability of track movement are improved. The leg power system mechanism of the leg-foot type robot and the leg-foot type robot, has the advantages of good rigidity, impact resistance, long service life and easiness in maintenance.
本发明公开了一种腿足式机器人的腿部动力系统机构及腿足式机器人,其中该系统机构包括髋关节动力单元、大腿动力单元、小腿动力单元和躯干单元。其中髋关节电机带动大腿连杆及小腿连杆在身体两侧一定范围内的摆动,大腿电机带动大腿连杆在身体前后一定范围内的摆动,小腿电机驱动均衡动力传动机构实现小腿连杆在身体前后一定范围内的摆动。本发明的一种腿足式机器人的腿部动力系统机构及腿足式机器人其腿部动力系统机构在运动过程中无奇异位置,实现动力系统的平稳均衡扭矩输出且精准可控、提升整体承载能力。并且提升腿足式机器人的腿部动力系统控制位置的精准性及轨迹运动的可靠性。具有良好的刚性、抗冲击能力、长寿命、易维护。
Leg power system mechanism of leg-foot type robot and leg-foot type robot
一种腿足式机器人的腿部动力系统机构及腿足式机器人
2021-07-23
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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