The invention discloses a telescopic mechanical leg capable of being used for a stepping robot, and belongs to the field of mechanical legs. The mechanical leg comprises a connecting plate, a mechanical thigh, a mechanical shank and a mechanical sole plate, a rotating shaft A, a chain wheel A and a thigh idle wheel are rotationally arranged on the connecting plate; a thigh driving wheel, a chain wheel B, a clearance meshing wheel and a rack are arranged on the mechanical thigh; the thigh driving wheel is rotationally arranged on the rotating shaft A, the chain wheel A is coaxially and fixedly connected with the thigh idle wheel, and the clearance meshing wheel is coaxially and fixedly connected with the chain wheel B; the mechanical thigh is provided with a rotating shaft sliding groove, the mechanical shank is rotationally provided with a rotating shaft B and a rotating shaft C which are located in the rotating shaft sliding groove, and the rotating shaft B is provided with an arc-shaped gear intermittently meshed with the rack. The telescopic mechanical leg is reasonable in structure, adopts a single motor to drive the mechanical shank to ascend and the mechanical thigh to rotate, can eliminate stepping friction force, reduce stepping energy consumption and improve stepping efficiency and stability, and can be used for the stepping robot.
本发明公开了一种可用于迈步机器人的伸缩式机械腿,属于机械腿领域。它包括连接板、机械大腿、机械小腿和机械脚底板;连接板上转动装设有转轴A、链轮A和大腿惰轮,机械大腿上装设有大腿驱动轮、链轮B、间隙啮合轮和齿条;大腿驱动轮转动装设在转轴A上,链轮A与大腿惰轮同轴固连,间隙啮合轮与链轮B同轴固连;机械大腿开设有转轴滑槽,机械小腿上转动装设有位于转轴滑槽中的转轴B和转轴C,转轴B上装设有与齿条间歇啮合的弧形齿轮。本发明是一种结构合理、采用单电机驱动机械小腿上升和机械大腿转动,能够消除迈步摩擦力降低迈步能耗、提高迈步效率和稳定性、可用于迈步机器人的伸缩式机械腿。
Telescopic mechanical leg capable of being used for stepping robot
一种可用于迈步机器人的伸缩式机械腿
2021-12-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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