The three-joint module comprises a hip forward swing module, a knee joint module and a hip lateral swing module, two supporting seats of the knee joint module are fixed to the two ends of a knee joint linear guide rail respectively, a knee joint mounting seat is fixedly connected with a sliding seat, a self-lubricating sliding bearing is fixedly connected to the sliding seat, and the hip forward swing module is connected with the hip lateral swing module. The knee joint linear guide rail is sleeved with the self-lubricating sliding bearing, the self-lubricating sliding bearing slides along the knee joint linear guide rail, and the knee joint transmission assembly is fixedly connected with the knee joint motor and the supporting base so that torque output by the knee joint motor can be converted into linear movement of the supporting base; the hip forward swing module is connected to the output end of the hip side swing module, and the knee joint motor is connected to the output end of the hip forward swing module. According to the foot type robot and the three-joint module thereof, compared with a rotary joint, the action arm of force of the linear joint is shorter, higher power density can be obtained, and therefore the load capacity of the foot type robot applying the linear joint is remarkably improved.

    本发明公开了一种足式机器人及其三关节模组,包括髋正摆模块、膝关节模块和髋侧摆模块,膝关节模块的两个支撑座分别固定于膝关节直线导轨的两端,膝关节安装座与滑动座固定连接,滑动座上固定连接有自润滑滑动轴承,自润滑滑动轴承套装于膝关节直线导轨外并沿膝关节直线导轨滑动,膝关节传动组件分别与膝关节电机和支撑座固定连接,以将膝关节电机输出的扭矩转换为支撑座的直线移动;髋正摆模块连接于髋侧摆模块的输出端,膝关节电机连接于髋正摆模块的输出端。应用本发明提供足式机器人及其三关节模组,与旋转式关节相比,直线式关节的作用力臂更短,可以获得更高的功率密度,从而显著提升应用其的足式机器人的负载能力。


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    Title :

    Foot type robot and three-joint module thereof


    Additional title:

    一种足式机器人及其三关节模组


    Contributors:
    YE SHUSHENG (author) / SU JUNTONG (author)

    Publication date :

    2022-04-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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