The invention relates to a humanoid walking mechanical leg which comprises a hip support, a thigh support, a shank support, a foot supporting plate and a driving unit. The driving unit comprises a hip joint unit for driving the thigh bracket to rotate relative to the hip bracket, a knee joint unit for driving the shank bracket to rotate relative to the thigh bracket, and an ankle joint unit for driving the foot supporting plate to rotate relative to the shank bracket; three degrees of freedom of the hip joint unit, one degree of freedom of the knee joint unit and two degrees of freedom of the ankle joint unit can be achieved, and the positions of the driving motor and the telescopic part are more flexible through different transmission structures. A third hip driving motor can be placed on the inner side of a thigh, so that the mechanism complexity of a hip joint part is reduced; the knee telescopic piece can be arranged on the inner side of the thigh, and larger and more stable driving force is provided; a driving or transmission mechanism does not need to be installed near the ankle joint rotating shaft, the mechanism complexity is reduced, the weight is reduced, and the sensitivity is improved.

    本发明涉及一种仿人行走机械腿,包括臀支架、大腿支架、小腿支架、足支撑板以及驱动单元,驱动单元包括驱动大腿支架相对臀支架转动的髋关节单元、驱动小腿支架相对于大腿支架转动的膝关节单元、驱动足支撑板相对于小腿支架转动的踝关节单元,可以实现髋关节单元三个自由度、膝关节单元一个自由度、踝关节单元两个自由度,通过不同传动结构使驱动电机和伸缩件位置更灵活,本发明中可将第一髋驱动电机和第一髋传动轴完全置于骨盆内部,可将第三髋驱动电机放置于大腿内侧,减少髋关节部位的机构复杂度;可将膝伸缩件置于大腿内侧,提供更大更稳定的驱动力;使得踝关节转轴附近无需安装驱动或传动机构,降低机构复杂度,减轻重量,提高灵敏度。


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    Title :

    Human walking simulating mechanical leg


    Additional title:

    一种仿人行走机械腿


    Contributors:
    WANG JUN (author)

    Publication date :

    2022-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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