The invention relates to a mechanical leg and a bionic robot, and belongs to the technical field of robots, the mechanical leg comprises a femoral joint, a thigh, a knee joint, a shank, an ankle joint and a foot connected with the ankle joint through a universal ball head connecting rod; the foot part is provided with a bionic foot bottom sheet, the bionic foot bottom sheet is made of an adsorption material, the bionic foot bottom sheet is used for forming physical adsorption with a road surface, at least one spring is arranged between the bionic foot bottom sheet and a ball seat of the universal ball head connecting rod, and each spring is used for isolating excitation vibration of the road surface from the robot body; the femoral joint, the knee joint and the ankle joint all have a rotational degree of freedom. The bionic foot sole has the advantages that the damping function is achieved, the adsorption climbing capacity on planes with different roughness or made of different materials is improved through the bionic foot sole piece of physical adsorption, the space needed by movement of a mechanical leg structure can be reduced, and the structure is more compact.

    本发明涉及一种机械腿及仿生机器人,属于机器人技术领域,包括股骨关节、大腿、膝关节、小腿、踝关节以及与踝关节通过万向球头连杆连接的足部;足部具有仿生足底片,仿生足底片采用吸附材料,仿生足底片用于与路面形成物理吸附,仿生足底片与万向球头连杆的球座之间设有至少一个弹簧,每个弹簧用于将路面的激振与机器人本体相隔离;股骨关节、膝关节和踝关节均具有一个旋转自由度。本发明的有益效果是:具有减震的功能,通过物理吸附的仿生足底片,提高对不同粗糙度或者不同材质平面的吸附攀爬能力,可减小机械腿结构运动所需的空间,结构更加紧凑。


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    Title :

    Mechanical leg and bionic robot


    Additional title:

    一种机械腿及仿生机器人


    Contributors:
    WANG SHENGXIN (author) / WANG SIKAI (author) / XUE CHENGQIAN (author) / LI JUYI (author) / JIANG ZHENDONG (author) / HAO PENG (author) / WANG SHUNWEI (author)

    Publication date :

    2022-05-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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