The invention discloses a bionic leg structure of a Jansen connecting rod structure robot. The bionic leg structure comprises a first connecting rod, a second connecting rod hinged to one end of the first connecting rod, a fourth connecting rod hinged to the other end of the first connecting rod and sixth connecting rods arranged on the two sides of the second connecting rod correspondingly. One end of each of the two sixth connecting rods is hinged to one end of a third connecting rod; the other ends of the two sixth connecting rods are hinged to a fifth connecting rod; a foot end rod piece is hinged to the other end of the third connecting rod, and the foot end rod piece is further hinged to a fifth connecting rod and a fourth connecting rod; a crank is arranged at the hinged position of the first connecting rod and the fourth connecting rod. The structure can rotate around the center of the crank fixing piece under the driving of the crank driving mechanism, the connecting rod and the foot end rod piece are driven to move, a closed-loop linkage effect is formed, and the foot end rod piece moves more harmoniously.

    本发明公开了一种Jansen连杆结构机器人仿生腿结构,包括第一连杆,与第一连杆一端铰接的第二连杆,与第一连杆另一端铰接的第四连杆,分别设置在第二连杆两侧的第六连杆;两个所述第六连杆的一端与第三连杆的一端铰接;两个所述第六连杆的另一端与第五连杆铰接;所述第三连杆的另一端铰接的足端杆件,足端杆件还与第五连杆、第四连杆铰接;在第一连杆与第四连杆的铰接处设置的曲柄。本结构在曲柄驱动机构的驱动下可绕曲柄固定件的中心处旋转,带动连杆和足端杆件运动,形成一种闭环联动效应,使得足端杆件运动更加协调。


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    Title :

    Robot bionic leg structure with Jansen connecting rod structure


    Additional title:

    一种Jansen连杆结构机器人仿生腿结构


    Contributors:
    GENG RANRAN (author) / JIN LEIHAO (author) / HUANG JIAXIN (author) / HUANG JIACAI (author) / LIU HANZHONG (author) / ZHU XIAOCHUN (author) / SHEN YUXIN (author) / ZOU YIRAN (author) / JI QIANG (author) / ZHANG JIAHAO (author)

    Publication date :

    2022-06-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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