The invention relates to a biped robot with multiple motion modes, which belongs to the technical field of robots, and is characterized by comprising a four-curved-bar mechanical leg mechanism, a machine body box body, a leg box body, a coaxial transmission system, a hinge gear transmission system and a power motor, the coaxial transmission system is output by a power motor and decelerated to an inner sleeve shaft and an outer sleeve shaft through a synchronous belt, and two curved bars of the four-curved-bar mechanical leg are respectively connected with the inner sleeve shaft and the outer sleeve shaft in the coaxial transmission system and are fixed on a leg box body; a lower plate of the machine body is connected with a lower plate of the leg box body through a hinge gear transmission system, and output of a power motor at the machine body is reduced to a hinge sleeve at the leg box body through transmission of a pair of gears; the number of the power motors is six. The leg motor is controlled to drive the four-crank-lever mechanical leg mechanism to generate structural deformation, and the motor at the machine body is controlled to realize rotation and swing of the leg box body. By coordinating and controlling the six motors, the biped robot can achieve wheel, foot and claw type movement and conversion and left-right walking movement.

    本发明涉及一种具有多运动方式的双足机器人,属于机器人技术领域,其特征包括四曲杆机械腿机构、机身箱体、腿部箱体、同轴传动系统、合页齿轮传动系统、动力电机;同轴传动系统由动力电机输出经由同步带减速给内外套轴,四曲杆机械腿的两曲杆分别与同轴传动系统中的内外套轴相联接,并将它们固定在腿部箱体上;机身下板与腿部箱体下板处使用合页齿轮传动系统进行联接,由机身处动力电机输出经由一对齿轮传动减速到腿部箱体处合页套筒;动力电机总计6个;通过控制腿部电机驱动四曲杆机械腿机构发生结构变形,控制机身处电机实现腿部箱体旋转摆动。通过协调控制6个电机,此双足机器人可以实现轮、足、爪式的运动与转化以及左右的移步运动。


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    Title :

    Biped robot with multiple motion modes


    Additional title:

    一种具有多运动方式的双足机器人


    Contributors:
    LIU JIAN (author) / ZHANG BO (author) / WU SHUANG (author) / XIAO XUAN (author) / XUE YONGJIANG (author) / YUAN JINGLUN (author)

    Publication date :

    2022-07-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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