The invention discloses a biped walking robot ankle joint balance compensation structure which comprises two telescopic units which are oppositely arranged, the two telescopic units are symmetrically arranged on the two opposite sides of a foot sole assembly with the center axis of the foot sole assembly as the symmetry axis of the foot sole assembly, and each telescopic unit comprises a lower base hinged to one side of the foot sole assembly and an upper base hinged to the other side of the foot sole assembly; a first guide sleeve which is vertically arranged is mounted at the upper part of the lower base; the lower end of the spiral spring is movably inserted into the first guide sleeve and is fixedly connected to the lower base; the upper base is arranged above the lower base and hinged to one side of the lower end of the shank assembly, a second guide sleeve is installed on the lower portion of the upper base, the second guide sleeve and the first guide sleeve are coaxially arranged, and the upper end of the spiral spring is movably inserted into the second guide sleeve and fixedly connected to the upper base. The problem that an existing biped walking robot is poor in instantaneous adaptability under complex road conditions is solved.

    本发明公开了一种双足行走机器人踝关节的平衡补偿结构,包括相对设置的两伸缩单元,两伸缩单元以脚掌组件的中轴线对称设置于脚掌组件的相对两侧,伸缩单元包括:下基座,铰接连接于脚掌组件的一侧,下基座的上部安装有竖向设置的第一导向套筒;竖向设置的螺旋弹簧,螺旋弹簧的下端可活动地插设于所述第一导向套筒中且固接于下基座;以及设置于下基座的上方的上基座,铰接连接于小腿组件的下端的一侧,上基座的下部安装有第二导向套筒,第二导向套筒与所述第一导向套筒同轴设置,螺旋弹簧的上端可活动地插设于第二导向套筒中且固接于所述上基座。本发明解决了现有的双足行走机器人在应当复杂路况时,瞬时适应性较差的问题。


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    Title :

    Balance compensation structure for ankle joint of biped walking robot


    Additional title:

    双足行走机器人踝关节的平衡补偿结构


    Contributors:
    SHU BIN (author) / WANG LEI (author)

    Publication date :

    2022-07-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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