The invention relates to a shaft-driven three-degree-of-freedom bionic leg. The shaft-driven three-degree-of-freedom bionic leg comprises a forward swing joint motor assembly, a lateral extension joint motor assembly, a knee joint motor assembly, a thigh assembly and a shank assembly. The knee joint motor assembly is moved upwards to the upper portion of the thigh through the shaft transmission mechanism, the rotation angle of the knee joint is controlled through the transmission shaft and the bevel gear, control precision and transmission efficiency are improved, and leg rotational inertia is reduced. The side-unfolding joint motor assemblies are moved to the upper portions of the thighs from the interior of the robot body, the internal space of the robot body of the foot type robot is saved, and the maneuvering performance of mechanical legs is improved. The problems that an existing foot type robot mechanical leg is large in rotational inertia, low in control precision and small in machine body space are solved.
本发明涉及一种轴传动的三自由度仿生腿,包括前摆关节电机总成、侧展关节电机总成、膝关节电机总成、大腿总成以及小腿总成。本发明利用轴传动机构将膝关节电机总成上移至大腿上部,通过传动轴与锥齿轮控制膝关节转角,提高了控制精度与传动效率,减小了腿部转动惯量。侧展关节电机总成从机身内部外移至大腿上部,节约了足式机器人机身内部空间,提高了机械腿的机动性能。解决现有足式机器人机械腿转动惯量大、控制精度低、机身空间小的问题。
Shaft-driven three-degree-of-freedom bionic leg
一种轴传动的三自由度仿生腿
2022-09-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
Three-degree-of-freedom pectoral fin driven bionic robotic fish
European Patent Office | 2021
|Hydraulically-driven two-degree-of-freedom coupling bionic jumping robot
European Patent Office | 2025
|Pose-adaptive three-degree-of-freedom bionic pectoral fin mechanism
European Patent Office | 2024
|