The invention discloses a robot leg and a four-footed bionic robot. The robot leg comprises a leg structure and a leg driving structure. The leg structure comprises a shank module and a thigh module, the leg driving structure is used for driving the thigh module to rotate, and the thigh module is used for driving the shank module to rotate. The hip joint is driven by a linear module, and the shank module is driven by a motor and synchronous belt structure, so that the accuracy of an instantaneous transmission ratio is ensured, and accurate control on legs is facilitated; furthermore, the leg structure is driven by a multi-rod mechanism consisting of a thigh module, a connecting rod I, a shank connecting rod and a shank driving connecting rod, so that the weights of the legs and the whole machine can be reduced; furthermore, according to the legs, the four-footed bionic robot can be configured in a front-knee and rear-elbow mode, energy consumption can be reduced, good terrain adaptability is achieved, the balance and stability of the robot are greatly improved through the symmetrical design, and the stability problem of the robot during movement is solved from the structural design.

    本发明公开了一种机器人腿部、四足仿生机器人,机器人腿部包括腿部结构、腿部驱动结构;腿部结构包括小腿模块和大腿模块,腿部驱动结构用于驱动大腿模块转动,大腿模块用于带动小腿模块转动。本发明髋关节采用线性模组驱动,小腿模块采用电机+同步带结构驱动,保证了瞬时传动比的准确度,有利于实现对腿部的精确控制;进一步地,腿部结构采用大腿模块、连杆Ⅰ、小腿连杆、小腿驱动连杆组成的多杆机构传动,能减轻腿部和整机重量;再进一步地,依据本发明的腿部可以采用前膝后肘式配置四足仿生机器人,能够减少能量消耗并且具备较好地形适应能力,且这种对称式设计极大地提高了机器人的平衡性和稳定性,从结构设计上解决机器人运动时的稳定性问题。


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    Title :

    Robot leg and four-footed bionic robot


    Additional title:

    一种机器人腿部、四足仿生机器人


    Contributors:
    ZHANG DAOYI (author) / SHI SHAOMIAO (author) / NONG HUANGWU (author)

    Publication date :

    2022-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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