The invention relates to the technical field of humanoid robots, in particular to a biped robot lower limb structure with passive soft shanks. Comprising a pelvis, a left leg and a right leg, the left leg and the right leg are the same in structure, each of the left leg and the right leg comprises a hip joint mechanism, a thigh mechanism, a knee joint mechanism, a shank mechanism, an ankle joint mechanism and a sole, the hip joint mechanisms are rotationally connected with the upper ends of the thigh mechanisms, and the hip joint mechanisms are used for driving the thigh mechanisms to do yawing, rolling and pitching movement; the lower end of the thigh mechanism is rotationally connected with the upper end of the shank mechanism through a knee joint mechanism; the knee joint mechanism is used for driving the shank mechanism to pitch; the lower end of the shank mechanism is connected with the sole through an ankle joint mechanism, and the ankle joint mechanism is used for driving the sole to do pitching and rolling movement. By means of the shanks with the passive compliance function, impact generated by the feet and the ground can be absorbed, meanwhile, the gravity center of the whole leg is moved upwards, and the stability of the robot in the walking process is improved.

    本发明涉及人形机器人技术领域,具体涉及一种具有被动柔顺小腿的双足机器人下肢结构。包括盆骨及设置于盆骨两侧的左腿和右腿;左腿和右腿结构相同,均包括髋关节机构、大腿机构、膝关节机构、小腿机构、踝关节机构及脚掌,其中髋关节机构与大腿机构的上端转动连接,髋关节机构用于驱动大腿机构进行偏航、横滚和俯仰运动,大腿机构的下端与小腿机构上端通过膝关节机构转动连接,膝关节机构用于驱动小腿机构进行俯仰运动;小腿机构下端与脚掌之间通过踝关节机构连接,踝关节机构用于驱动脚掌进行俯仰和横滚运动。本发明通过具有被动柔顺功能的小腿,使得足部与地面产生的冲击能够被吸收,同时将整条腿的重心上移,提升机器人行走过程中的稳定性。


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    Title :

    Biped robot lower limb structure with passive soft shank


    Additional title:

    一种具有被动柔顺小腿的双足机器人下肢结构


    Contributors:
    WANG GENG (author) / WANG HONGWEI (author) / CUI LONG (author) / LIU ZHAOMING (author)

    Publication date :

    2023-08-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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