The invention relates to the technical field of robots, in particular to a leg-foot type robot joint driving device which comprises a thigh part, a shank part, a foot part, a parallel elastic driving assembly and a joint driving element, the head end of the thigh part is rotationally connected with the tail end of the shank part, the head end of the shank part is elastically connected with the foot part, and the tail end of the foot part is rotationally connected with the tail end of the shank part. The joint driving element is fixedly connected with the thigh part, and the output end of the joint driving element is in transmission connection with the shank part; the parallel elastic driving assembly comprises a first elastic element, a chain connecting piece and a second elastic element; a fixing part used for limiting movement of the chain connecting piece is arranged on the foot part, when the foot part touches the ground and under the action of gravity, the fixing part is inserted into a gap between an inner chain plate and an outer chain plate of the chain connecting piece, and when the foot part is suspended, the fixing part is separated from the chain connecting piece; a parallel elastic driving structure capable of switching rigidity is introduced into a driving system of the legs of the robot, so that switching of a flight mode and a landing mode and adjustment of the rigidity of the legs are achieved.
本发明涉及机器人技术领域,尤其是涉及一种腿足式机器人关节驱动装置,包括大腿部、小腿部、足部、并联弹性驱动组件以及关节驱动元件,大腿部的首端和小腿部的尾端转动连接,小腿部的首端和足部弹性连接,关节驱动元件和大腿部固定连接,关节驱动元件的输出端和小腿部传动连接;并联弹性驱动组件包括第一弹性元件、链条连接件以及第二弹性元件;足部上具有用于限制链条连接件移动的固定部,当足部触地并在重力作用下,固定部插设在链条连接件的内链板和其外链板之间的间隙内,当足部悬空时,固定部脱离链条连接件,将可切换刚度的并联弹性驱动结构引入机器人腿部的驱动系统中,实现了飞行和着陆双模式的切换和腿部刚度的调整。
Joint driving device of leg-foot type robot
一种腿足式机器人关节驱动装置
2023-11-14
Patent
Electronic Resource
Chinese
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