The invention discloses a rope-driven leg-foot bouncing mechanism. The rope-driven leg-foot bouncing mechanism comprises a foot end structure, a shank structure, a thigh structure, a belt wheel transmission mechanism, a rope end fixing structure and a motor structure, the foot end structure, the shank structure and the thigh structure are sequentially connected; the belt wheel transmission structure is connected between the outer side thigh structure and the inner side thigh structure; the foot end structure is connected with the lower end of the shank structure, the upper end of the shank structure is movably connected with the lower end of the thigh structure, a protruding groove is formed in the upper end of the shank structure, the rope end fixing structure is fixed in the protruding groove through a child-mother nail, one end of the rope is fixed to the rope end fixing structure, and the other end of the rope is wound out of the upper end of the thigh structure. The inner side of the upper end of the thigh structure is connected with a motor shell outside the motor structure; an upper belt wheel of the belt wheel transmission structure is connected with a motor output shaft outside the motor structure, and a lower belt wheel sleeves the hexagonal shaft and is connected with the shank structure. Leg and foot bouncing of the quadruped robot can be achieved through traction driving of the rope.
本发明公开了本发明提供了一种绳索驱动的腿足弹跳机构,包括足端结构、小腿结构、大腿结构、带轮传动机构、绳端固定结构、电机结构;足端结构、小腿结构、大腿结构依次连接;带轮传动结构连接在外侧大腿结构与内侧大腿结构之间;足端结构与小腿结构下端连接,小腿结构上端与大腿结构下端活动连接所述小腿结构上端设有凸起凹槽,绳端固定结构通过子母钉固定在所述凸起凹槽中,绳索一端固定在绳端固定机构上,另一端从大腿结构上端绕出;大腿结构上端内侧与电机结构外侧电机机壳连接;带轮传动结构上部带轮与电机结构外侧电机输出轴连接,下部带轮套在六棱轴上与小腿结构连接。本发明可以通过绳索的牵引驱动实现四足机器人的腿足弹跳。
Rope-driven leg and foot bouncing mechanism
一种绳索驱动的腿足弹跳机构
2024-03-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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