According to the rope/belt wheel transmission robot leg structure capable of achieving transmission compensation, the driving device of the wheel joint is arranged at the hip joint position, then transmission is conducted to the wheel joint through the rope/belt, the compensation structure is arranged to compensate for change of the length of the rope or the belt caused by rotation of the knee joint, and then cross-joint transmission is achieved. The robot leg structure comprises thighs, shanks, wheel joint driving transmission structures and compensation structures. The thighs are connected to a main body or waist of the robot through hip joints; the other end of the shank is connected with the wheel joint; the driving motor is arranged at the hip joint position and is matched with each transmission wheel through a rope or a belt to transmit power to the wheel joints so as to drive the wheels in the wheel joints to rotate; and the compensation structure is arranged on a power transmission path of the wheel joint driving transmission structure and is used for compensating the length change of the rope or the belt caused by the rotation of the knee joint.
本发明提供一种能够实现传动补偿的绳/带轮传动的机器人腿部结构,将轮关节的驱动装置设置在髋关节位置处,然后通过绳/带传动至轮关节,并通过设置补偿结构补偿由于膝关节转动造成的绳索或皮带长度的改变进而实现跨关节传动。该机器人腿部结构包括:大腿、小腿、轮关节驱动传动结构以及补偿结构;大腿通过髋关节连接到机器人的主体或腰部;小腿一端通过膝关节与大腿相连,另一端连接轮关节;驱动电机设置在髋关节位置处,通过绳索或皮带与各传动轮的配合,将动力传递至轮关节,以驱动轮关节中的轮子转动;补偿结构设置在轮关节驱动传动结构的动力传递路线上,用于补偿当膝关节转动时引起的绳索或皮带以长度的改变。
Rope/belt wheel transmission robot leg structure capable of achieving transmission compensation
能够实现传动补偿的绳/带轮传动机器人腿部结构
2024-04-19
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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