The invention provides a lower limb mechanism and a bionic robot, and relates to the technical field of robots. The lower limb mechanism comprises a shank assembly, a foot assembly, a universal connecting assembly and a driving assembly; the universal connecting assembly is connected with the shank assembly and the foot assembly. The driving assembly comprises a first linear driving piece and a second linear driving piece which are arranged in the width direction of the foot assembly, and the first linear driving piece and the second linear driving piece are hinged to the shank assembly and the foot assembly respectively. The first linear driving piece and the second linear driving piece stretch out and draw back synchronously and can drive the foot assembly to swing up and down relative to the shank assembly. When one of the first linear driving piece and the second linear driving piece stretches out and the other one retracts, the foot assembly swings left and right relative to the shank assembly. The first linear driving part and the second linear driving part can realize complex driving of the foot assembly, and the ankle-rotating simulation device has the advantages of simple structure, smaller weight and occupied volume and lower cost while simulating flexible rotation of the ankle.

    本发明提供一种下肢机构及仿生机器人,涉及机器人技术领域。下肢机构包括小腿组件、脚组件、万向连接组件以及驱动组件;万向连接组件分别连接小腿组件和脚组件;驱动组件包括沿脚组件的宽度方向排列的第一直线驱动件和第二直线驱动件,第一直线驱动件和第二直线驱动件均分别与小腿组件和脚组件铰接。第一直线驱动件和第二直线驱动件同步伸缩,能够驱使脚组件相对于小腿组件上下摆动。当第一直线驱动件和第二直线驱动件当中的一个伸出,另一个回缩时,脚组件相对于小腿组件左右摆动。第一直线驱动件和第二直线驱动件能够实现对脚组件的复杂驱动,在模拟脚踝的灵活转动的同时,具有结构简单、重量和占用体积更小、成本更低的优点。


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    Title :

    Lower limb mechanism and bionic robot


    Additional title:

    一种下肢机构及仿生机器人


    Contributors:
    QIAN GUANGYUE (author) / LIU LEFENG (author) / LIANG ZHONGHAO (author) / SUO WENHAO (author) / FANG XIONGYUAN (author)

    Publication date :

    2024-08-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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