The invention provides a humanoid robot and a variable-rigidity variable-reduction-ratio ankle joint device of the humanoid robot, and the humanoid robot comprises a linear actuator, a special-shaped rocker, a rocker rotating shaft, an ankle joint rotating shaft, a variable-rigidity mechanism, a rocker output rotating shaft and a transmission connecting rod, the upper end of the linear actuator is rotationally connected with the top of a shank structural part, and the lower end of the linear actuator is connected with a rocker input rotating shaft; the rocker input rotating shaft is fixedly connected with one end of the special-shaped rocker, the other end of the special-shaped rocker is rotationally connected to the rocker rotating shaft, the rocker rotating shaft is fixedly connected with the lower portion of the shank structural part, the special-shaped rocker is further fixedly connected with the rocker output rotating shaft, and the rocker output rotating shaft is rotationally connected to the upper end of the transmission connecting rod. The variable-rigidity mechanism input rotating shaft is rotationally connected to the variable-rigidity mechanism, the variable-rigidity mechanism is rotationally connected to the ankle joint rotating shaft, and the ankle joint rotating shaft is fixedly connected with the bottom of the shank structural part. The coupling relation between the reduction ratio and the joint can be flexibly designed, and the change from low rigidity to infinite rigidity can be achieved.
本发明提供了一种仿人机器人及其可变刚度的变减速比踝关节装置,包括直线执行器、异型摇杆、摇杆转轴、踝关节转轴、变刚度机构、摇杆输出转轴和传动连杆,直线执行器上端与小腿结构件顶部转动连接,下端与摇杆输入转轴连接,摇杆输入转轴与异型摇杆一端固连,异型摇杆另一端转动连接在摇杆转轴上,摇杆转轴与小腿结构件下部固连,异型摇杆还与摇杆输出转轴固连,摇杆输出转轴转动连接在传动连杆上端,传动连杆与变刚度机构输入转轴固连,与变刚度机构输入转轴转动连接在变刚度机构上,变刚度机构转动连接在踝关节转轴上,踝关节转轴与小腿结构件底部固连。本发明能灵活设计减速比与关节耦合关系,还能实现低刚度到无限刚的变化。
Humanoid robot and variable-rigidity variable-reduction-ratio ankle joint device thereof
一种仿人机器人及其可变刚度的变减速比踝关节装置
2024-09-13
Patent
Electronic Resource
Chinese
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