According to the simulation robot shank mechanism, the upper portion of a shank structural part is connected between the lower portion of a knee joint power output structural part and the lower portion of a knee joint passive end structural part, the lower portion of the shank structural part is connected with an ankle cross shaft part, and the ankle cross shaft part is fixed to the upper portion of a foot plate assembly; the first ankle joint driving motor is fixed to the first motor mounting position, the power output end of the first ankle joint driving motor is connected with the upper portion of the first rocker arm swinging piece, and the lower portion of the first rocker arm swinging piece is connected with one side of the ankle connecting rod. The second ankle joint driving motor is fixed to the second motor installation position, the power output end of the second ankle joint driving motor is connected with the upper portion of the second rocker arm swinging piece, and the lower portion of the second rocker arm swinging piece is connected with the other side of the ankle connecting rod. The shank structure is high in overall layout compactness and high in joint integration degree, a large movement range of a robot can be achieved, and flexibility and universality are improved.
一种仿真机器人小腿机构,其小腿结构件的上部连接在膝关节动力输出结构件下部和膝关节被动端结构件下部之间,小腿结构件的下部连接踝十字轴件,踝十字轴件固定在脚板组件的上方;第一踝关节驱动电机固定在第一电机安装位,第一踝关节驱动电机的动力输出端连接第一摇臂摆动件的上部,第一摇臂摆动件的下部连接踝连接杆的一侧;第二踝关节驱动电机固定在第二电机安装位,第二踝关节驱动电机的动力输出端连接第二摇臂摆动件的上部,第二摇臂摆动件的下部连接踝连接杆的另外一侧。本发明小腿结构的整体布局紧凑性强,关节集成度高,可实现机器人较大的运动范围,增加了灵活性和通用性。
Simulation robot shank mechanism
一种仿真机器人小腿机构
2024-11-08
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Shank mechanism and biped robot provided with shank mechanism
European Patent Office | 2020
|Shank structure, lower limb assembly, robot, biped robot and humanoid robot
European Patent Office | 2024
|Shank structure and leg structure of biped robot, humanoid robot and robot
European Patent Office | 2024
|