The invention discloses a leg and foot structure of a foot type robot, and relates to the technical field of foot type robotics.The leg and foot structure comprises a side plate, a leg power mechanism is installed at the bottom of the right end of the side plate, the leg and foot structure further comprises a leg bone mechanism, a leg tendon transmission mechanism and an ankle control mechanism, the leg bone mechanism comprises a thigh rod and a shank frame, and a leg shaft is fixedly connected to the bottom of the front side of the side plate; the front end of the leg shaft is rotationally connected with the top end of a thigh rod, the bottom end of the thigh rod is movably connected with the right end of the top of a shank frame through a knee shaft, and the bottom end of the shank frame is movably connected with the left end of an ankle movable seat through an ankle shaft; the leg rib transmission mechanism is connected with the leg power mechanism, and the leg rib transmission mechanism is further connected with the shank frame and the thigh rod; one end of the ankle control mechanism is connected with the thigh rod. According to the leg and foot structure of the foot type robot, the stepping amplitude of the legs can be adjusted, the angle of the foot structure relative to the leg structure can also be adjusted, the adaptability to the ground gradient is good, and the anti-skid effect of the foot structure is good.

    本发明公开了一种足式机器人的腿部脚部结构,涉及足式机器人技术领域,包括侧板,侧板的右端底部安装有腿部动力机构,还包括腿骨机构、腿筋传动机构和脚踝控制机构,腿骨机构包含有大腿杆和小腿架,侧板的前侧底部固定连接有腿轴,腿轴的前端转动连接大腿杆的顶端,大腿杆的底端通过膝轴活动连接小腿架的顶部右端,小腿架的底端通过脚踝轴活动连接脚踝活动座的左端;腿筋传动机构连接腿部动力机构,且腿筋传动机构还连接小腿架和大腿杆;脚踝控制机构一端连接大腿杆。该足式机器人的腿部脚部结构,腿部的迈步幅度可以调整,脚部结构相对于腿部结构的角度也可以调整,对地面坡度的适应性好,脚部结构的防滑效果好。


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    Title :

    Leg and foot structure of foot type robot


    Additional title:

    一种足式机器人的腿部脚部结构


    Contributors:
    TANG ZHONG (author) / JIANG GANG (author) / HAN ZIBO (author) / SU QINSHEN (author) / WEI LING (author) / SHAO XIAOQIANG (author) / ZHAO XINGYU (author) / LIN MEI (author)

    Publication date :

    2024-11-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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