The invention discloses a lower limb leg-foot structure with jumping ability and a biped robot. The lower limb leg-foot structure comprises a thigh assembly, a shank assembly and a foot assembly which are sequentially connected from top to bottom. A thigh body, a knee joint rocker arm and a shank pull rod of the thigh assembly and a shank body of the shank assembly form a four-bar mechanism. The thigh body, the knee joint driving motor and the knee joint rocker arm form a slider-crank mechanism. The four-connecting-rod mechanism and the slider-crank mechanism form a set of combined mechanism through the common knee joint rocker arm so as to drive the knee joint to rotate. According to the combined mechanism, the linear motion speed of the knee joint driving motor is amplified into the rotation angular speed of the knee joint through the variable reduction ratio amplification effect of the four connecting rods, and the lower limb of the knee joint driving motor has the explosive jumping ability under the condition of the conventional output speed.
本发明公开了一种具有跳跃能力的下肢腿足结构和双足机器人。该下肢腿足结构包括大腿组件、小腿组件、足部组件从上到下依次连接;大腿组件的大腿体、膝关节摇臂和小腿拉杆,以及小腿组件的小腿体构成四连杆机构。大腿体、膝关节驱动电机、膝关节摇臂构成曲柄滑块机构。四连杆机构和曲柄滑块机构通过共用膝关节摇臂构成一套组合机构,以驱动膝关节旋转运动。该组合机构将膝关节驱动电机的直线运动速度通过四连杆的变减速比放大作用放大膝关节的旋转角速度,实现膝关节驱动电机在常规输出速度情况下的下肢具有爆发跳跃能力。
Lower limb leg-foot structure with jumping ability and biped robot
一种具有跳跃能力的下肢腿足结构和双足机器人
2025-02-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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