The invention discloses a humanoid robot and knee joints with variable stiffness and variable reduction ratio functions thereof, and the humanoid robot comprises thighs, push rods, first connecting rods, second connecting rods, first guide rods, second guide rods, variable stiffness mechanisms and shanks, the upper ends of the thighs are rotatably connected with the upper ends of the push rods, and the lower parts of the thighs are rotatably connected with one ends of the two first connecting rods; the thigh lower end is rotationally connected with the shank upper end; the lower end of the push rod is coaxially and rotationally connected with the other ends of the two first connecting rods and one end of a second connecting rod in sequence from inside to outside; the other end of the second connecting rod is rotationally connected to shafts in the middles of the outer sides of the first guide rod and the second guide rod; the upper ends of the first guide rod and the second guide rod which are in mirror image are rotationally connected to the inner sides of shafts at the upper ends of the shanks respectively; the first guide rod and the second guide rod are respectively provided with a sliding groove, and the variable stiffness mechanism is provided with a fulcrum sliding in the sliding grooves. And the variable stiffness mechanism is also connected with a plate spring in the shank. The knee joint integrates high outbreak, buffering and energy storage, and long-time high-dynamic movement of the humanoid robot is facilitated.
本发明公开一种仿人机器人及其具有变刚度和变减速比功能的膝关节,包括大腿、推杆、第一连杆、第二连杆、第一导杆、第二导杆、变刚度机构和小腿,大腿上端转动连接推杆上端,大腿下部转动连接两个第一连杆一端,大腿下端转动连接小腿上端;推杆下端由内向外依次与两个第一连杆另一端、第二连杆一端同轴转动连接,第二连杆另一端转动连接在第一导杆和第二导杆外侧中部的轴上;互为镜像的第一导杆、第二导杆上端分别转动连接到小腿上端的轴内侧;第一导杆和第二导杆上还分别设有滑槽,变刚度机构设有在滑槽中滑动的支点;变刚度机构还与小腿中的板簧连接。本发明的膝关节集高爆发、缓冲、储能于一体,有助于仿人机器人长时间高动态运动。
Humanoid robot and knee joint thereof with variable stiffness and variable reduction ratio functions
一种仿人机器人及其具有变刚度和变减速比功能的膝关节
2025-02-25
Patent
Electronic Resource
Chinese
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