The invention discloses a foot device of an exoskeleton robot. The exoskeleton robot foot device comprises a first piece, an ankle joint assembly and a sole assembly, and the ankle joint assembly is arranged between the first piece and the sole assembly; the ankle joint assembly comprises a second piece, a third piece, a fourth piece and a reset component which are connected, the end, away from the third piece, of the second piece is rotationally connected with the first piece, the second piece can rotate around the first direction relative to the first piece, one end of the third piece is connected with the second piece, and the second piece can rotate around the second direction relative to the third piece. The other end of the third piece is connected with the fourth piece, the fourth piece can rotate around a third direction relative to the third piece, and one end, far away from the third piece, of the fourth piece is connected with the sole assembly; the reset component is used for resetting the two pieces connected with the reset component. The multi-degree-of-freedom swing exoskeleton robot can perform multi-degree-of-freedom swing, and the power assisting capacity of the exoskeleton robot
本发明公开了一种外骨骼机器人足部装置。本发明实施例的外骨骼机器人足部装置,包括第一件、踝关节组件和足底组件,踝关节组件设在第一件和足底组件之间;踝关节组件包括相连接的第二件、第三件和第四件、以及复位部件,第二件的远离第三件的一端与第一件转动连接,第二件相对于第一件绕第一方向可转动,第三件的一端与第二件连接,第二件相对于第三件绕第二方向可转动,第三件的另一端与第四件连接,第四件相对于第三件绕第三方向可转动,第四件的远离第三件的一端与足底组件连接;复位部件用于复位与其相连接的两个件。本发明能够进行多自由度的摆动,提高了外骨骼机器人的助力能力。
Foot device of exoskeleton robot
外骨骼机器人足部装置
2025-03-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Foot end track planning method and device for foot type robot and foot type robot
European Patent Office | 2022
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