Multi-joint leg structure of biped walking robot

Abstract

The invention relates to a multi-joint leg structure of a biped walking robot. The multi-joint leg structure comprises a foot sole movement mechanism, an ankle joint movement mechanism and a leg joint movement mechanism; toe joints are hinged with a foot sole by shafts; a shank lower joint support is hinged with an inner support by a shaft; the inner support is hinged with an ankle joint support plate; the foot sole movement mechanism can be used for controlling the toe joints to make a movement of lifting toes around the shafts through which the toe joints are hinged with the foot sole, so that the movement of lifting the toes is realized; the ankle joint movement mechanism can be used for controlling the foot sole to make a foot swing movement to the left or to the right, and also can be used for controlling the foot sole to move forwards or backwards, so that a foot sole joint of the robot can move in multiple degrees of freedom; the leg joint movement mechanism can be used for controlling the joints of the shank to realize a clockwise or anticlockwise leg raising movement, and also can be used for controlling the shank to make a rotational motion around the thigh. Therefore, after the multi-joint leg structure of the biped walking robot is adopted, the robot can make a biped walking movement since the leg raising movement is realized in the multiple degrees of freedom by the joints of the leg of the robot, and the biped walking of the humanoid robot is more flexible.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically relates to a multi-joint leg structure of a biped walking robot. Background technique [0002] In recent years, intelligent robots have gradually entered thousands of households. Various robots have appeared on the market. Although robots have developed rapidly, multi-joint biped robots have started slowly and developed slowly. There is a lack of multi-joint bipedal walking robots. Due to the multi-joint bipedal walking robots, they can perform a variety of services in the home, such as cleaning, entertainment, babysitting, and home security. They will become human partners and change the way people live. Therefore, Multi-joint biped walking robots are loved by most people. [0003] However, in the existing robots, the multi-degree-of-freedom of the robot's motion joints has always been a problem for research and development institutions. The multi-joint freedom of the robot...

AI Technical Summary

Problems solved by technology

[0003] However, in the existing robots, the multi-degree-of-freedom of the robot's motion joints has always been a problem for research and development institutions. The multi-joint freedom of the robot is difficult to move, and the complex structure has become a problem for many companies to develop multi-joint biped walking robots.

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