Shank mechanism and biped robot provided with shank mechanism

Abstract

The invention relates to a shank mechanism. The shank mechanism comprises a shank framework and an integrated foot, and further comprises an ankle supporting assembly and two ankle driving assemblies.The shank framework and the integrated foot are universally hinged through the ankle supporting assembly. Each ankle driving assembly comprises a rotary driving part installed on one side of the upper end of the shank framework, an output rod fixedly connected to an output shaft of the rotary driving part and a connecting rod hinged to the end, away from the rotary driving part, of the output rod, and the connecting rod is universally hinged to the upper side of the integrated foot; and the rotary driving parts in the two ankle driving assemblies are symmetrically arranged on the two sides ofthe shank framework respectively. The shank mechanism has the following advantages: the rotary driving parts are arranged at the upper ends of the shank framework, and then the action of the rotary driving parts is transmitted to the integrated foot through the output rod and the connecting rod, so that the weight of the ankle is reduced, the mass center of the shank is raised, and shank movementis easier to control.

Description

technical field [0001] The invention relates to the field of biped robots, in particular to a lower leg mechanism and a biped robot equipped with the lower leg mechanism. Background technique [0002] Biped robot is a kind of bionic robot, which can walk upright, has good degrees of freedom, and moves flexibly, freely and stably. As a dynamic system controlled by machinery, biped robots contain rich dynamic characteristics. In future production and life, humanoid biped walking robots can help humans solve many problems, such as carrying objects, emergency rescue and a series of dangerous or heavy tasks. [0003] In order to better model human walking, the lower leg of the biped robot, especially the ankle, requires light weight, small size, and excellent rigidity. Existing biped robots are equipped with a large number of connecting components and drive components at the ankle connection position, resulting in The ankle position of the robot is heavy, so when the calf swing...

AI Technical Summary

Problems solved by technology

[0003] In order to better model human walking, the lower leg of the biped robot, especially the ankle, requires light weight, small size, and excellent rigidity. Existing biped robots are equipped with a large number of connecting components and drive components at the ankle connection position, resulting in The ankle position of the robot is heavy, so when the calf swings around the knee joint, the swing inertia is large and difficult to control

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