Bionic robot and leg structure thereof

Abstract

The invention provides a bionic robot and a leg structure thereof, the leg structure comprises a thigh leg, a shank leg, a foot, a knee joint and an ankle joint, and the leg structure further comprises a knee joint driving mechanism and an ankle forward and backward lifting driving mechanism; a first accommodating cavity is formed in the thigh shaft and is used for accommodating the knee joint driving mechanism; a second accommodating cavity is formed in the thigh leg and is used for accommodating an ankle forward and backward lifting driving mechanism; the knee joint driving mechanism drives the knee joint through the first transmission mechanism so as to drive the shank shaft to rotate; the ankle forward and backward lifting driving mechanism drives the ankle joint through the second transmission mechanism so as to drive the foot to rotate. The thigh leg is provided with two containing cavities, driving mechanisms of the knee joint and the ankle joint can be moved upwards, the weight of a cantilever at the tail end of the leg of the bionic robot is reduced, the rotational inertia of the knee joint and the ankle joint during rotation can be effectively reduced, and therefore the requirement for motor torque is reduced, the joint structure space is optimized, and the joint weight is reduced; and the flexibility and the movement performance of the bionic robot are improved.

Description

technical field [0001] The invention relates to the field of bionic robots, in particular to a bionic robot and its leg structure. Background technique [0002] Humanoid robot is an advanced development stage of robot technology, which embodies the level of research and development in many aspects such as robot mechanism, motion and dynamics. The humanoid robot has a strong ability to overcome obstacles, can adjust the direction of movement in all directions, has strong terrain adaptability, good movement flexibility, and high carrying capacity. It is the best choice in complex operating environments and has broad application prospects. Larger legged robots have large volume and mass. When the mass of the legs is large, the moment of inertia generated by the legs during walking is large, which has a significant impact on the stability of the movement. Therefore, how to reduce the weight of the legs is one of the focal problems faced by legged robots. [0003] The existing ...

AI Technical Summary

Problems solved by technology

However, this structure will greatly increase the weight of the joint position. The leg stem is equivalent to the cantilever structure, and the weight of the joint is located at the end of the cantilever, which makes the robot have a large moment of inertia during operation, which increases the burden on the robot during movement. requirements will be more stringent

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