Lower limb leg-foot structure with jumping ability and biped robot

Through the integrated design of the knee joint reduction ratio transmission mechanism with the combination of "four connecting rods + crank sliders" and the thigh-integrated knee joint actuator, the problems of insufficient explosive power and weak jumping ability of the lower limbs of the bipedal robot are solved, and high The functions of burst jumping and two-way walking.

CN119459924APending Publication Date: 2025-02-18BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
View PDF 6 Cites 2 Cited by

Patent Information

Application Number
CN202411725871.X
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-11-28
Publication Date
2025-02-18

AI Technical Summary

Technical Problem

Existing bipedal robots have insufficient explosive power and weak jumping ability.

Method used

A knee joint variable speed reduction ratio transmission mechanism with a combination of "four-linked rod + crank slider" is used to indirectly articulate the output end of the knee linear drive unit with the calf assembly through the variable speed reduction ratio mechanism to achieve the amplification of the rotation angular velocity of the knee joint. At the same time, an integrated leg structure design scheme for thigh-integrated knee actuator is proposed. Through topological optimization methods, the knee joint driving unit is combined with the thigh structure to achieve high integration and lightweight design of the lower limbs of bipedal robots.

Benefits of technology

The angular velocity of the knee joint is amplified, and the stroke and speed requirements for the driving unit are reduced, so that the lower limbs of the robot have the ability to jump high bursts and jump, and have the two-way walking functions of forward bending and reverse bending.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN119459924A_ABST
    Figure CN119459924A_ABST
Patent Text Reader

Abstract

The invention discloses a lower limb leg-foot structure with jumping ability and a biped robot. The lower limb leg-foot structure comprises a thigh assembly, a shank assembly and a foot assembly which are sequentially connected from top to bottom. A thigh body, a knee joint rocker arm and a shank pull rod of the thigh assembly and a shank body of the shank assembly form a four-bar mechanism. The thigh body, the knee joint driving motor and the knee joint rocker arm form a slider-crank mechanism. The four-connecting-rod mechanism and the slider-crank mechanism form a set of combined mechanism through the common knee joint rocker arm so as to drive the knee joint to rotate. According to the combined mechanism, the linear motion speed of the knee joint driving motor is amplified into the rotation angular speed of the knee joint through the variable reduction ratio amplification effect of the four connecting rods, and the lower limb of the knee joint driving motor has the explosive jumping ability under the condition of the conventional output speed.
Need to check novelty before this filing date? Find Prior Art

Citation Information

Patent Citations

  • Biped robot lower limb mechanism driven hydraulically

    CN104627265A

  • Four-footed bio-robot single leg capable of achieving jumping function

    CN105235766A

  • Motor-driven biped lower limb walking structure and working method thereof

    CN111017064A

  • Biped robot lower limb structure based on modular joints

    CN111688838A

  • Hydraulically-driven lower limb mechanism of humanoid robot

    CN117698872A

Cited By

  • Lower limb structure of humanoid robot

    CN119975596A

  • Humanoid robot leg joint

    RU244490U1