Mechanism for differentially driving shanks and soles to act through multiple connecting rods

• Main Author: HU TIANLIAN
• Format: Patent
• Language: Chinese; English
• Published: 22.12.2023
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

The invention belongs to the technical field of bionic robots, and particularly relates to a multi-connecting-rod mechanism for differentially driving shanks and soles to act. According to the technical scheme, the mechanism comprises a thigh base body, the thigh base body is connected with a shank base body through a rotating shaft, the shank base body is rotationally connected with a cross beam rod, and driving mechanisms are connected between the two ends of the cross beam rod and the thigh base body; the end, connected with the cross beam rod, of the driving mechanism is connected with a steel wire rope, an ankle joint lever is rotationally connected to the shank base body, one end of the ankle joint lever is connected with the other end of the steel wire rope, and a sole assembly is rotationally connected to the lower end of the shank base body and connected with a sliding sleeve through a spline. And the other end of the ankle joint lever is rotationally connected with the side edge of the sliding sleev