Bionic mechanical leg joint driving transmission device

The invention discloses a bionic mechanical leg joint driving transmission device. The bionic mechanical leg joint driving transmission device comprises a driving unit component, a power output shaft,a transmission rod and a joint control system which are connected in sequence. The power output shaft and the transmission rod transmit power output by the driving unit component to the joint controlsystem. According to the bionic mechanical leg joint driving transmission device, a multi-linkage mechanism is adopted for transmission, torque output by the driving unit is transmitted to a joint through the multi-linkage mechanism to achieve driving of the joint, and the bionic mechanical leg joint driving transmission device has the advantages of being small in size and large in bearing forceand also ensures the compactness and attractiveness of the leg structure. 本发明公开了一种仿生机械腿关节驱动传动装置，包括依次连接的驱动单元组件、动力输出轴、传动杆和关节控制系统；所述动力输出轴和传动杆将驱动单元组件输出的动力传递至关节控制系统。本发明采用多连杆机构传动，将驱动单元输出的力矩通过多连杆机构传递到关节处，实现关节的驱动，不仅具有体积小、承载力大的特点，还保证腿部结