The invention provides a leg structure and a humanoid robot, the leg structure comprises a thigh structural member, a shank structural member rotationally connected with the thigh structural member, a knee lead screw assembly and a knee connecting rod, the knee lead screw assembly is arranged on the thigh structural member, one end of the knee connecting rod is rotationally connected to the linear motion end of the knee lead screw assembly, and the other end of the knee connecting rod is rotationally connected to the linear motion end of the knee lead screw assembly; the other end of the knee connecting rod is rotationally connected to the shank structural part. According to the leg structure and the humanoid robot, the knee lead screw assemblies are arranged on the thigh structural parts, the mass center of the leg structure is increased, and the rotational inertia of the leg structure is reduced. Meanwhile, a lead screw in the knee lead screw assembly has the effect of increasing the force, under the condition that the same knee joint torque is output, the needed torque is smaller, the smaller and lighter knee lead screw assembly can be used, and the weight of the leg structure is reduced. In addition, by arranging the knee connecting rod, the stroke of the lead screw can be reduced, and a large motion angle of the knee joint can be achieved in a limited leg space.

    本发明提供了一种腿部结构及人形机器人,腿部结构包括大腿结构件以及与大腿结构件转动连接的小腿结构件、膝盖丝杠组件以及膝盖连杆,膝盖丝杠组件设置于大腿结构件上,膝盖连杆的一端转动连接于膝盖丝杠组件的直线运动端,膝盖连杆的另一端转动连接于小腿结构件。本发明提供的腿部结构及人形机器人,膝盖丝杠组件设置在大腿结构件上,提高了腿部结构的质心,减小了腿部结构的转动惯量。同时,膝盖丝杠组件中的丝杠具有放大力的作用,在输出相同的膝关节力矩的情况下,所需要的扭矩更小,可使用更小更轻的膝盖丝杠组件,减轻腿部结构的重量。另外,通过设置膝盖连杆可以减少丝杠的行程,在有限的腿部空间内,达到膝关节较大的运动角度。


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    Titel :

    Leg structure and humanoid robot


    Weitere Titelangaben:

    腿部结构及人形机器人


    Beteiligte:
    DING HONGYU (Autor:in) / HUANG LIANG (Autor:in)

    Erscheinungsdatum :

    2022-03-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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