The invention relates to the technical field of robots, in particular to a robot leg structure and a foot type robot. The robot leg structure comprises a thigh component, a shank component, a transmission mechanism and a tensioning mechanism. The shank component and the thigh component are hinged through a joint rotating shaft. The transmission mechanism comprises a driving wheel arranged on the thigh component and a driving wire wound on the driving wheel, so that the leg structure has an overload protection function; the tensioning mechanism comprises a first one-way locking assembly and a second one-way locking assembly which are arranged on the shank component and located on the two sides of the joint rotating shaft respectively, and the first one-way locking assembly is fixedly connected with one end of the driving wire and can only rotate in the first direction relative to the shank component so as to tension one end of the driving wire; the second one-way locking assembly is fixedly connected with the other end of the driving wire and can only rotate in the second direction relative to the shank component so as to tension the other end of the driving wire, the first direction and the second direction are opposite, and the pre-tightening force of the driving wire can be conveniently and rapidly adjusted.

    本发明涉及机器人技术领域,尤其涉及一种机器人腿部结构及足式机器人。所述机器人腿部结构包括大腿构件、小腿构件、传动机构和张紧机构,小腿构件和大腿构件通过关节转轴铰接;传动机构包括设置在大腿构件上的驱动轮和绕设在驱动轮上的驱动线,使腿部结构具有过载保护功能;张紧机构包括设置于小腿构件上且分别位于关节转轴两侧的第一单向锁紧组件和第二单向锁紧组件,第一单向锁紧组件与驱动线的一端固定连接,且仅能相对小腿构件沿第一方向转动,以张紧驱动线的一端;第二单向锁紧组件与驱动线的另一端固定连接,且仅能相对小腿构件沿第二方向转动,以张紧驱动线的另一端,第一方向和第二方向互为反方向,能够便于快速调节驱动线的预紧力。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Robot leg structure and foot type robot


    Weitere Titelangaben:

    一种机器人腿部结构及足式机器人


    Beteiligte:
    HONG KECHENG (Autor:in) / LI YESONG (Autor:in) / LIANG FENGYONG (Autor:in) / LI XIAOHUA (Autor:in) / XIANG XINGCAN (Autor:in)

    Erscheinungsdatum :

    20.12.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Foot type robot structure

    WANG QIAN / LIU ANQI / HE JINRUI et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Foot structure and foot type robot

    AN ZHONGYU | Europäisches Patentamt | 2023

    Freier Zugriff

    Detachable leg structure of foot type robot, biped robot, wheel-foot robot, quadruped robot and robot

    CHEN JIAN / WAN FUBAO | Europäisches Patentamt | 2025

    Freier Zugriff

    Foot end structure and foot type robot

    HONG KECHENG / WANG YINGQIAN / LI YESONG et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Robot leg structure and wheel-foot type robot

    LIANG ZHENNAN / WANG HAO | Europäisches Patentamt | 2024

    Freier Zugriff