The invention provides a leg and foot structure and a robot. The robot comprises a trunk and the leg and foot structure. The leg-foot structure comprises thigh parts and a connecting mechanism, the connecting mechanism comprises a first connecting part and a second connecting part, the first connecting part is connected to the trunk through a first joint and connected with the second connecting part through a second joint, and the thigh parts are connected with the second connecting part through a third joint. Wherein the first joint is provided with a first central axis, the second joint is provided with a second central axis, the third joint is provided with a third central axis, every two of the first central axis, the second central axis and the third central axis are perpendicular to each other, and the first central axis deviates from one side of the third central axis. According to the connecting mechanism, a larger range for the thighs to move can be formed, the thighs are not prone to interfering with the connecting mechanism, then the moving range of the leg-foot structure of the robot is enlarged, and the flexibility of the robot is improved.
本发明提供了一种腿足结构和机器人,机器人包括躯干和腿足结构;腿足结构包括大腿部和连接机构,连接机构包括第一连接部和第二连接部,第一连接部通过第一关节连接至躯干并通过第二关节与第二连接部连接,大腿部通过第三关节与第二连接部连接。其中,第一关节具有第一中心轴线,第二关节具有第二中心轴线,第三关节具有第三中心轴线,第一中心轴线、第二中心轴线和第三中心轴线两两垂直,第一中心轴线偏离在第三中心轴线的一侧。本发明的连接机构可以形成供大腿部活动的更大范围,大腿部不易与连接机构干涉,进而增加了机器人腿足结构的活动范围,提高了机器人的灵活性。
Leg and foot structure and robot
腿足结构和机器人
2023-09-22
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |