The invention discloses a robot lower limb structure and a robot. The robot lower limb structure comprises a first joint; the second joint is movably connected with the first joint; the third joint is movably connected with the second joint; the fourth joint is movably connected with the third joint; the foot structure is movably connected with the fourth joint; wherein the third joint comprises a joint body, a first motor and a speed reducer, the two ends of the joint body are movably connected with the second joint and the fourth joint respectively, the first motor and the speed reducer are connected with the joint body and arranged oppositely, and a first output shaft of the speed reducer is arranged in the center of the speed reducer and the first motor; a part of the joint body is connected with the output shaft. The gravity center of the legs of the robot is concentrated on the thigh joints of the lower limbs, the motion control ability of the robot is improved, and motion and walking of the robot can be controlled more accurately.

    本发明公开了一种机器人下肢结构及机器人,机器人下肢结构包括:第一关节;第二关节,第二关节与第一关节活动连接;第三关节,第三关节与第二关节活动连接;第四关节,第四关节与第三关节活动连接;足部结构,足部结构与第四关节活动连接;其中,第三关节包括:关节本体、第一电机和减速器,关节本体的两端分别与第二关节和第四关节活动连接,第一电机和减速器分别与关节本体连接,且第一电机和减速器相对布置,减速器的第一输出轴设在减速器和第一电机的中心位置,关节本体的一部分与输出轴连接。本发明将机器人腿部重心集中在下肢大腿关节,有利于提高机器人的运动控制能力,便于更加精确地控制机器人运动和行走。


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    Titel :

    Robot lower limb structure and robot


    Weitere Titelangaben:

    机器人下肢结构及机器人


    Erscheinungsdatum :

    2023-11-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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