The invention provides a robot hip structure and a biped walking robot. The robot hip structure comprises a hip joint base and two hip joint mechanisms. The hip joint mechanisms in the two hip joint mechanisms are symmetrically mounted on the two sides of the hip joint base; the hip joint mechanism comprises a first motor, a first telescopic rod, a second motor, a second telescopic rod, a connecting assembly, a hip joint tooth piece assembly, a differential tooth piece assembly, a hip joint connecting rod, a thigh supporting column, a hinge part and a four-connecting-rod assembly. The first telescopic rod is controlled by the first motor to do linear motion, and front-back swing of the thigh supporting column can be achieved; a second telescopic rod is controlled by a second motor to do linear motion, so that a hip joint connecting rod rotates under the action of the second motor, the hip joint connecting rod rotates to drive a differential tooth piece assembly to rotate, the degree-of-freedom motion of the hip in two directions can be achieved, and meanwhile the hip structure can adapt to various complex terrains.
本发明提供了一种机器人髋部结构及双足行走机器人,包括:髋关节基座和两个髋关节机构;两个髋关节机构中的各髋关节机构对称安装于髋关节基座的两侧;髋关节机构包括:第一电机、第一伸缩杆、第二电机、第二伸缩杆、连接组件、髋关节齿片组件、差速齿片组件、髋关节连杆、大腿支撑柱、铰接部和四连杆组件;本申请通过第一电机控制第一伸缩杆做直线运动,可以实现大腿支撑柱的前后摆动;通过第二电机控制第二伸缩杆做直线运动,使得髋关节连杆在第二电机的作用下发生转动,髋关节连杆转动后带动差速齿片组件转动,可以实现髋部的两个方向的自由度运动,同时髋部结构可适应多种复杂地形。
Robot hip structure and biped walking robot
一种机器人髋部结构及双足行走机器人
2023-11-10
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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