The lower limb assembly comprises a sole part, a shank part, a driving mechanism and a first limiting part, and the shank part is rotationally connected with the sole part; the driving mechanism comprises a first driving part and a first crank, the first driving part is arranged on the shank part and connected with the first end of the first crank, the second end of the first crank is connected with the sole part, and the first crank comprises a first arc surface; the first limiting piece comprises a first limiting part and a second limiting part which are connected, the first limiting part is used for limiting the rotation range of the first crank, the surface, facing the first crank, of the second limiting part is a second arc surface, and the axis of the second arc surface, the axis of the first arc surface and the first axis are coaxial; the distance between the first arc surface and the second arc surface is smaller than a preset value. According to the application, the first limiting part is arranged on the shank part, and the first limiting part can prevent other parts near the shank part from being interfered by limiting the rotation range of the first crank and limit the shaking of the first crank.
一种下肢组件及人形机器人,包括脚掌件、小腿件、驱动机构及第一限位件,小腿件与脚掌件转动连接;驱动机构包括第一驱动件和第一曲柄,第一驱动件设置于小腿件,第一驱动件与第一曲柄的第一端连接,第一曲柄的第二端与脚掌件连接,第一曲柄包括第一圆弧面;第一限位件包括相连的第一限位部和第二限位部,第一限位部用于限制第一曲柄的转动范围,第二限位部朝向第一曲柄的表面为第二圆弧面,第二圆弧面的轴线、第一圆弧面的轴线及第一轴线同轴,第一圆弧面与第二圆弧面的间距小于预设值。本申请中,在小腿件上设置第一限位件,第一限位件能够通过限制第一曲柄的转动范围,避免对小腿件附近的其他零部件产生干涉,且限制第一曲柄的晃动。
Lower limb assembly and humanoid robot
下肢组件及人形机器人
23.08.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Shank structure, lower limb assembly, robot, biped robot and humanoid robot
Europäisches Patentamt | 2024
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