The invention belongs to the related technical field of robots, and discloses a leg structure assembly of a humanoid robot and the humanoid robot, and the leg structure assembly comprises a hip joint assembly and a leg structure assembly, the hip joint assembly comprises three driving modules, and three-degree-of-freedom rotation movement similar to human hips is achieved; the knee joint assembly comprises a knee joint structure, a knee joint driving module and a knee joint transmission assembly, the knee joint driving module is installed at the upper end of the thigh structure, and the knee joint transmission assembly drives the shank structure to bend and stretch; the ankle joint assembly comprises an ankle joint structure, an ankle joint driving module and an ankle joint transmission assembly, the ankle joint driving module is installed at the upper end of the thigh structure and located below the knee joint driving module, and the ankle joint transmission assembly drives the foot structure to achieve plantar flexion/dorsiflexion movement and extroversion/adduction movement. The driving modules are moved upwards to the upper ends of the thigh structures, and the humanoid robot has the advantages of being free of driving modules at the tail ends, concentrated in mass and small in rotational inertia, and the movement frequency of the humanoid robot can be improved.

    本发明属于机器人相关技术领域,其公开了一种人形机器人的腿部结构总成及人形机器人,腿部结构总成包括:髋关节总成包括三个驱动模组,实现类人髋的三自由度转动运动;膝关节总成包括膝关节结构、膝关节驱动模组和膝关节传动组件,膝关节驱动模组安装在大腿结构的上端,通过膝关节传动组件带动小腿结构实现屈伸运动;踝关节总成包括踝关节结构、踝关节驱动模组和踝关节传动组件,踝关节驱动模组安装在大腿结构的上端且位于膝关节驱动模组的下方,通过踝关节传动组件带动足结构实现跖屈/背屈运动以及外翻/内收运动。本发明将驱动模组上移至大腿结构上端部,具有末端无驱动模组、质量集中、转动惯量小的特点,有利于提高人形机器人运动频率。


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    Titel :

    Leg structure assembly of humanoid robot and humanoid robot


    Weitere Titelangaben:

    一种人形机器人的腿部结构总成及人形机器人


    Beteiligte:
    LUO XIN (Autor:in) / ZENG JIANWEI (Autor:in) / XIAO GUANGYAO (Autor:in)

    Erscheinungsdatum :

    25.02.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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