The invention relates to the technical field of humanoid robots, discloses a humanoid robot and solves the problem that the leg distance is too large due to existing coaxial joint layout. In a standing posture, an output flange of the hip pitching joint is obliquely arranged downwards and is fixedly connected with a shell of the leg rolling joint through a rigid connecting piece; the rotating axis of the leg rolling joint is parallel to the advancing direction of the robot; the hip pitching joints and the leg rolling joints are arranged in a staggered manner on a vertical projection plane; on a horizontal projection plane, the projection area of the hip pitching joint at least partially covers the projection area of the leg rolling joint. The positions of the two leg rolling joints are changed, the two leg rolling joints are shifted towards the inner side and the lower side of the body, and the positions, located on the rotating axes of the hip pitching joints, of the rotating shafts of the original leg rolling joints are moved out and moved to the area between the rotating axes of the two hip pitching joints, so that the distance between the two thighs is reduced.
本申请涉及人形机器人技术领域,公开了一种人形机器人,解决现有共轴关节布局导致的腿距过大问题。在站立姿态时,髋俯仰关节的输出法兰倾斜向下设置,且通过刚性连接件与腿滚转关节的壳体固定连接;腿滚转关节的转动轴线平行于机器人的前进方向;髋俯仰关节和腿滚转关节在竖直投影面上呈错位布置;在水平投影面上,髋俯仰关节的投影区域至少部分覆盖腿滚转关节的投影区域。改变两个腿滚转关节的位置,将其向身体内侧和下侧位置偏移,从原来腿滚转关节的转动轴位于髋俯仰关节的转动轴线上的位置移出,移至两个髋俯仰关节的转动轴线之间的区域,从而缩小两个大腿之间间距。
Humanoid robot
人形机器人
13.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
British Library Online Contents | 1997
|