The invention provides a humanoid robot leg mechanism and a robot, and relates to the field of humanoid robots, the humanoid robot leg mechanism comprises a shank skeleton, a thigh skeleton and a foot, and is equipped with a first power mechanism and a second power mechanism. The first power mechanism is located in the thigh skeleton, drives the shank skeleton to rotate around the knee joint rotating shaft through a first motor and comprises a first driving wheel, a first driven wheel and a first transmission rope. The two second power mechanisms are arranged on the left side and the right side of the thigh skeleton respectively, drive the feet to move around the naked joint assembly and comprise second motors, second driving wheels, second driven wheels, second transmission ropes and connecting rods, and the connecting rods are connected with the second driving wheels and the feet. The power mechanism is concentrated on the thigh skeleton, so that the inertia of the legs is effectively reduced, and the movement flexibility of the robot is improved. Meanwhile, the space occupied by the leg structure is reduced through the integrated power transmission system, the bloated appearance is avoided, and the attractiveness is improved.
本发明提出了一种人形机器人腿部机构及机器人,涉及人形机器人领域,包括小腿骨架、大腿骨架和足部,配有第一和第二动力机构。第一动力机构位于大腿骨架内部,通过第一电机驱动小腿骨架绕膝关节转轴转动,包含第一主动轮、第一从动轮、第一传动绳。第二动力机构有两组,分别设置在大腿骨架左右两侧,驱动足部绕裸关节组件运动,包含第二电机、第二主动轮、第二从动轮、第二传动绳和连杆,连杆连接第二主动轮与足部。通过将动力机构集中于大腿骨架,本发明有效降低腿部惯量,提高机器人运动灵活性。同时,集成的动力传动系统减少腿部结构占用空间,避免臃肿外观,提升美观性。
Humanoid robot leg mechanism and robot
一种人形机器人腿部机构及机器人
23.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |