The invention discloses a leg mechanism of a leg-foot type robot and the leg-foot type robot. The leg mechanism comprises thighs and shanks which are hinged with each other; a motor shell and a planetary speed reducing mechanism are mounted at the upper ends of the thighs; a motor stator and a motor rotor which is coaxially arranged with the motor stator are installed on the inner side of the motor shell, the motor rotor is fixedly connected with a sun wheel shaft of the planetary speed reducing mechanism, and a planetary wheel output frame of the planetary speed reducing mechanism is connected with the shank through a pull rod. The leg mechanism of the leg-foot robot is simple in structure, convenient to disassemble and assemble and low in cost.
本发明公开了一种腿足式机器人的腿机构及腿足式机器人,该腿机构包括相互铰接的大腿和小腿,所述大腿的上端安装有电机外壳和行星减速机构,所述电机外壳内侧安装有电机定子和与所述电机定子同轴心安装的电机转子,所述电机转子与所述行星减速机构的太阳轮轴固联,所述行星减速机构的行星轮输出架与所述小腿通过拉杆相连。本发明的一种腿足式机器人的腿机构,结构简单,拆装方便,成本低廉。
Leg mechanism of leg-foot type robot and leg-foot type robot
一种腿足式机器人的腿机构及腿足式机器人
2020-06-05
Patent
Electronic Resource
Chinese
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