The invention provides a leg mechanism and a multi-legged robot. The leg mechanism comprises a joint assembly, a thigh structural part, a shank transmission assembly and a shank structural part; the joint assembly comprises a side-sway steering engine, a shank steering engine, a thigh steering engine and a steering engine frame, the shank steering engine and the thigh steering engine are both driven by the side-sway steering engine to conduct side-sway, and at least the thigh steering engine is fixed in the steering engine frame; the thigh structural part is driven by the thigh steering engine; the shank transmission assembly is driven by the shank steering engine; the shank structural part is rotatably connected to the thigh structural part and driven by the shank steering engine throughthe shank transmission assembly; and the thigh structural part, the shank transmission assembly and the shank structural part are arranged on the same side of the steering engine frame. According to the leg mechanism and the multi-legged robot provided by the invention, the thigh structural part, the shank transmission assembly and the shank structural part are modularized and can be convenientlyseparated from the steering engine frame, so that the joint assembly and the modularized thigh structural part, shank transmission assembly and shank structural part are convenient to replace.

    本发明提供了一种腿部机构及多足机器人,腿部机构包括:关节组件,关节组件包括侧摆舵机、均由侧摆舵机驱动侧摆的小腿舵机和大腿舵机以及舵机框架,至少大腿舵机固定于舵机框架内;大腿结构件,由大腿舵机驱动;小腿传动组件,由小腿舵机驱动;以及小腿结构件,转动连接于大腿结构件且由小腿舵机通过小腿传动组件驱动;大腿结构件、小腿传动组件和小腿结构件设于舵机框架的同一侧。本发明提供的腿部机构及多足机器人,大腿结构件、小腿传动组件和小腿结构件模块化,能够很方便的与舵机框架分离,从而便于更换关节组件以及模块化的大腿结构件、小腿传动组件和小腿结构件。


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    Title :

    Leg mechanism and multi-legged robot


    Additional title:

    腿部机构及多足机器人


    Contributors:
    LI HAILEI (author) / XU ZHE (author) / ZHAO MINGGUO (author) / ZHANG WEINING (author) / HEI GUANGJUN (author) / DONG HAO (author) / YANG GUOPING (author)

    Publication date :

    2020-12-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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