The invention provides a leg mechanism of a robot and a quadruped robot, the leg mechanism of the robot comprises a thigh, a thigh driving motor, a shank, a shank driving motor, a foot, a hinge shaft and a transmission assembly, and the transmission assembly comprises a driving gear, a first transmission gear, a second transmission gear, a driven gear and a transmission shaft; the transmission assembly is used for transmitting torque generated by the shank driving motor to the shank. The mechanism redundancy of the legs can be effectively reduced, the movement inertia of the legs during movement is reduced, the movement of the robot is more stable, and the control precision of the robot is improved. And meanwhile, the output torque of the thigh driving motor can be reduced, so that the thigh driving motor can adopt a smaller size, or the thigh driving motor with the same size is more beneficial to leg movement of the robot.
本申请提供了一种机器人的腿部机构和四足机器人,机器人的腿部机构,包括:大腿、大腿驱动电机、小腿、小腿驱动电机、足部、铰接轴和传动组件,传动组件包括主动齿轮、第一传动齿轮、第二传动齿轮、被动齿轮和传动轴,传动组件用于将小腿驱动电机产生的扭矩传递至小腿。本申请能够有效的降低腿部的机构冗余,降低腿部运动时的运动惯量,使机器人的运动更加平稳,提高机器人的控制精度。同时,还可以降低大腿驱动电机的输出力矩,使大腿驱动电机可以采用更小的尺寸,或者,相同尺寸的大腿驱动电机更有利于机器人的腿部运动。
Leg mechanism of robot and quadruped robot
机器人的腿部机构和四足机器人
2021-04-09
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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