The invention relates to a leg structure with a joint capable of rotating at any angle, and the structure comprises a hip adapter with a first mounting part and a second mounting part, wherein the first mounting part is perpendicular to the second mounting part; a hip component which is provided with a power device and is fixedly connected with the second mounting part of the hip adapter; a leg adapter which is provided with a hip connecting disc and a thigh connecting ring, wherein the hip connecting disc is perpendicular to the thigh connecting ring, and the hip connecting disc is fixedly connected with a rotor of the power device of the hip assembly; a thigh assembly which is provided with a power device, wherein the thigh assembly is fixedly connected with the thigh connecting ring of the leg adapter; a full-angle rotating joint which is provided with a power input shaft and a power output shaft, wherein the power input shaft is perpendicular to the power output shaft, and the power input shaft is fixedly connected with a rotor of the power device of the thigh assembly; and a shank assembly which is provided with a certain length and connected with the power output shaft of the full-angle rotating joint, wherein the length direction of the shank assembly is perpendicular to the power output shaft. The invention further relates to a foot type robot. The foot type robot comprises a plurality of leg structures.

    本发明涉及一种关节任意角度旋转的腿部结构,包括具有第一和第二安装部的髋转接件,第一和第二安装部垂直;具有动力装置的髋组件,髋组件与髋转接件的第二安装部固定连接;具有髋连接盘和大腿连接环的腿转接件,髋连接盘和大腿连接环垂直,髋连接盘与髋组件的动力装置的转子固定连接;具有动力装置的大腿组件,大腿组件与腿转接件的大腿连接环固定连接;具有动力输入轴和输出轴的全角度旋转关节,动力输入轴和输出轴垂直,动力输入轴与大腿组件的动力装置的转子固定连接;具有一长度的小腿组件,小腿组件与全角度旋转关节的动力输出轴连接,并且小腿组件的长度方向与动力输出轴垂直。本发明还涉及一种足式机器人,包括多个所述腿部结构。


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    Title :

    Leg structure with joint capable of rotating at any angle and multi-legged robot


    Additional title:

    一种关节任意角度旋转的腿部结构及多足机器人


    Contributors:
    XU WENFU (author) / KANG PENG (author) / YANG GUO (author) / YUAN HAN (author)

    Publication date :

    2021-09-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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