The invention provides a joint unit module and a leg robot, the joint unit module comprises a hip steering engine, a hip side steering engine, a hip front steering engine, a knee front steering engine, a thigh connecting rod structure, a thigh structural member, a first fixing frame and a second fixing frame, the hip steering engine, the hip side steering engine, the hip front steering engine and the knee front steering engine are all arranged at a hip joint; one end of the thigh connecting rod structure is fixed to an output shaft of the anterior knee steering engine, an output shaft of the hip steering engine is fixedly connected with the first fixing frame, a shell of the hip steering engine is fixed to the first fixing frame, an output shaft of the hip steering engine is fixedly connected with the second fixing frame, and the anterior hip steering engine and the anterior knee steering engine are both fixedly arranged on the second fixing frame. According to the joint unit module and the leg robot, on one hand, the structure of the joint steering engine is more concentrated, the structure is more compact, and the needed installation space is smaller, and on the other hand, the knee front steering engine is arranged to be high, the mass center of the leg robot can be increased, and the torque needed by the steering engine is reduced.
本发明提供了一种关节单元模组及腿部机器人,关节模组包括髋转舵机、髋侧舵机、髋前舵机、膝前舵机、大腿连杆结构、大腿结构件、第一固定架和第二固定架,髋转舵机、髋侧舵机、髋前舵机和膝前舵机均设于髋关节处,大腿连杆结构的一端固定于膝前舵机的输出轴,髋转舵机的输出轴与第一固定架固定连接,髋侧舵机的外壳固定在第一固定架上,且髋侧舵机的输出轴与第二固定架固定连接,髋前舵机和膝前舵机均固定设置于第二固定架。本发明提供的关节单元模组及腿部机器人,一是使得关节舵机结构更加集中,结构更加紧凑,所需的安装空间更小,二是使得膝前舵机设置的高度较高,能够提高腿部机器人的质心,减小舵机所需的力矩。
Joint unit module and leg robot
关节单元模组及腿部机器人
2021-10-01
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Joint unit, joint module of robot and foot robot with the same
European Patent Office | 2020
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