The invention provides a joint module and a robot leg. The joint module comprises a hip front steering engine, a knee front steering engine, a thigh structural member and a thigh connecting rod structure, wherein the hip front steering engine and the knee front steering engine are both arranged at a hip joint and are mutually fixed, output shafts of the hip front steering engine and the knee front steering engine are coaxially arranged, the thigh structural member is fixed to an output shaft of the hip front steering engine, the thigh connecting rod structure is fixed to an output shaft of the anterior knee steering engine, and the thigh connecting rod structure is used for driving the shank structural part to swing front and back. According to the joint module and the robot leg, the hip front steering engine and the knee front steering engine are arranged at the hip joint, the knee front steering engine does not need to be arranged at the knee joint, and the mass center of the joint module is increased. the output shaft of the hip front steering engine and the output shaft of the knee front steering engine are coaxially and fixedly arranged, so the structure is compact as much as possible, and the hip front steering engine and the knee front steering engine can support each other and correspondingly can bear larger bending moment.

    本发明提供了一种关节模组及机器人腿部,关节模组包括髋前舵机、膝前舵机、大腿结构件以及大腿连杆结构,髋前舵机和膝前舵机均设于髋关节处且相互固定,髋前舵机和膝前舵机的输出轴同轴设置,大腿结构件固定于髋前舵机的输出轴,大腿连杆结构固定于膝前舵机的输出轴,且大腿连杆结构用于驱动小腿结构件前后摆动。本发明提供的关节模组及机器人腿部,髋前舵机和膝前舵机均设于髋关节处,无需将膝前舵机设置于膝关节处,提高了关节模组的质心。髋前舵机和膝前舵机的输出轴同轴且相互固定设置,使得结构尽可能地紧凑,且髋前舵机和膝前舵机能够相互支撑,相应能够承受更大的弯矩。


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    Title :

    Joint module and robot leg


    Additional title:

    关节模组及机器人腿部


    Contributors:
    DING HONGYU (author) / WANG WENGUANG (author) / HUANG LIANG (author) / HU YISEN (author)

    Publication date :

    2021-10-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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