The invention relates to the technical field of robots, in particular to a robot leg structure and a foot type robot. The robot leg structure comprises a thigh component, a shank component, a transmission mechanism and a tensioning mechanism. The shank component and the thigh component are hinged through a joint rotating shaft. The transmission mechanism comprises a driving wheel arranged on the thigh component and a driving wire wound on the driving wheel, so that the leg structure has an overload protection function; the tensioning mechanism comprises a first one-way locking assembly and a second one-way locking assembly which are arranged on the shank component and located on the two sides of the joint rotating shaft respectively, and the first one-way locking assembly is fixedly connected with one end of the driving wire and can only rotate in the first direction relative to the shank component so as to tension one end of the driving wire; the second one-way locking assembly is fixedly connected with the other end of the driving wire and can only rotate in the second direction relative to the shank component so as to tension the other end of the driving wire, the first direction and the second direction are opposite, and the pre-tightening force of the driving wire can be conveniently and rapidly adjusted.
本发明涉及机器人技术领域,尤其涉及一种机器人腿部结构及足式机器人。所述机器人腿部结构包括大腿构件、小腿构件、传动机构和张紧机构,小腿构件和大腿构件通过关节转轴铰接;传动机构包括设置在大腿构件上的驱动轮和绕设在驱动轮上的驱动线,使腿部结构具有过载保护功能;张紧机构包括设置于小腿构件上且分别位于关节转轴两侧的第一单向锁紧组件和第二单向锁紧组件,第一单向锁紧组件与驱动线的一端固定连接,且仅能相对小腿构件沿第一方向转动,以张紧驱动线的一端;第二单向锁紧组件与驱动线的另一端固定连接,且仅能相对小腿构件沿第二方向转动,以张紧驱动线的另一端,第一方向和第二方向互为反方向,能够便于快速调节驱动线的预紧力。
Robot leg structure and foot type robot
一种机器人腿部结构及足式机器人
2022-12-20
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Foot type robot grounding sensing mechanism and foot type robot
European Patent Office | 2021
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