The invention belongs to the technical field of intelligent robots, and particularly relates to a leg structure and a biped robot. Wherein the leg structure comprises a thigh limb; the shank part is rotationally mounted on the thigh limb, and a first connecting end is arranged at the end, facing the thigh limb, of the shank part; the knee driving mechanism is fixedly mounted at one end, far away from the shank part, of the thigh limb; an output rotating shaft of the knee driving mechanism is in driving connection with the first end of the first knee connecting rod, and the second end of the first knee connecting rod is rotationally connected with the first connecting end. According to the technical scheme, the problem that the size of the knee part of any single leg of the biped robot is large due to the fact that a rotating motor, connected with the thigh limb and the shank part, of any single leg of the biped robot is directly assembled to the knee part is solved.
本申请属于智能机器人技术领域,尤其涉及一种腿部结构及双足机器人。其中,腿部结构包括:大腿肢干;小腿部,小腿部转动安装于大腿肢干,小腿部朝向大腿肢干的端部设有第一连接端;膝部驱动机构,膝部驱动机构固定安装于大腿肢干远离小腿部的一端;第一膝部连杆,膝部驱动机构的输出转轴和第一膝部连杆的第一端驱动连接,第一膝部连杆的第二端和第一连接端转动连接。应用本申请的技术方案解决了目前的双足机器人的任一单腿中连接大腿肢干和小腿部的旋转电机直接装配在膝盖部位,导致双足机器人的任一单腿的膝盖部位的体积较大的问题。
Leg structure and biped robot
腿部结构及双足机器人
2023-04-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |