The embodiment of the invention provides a robot lower limb driving mechanism and a robot. The robot lower limb structure comprises a leg actuator, a leg assembly, a first connecting rod assembly and a second connecting rod assembly. The leg actuator comprises four power output ends rotating around the same axis, a first follower and a second follower, wherein the first follower and the second follower are located among the four power output ends and rotate around the axis, and the leg assembly comprises a thigh structural part and a shank structural part. Under driving of the leg actuator, the second connecting rod assembly can drive the shank structural part of the leg assembly to bend relative to the thigh structural part, and the first connecting rod assembly and the second connecting rod assembly can drive the leg assembly to swing relative to the leg actuator or rotate around the axis. Therefore, in the embodiment of the invention, through the synergistic effect of the four power output ends, the leg assembly can execute dynamic changes such as rotation, swing or torsion.
本申请实施例提供一种机器人下肢驱动机构及机器人。机器人下肢结构包括腿部执行器、腿部组件、第一连杆组件和第二连杆组件。腿部执行器包括四个绕同一轴线转动的动力输出端以及位于四个动力输出端之间的绕轴线转动设置的第一随动件与第二随动件,而腿部组件包括大腿结构件和小腿结构件。在腿部执行器的驱动下,第二连杆组件可带动腿部组件的小腿结构件相对大腿结构件弯曲,且第一连杆组件和第二连杆组件可带动腿部组件相对腿部执行器摆动或绕轴心转动。因此,在本申请实施例中,通过四个动力输出端协同作用,可实现腿部组件执行转动、摆动或扭转等动态变化。
Robot lower limb driving mechanism and robot
机器人下肢驱动机构及机器人
2023-06-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |