The invention provides a robot leg ankle structure and a humanoid robot. The robot leg ankle structure comprises a first motor, a second motor, a first telescopic rod, a second telescopic rod, a sole, a buckling movement mechanism and a side-sway movement mechanism. The first telescopic rod is mounted on the first motor; the second telescopic rod is mounted on the second motor; one end of the buckling movement mechanism is movably connected with the first telescopic rod, and the other end of the buckling movement mechanism is movably connected with the sole; one end of the side-sway movement mechanism is movably connected with the second motor and the second telescopic rod, and the other end of the side-sway movement mechanism is fixedly connected with the sole; through the direct driving mode of the first telescopic rod and the second telescopic rod, the precision of controlling the foot sole is greatly improved, and meanwhile, the motion direction adjustment of two degrees of freedom of pitching and side swaying of the foot sole can be achieved by controlling the buckling motion mechanism and the side swaying motion mechanism.
本发明提供了一种机器人腿部脚踝结构及人形机器人,包括:第一电机、第二电机、第一伸缩杆、第二伸缩杆、脚掌、屈曲运动机构和侧摆运动机构;所述第一伸缩杆安装于所述第一电机;所述第二伸缩杆安装于所述第二电机;所述屈曲运动机构一端与所述第一伸缩杆活动连接,另一端与所述脚掌活动连接;所述侧摆运动机构一端分别与所述第二电机和所述第二伸缩杆活动连接,另一端与所述脚掌固定连接;本申请通过所述第一伸缩杆和所述第二伸缩杆直接驱动的方式,极大地提高了控制所述脚掌的精确度,同时,可根据控制所述屈曲运动机构和所述侧摆运动机构实现所述脚掌的俯仰和侧摆两个自由度的运动方向调整。
Robot leg ankle structure and humanoid robot
一种机器人腿部脚踝结构及人形机器人
2023-11-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |