The invention provides a robot knee joint structure which is applied to a robot leg structure, the robot leg structure comprises a foot sole and a thigh supporting column, and the robot knee joint structure comprises a connecting rod driving mechanism and a tooth moving mechanism; one end of the connecting rod driving mechanism is fixedly connected with the thigh supporting column, and the other end is hinged with the gear mechanism; one end of the thigh supporting column is fixedly connected with the connecting rod driving mechanism, and the other end is hinged with the gear moving mechanism; one end of the tooth-moving mechanism away from the thigh supporting column is connected with the sole; the connecting rod driving mechanism is started, the connecting rod driving mechanism controls the tooth moving mechanism to rotate around the thigh supporting column, the tooth moving mechanism can control the bending angle of the knee joint structure, and the foot sole rotates synchronously along with the tooth moving mechanism. The knee joint is bent through the tooth moving mechanism, the needed driving force is provided for the tooth moving mechanism through the connecting rod driving mechanism, and the defects that the robot knee joint structure is poor in bending capacity, and a driving source is insufficient in leg control force are overcome.

    本发明提供了一种机器人膝关节结构,应用于机器人腿部结构,机器人腿部结构包括:脚掌和大腿支撑柱,机器人膝关节结构包括:连杆驱动机构和齿动机构;连杆驱动机构的一端与大腿支撑柱固定连接,另一端与齿动机构铰接;大腿支撑柱的一端与连杆驱动机构固定连接,另一端与齿动机构铰接;齿动机构远离大腿支撑柱的一端与脚掌连接;启动连杆驱动机构,连杆驱动机构控制齿动机构绕大腿支撑柱做旋转运动,齿动机构能够控制膝关节结构的弯曲角度,脚掌跟随齿动机构做同步旋转运动。本申请中膝关节由齿动机构实现弯曲,通过连杆驱动机构为齿动机构提供所需驱动力,克服了机器人膝关节结构弯曲能力较差,驱动源对腿部控制力不足的缺陷。


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    Title :

    Robot knee joint structure and humanoid robot


    Additional title:

    一种机器人膝关节结构及人形机器人


    Contributors:
    CHEN XI (author) / YANG CHAOZHONG (author)

    Publication date :

    2023-11-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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