The invention discloses a lower limb structure and a robot, and belongs to the field of robots. The lower limb structure comprises a pelvis part, a hip joint part, a thigh part, a shank part, a foot part and a driving device. The hip joint part comprises a first swing assembly and a second swing assembly, the first swing assembly is rotationally connected with the pelvis part around a first axis, the second swing assembly is rotationally connected with the first swing assembly around a second axis, and the second axis is perpendicular to the first axis; the thigh part is fixedly connected with the second swing assembly; the shank part is rotationally connected with the thigh part; the feet are rotationally connected with the shank parts; the first driving part is hinged to the pelvis part and the thigh part, the second driving part is hinged to the first swing assembly and the thigh part, the third driving part is hinged to the second swing assembly and the shank part, and the fourth driving part is hinged to the shank part and the foot part. The lower limb structure provided by the invention has multiple joints and multiple degrees of freedom, and can flexibly move in complex terrains and application occasions of going up and down stairs.

    本申请公开了一种下肢结构及机器人,属于机器人领域。下肢结构包括骨盆部、髋关节部、大腿部、小腿部、脚部和驱动装置。髋关节部包括第一摆动组件和第二摆动组件,第一摆动组件绕第一轴线与骨盆部转动连接,第二摆动组件绕第二轴线与第一摆动组件转动连接,第二轴线垂直于第一轴线;大腿部与第二摆动组件固定连接;小腿部与大腿部转动连接;脚部与小腿部转动连接;第一驱动件分别与骨盆部和大腿部铰接,第二驱动件分别与第一摆动组件和大腿部铰接,第三驱动件分别与第二摆动组件和小腿部铰接,第四驱动件分别与小腿部和脚部铰接。本申请提供的下肢结构,具有多关节与多自由度,可灵活运动于复杂地形与上下阶梯的应用场合。


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    Title :

    Lower limb structure and robot


    Additional title:

    一种下肢结构及机器人


    Contributors:
    SUO WENHAO (author) / LIU LEFENG (author) / QIAN GUANGYUE (author) / FANG XIONGYUAN (author) / LIANG ZHONGHAO (author)

    Publication date :

    2023-12-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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