The invention relates to the technical field of robots, and discloses a leg driving structure of a biped robot, a humanoid robot and a robot. The thigh joint module comprises a speed reducer with a second output flange; a hip supporting piece, a leg swinging supporting piece, a thigh supporting piece and a thigh; and a first bearing and a second bearing. The first output flange of the swing leg joint module drives the swing leg supporting piece to rotate and supports the swing leg supporting piece to rotate through the first bearing, and the second output flange of the thigh joint module drives the thigh to rotate and supports the thigh to rotate through the second bearing. The axial torque of the rotating shaft which at least partially deviates from the first output flange or at least partially deviates from the second output flange can be offset, the problems that due to long-term existence of the torque, gear abrasion is caused, and then abnormal heating and abnormal sound are caused when a speed reducer works are solved, the effective working life of the joint module is prolonged, and the structural strength is improved; and the maximum load capacity of the robot can be improved.

    本申请涉及机器人技术领域,公开了一种双足机器人的腿驱动结构、人形机器人、机器人,包括具有第一输出法兰的减速器;大腿关节模组,包括具有第二输出法兰的减速器;髋支撑件、摆腿支撑件、大腿支撑件、大腿;及第一轴承、第二轴承。由摆腿关节模组的第一输出法兰驱动摆腿支撑件转动,且通过第一轴承支撑摆腿支撑件转动,由大腿关节模组的第二输出法兰驱动大腿转动,且通过第二轴承支撑大腿转动。可以抵消至少部分偏离第一输出法兰或至少部分偏离第二输出法兰的转动轴轴向的力矩,解决了该力矩长期存在而导致的齿轮磨损、进而导致减速器工作时异常发热和异响的问题,延长了关节模组有效工作寿命,提升了结构强度,能提高机器人的最大负载能力。


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    Title :

    Leg driving structure of biped robot, humanoid robot and robot


    Additional title:

    双足机器人的腿驱动结构、人形机器人、机器人


    Contributors:

    Publication date :

    2024-03-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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