The invention discloses a robot leg mechanism and a humanoid robot thereof, and particularly relates to the field of bionic robotics.The robot leg mechanism comprises a trunk assembly and full-leg assemblies, the trunk assembly and the full-leg assemblies are connected through a pelvic bone simulation frame, each full-leg assembly comprises the pelvic bone simulation frame, and the full-leg assemblies are arranged at the bottoms of the two ends of the pelvic bone simulation frame; the two full-leg assemblies are symmetrically arranged along the longitudinal center line of the pelvis simulation frame. Two quadrilateral connecting rod structures of the upper leg strong stress mechanism and the lower leg strong stress mechanism are arranged in the whole leg assembly, so that the knees and the ankles can be bent, the design of the knees and the ankles can become smoother, the torque is larger, motors at the knees are lifted to thighs, and therefore the thighs can be driven to move more stably. The motors at the ankles are lifted to the shanks, compared with a traditional mode that motors are directly connected with the framework, the problem that only small-size motors can be selected at the joints is solved, motors of larger sizes can be selected, and the problem that existing leg structures of bionic robots in the market are unstable is solved.
本发明公开了一种机器人腿部机构及其人形机器人,具体涉及仿生机器人领域,包括躯干组件和全腿组件,所述躯干组件和全腿组件通过盆骨模拟架相连,全腿组件包括盆骨模拟架,所述盆骨模拟架两端底部均设有全腿组件,两全腿组件沿盆骨模拟架纵向中心线对称设置。本发明通过在全腿组件中设置上腿部强应力机构和下腿部强应力机构两个四边形连杆结构,使得膝盖和脚踝能够弯曲,使得膝盖和脚踝处的设计能够变得更加圆滑,而且扭矩更大,膝盖处的电机被抬高到大腿处,脚踝处的电机被抬高到小腿处,相较于传统的电机直接连接骨架的方式,解决了关节处仅能选择小尺寸电机的问题,可以选更大型号的电机,解决现有市面上仿生机器人现有腿部构型不稳问题。
Robot leg mechanism and humanoid robot thereof
一种机器人腿部机构及其人形机器人
2024-09-24
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |