The invention relates to the technical field of robots, and discloses a leg structure of a foot type robot, a wheel-foot robot, a reverse motion joint leg structure robot and a quadruped robot, and the leg structure comprises a swing leg joint module, a thigh joint module and a shank joint module; the first connecting piece is provided with a first connecting part and a second connecting part; the output flange of the leg swinging joint module is fixedly connected with the first connecting part, the front fixing disc of the thigh joint module is fixedly connected with the second connecting part, the output flange of the thigh joint module is fixedly connected with the second connecting piece, the second connecting piece is fixedly connected with the third connecting piece, and the third connecting piece is fixedly connected with the back fixing disc of the shank joint module. According to the leg structure joint module, the first connecting piece, the second connecting piece and the third connecting piece which are convenient to disassemble and assemble are used as assembling transition parts to achieve assembling of all the joint modules, and the disassembling and assembling convenience of the leg structure joint module is improved.

    本申请涉及机器人技术领域,公开了一种足式机器人的腿结构、轮足机器人、反运动关节腿结构机器人及四足机器人,包括:摆腿关节模组、大腿关节模组、小腿关节模组;及第一连接件、第二连接件和第三连接件,第一连接件具有第一连接部与第二连接部;摆腿关节模组的输出法兰与第一连接部固定连接,大腿关节模组的正固定盘与第二连接部固定连接,大腿关节模组的输出法兰与第二连接件固定连接,第二连接件与第三连接件固定连接,第三连接件与小腿关节模组的背固定盘固定连接。本申请利用拆装便利的第一连接件、第二连接件和第三连接件作为装配过渡部件来实现各关节模组的装配,提高了腿结构关节模组的拆装便利性。


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    Title :

    Leg structure of foot robot, wheel-foot robot, reverse motion joint leg structure robot and quadruped robot


    Additional title:

    足式机器人的腿结构、轮足机器人、反运动关节腿结构机器人及四足机器人


    Contributors:
    CHEN JIAN (author)

    Publication date :

    2024-10-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge





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