The invention discloses a lower limb system of a humanoid robot and the humanoid robot. The lower limb system of the humanoid robot comprises a hip mechanism, a left thigh mechanism, a right thigh mechanism, a left shank mechanism and a right shank mechanism, wherein the hip mechanism can be used for supporting the upper trunk of the humanoid robot; the left thigh mechanism comprises a thigh main body, an upper connecting frame, a lower connecting frame, a first linear actuator, a second linear actuator, a first double-crank mechanism and a second double-crank mechanism; the upper end of the thigh body is rotationally connected with the hip mechanism through an upper connecting frame, the lower end of the thigh body is rotationally connected with the left shank mechanism through a lower connecting frame, and the first linear actuator and the second linear actuator can extend or retract in the length direction of the thigh body, so that the left thigh mechanism can rotate relative to the hip mechanism and the left shank mechanism; the structure of the right thigh mechanism is the same as that of the left thigh mechanism. According to the lower limb system, the load capacity of the humanoid robot can be improved.
本申请公开了一种人形机器人的下肢系统和人形机器人。人形机器人的下肢系统包括:髋部机构、左大腿机构、右大腿机构、左小腿机构和右小腿机构,髋部机构能够用于支撑人形机器人的上身躯干;左大腿机构包括大腿主体、上连接架、下连接架、第一直线执行器、第二直线执行器、第一双曲柄机构和第二双曲柄机构;大腿主体的上端通过上连接架与髋部机构转动连接,下端通过下连接架与左小腿机构转动连接,第一直线执行器和第二直线执行器能够分别沿大腿主体的长度方向伸长或缩短,使左大腿机构能够分别相对于髋部机构和左小腿机构转动;右大腿机构的结构与左大腿机构的结构相同。本申请提供的下肢系统能够提高人形机器人的负载能力。
Lower limb system of humanoid robot and humanoid robot
人形机器人的下肢系统和人形机器人
2024-11-22
Patent
Electronic Resource
Chinese