The invention provides a robot leg mechanism and a robot, the leg mechanism comprises a hip steering engine, a first connecting piece, a thigh structural member, a shank structural member, a hip front steering engine, a knee front steering engine and a first connecting rod structure, the hip steering engine is used for driving the thigh structural member to rotate, the hip front steering engine is used for driving the thigh structural member to swing back and forth, and the knee front steering engine is used for driving the shank structural member to swing back and forth; the knee front steering engine is used for driving the shank structural part to swing back and forth relative to the thigh structural part, the motion output end of the hip steering engine is fixedly connected with the first connecting part, the hip front steering engine and the knee front steering engine are both arranged on the thigh structural part, and the motion output end of the hip front steering engine is fixedly connected with the first connecting part; the motion output end of the anterior knee steering engine is in transmission connection with the shank structural part through a first connecting rod structure. According to the robot leg mechanism and the robot, the knee front steering engine is arranged on the thigh structural part, the gravity center of the leg structure is increased, the torque requirement for the steering engine is reduced, and the response speed of the robot is increased.

    本发明提供了一种机器人腿部机构及机器人,腿部机构包括髋转舵机、第一连接件、大腿结构件、小腿结构件、髋前舵机、膝前舵机以及第一连杆结构,髋转舵机用于驱动大腿结构件旋转,髋前舵机用于驱动大腿结构件前后摆动,膝前舵机用于驱动小腿结构件相对大腿结构件前后摆动,髋转舵机的运动输出端与第一连接件固定连接,髋前舵机和膝前舵机均设置于大腿结构件上,髋前舵机的运动输出端与第一连接件固定连接,膝前舵机的运动输出端通过第一连杆结构与小腿结构件传动连接。本发明提供的机器人腿部机构及机器人,膝前舵机设置在大腿结构件上,提高了腿部结构的重心,减小了对舵机的力矩需求,提高了机器人的响应速度。


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    Title :

    Robot leg mechanism and robot


    Additional title:

    机器人腿部机构及机器人


    Contributors:
    FAN WENHUA (author) / XU QIDONG (author)

    Publication date :

    2024-11-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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