The invention belongs to the field of biomimetic robots, and discloses a hip structure of a biomimetic robot, which comprises a pelvic bone supporting frame, the middle of the pelvic bone supporting frame is mounted on a waist structure, motor seats are arranged on the back of the pelvic bone supporting frame and close to two ends, and the motor seats are fixedly mounted on shells of side leg lifting motors. According to the hip structure of the bionic robot, the hip structure of the bionic robot can freely move in the X-degree-of-freedom direction, the Y-degree-of-freedom direction and the Z-degree-of-freedom direction through a connecting structure in which the two sets of side leg lifting motors, the two sets of front leg lifting motors and the two sets of leg rotating motors are in linkage step by step, and therefore the hip structure of the bionic robot can freely move in the X-degree-of-freedom direction, the Y-degree-of-freedom direction and the Z-degree-of-freedom direction; therefore, the hip motion state of the bionic robot is closer to the natural motion posture of human beings; and meanwhile, the balance of the bionic robot in the walking state and the standing state is greatly improved through the rotation action of the leg rotating motors on the legs.
本发明属于仿生机器人领域,本发明公开了一种仿生机器人的臀部结构,包括盆骨支撑框架,盆骨支撑框架的中部与腰部结构安装,盆骨支撑框架的背面且靠近两端处均设置有电机座,电机座与侧抬腿电机的机壳固定安装,侧抬腿电机的输出端与侧抬腿关节的一侧固定安装,本发明通过本臀部结构通过两组侧抬腿电机、两组正抬腿电机和两组转腿电机逐级联动的连接结构,从而实现仿生机器人的臀部结构在X、Y、Z三个自由度方向的自由活动,从而使得本仿生机器人的臀部运动状态更接近人类自然的运动姿态;同时,通过转腿电机对腿部的旋转动作,从而使得本仿生机器人在行走和站立状态下平衡性都有较大幅度提升。
Hip structure of bionic robot
一种仿生机器人的臀部结构
2025-01-24
Patent
Electronic Resource
Chinese
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