The invention relates to a humanoid robot lower limb structure and a robot. The lower limb structure comprises a hip unit, a thigh unit, a shank unit and a foot unit. The hip unit comprises a hip seat body, a first joint structure, a thigh swing drive, a thigh rotation drive and a thigh side-sway drive; the first joint structure comprises a first movable seat and a second movable seat; the thigh swing drive is mounted on the inner side of the hip seat body, and an output rotating shaft of the thigh swing drive is connected with the first movable seat; the thigh rotation drive is fixedly connected with the second movable seat, and an output rotating shaft of the thigh rotation drive is connected with the upper end of the thigh unit; the thigh side-sway drive is fixedly connected with the first movable seat, and an output rotating shaft of the thigh side-sway drive is connected with the second movable seat; the axial direction of a rotating shaft driven by thigh swing is parallel to the first direction; the axial direction of a rotating shaft of the thigh side-sway drive is perpendicular to the first direction; the axial direction of the rotating shaft of the thigh rotation drive is perpendicular to the first direction and the axial direction of the rotating shaft of the thigh side-sway drive.
本发明涉及一种人形机器人下肢结构及机器人,其中下肢结构包括:髋部单元,大腿单元,小腿单元,脚部单元;髋部单元包括:髋部座体,第一关节结构,大腿摆动驱动,大腿旋转驱动和大腿侧摆驱动;第一关节结构包括:第一活动座,第二活动座;大腿摆动驱动安装在髋部座体的内侧,且其输出转轴与第一活动座相连接;大腿旋转驱动与第二活动座固定连接,且其输出转轴与大腿单元的上端相连接;大腿侧摆驱动与第一活动座固定连接,且其输出转轴与第二活动座相连接;大腿摆动驱动的转轴轴向与第一方向相平行;大腿侧摆驱动的转轴轴向与第一方向相垂直;大腿旋转驱动的转轴轴向分别与第一方向和大腿侧摆驱动的转轴轴向相垂直的设置。
Humanoid robot lower limb structure and robot
一种人形机器人下肢结构及机器人
2025-02-07
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Shank structure, lower limb assembly, robot, biped robot and humanoid robot
European Patent Office | 2024
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