The invention relates to the technical field of robots, and discloses a humanoid robot lower limb system, comprising: a crotch portion comprising a rope-driven motor; the thighs are installed at the two ends of the crotch respectively and can rotate along a pitch axis and a roll axis; the shanks are installed at the lower ends of the two thighs respectively, a knee joint motor is installed on the upper portion of each thigh, and the shanks are driven to rotate relative to the thighs through the knee joint motors and the synchronous belts; the ankles are mounted at the lower ends of the two shanks respectively; the rope drive motor drives the shank opposite to the ankle to rotate through the steel wire rope. The synchronous belt has the characteristics of high transmission precision and strong anti-interference capability in a non-severe environment, the rope drive has the characteristic of high sensitivity, and all motors are intensively arranged at the uppermost end of the leg structure, so that the center of gravity is concentrated on the upper part, the inertia of leg movement is reduced, and the movement control is facilitated. Meanwhile, the principle that the left leg and the right leg are designed into blocks is adopted, so that the left leg and the right leg can rotate independently, and walking in multiple terrains is facilitated.

    本发明涉及机器人技术领域,公开了一种人形机器人下肢系统,包括:胯部,包括绳驱电机;大腿,分别安装在胯部两端,且能够沿pitch轴和roll轴转动;小腿,分别安装在两个大腿的下端,每个大腿上部安装有膝关节电机,通过膝关节电机和同步带,带动小腿相对于大腿的转动;脚踝,分别安装在两个小腿的下端;所述绳驱电机通过钢丝绳带动脚踝相对的小腿的转动。同步带具备传动精度高、非恶劣环境下抗扰能力强的特点,绳驱则具备灵敏度高的特点,并且将所有电机都集中设置在腿部结构最上端,使重心集中靠上,腿部运动的惯性降低,有利于运动的控制。同时还采取了左右两腿分块设计的原理,使左右两腿能够单独转动,有利于多地形的行走。


    Access

    Download


    Export, share and cite



    Title :

    Humanoid robot lower limb system


    Additional title:

    一种人形机器人下肢系统


    Contributors:
    DONG KANGKANG (author) / MA XIAOLONG (author)

    Publication date :

    2025-02-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Lower limb system of humanoid robot and humanoid robot

    European Patent Office | 2024

    Free access

    Humanoid lower limb biped robot

    WANG BAOYU / LI JIANWEI / ZHAO YIYANG et al. | European Patent Office | 2024

    Free access

    Humanoid robot lower limb structure and robot

    WANG CHAOGUANG / XIAO DINGBANG / WU XUEZHONG et al. | European Patent Office | 2025

    Free access

    Lower limb device and humanoid robot

    HUANG QI / ZHENG FUKANG | European Patent Office | 2025

    Free access

    Lower limb assembly and humanoid robot

    ZHENG FUKANG / DONG KAI / XIAO DANPING | European Patent Office | 2024

    Free access