The invention discloses a robot dog leg structure based on a joint module. The robot dog leg structure comprises a shoulder joint module, a frame, a knee joint module, a hip joint module, a thigh structure, a shank structure and a transmission shaft. The knee joint module and the hip joint module are arranged on the frame side by side, the output end of the knee joint module and the input end of the hip joint module are matched to be located on the same side, and the hip joint module and the knee joint module are both gear motors, so that the gear motors replace an existing motor acceleration and deceleration machine direct connection driving mode; the overall structure is simpler and is more compact in cooperation with the side-by-side arrangement mode, meanwhile, the transverse distance between the knee joint module and the hip joint module is closer, the space compactness is guaranteed, and meanwhile the transmission process is more stable due to the fact that the load ends of the knee joint module and the hip joint module are arranged in a separated mode.
本发明公开了一种基于关节模组的机器狗腿部结构,包括有肩关节模组、框架、膝关节模组、髋关节模组、大腿结构、小腿结构以及传动轴;通过膝关节模组和髋关节模组并排设置在框架上,并配合膝关节模组的输出端与髋关节模组的输入端位于同一侧,所述髋关节模组与膝关节模组均为减速电机,使之通过减速电机代替现有的电机加减速机直连的驱动方式,整体结构更加简单,配合并排的设置方式,使得整体结构更加紧凑,同时,使得膝关节模组和髋关节模组之间的横向距离更近,保证了空间紧凑感,同时膝关节模组和髋关节模组负载端分开的设置能使得传动过程也更加平稳。
Robot dog leg structure based on joint module
基于关节模组的机器狗腿部结构
2025-02-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |