The lower limb device is used for the humanoid robot and comprises a hip joint assembly, a thigh assembly, a first matching ring and a second matching ring, the hip joint assembly comprises a pitching driving part, a transverse rolling driving part, a yaw driving part and a first matching part, the pitching driving part is rotationally connected with the transverse rolling driving part, the transverse rolling driving part is rotationally connected with the yaw driving part, and the first matching part is rotationally connected with the thigh assembly. The first matching part is connected with the yaw driving part, the thigh assembly comprises a second matching part, one of the second matching part and the first matching part is provided with a protrusion, the other one of the second matching part and the first matching part is provided with a groove, and the protrusion is matched with the groove so that the second matching part and the first matching part can be relatively fixed in the circumferential direction of the yaw driving part. The first matching ring and the second matching ring are arranged on the periphery of the second matching piece and the periphery of the first matching piece in a sleeving mode correspondingly, the first matching ring and the second matching ring are detachably connected, so that the second matching piece and the first matching piece are fixedly connected in the axial direction of the yaw driving piece, and the convenience degree of disassembly and assembly of the hip joint assembly and the thigh assembly is improved.

    一种下肢装置和人形机器人,用于人形机器人,包括髋关节组件、大腿组件、第一配合环和第二配合环,髋关节组件包括俯仰驱动件、横滚驱动件、偏航驱动件和第一配合件,俯仰驱动件与横滚驱动件转动连接,横滚驱动件与偏航驱动件转动连接,第一配合件与偏航驱动件连接,大腿组件包括第二配合件,第二配合件和第一配合件的一者设有凸起,另一者设有凹槽,且凸起与凹槽配合,以使第二配合件与第一配合件在偏航驱动件的周向上相对固定,第一配合环和第二配合环分别套设于第二配合件和第一配合件的外周,第一配合环和第二配合环可拆卸连接,以将第二配合件和第一配合件在偏航驱动件的轴向上连接固定,提升了髋关节组件和大腿组件的拆装的便捷程度。


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    Title :

    Lower limb device and humanoid robot


    Additional title:

    下肢装置和人形机器人


    Contributors:
    HUANG QI (author) / ZHENG FUKANG (author)

    Publication date :

    2025-02-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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