The knee joint assembly comprises a first thigh web, a knee joint motor is arranged at the upper end of the side wall of the first thigh web in the X direction, and the output end of the knee joint motor is connected with a first flange plate; a knee joint connecting rod is hinged to the eccentric part of one end of the first flange away from the knee joint motor; the lower end of the side wall of the first thigh web is rotationally connected with a shank web in the X direction. The end, away from the first flange plate, of the knee joint connecting rod is hinged to the upper end of the shank web. The hinge point of the knee joint connecting rod and the first flange plate, the rotating shaft point of the first flange plate, the hinge point of the knee joint connecting rod and the shank web and the rotating shaft point of the shank web form a contra-parallelogram structure. The motion angle range of the knee joint connecting rod can be narrowed on the basis that the requirement for large-angle-range motion of the knee joint of the humanoid robot is met.

    本发明公开了一种膝关节组件及人形机器人,其中膝关节组件包括第一大腿腹板,第一大腿腹板的侧壁上端沿X向设置有膝关节电机,膝关节电机的输出端连接有第一法兰盘;第一法兰盘背离膝关节电机的一端的偏心处铰接有膝关节连杆;第一大腿腹板的侧壁下端绕X向转动连接有小腿腹板,膝关节连杆沿Z向背离第一法兰盘的一端铰接于小腿腹板的上端;膝关节连杆与第一法兰盘的铰接点、第一法兰盘的转轴点、膝关节连杆与小腿腹板的铰接点以及小腿腹板的转轴点形成反平行四边形结构。本发明能在满足人形机器人的膝关节较大角度范围运动的需求的基础上缩小膝关节连杆的运动角度范围。


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    Title :

    Knee joint assembly and humanoid robot


    Additional title:

    一种膝关节组件及人形机器人


    Contributors:
    LENG XIAOKUN (author) / CHANG LIN (author) / WU YUCONG (author) / SHI YAPENG (author) / HE ZHICHENG (author) / HUANG HUAIXIAN (author) / CHENG XIN (author) / NONG WENYONG (author) / HU SHUJIE (author)

    Publication date :

    2025-03-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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