The invention relates to the technical field of robots, and discloses a leg structure of a robot, the robot and a humanoid robot. The second leg structure connected with the output end is provided with a sleeve shaft section, the second leg structure is arranged on the outer side of the joint module in a sleeving mode through the sleeve shaft section, the first bearing and the second bearing are arranged between the sleeve shaft section and the outer wall of the side, close to the output end, of the joint module, and the joint module is directly supported through the two bearings. A shaft piece of a joint module speed reducer does not need to be used for supporting any more, and abrasion and even damage caused by bias pressure of a main shaft in the joint module are avoided.

    本申请涉及机器人技术领域,公开了一种机器人的腿结构、机器人及人形机器人。其中,与输出端连接的第二腿结构设置有套轴段,以套轴段套装在关节模组的外侧,并将第一轴承以及第二轴承设置在套轴段和关节模组临近输出端一侧的外壁之间,以两个轴承直接对关节模组进行支撑,如此,可以不需要再以关节模组减速器的轴件进行支撑,避免了关节模组内主轴偏压造成的磨损,甚至损坏的情况。


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    Title :

    Leg structure of robot, robot and humanoid robot


    Additional title:

    机器人的腿结构、机器人及人形机器人


    Contributors:
    ZHAO GUOZENG (author) / LIU XIANGCHEN (author) / SHU BIN (author) / LIN XIN (author) / TANG ZHUANCHENG (author)

    Publication date :

    2025-03-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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