The invention discloses a leg structure of a humanoid robot and the humanoid robot with the leg structure. The leg structure of the humanoid robot comprises a joint driving module, a driving module and a driving module, the second joint fixing frame is connected with the first joint driving module; the cross shaft connecting piece is internally provided with a cavity, and the cross shaft connecting piece is rotatably arranged on the two-joint fixing frame; a frame thigh; a frame shank; a foot plate; the two-joint driving module is mounted on the two-joint fixing frame; the three-joint driving module is mounted on the cross shaft connecting piece; the four-joint driving module is mounted on the thigh of the frame and located below the three-joint driving module; and the five-joint driving module is mounted in the frame thigh. The leg structure of the humanoid robot has the advantages of being light in weight, concentrated in weight, low in tail end weight, small in rotational inertia and the like.

    本发明公开了一种人形机器人的腿部结构和具有其的人形机器人,人形机器人的腿部结构包括:一关节驱动模组;二关节固定架,二关节固定架与一关节驱动模组相连;十字轴连接件,十字轴连接件内具有空腔,十字轴连接件可转动地设在二关节固定架上;框架大腿;框架小腿;脚板;二关节驱动模组,二关节驱动模组安装在二关节固定架上;三关节驱动模组,三关节驱动模组安装在十字轴连接件上;四关节驱动模组,四关节驱动模组安装在框架大腿上且位于三关节驱动模组下方;五关节驱动模组,五关节驱动模组安装在框架大腿内。根据本发明实施例的人形机器人的腿部结构具有重量轻、重量集中、末端重量低、转动惯量小等优点。


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    Title :

    Leg structure of humanoid robot and humanoid robot with leg structure


    Additional title:

    人形机器人的腿部结构和具有其的人形机器人


    Contributors:
    CHEN JIANYU (author) / JIANG ZHEYUAN (author)

    Publication date :

    2023-01-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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