The invention provides a foot type robot which comprises a robot body, a leg assembly and a side swing driving device, the leg assembly comprises a leg structure and a rotation driving assembly arranged at one end of the leg structure, and the rotation driving assembly comprises a shank driving device, a first flange, a first bearing, a second flange, a third flange and a front-back swing driving device which are sequentially arranged. The first bearing sleeves the first flange, the second flange sleeves the first bearing, the first flange is fixedly connected with the output end of the front-back swing driving device, and the front-back swing driving device is used for driving the first flange to rotate front and back relative to the second flange; the side-sway driving device is fixed to the machine body, the third flange is fixedly connected with the output end of the side-sway driving device, the third flange is rotatably connected with the machine body, and the side-sway driving device is used for driving the third flange to do side-sway rotation motion relative to the machine body.
本发明提供一种足式机器人,包括机身、腿部组件和侧摆驱动装置,腿部组件包括腿部结构和设置于腿部结构一端的旋转驱动组件,旋转驱动组件包括依次设置的小腿驱动装置、第一法兰、第一轴承、第二法兰、第三法兰和前后摆驱动装置,第一轴承套设于第一法兰上,第二法兰套设于第一轴承上,第一法兰与前后摆驱动装置的输出端固定连接,前后摆驱动装置用于驱动第一法兰相对于第二法兰做前后旋转运动;侧摆驱动装置固定在机身上,第三法兰与侧摆驱动装置的输出端固定连接,且第三法兰与机身可转动地连接,侧摆驱动装置用于驱动第三法兰相对于机身做侧摆旋转运动。
Foot type robot
足式机器人
2023-05-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Foot type robot grounding sensing mechanism and foot type robot
European Patent Office | 2021
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