The invention relates to the technical field of robots, and discloses a biped robot leg structure which is provided with two leg assemblies, each leg assembly comprises a leg, each leg comprises a thigh, a thigh joint, a shank, a shank joint, a foot, a leg rotating joint used for driving the corresponding leg to rotate and a leg swinging joint used for driving the corresponding leg assembly to swing, the swing leg assembly is provided with a swing leg rotating shaft, the leg assembly is divided into an upper mass part with an upper mass point and a lower mass part with a lower mass point with the horizontal plane where the swing leg rotating shaft is located as the boundary, and the upper mass part and the lower mass part synchronously and reversely swing with the swing leg rotating shaft as the axis. At least part of the upper mass part is located on the horizontal plane where the swing leg rotating shaft is located in the swing process. The leg swinging inertia and torque of the legs of the biped robot are optimized, the torque requirement in the leg swinging process is reduced, and the legs are lifted and put lightly more easily, so that the control difficulty and energy consumption of the biped robot are reduced, and the applicability of the robot is improved.

    本申请涉及机器人技术领域,公开了一种双足机器人腿部结构,具有两个腿部组件,腿部组件包括腿部,腿部包括大腿及大腿关节、小腿及小腿关节、足部,以及用于驱动腿部转动的转腿关节、用于驱动腿部组件摆动的摆腿关节,摆腿关具有一摆腿转动轴,将腿部组件以摆腿转动轴所在水平面为界,划分为具有上质点的上质量部分和具有下质点的下质量部分,上质量部分与下质量部分以摆腿转动轴为轴同步反向摆动,摆动过程中至少部分上质量部分位于摆腿转动轴所在水平面之上。本申请优化了双足机器人腿部的摆腿惯量和力矩,降低摆腿过程中的扭矩需求,更易实现腿部的“轻抬轻放”,从而降低了双足机器人的控制难度和能耗,提升了机器人的适用性。


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    Title :

    Leg structure, biped robot, humanoid robot, and robot


    Additional title:

    腿部结构,双足机器人,人形机器人,机器人


    Contributors:
    ZHAO GUOZENG (author) / CHEN JIAN (author) / SHEN CONG (author)

    Publication date :

    2023-09-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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