The invention provides a leg mechanism and a biped robot, and relates to the technical field of robots. The leg mechanism comprises a shank skeleton, a foot movably connected to one end of the shank skeleton, a thigh skeleton movably connected to the other end of the shank skeleton, a hip assembly, a knee assembly, a leg rotating assembly and a leg swinging assembly. The swing leg assembly comprises a first joint and a swing leg connecting piece; the rotating leg assembly comprises a second joint and a rotating leg connecting piece; the hip component comprises a third joint and a hip connecting piece; the knee component comprises a fourth joint and a knee connecting piece; the leg swinging connecting piece is fixedly connected with the second joint, the leg rotating connecting piece is fixedly connected with the third joint, the hip connecting piece is relatively fixed to the fourth joint and the thigh skeleton, the knee connecting piece is in transmission connection with the shank skeleton, and the rotating axis of the hip connecting piece and the rotating axis of the knee connecting piece are collinear. The leg mechanism can reduce the weight of the tail end, so that the inertia of the leg is reduced, and the power consumption is reduced.

    本发明提供一种腿部机构及双足机器人,涉及机器人技术领域。该腿部机构包括小腿骨架、活动连接于小腿骨架一端的足部、活动连接于小腿骨架另一端的大腿骨架、髋部组件和膝部组件、转腿组件以及摆腿组件;摆腿组件包括第一关节和摆腿连接件;转腿组件包括第二关节和转腿连接件;髋部组件包括第三关节和髋连接件;膝部组件包括第四关节和膝连接件;摆腿连接件与第二关节固定连接,转腿连接件与第三关节固定连接,髋连接件分别与第四关节和大腿骨架相对固定,膝连接件与小腿骨架传动连接,髋连接件和膝连接件的转动轴线呈共线设置。该腿部机构能减少末端重量,从而减小腿部惯量、降低功耗。


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    Title :

    Leg mechanism and biped robot


    Additional title:

    腿部机构及双足机器人


    Contributors:
    WANG JIAQI (author) / XIAO JIAN (author) / LIU YIZHANG (author)

    Publication date :

    2024-10-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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