The invention discloses a leg structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, and solves the problem that the sizes of a motor and a control unit are limited due to the fact that the motor is fixed to the upper ends of a thigh structure and a shank structure, according to the technical scheme, the leg structure mainly comprises a crotch, the thigh structure, the shank structure and a foot end piece; the thigh structure comprises a thigh support, two motors are installed on the thigh support, the shank structure comprises a shank support, a motor is installed on the shank support, a shell of each motor is in a long strip shape, the control unit comprises a plurality of circuit boards, the circuit boards are stacked in the shell in the length direction of the shell, and a first installation cavity is formed in the thigh support. The two motors on the thigh support are both fixed in the first installation cavity, the shank support is provided with a second installation cavity, the motor of the shank support is fixed in the second installation cavity, and a transmission unit of the motor is fixedly connected with the foot end piece. The motor mounting structure is mainly used for enabling the motor to have a larger mounting space.
本发明公开人形机器人的腿部结构和人形机器人,属于人形机器人领域,解决了电机固定在大腿结构和小腿结构的上端,导致电机和控制单元的尺寸受限的问题,解决该问题的技术方案主要是包括胯部、大腿结构、小腿结构和足端件,大腿结构包括大腿支架,大腿支架上安装有两个电机,小腿结构包括小腿支架,小腿支架上安装有一个电机,电机的外壳均呈长条形,控制单元包括若干电路板,电路板沿外壳的长度方向堆叠于外壳内,大腿支架上设有第一安装腔,大腿支架上的两个电机均固定在第一安装腔内,小腿支架上设有第二安装腔,小腿支架的电机固定第二安装腔内,且电机的传动单元与足端件固定连接。本发明主要用于使电机具有更大的安装空间。
Leg structure of humanoid robot and humanoid robot
人形机器人的腿部结构和人形机器人
2025-03-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |