The invention discloses a leg joint structure of a foot type robot. The leg joint structure comprises a motor assembly, a thigh shell, a connecting rod transmission assembly, a shank and a foot end. The motor assembly drives the shank to rotate relative to the thigh through the connecting rod transmission assembly. In the connecting rod transmission assembly, a speed reduction connecting rod is introduced between a driving crank and a thigh connecting rod, so that the transmission angle of the driving crank and a next-stage connecting rod is larger, and a motor can drive a shank to move with smaller torque; by designing equal-length speed reduction connecting rods at the two ends of the thigh connecting rod, the transmission angles of a driving crank and a next-stage connecting rod as well as a driven crank and an upper-stage connecting rod in the movement process are improved; and meanwhile, two pairs of parallel pin roller structures are mounted on a thigh shell to limit a thigh connecting rod to only do translational motion, so that the leg joint structure provided by the invention has a larger space movement range before a driving crank and a driven crank reach a dead point position compared with a leg joint without introducing a speed reducing connecting rod and pin roller limiting.
本发明公开一种足式机器人腿关节结构,包括电机组件、大腿外壳、连杆传动组件、小腿与足端。其中,电机组件通过连杆传动组件带动小腿相对大腿转动。连杆传动组件中,通过在主动曲柄和大腿连杆之间引入减速连杆,使得主动曲柄和下一级连杆的传动角更大,电机能够以更小的力矩带动小腿运动;并通过在大腿连杆两端设计等长的减速连杆,改良了主动曲柄及其下一级连杆、从动曲柄及其上一级连杆在运动过程中的传动角;同时在大腿外壳上安装有两对相互平行的滚柱结构限制大腿连杆只能做平动,从而使得主动曲柄和从动曲柄在达到死点位置之前,相较于没有引入减速连杆和滚柱限位的腿关节,本发明提供的腿关节结构具有更大的空间活动范围。
Leg joint structure of foot type robot and quadruped and hexapod robot
一种足式机器人腿关节结构与四六足机器人
2025-04-11
Patent
Electronic Resource
Chinese
European Patent Office | 2024
|European Patent Office | 2025
|Ground contact feedback foot type structure of hexapod robot
European Patent Office | 2023
|European Patent Office | 2025
|