The invention discloses a shank structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, and solves the problems that a shank motor is mounted at the upper end of a shank, so that the attractiveness is affected, and the simulation performance is reduced, according to the technical scheme, the shank structure mainly comprises a shank support and a motor fixed to the shank support, the motor comprises a shell, a driving unit, a control unit and a transmission unit, the shank support is provided with an installation cavity formed in the length direction of the shank support, the shell of the motor is in a long strip shape and is fixed in the installation cavity, the driving unit comprises an output shaft, the transmission unit comprises a rotating shaft, and the rotating shaft is in transmission connection with the output shaft and is used for outputting torque. The rotating axis of the output shaft is perpendicular to the rotating axis of the transmission shaft, the rotating shaft is fixedly connected with the foot end piece, and the driving motor is driven by the rotating shaft to achieve relative rotation of the shank support and the foot end piece. The motor fixing device is mainly used for fixing the motor in the shank support, so that the appearance of the shank support is more attractive.

    本发明公开人形机器人的小腿结构和人形机器人,属于人形机器人领域,解决了小腿电机安装在小腿上端而影响美观度并降低仿真性的问题,解决该问题的技术方案主要是包括小腿支架和固定于小腿支架的电机,电机包括外壳、以及驱动单元、控制单元和传动单元,小腿支架上设有沿小腿支架长度方向设置的安装腔,电机的外壳呈长条形并固定于安装腔内,驱动单元包括输出轴,传动单元包括转动轴,转动轴与输出轴传动连接并用于输出扭矩,且输出轴的转动轴线与传动轴的转动轴线保持垂直,转动轴与足端件固定连接,驱动电机通过转动轴带动以实现小腿支架与足端件的相对转动。本发明主要用于将电机固定于小腿支架的内部,使小腿支架的外形更具美观性。


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    Title :

    Crus structure of humanoid robot and humanoid robot


    Additional title:

    人形机器人的小腿结构和人形机器人


    Contributors:
    WANG HONGTAO (author) / JIN YONGBIN (author) / LIU XIANWEI (author) / LAN GUORONG (author)

    Publication date :

    2025-04-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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