The invention discloses a lower limb of a robot and a humanoid robot. The lower limb of the robot comprises thigh parts; the hip joint is arranged at one end of the thigh part and is rotationally connected with the thigh part; the shank part is rotationally connected with the other end of the thigh part; the first dampers are arranged on the thighs and connected with the hip joints, and the first dampers are used for sharing loads borne by the hip joints and buffering movement of the hip joints; the second damper is arranged on the shank part and connected with the thigh part, and the second damper is used for sharing the load borne by the knee joint and buffering the movement of the knee joint. According to the lower limb of the robot, the passive load bearing capacity of the hip joint and the knee joint can be remarkably improved through the first damper and the second damper under the condition that the power of the joint active actuator is certain, the dampers can effectively share loads, locked-rotor energy consumption of the hip joint and the knee joint is reduced, stable operation of the joint is ensured, and the reliability of the robot is improved. Therefore, the movement is more efficient, safer and more reliable, and the service life loss of the motor is greatly reduced.
本发明公开一种机器人下肢及人形机器人,机器人下肢包括:大腿部;髋关节,设于大腿部的一端且与大腿部转动连接;小腿部,与大腿部的另一端转动连接;第一阻尼器,设于大腿部且与髋关节连接,第一阻尼器用以分担髋关节承受的负载,并对髋关节的运动进行缓冲;第二阻尼器,设于小腿部且与大腿部连接,第二阻尼器用以分担膝关节承受的负载,并对膝关节的运动进行缓冲。本发明机器人下肢通过所设第一阻尼器和第二阻尼器,可在关节主动执行器功率一定的情况下,显著提升髋关节和膝关节的被动负载承受能力,阻尼器都能够有效地分担负载,降低髋关节和膝关节堵转能耗,确保关节的稳定运行,使运动更加高效、安全及可靠,且大幅减少了对电机的寿命损耗。
Robot lower limb and humanoid robot
机器人下肢及人形机器人
2025-05-06
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |