A lower limb structure of a humanoid robot comprises a waist assembly, two thigh assemblies, two shank assemblies and two sole assemblies. The waist assembly comprises a pelvic bone support and a waist joint driving module installed on the pelvic bone support. The thigh assembly comprises a thigh driving module and a thigh support, and the thigh support is connected to the pelvic bone support through the thigh driving module; each shank assembly comprises a knee joint driving module, an ankle joint driving module, a shank bracket, a cross bearing and an ankle joint bracket; the shank support is connected with the thigh support through the knee joint driving module, the ankle joint driving module is installed on the shank support, and the ankle joint support is movably connected to the bottom of the shank support through a cross bearing. The two sole assemblies are fixedly installed at the bottoms of the two ankle joint supports respectively. According to the humanoid robot, the pelvis, the waist, the thighs and the like of the human body are subjected to bionic structural design, and the humanoid degree, strength, impact resistance and load bearing capacity of the humanoid robot are enhanced; and the space utilization rate is high.

    一种人形机器人的下肢结构,包括腰部组件、两个大腿组件、两个小腿组件以及两个脚掌组件;腰部组件包括盆骨支架、安装在盆骨支架上的腰关节驱动模块;大腿组件包括大腿驱动模块和大腿支架,大腿支架通过大腿驱动模块连接在盆骨支架上;每个小腿组件均包括膝关节驱动模块、踝关节驱动模块、小腿支架、十字轴承、踝关节支架;小腿支架通过膝关节驱动模块与大腿支架连接,踝关节驱动模块安装在小腿支架上,踝关节支架通过十字轴承活动连接在小腿支架的底部;两个脚掌组件分别固定安装在两个踝关节支架的底部。本发明对人体骨盆、腰部、大腿等进行仿生结构设计,增强了人形机器人的拟人程度、强度、抗冲击性能以及负重能力;且本发明空间利用率高。


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    Title :

    Lower limb structure of humanoid robot


    Additional title:

    一种人形机器人的下肢结构


    Contributors:
    WANG YAONAN (author) / LI QUANZHEN (author) / CHEN WENRUI (author) / JIANG YIMING (author) / LUO HONGYI (author) / ZHANG YIKE (author) / WANG FEIWEN (author)

    Publication date :

    2025-05-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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