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Leg structure and humanoid robot

A technology for legs and structural parts, applied in the field of leg structures and humanoid robots, can solve the problems of low center of mass and large moment of inertia, and achieve the effects of increasing the center of mass, reducing the moment of inertia, and reducing torque requirements

Pending Publication Date: 2021-10-26
UBTECH ROBOTICS CORP LTD
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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a leg structure to solve the technical problems of the existing leg structure with a low center of mass and a large moment of inertia

Method used

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  • Leg structure and humanoid robot
  • Leg structure and humanoid robot
  • Leg structure and humanoid robot

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Embodiment Construction

[0042] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0043] In describing the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than Nothing indicating or implying that a referenced device or element must have a particular orientation,...

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Abstract

The invention relates to the field of humanoid robots and provides a leg structure and a humanoid robot. The leg structure comprises a thigh structural part, a foot plate structural part, two ankle joint drivers, a shank structural part and two linkage assemblies, wherein the two ankle joint drivers are symmetrically fixed on the inner side of the thigh structural member, and each ankle joint driver is provided with an outward output end and an inward tail end; one end of the shank structural part is rotationally connected to tail ends of the two ankle joint drivers, and the other end of the shank structural part is universally and rotationally connected to the foot plate structural part; the two linkage assemblies are movably connected between output ends of the two ankle joint drivers and the foot plate structural part respectively. According to the leg structure, the two ankle joint drivers participating in forming the ankle joint are symmetrically fixed in the thigh structural part close to the knee joint and far away from the ankle side, so the mass center of the leg structure can be effectively improved, the rotational inertia of the leg structure can be effectively reduced, and torque requirements of the drivers of all joint parts of the leg structure can be correspondingly reduced.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, in particular to a leg structure and a humanoid robot. Background technique [0002] The leg structure of a humanoid robot usually includes joint components such as hip joints, knee joints, and ankle joints. Among them, the ankle joint usually has two degrees of freedom, which can perform Pitch pitching motion and Roll rolling motion. [0003] At present, the components of the ankle joint, including the driver, are generally concentrated on the ankle side of the leg structure, which easily leads to a lower center of mass and a larger moment of inertia of the leg structure, which in turn leads to the joint components of the leg structure The torque demand of the drive is relatively high. Contents of the invention [0004] The purpose of the embodiments of the present invention is to provide a leg structure to solve the technical problems of the existing leg structure with a low center ...

Claims

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Application Information

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IPC IPC(8): B62D57/032B25J17/02
CPCB62D57/032B25J17/0258
Inventor 丁宏钰汪文广黄亮胡毅森
Owner UBTECH ROBOTICS CORP LTD
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