CN111038614A - Robot and leg structure thereof - Google Patents
Robot and leg structure thereof Download PDFInfo
- Publication number
- CN111038614A CN111038614A CN201911402474.8A CN201911402474A CN111038614A CN 111038614 A CN111038614 A CN 111038614A CN 201911402474 A CN201911402474 A CN 201911402474A CN 111038614 A CN111038614 A CN 111038614A
- Authority
- CN
- China
- Prior art keywords
- thigh
- robot
- driving
- drive
- rod piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application belongs to the technical field of robots, and provides a robot and a leg structure thereof, including: thigh, shank, first actuating mechanism, first drive mechanism, second drive mechanism and second drive mechanism. The first driving mechanism of the big leg part of the robot is moved upwards to the hip support, and the second driving mechanism of the small leg part is moved upwards to the big leg part, so that the whole mass gravity center of the leg part is moved upwards and is closer to the waist part of the robot; partial mass in the leg structure is borne on the hip support to reduce the mass ratio of the legs in the whole robot and optimize the mass distribution of the whole robot, so that the rotary inertia generated by the swinging of the legs in the walking process of the robot can be reduced, the whole motion capability of the robot is further enhanced, and the robot is not easy to deviate from a given route or fall down in the leg swinging process.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a robot and a leg structure thereof.
Background
The structure and transmission design of the robot is a very important ring in a robot system, particularly a humanoid robot, which can highly imitate the action and the behavior of a human, generally has humanoid limbs and heads respectively or simultaneously, and has very high requirements on the structure and the transmission design. At present, the robot with servo steering engine module as drive unit, its shank quality is general relatively great, can increase the inertia that the robot produced at the swing leg in-process, leads to the robot to deflect around the supporting legs easily, makes the robot deviate given route or tumble easily at the swing leg in-process.
Content of application
The application aims to provide a leg structure of a robot, so as to solve the technical problem that the robot is easy to deviate from a given route or fall down in the leg swinging process.
In order to achieve the purpose, the technical scheme adopted by the application is as follows: a robot leg structure comprising:
a thigh section;
a lower leg portion hinged to the thigh portion;
a first drive mechanism mounted on a hip mount;
a first transmission mechanism for transmitting power of the first drive mechanism to the thigh portion to drive the thigh portion to move relative to the hip bracket;
a second drive mechanism mounted on the thigh section; and
a second transmission mechanism for transmitting the power of the second driving mechanism to the lower leg part to drive the lower leg part to move relative to the thigh part.
Further, still include:
a foot hinged to the lower leg;
a third drive mechanism mounted on the thigh section; and
a third transmission mechanism for transmitting the power of the third driving mechanism to the foot portion to drive the foot portion to move relative to the lower leg portion.
Further, the first driving mechanism is connected with the thigh part through the first transmission mechanism and drives the thigh part to move relative to the hip support.
Further, the first driving mechanism comprises a first driving part and two second driving parts which are respectively fixed on the hip bracket, and the first transmission mechanism comprises two groups of first link assemblies; the first driving part is connected with the thigh part through a bidirectional rotating hinge and drives the thigh part to rotate relative to the hip bracket; one of the second driving parts is connected with the thigh through one group of the first link assemblies, the other second driving part is connected with the thigh through the other group of the first link assemblies, and the two second driving parts drive the thigh to swing relative to the hip support through the two groups of the first link assemblies.
Further, the first link assembly includes a first rod and a second rod; the second driving component is connected with one end of the first rod piece and drives the first rod piece to swing relative to the hip support, the other end of the first rod piece is connected with one end of the second rod piece through a spherical hinge, and the other end of the second rod piece is connected with the thigh through a bidirectional rotating hinge.
Further, the second driving mechanism is connected with the lower leg part through the second transmission mechanism and drives the lower leg part to move relative to the thigh part.
Further, the second driving mechanism comprises a third driving part fixed on the thigh part, and the second transmission mechanism comprises a third rod and a fourth rod; the thigh part is connected with the shank part through a one-way hinge, the third driving part is connected with one end of the third rod piece and drives the third rod piece to swing relative to the thigh part, the other end of the third rod piece is connected with one end of the fourth rod piece through a one-way hinge, and the other end of the fourth rod piece is connected with the shank part through a one-way hinge.
Further, the third driving mechanism is connected with the foot part through the third transmission mechanism and drives the foot part to move relative to the lower leg part.
Further, the third driving mechanism comprises two fourth driving parts respectively fixed on the thigh parts, and the third transmission mechanism comprises two groups of second connecting rod assemblies; the lower leg part is connected with the foot part through a bidirectional rotating hinge, one fourth driving part is connected with the foot part through one group of the second connecting rod assemblies, the other fourth driving part is connected with the foot part through the other group of the second connecting rod assemblies, and the two fourth driving parts drive the foot part to swing relative to the lower leg part through the two groups of the second connecting rod assemblies.
Further, the second link assembly includes a fifth link and a sixth link; the fourth driving component is connected with one end of the fifth rod piece and drives the fifth rod piece to swing relative to the shank part, the other end of the fifth rod piece is connected with one end of the sixth rod piece through a spherical hinge, and the other end of the sixth rod piece is connected with the foot part through a bidirectional rotating hinge.
The application also provides a robot, including above-mentioned robot shank structure.
The beneficial effect of this application lies in: the thigh part and the shank part are respectively driven by different driving mechanisms and transmission mechanisms, so that the thigh part and the shank part can respectively move independently and can also move compositely, the movement of the leg part of the robot is more flexible, and the movement and the behavior of a person can be highly simulated. Moving the first driving mechanism of the big leg part of the robot up to the hip bracket and the second driving mechanism of the small leg part up to the big leg part, so that the whole mass gravity center of the leg part moves up and is closer to the waist part of the robot; partial mass (mass of the first driving mechanism) in the leg structure is borne on the hip support to reduce mass ratio of the legs in the whole robot and optimize mass distribution of the whole robot, so that the rotary inertia generated by leg swinging in the walking process of the robot can be reduced, the whole motion capability of the robot is further enhanced, and the robot is not easy to deviate from a given route or fall in the leg swinging process.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic overall structure diagram of a leg structure of a robot in an embodiment of the present application;
FIG. 2 is a schematic diagram of the thigh section of a leg structure of a robot in an embodiment of the present application as it swings back and forth relative to a hip mount;
FIG. 3 is a schematic diagram of the thigh section of the leg structure of the robot swinging to the left and right relative to the hip frame in the embodiment of the present application;
FIG. 4 is a schematic side view of a leg structure of a robot according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of a lower leg portion of a leg structure of the robot swinging back and forth relative to an upper leg portion in an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a leg structure of a robot according to an embodiment of the present disclosure, wherein a foot of the leg structure swings back and forth relative to a lower leg of the robot;
fig. 7 is a schematic structural view of a leg portion of a leg structure of a robot according to an embodiment of the present invention, the leg portion swinging left and right with respect to a lower leg portion.
Wherein, each mark in the figure is:
101. a thigh section; 102. a lower leg portion; 103. a foot portion; 104. a hip support; 200. a first drive mechanism; 201. a first drive member; 202. a second drive member; 300. a first transmission mechanism; 301. a first bar member; 302. a second bar member; 400. a second drive mechanism; 401. a third drive member; 500. a second transmission mechanism; 501. a third bar member; 502. a fourth bar member; 600. a third drive mechanism; 601. a fourth drive member; 700. a third transmission mechanism; 701. a fifth bar member; 702. a sixth bar member; 801. a bidirectional rotation hinge; 802. a spherical hinge; 803. a one-way hinge.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience of description only and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and therefore are not to be construed as limiting the patent, the particular meaning of which terms will be understood by those skilled in the art as appropriate. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
A robot leg structure, as shown in fig. 1, comprises a thigh part 101, a lower leg part 102 hinged to the thigh part 101, a first driving mechanism 200 mounted on a hip bracket 104, a first transmission mechanism 300 for transmitting power of the first driving mechanism 200 to the thigh part 101 to drive the thigh part 101 to move relative to the hip bracket 104, a second driving mechanism 400 mounted on the thigh part 101, and a second transmission mechanism 500 for transmitting power of the second driving mechanism 400 to the lower leg part 102 to drive the lower leg part 102 to move relative to the thigh part 101.
According to the robot leg, the thigh part 101 and the lower leg part 102 are respectively driven by different driving mechanisms and different transmission mechanisms, so that the thigh part 101 and the lower leg part 102 can respectively move independently and can also move compositely, the motion of the leg part of the robot is more flexible, and the motion and the behavior of a person can be highly simulated. By moving the first drive mechanism 200 of the robot's upper leg 101 up to the hip mount 104, the second drive mechanism 400 of the lower leg 102 up to the upper leg 101, moving the overall mass center of gravity of the legs up and closer to the robot's waist as a whole; by bearing part of the mass of the leg structure (the mass of the first driving mechanism 200) on the hip support 104 to reduce the mass ratio of the leg in the whole robot and optimize the mass distribution of the whole robot, the rotational inertia generated by the swing of the leg during the walking process of the robot can be reduced, so that the whole motion capability of the robot is enhanced, and the robot is not easy to deviate from a given route or fall during the leg swinging process.
Further, the leg structure of the robot further includes a foot 103 hinged to the lower leg 102, a third driving mechanism 600 mounted on the upper leg 101, and a third transmission mechanism 700 for transmitting power of the third driving mechanism 600 to the foot 103 to drive the foot 103 to move relative to the lower leg 102. The third driving mechanism 600 and the third transmission mechanism 700 drive the foot 103, so that the foot 103 can move independently and can move in a compound manner with the thigh 101 or the lower leg 102, and the flexibility of the leg movement of the robot is further improved. By moving the third driving mechanism 600 driving the foot 103 up to the thigh 101, the whole mass center of gravity of the leg can be moved up and closer to the waist of the robot, so that the rotational inertia generated by the swing of the leg or the foot during the walking process of the robot can be reduced, the whole motion capability of the robot is enhanced, and the robot is not easy to deviate from a given route or fall down during the leg or foot swinging process.
Further, with reference to fig. 2 and 3, the first driving mechanism 200 is connected to the thigh portion 101 through the first transmission mechanism 300 and drives the movement of the thigh portion 101 relative to the hip bracket 104, the movement of the thigh portion 101 relative to the hip bracket 104 including rotation, back-and-forth swinging, and side-to-side swinging, such that the thigh portion 101 can consistently mimic the action of a person's thigh.
Further, the first drive mechanism 200 comprises a first drive part 201 and two second drive parts 202 fixed on the hip bracket 104, and the first drive mechanism 300 comprises two sets of first link assemblies; the first driving part 201 is connected with the thigh part 101 through a bidirectional rotation hinge 801 and drives the thigh part 101 to rotate relative to the hip bracket 104; in the two second driving parts 202 and the two sets of first link assemblies, one of the second driving parts 202 is connected to the thigh 101 through one set of first link assemblies, the other second driving part 202 is connected to the thigh 101 through the other set of first link assemblies, and the two second driving parts 202 drive the thigh 101 to swing back and forth or left and right relative to the hip bracket 104 through the two sets of first link assemblies. When the first driving component 201 is actuated and the two second driving components 202 are stopped, the thigh part 101 can be driven to rotate relative to the hip bracket 104; when the first driving component 201 stops and the two second driving components 202 act synchronously, the thigh part 101 can be driven to swing back and forth relative to the hip bracket 104; when the first driving component 201 stops and the two second driving components 202 asynchronously act, the thigh part 101 can be driven to swing left and right relative to the hip bracket 104; the rotation of the thigh 101 may be combined with the back-and-forth swing, and the rotation of the thigh 101 may be combined with the left-and-right swing.
Further, the first link assembly includes a first link 301 and a second link 302; the second driving member 202 is connected to one end of the first rod 301 and drives the first rod 301 to swing back and forth relative to the hip bracket 104, the other end of the first rod 301 is connected to one end of the second rod 302 through a ball hinge 802, and the other end of the second rod 302 is connected to the thigh portion 101 through a bidirectional rotation hinge 801. When the first driving member 201 is actuated and the two second driving members 202 are stopped, the thigh 101 and the bidirectional rotation hinge 801 between the first driving member 201 and the thigh 101 are synchronously rotated with respect to the hip bracket 104, the two first levers 301 are stationary with respect to the hip bracket 104, and the two second levers 302 are movable with respect to the hip bracket 104 due to the spherical hinge 802 and the bidirectional rotation hinge 801 at both ends thereof, thereby realizing the rotation of the thigh 101 with respect to the hip bracket 104. When the first driving member 201 stops and the two second driving members 202 operate synchronously, the two first levers 301 swing forward and backward synchronously with respect to the hip bracket 104, respectively, and the two second levers 302 can move relative to the hip bracket 104 because of the spherical hinges 802 and the bidirectional rotation hinges 801 at both ends thereof, at this time, the thigh 101 swings around the first rotation axis of the bidirectional rotation hinge 801 between the first driving member 201 and the thigh 101, and the thigh 101 swings forward and backward with respect to the hip bracket 104. When the first driving member 201 stops and the two second driving members 202 operate asynchronously, the two first levers 301 swing back and forth asynchronously with respect to the hip bracket 104, and the two second levers 302 can move with respect to the hip bracket 104 because of the spherical hinges 802 and the bidirectional rotation hinges 801 at both ends thereof, and at this time, the thigh 101 swings around the second rotation axis of the bidirectional rotation hinge 801 between the first driving member 201 and the thigh 101 (the first rotation axis and the second rotation axis intersect perpendicularly to each other), thereby realizing the left and right swinging of the thigh 101 with respect to the hip bracket 104.
Further, with reference to figures 4 and 5, second drive mechanism 400 is coupled to lower leg 102 via second transmission mechanism 500 and drives lower leg 102 in motion relative to upper leg 101, the motion of lower leg 102 relative to upper leg 101 including a back-and-forth swing, enabling lower leg 102 to consistently mimic the motion of a person's lower leg.
Further, the second driving mechanism 400 includes a third driving member 401 fixed to the thigh portion 101, and the second transmission mechanism 500 includes a third rod 501 and a fourth rod 502; the thigh 101 is connected to the lower leg 102 by a one-way hinge 803, the third driving member 401 is connected to one end of the third link 501 and drives the third link 501 to swing back and forth with respect to the thigh 101, the other end of the third link 501 is connected to one end of the fourth link 502 by a one-way hinge 803, and the other end of the fourth link 502 is connected to the lower leg 102 by a one-way hinge 803. When the third driving member 401 is operated, the lower leg 102 can be driven to swing back and forth with respect to the upper leg 101 by the third link 501, the fourth link 502, the one-way hinge 803 connecting the third link 501 and the fourth link 502, and the one-way hinge 803 connecting the fourth link 502 and the lower leg 102.
Further, with reference to fig. 6 and 7, third driving mechanism 600 is connected to foot 103 via third transmission mechanism 700 and drives foot 103 to move relative to lower leg 102, and the movement of foot 103 relative to lower leg 102 includes a back-and-forth swing and a side-to-side swing, so that foot 103 can consistently simulate the motion of a person's foot.
Further, the third driving mechanism 600 includes two fourth driving members 601 respectively fixed to the thigh portion 101, and the third transmission mechanism 700 includes two sets of second link assemblies; the lower leg part 102 is connected with the foot part 103 through a bidirectional rotating hinge 801; in the two fourth driving members 601 and the two sets of second link assemblies, one of the fourth driving members 601 is connected to the leg 103 via one set of the second link assemblies, the other one of the fourth driving members 601 is connected to the leg 103 via the other set of the second link assemblies, and the two fourth driving members 601 drive the leg 103 to swing back and forth or side to side with respect to the lower leg 102 via the two sets of the second link assemblies. When the two fourth driving members 601 are synchronously operated, the leg part 103 can be driven to swing back and forth relative to the lower leg part 102; when the two fourth driving members 601 are operated asynchronously, the leg portion 103 can be driven to swing left and right with respect to the lower leg portion 102.
Further, the second link assembly includes a fifth link 701 and a sixth link 702; the fourth driving member 601 is connected to one end of the fifth lever 701 and drives the fifth lever 701 to swing back and forth with respect to the lower leg 102, the other end of the fifth lever 701 is connected to one end of the sixth lever 702 through a ball hinge 802, and the other end of the sixth lever 702 is connected to the foot 103 through a bidirectional rotation hinge 801. When the two fourth driving members 601 are operated synchronously, the two fifth levers 701 swing back and forth synchronously with respect to the lower leg 102, and the two sixth levers 702 can move with respect to the lower leg 102 because of the spherical hinges 802 and the bidirectional rotation hinges 801 at both ends thereof, and at this time, the leg 103 swings around the third rotation axis of the bidirectional rotation hinges 801 between the lower leg 102 and the leg 103, and the leg 103 swings back and forth with respect to the lower leg 102. When the two fourth driving members 601 operate asynchronously, the two fifth levers 701 swing back and forth asynchronously with respect to the lower leg 102, and the two sixth levers 702 can move with respect to the lower leg 102 because of the spherical hinges 802 and the bidirectional rotation hinges 801 at both ends thereof, and at this time, the foot 103 swings around the fourth rotation axis of the bidirectional rotation hinges 801 between the lower leg 102 and the foot 103 (the third rotation axis and the fourth rotation axis intersect perpendicularly to each other), and the foot 103 swings left and right with respect to the lower leg 102.
This application compares with traditional actuating mechanism direct drive's mode through a plurality of link assemblies with each actuating mechanism's power transmission to thigh 101, shank portion 102 and foot 103, help the maximize to utilize each actuating mechanism's of shank output performance, reduce each actuating mechanism's power, moment, speed etc. type selection requirement, and through adopting the hinge combination of different grade type, can realize that thigh 101 is rotatory, the fore-and-aft swing, the horizontal hunting, shank portion 102 fore-and-aft swing, foot 103 fore-and-aft swing, the horizontal hunting, the action of highly imitative people's shank. First drive component 201, second drive component 202, third drive component 401 and fourth drive component 601 in this application all can adopt the steering wheel, in a plurality of link assemblies moreover, first link assembly and second link assembly's connection structure can be identical, be favorable to the installation and reduce manufacturing cost.
The application also provides a robot, in particular to a humanoid robot, the structure of which comprises the robot leg structure, the thigh part 101, the calf part 102 and the foot part 103 are respectively driven by different driving mechanisms and transmission mechanisms, so that the movement of the thigh part 101, the calf part 102 and the foot part 103 can be respectively independently moved and can be compositely moved, the movement of the robot leg part is more flexible, and the movement and the behavior of the human can be highly simulated. By moving the first drive mechanism 200 of the robot's thigh 101 up to the hip mount 104, the second drive mechanism 400 of the lower leg 102 up to the thigh 101, and the third drive mechanism 600 of the foot 103 up to the thigh 101, the overall mass center of gravity of the legs is moved up and closer to the robot's waist as a whole; partial mass (mass of the first driving mechanism 200) in the leg structure is borne on the hip support 104, so that the mass ratio of the leg in the whole robot is reduced, the mass distribution of the whole robot is optimized, the rotational inertia generated by leg swinging in the walking process of the robot can be reduced, the whole motion capability of the robot is further enhanced, and the robot is not easy to deviate from a given route or fall in the leg swinging process.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (11)
1. A robot leg structure, comprising:
a thigh section;
a lower leg portion hinged to the thigh portion;
a first drive mechanism mounted on a hip mount;
a first transmission mechanism for transmitting power of the first drive mechanism to the thigh portion to drive the thigh portion to move relative to the hip bracket;
a second drive mechanism mounted on the thigh section; and
a second transmission mechanism for transmitting the power of the second driving mechanism to the lower leg part to drive the lower leg part to move relative to the thigh part.
2. The robot leg structure of claim 1, further comprising:
a foot hinged to the lower leg;
a third drive mechanism mounted on the thigh section; and
a third transmission mechanism for transmitting the power of the third driving mechanism to the foot portion to drive the foot portion to move relative to the lower leg portion.
3. A robot leg structure according to claim 1, wherein the first drive mechanism is connected to the thigh section via the first transmission mechanism and drives the thigh section in motion relative to the hip mount.
4. A robot leg construction according to claim 1 or 3, characterized in that the first drive mechanism comprises a first drive part and two second drive parts, respectively, fixed to the hip bracket, the first transmission mechanism comprising two sets of first link assemblies; the first driving part is connected with the thigh part through a bidirectional rotating hinge and drives the thigh part to rotate relative to the hip bracket; one of the second driving parts is connected with the thigh through one group of the first link assemblies, the other second driving part is connected with the thigh through the other group of the first link assemblies, and the two second driving parts drive the thigh to swing relative to the hip support through the two groups of the first link assemblies.
5. The robot leg structure of claim 4, wherein the first link assembly includes a first link and a second link; the second driving component is connected with one end of the first rod piece and drives the first rod piece to swing relative to the hip support, the other end of the first rod piece is connected with one end of the second rod piece through a spherical hinge, and the other end of the second rod piece is connected with the thigh through a bidirectional rotating hinge.
6. A robot leg structure according to claim 1, wherein the second drive mechanism is connected to the lower leg portion via the second transmission mechanism and drives the lower leg portion to move relative to the upper leg portion.
7. A robot leg construction according to claim 1 or 6, characterized in that the second drive mechanism comprises a third drive member fixed to the thigh section, the second transmission mechanism comprises a third bar and a fourth bar; the thigh part is connected with the shank part through a one-way hinge, the third driving part is connected with one end of the third rod piece and drives the third rod piece to swing relative to the thigh part, the other end of the third rod piece is connected with one end of the fourth rod piece through a one-way hinge, and the other end of the fourth rod piece is connected with the shank part through a one-way hinge.
8. A robot leg structure according to claim 2, characterized in that the third drive mechanism is connected to the foot part via the third transmission mechanism and drives the foot part in motion relative to the lower leg part.
9. A robot leg structure according to claim 2 or 8, characterized in that the third drive mechanism comprises two fourth drive members fixed to the thigh section, respectively, and the third transmission mechanism comprises two sets of second link assemblies; the lower leg part is connected with the foot part through a bidirectional rotating hinge, one fourth driving part is connected with the foot part through one group of the second connecting rod assemblies, the other fourth driving part is connected with the foot part through the other group of the second connecting rod assemblies, and the two fourth driving parts drive the foot part to swing relative to the lower leg part through the two groups of the second connecting rod assemblies.
10. A robot leg structure according to claim 9, wherein the second linkage assembly comprises a fifth bar and a sixth bar; the fourth driving component is connected with one end of the fifth rod piece and drives the fifth rod piece to swing relative to the shank part, the other end of the fifth rod piece is connected with one end of the sixth rod piece through a spherical hinge, and the other end of the sixth rod piece is connected with the foot part through a bidirectional rotating hinge.
11. A robot, characterized by comprising a robot leg structure according to any of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911402474.8A CN111038614B (en) | 2019-12-30 | 2019-12-30 | Robot and leg structure thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911402474.8A CN111038614B (en) | 2019-12-30 | 2019-12-30 | Robot and leg structure thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111038614A true CN111038614A (en) | 2020-04-21 |
| CN111038614B CN111038614B (en) | 2021-09-17 |
Family
ID=70242941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911402474.8A Active CN111038614B (en) | 2019-12-30 | 2019-12-30 | Robot and leg structure thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111038614B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090294187A1 (en) * | 2008-05-30 | 2009-12-03 | Samsung Electronics Co., Ltd. | Walking robot |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN103481965A (en) * | 2013-09-27 | 2014-01-01 | 重庆邮电大学 | Low-power dissipation running gear and control method based on intelligent terminal |
| CN108791563A (en) * | 2018-06-14 | 2018-11-13 | 电子科技大学 | A kind of legged type robot list leg device and legged type robot |
| CN109747731A (en) * | 2018-12-11 | 2019-05-14 | 深圳市优必选科技有限公司 | Robot and leg structure thereof |
| CN209454891U (en) * | 2018-12-12 | 2019-10-01 | 常州机电职业技术学院 | Humanoid robot walking device |
-
2019
- 2019-12-30 CN CN201911402474.8A patent/CN111038614B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090294187A1 (en) * | 2008-05-30 | 2009-12-03 | Samsung Electronics Co., Ltd. | Walking robot |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN103481965A (en) * | 2013-09-27 | 2014-01-01 | 重庆邮电大学 | Low-power dissipation running gear and control method based on intelligent terminal |
| CN108791563A (en) * | 2018-06-14 | 2018-11-13 | 电子科技大学 | A kind of legged type robot list leg device and legged type robot |
| CN109747731A (en) * | 2018-12-11 | 2019-05-14 | 深圳市优必选科技有限公司 | Robot and leg structure thereof |
| CN209454891U (en) * | 2018-12-12 | 2019-10-01 | 常州机电职业技术学院 | Humanoid robot walking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111038614B (en) | 2021-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106005092B (en) | The apery Soccer robot leg mechanism of connection in series-parallel mixing | |
| JP3666485B2 (en) | Balance training equipment | |
| CN111759680A (en) | Robot for training human ankle joint | |
| CN106426295A (en) | Mechanical bionic eye device | |
| CN113815745A (en) | Human walking simulating mechanical leg | |
| WO2026065818A1 (en) | Robot leg mechanism and robot | |
| CN221737981U (en) | Robot leg device and humanoid robot having the same | |
| CN118529174A (en) | Leg and foot assembly and humanoid robot | |
| CN118683650A (en) | A robot leg mechanism and humanoid robot thereof | |
| CN111038614B (en) | Robot and leg structure thereof | |
| CN206066440U (en) | A kind of robot arm | |
| CN215358447U (en) | Multi-degree-of-freedom arm movement structure and robot thereof | |
| CN209274762U (en) | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing | |
| CN119459924A (en) | A lower limb leg structure and biped robot with jumping ability | |
| TWI581830B (en) | Gait tread simulation fitness equipment | |
| CN113602379B (en) | Robot leg and quadruped robot | |
| CN119369450A (en) | Robot mouth device and robot | |
| CN211568143U (en) | Robot and leg structure thereof | |
| CN118025368A (en) | Robot leg device and humanoid robot having the same | |
| CN111759677B (en) | Leg joint rehabilitation series-parallel robot | |
| CN219027529U (en) | Performance robot | |
| CN211797569U (en) | Ankle joint rehabilitation robot structure | |
| CN221248849U (en) | Simulation robot for simulating tourist guide | |
| CN220948275U (en) | Thigh structure, mechanical leg and biped robot | |
| CN220948276U (en) | Knee joint structure, mechanical leg and biped robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231204 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |