Mechanical leg structure and foot-type robot

Abstract

The invention provides a mechanical leg structure and a foot-type robot, and relates to the technical field of robots. The mechanical leg structure comprises a fixed base, a hip part, a thigh part anda shank part, a hip part motor, a thigh part and a shank part motor are arranged on the fixed base, a first gear drive mechanism is arranged between the hip part motor and the hip part motor to drivethe hip part to rotate relative to the fixed base, a second gear drive mechanism is arranged between the thigh part motor and the thigh part to drive the thigh part to rotate relative to the hip part, and a third gear drive mechanism is arranged between the shank part motor and the shank part to drive the shank part to rotate relative to the thigh part. Through the mechanical leg structure, the weight of the thigh part and the shank part is effectively reduced, the hip part, the thigh part and the shank part are driven by the gear drive mechanisms to move, large-magnitude rotation can be realized, the requirements for torque of electrodes and overall structural strength are low, flexibility is high, and anti-falling performance is high.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a mechanical leg structure and a legged robot. Background technique [0002] In the most common legged robot, the various components that make up the legs are hinged, and each component is directly driven by a motor at the hinge to realize the rotation of each component. However, the structure of this method is not compact, the motors are scattered separately, and the weight of the middle and rear parts of the mechanical legs is relatively large, which makes the motors at the front of the mechanical legs need to bear the weight of other motors when working, which affects the torque of the motors at the front of the mechanical legs. As well as high requirements on the strength of the overall structure and poor flexibility. [0003] Therefore, how to provide a highly integrated and flexible mechanical leg structure and legged robot is one of the technical problems to be solved by t...

AI Technical Summary

Problems solved by technology

However, the structure of this method is not compact, the motors are scattered separately, and the weight of the middle and rear parts of the mechanical legs is relatively large, which makes the motors at the front of the mechanical legs need to bear the weight of other motors when working, which affects the torque of the motors at the front of the mechanical legs. As well as high requirements for overall structural strength and poor flexibility

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