A robot leg structure and robot device
A technology of robots and legs, which is applied in the field of robots, can solve problems such as easy axial movement, achieve the effects of ensuring service life, coherent and flexible joint activities, and improving mobility
Active Publication Date: 2020-08-25
UBTECH ROBOTICS CORP LTD
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- Description
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- Application Information
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Problems solved by technology
[0005] The purpose of the present invention is to provide a robot leg structure and a robot device, aiming to solve the technical problem that axial movement easily occurs when the bearing in the robot leg structure is connected to the steering gear
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[0039] In order to make the object, technical solution and advantages of 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.
[0040] It should be noted that when a component is referred to as being “fixed on” or “disposed on” another component, it may be directly or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are for convenience of description only, rather than indicating or implying the referred device Or ele...
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The invention is applicable to the technical field of robots, and provides a robot leg structure and a robot apparatus. The robot leg structure includes a first steering gear assembly and an ankle bracket, wherein a bearing assembly is arranged between the ankle bracket and the first steering gear assembly, and the bearing assembly includes a bearing sleeve fixedly mounted on the ankle bracket, abearing inner liner fixedly mounted at the end, far away from the output end, on a first machine shell and a rotating body mounted between the outer side of a bearing and the bearing inner liner in alimited manner and being capable of rotating. According to the robot leg structure, the bearing sleeve and the bearing inner liner limit the rotating body, relative rotation is achieved while connection between the ankle bracket and the first steering gear assembly is achieved, the rotating body is mounted between the outer side of the bearing and the bearing inner liner, moving in the radial direction and the axial direction is avoided, the output stability of an output shaft of a first steering gear is ensured, the service life is prolonged, joint movement of the legs of the robot becomes more coherent and flexible, and the mobile performance of the robot is improved.
Description
technical field [0001] The invention belongs to the technical field of robots, in particular to a robot leg structure and a robot device. Background technique [0002] A humanoid robot has a limb structure similar to that of a human being, including a head, torso, arms, and legs, etc., and flexible joints are set in its arms, legs, etc. to achieve its multiple actions. [0003] Existing humanoid robot, the foot plate and the ankle joint place on its leg can realize the swing on several directions, has higher flexibility, simultaneously, the swing on several directions needs complex bearing, rotating shaft, driving assembly ( such as steering gear). The currently used bearing and the output shaft of the steering gear are relatively fixed in the radial direction, but it is difficult to fix it in the axial direction. During the rotation of the output shaft of the steering gear, it is easy to cause axial movement, and the output of the steering gear is unstable, affecting The ...
Claims
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IPC IPC(8): B62D57/032B62D11/00B25J17/02
CPCB25J17/0258B62D11/00B62D57/032
Inventor 熊友军刘梅春
Owner UBTECH ROBOTICS CORP LTD