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Leg mechanism of robot and quadruped robot

A leg mechanism and robot technology, which is applied in the field of robotics, can solve the problems of overall structural redundancy and burdensomeness, and achieve the effects of good meshing performance, reduced mechanism redundancy, and smooth movement

Pending Publication Date: 2021-04-09
THE 21TH RES INST OF CHINA ELECTRONIC TECH GRP CORP
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  • Abstract
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  • Application Information

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Problems solved by technology

[0002] In recent years, quadruped robots have gradually become the research hotspots of scholars at home and abroad. The current quadruped robot leg mechanism is mainly driven by motor direct drive. The control system of this method is relatively simple and reliable, but the calf drive motor is set It becomes a burden on the thigh drive motor, and the overall structure is redundant and cumbersome

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  • Leg mechanism of robot and quadruped robot
  • Leg mechanism of robot and quadruped robot
  • Leg mechanism of robot and quadruped robot

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Embodiment Construction

[0065] The present application will be described in detail below with reference to the accompanying drawings and embodiments. Each example is provided by way of explanation of the application, not limitation of the application. In fact, those skilled in the art will recognize that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For example, features illustrated or described as part of one embodiment can be used on another embodiment to yield a still further embodiment. Accordingly, it is intended that the present application cover such modifications and variations as come within the scope of the appended claims and their equivalents.

[0066] In the description of this application, the terms "vertical", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", " The orientation or positional relationship indicated by "top", "bottom", etc. is based on the orien...

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Abstract

The invention provides a leg mechanism of a robot and a quadruped robot, the leg mechanism of the robot comprises a thigh, a thigh driving motor, a shank, a shank driving motor, a foot, a hinge shaft and a transmission assembly, and the transmission assembly comprises a driving gear, a first transmission gear, a second transmission gear, a driven gear and a transmission shaft; the transmission assembly is used for transmitting torque generated by the shank driving motor to the shank. The mechanism redundancy of the legs can be effectively reduced, the movement inertia of the legs during movement is reduced, the movement of the robot is more stable, and the control precision of the robot is improved. And meanwhile, the output torque of the thigh driving motor can be reduced, so that the thigh driving motor can adopt a smaller size, or the thigh driving motor with the same size is more beneficial to leg movement of the robot.

Description

technical field [0001] The present application relates to the technical field of robots, in particular to a leg mechanism of a robot and a quadruped robot. Background technique [0002] In recent years, quadruped robots have gradually become the research hotspots of scholars at home and abroad. The current quadruped robot leg mechanism is mainly driven by motor direct drive. The control system of this method is relatively simple and reliable, but the calf drive motor is set On the one hand, it becomes a burden on the thigh drive motor, and the overall structure is redundant and cumbersome. [0003] Therefore, it is necessary to provide an improved technical solution for the above-mentioned deficiencies in the prior art. Contents of the invention [0004] The purpose of the present application is to provide a leg mechanism of a robot and a quadruped robot, so as to solve or alleviate the above-mentioned problems in the prior art. [0005] In order to achieve the above obj...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 彭长武王春雷杨亚范春辉金伟祺侯晓楠马保平
Owner THE 21TH RES INST OF CHINA ELECTRONIC TECH GRP CORP
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