Hip joint mechanism and foot type robot

Abstract

The invention discloses a hip joint mechanism and a foot type robot, the hip joint mechanism comprises an angle adjusting mechanism, a left swing driving mechanism, a right swing driving mechanism and two front-back driving mechanisms; the angle adjusting mechanism is used for adjusting the included angle between the left swing driving mechanism and the right swing driving mechanism, and after the angle adjusting mechanism is connected with legs and feet of the foot type robot, the legs and the feet can be driven to move, and the angle between the two feet can be adjusted. The left swing driving mechanism and the right swing driving mechanism are matched to be used for driving the angle adjusting mechanism to bend and swing leftwards and rightwards. The two front-back driving mechanisms are used for driving the left swing driving mechanism, the right swing driving mechanism and the angle adjusting machine to bend and swing forwards or backwards. The angle between the two feet can be adjusted through the angle adjusting mechanism, and the flexibility of foot movement is effectively improved; the lower half body of the foot type robot has nine degrees of freedom, compared with the prior art, seven driving devices can be reduced, the overall weight is effectively reduced, and the driving torque is low.

Description

technical field [0001] The invention relates to the field of robots, in particular to a hip joint mechanism and a legged robot. Background technique [0002] The key to leg design of legged robot is how to design the hip joint and leg structure with high stiffness, low moment of inertia and low mass. At present, the traditional design idea is to directly use the joint modules at each joint. The advantage of this design is the modular design, which is convenient for replacement and maintenance. Higher drive torque with insufficient dynamics. [0003] In order to solve the above problems, the application number is 201911345580.7, and the name is a robot and its hip joint structure. It discloses a three-group driving mechanism at the hip joint, so as to realize the hip joint swinging back and forth, left and right swinging, and rotation, ensuring that the hip joint Six degrees of freedom of the structure. However, because every two degrees of automation are controlled by a g...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, provide a hip joint mechanism and a footed robot, solve the problems in the prior art that the moment of inertia of the footed robot is high and the driving torque is high; The adjustment of the angle between them leads to low flexibility of movement and the problem that it cannot meet the requirements of different functions.

Images