Leg structure and humanoid robot

A technology of legs and structural parts, applied in the field of intelligent robots, can solve the problems of low center of gravity, large moment of inertia, and large weight of legs, and achieve the effects of reducing weight, reducing moment of inertia, and increasing center of mass

Pending Publication Date: 2022-03-22
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a leg structure and a humanoid robot to s...

Method used

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  • Leg structure and humanoid robot
  • Leg structure and humanoid robot
  • Leg structure and humanoid robot

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Embodiment Construction

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by 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.

[0032] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may 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 connected to the other element or indirectly connected to the other element.

[0033] It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations...

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Abstract

The invention provides a leg structure and a humanoid robot, the leg structure comprises a thigh structural member, a shank structural member rotationally connected with the thigh structural member, a knee lead screw assembly and a knee connecting rod, the knee lead screw assembly is arranged on the thigh structural member, one end of the knee connecting rod is rotationally connected to the linear motion end of the knee lead screw assembly, and the other end of the knee connecting rod is rotationally connected to the linear motion end of the knee lead screw assembly; the other end of the knee connecting rod is rotationally connected to the shank structural part. According to the leg structure and the humanoid robot, the knee lead screw assemblies are arranged on the thigh structural parts, the mass center of the leg structure is increased, and the rotational inertia of the leg structure is reduced. Meanwhile, a lead screw in the knee lead screw assembly has the effect of increasing the force, under the condition that the same knee joint torque is output, the needed torque is smaller, the smaller and lighter knee lead screw assembly can be used, and the weight of the leg structure is reduced. In addition, by arranging the knee connecting rod, the stroke of the lead screw can be reduced, and a large motion angle of the knee joint can be achieved in a limited leg space.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and more specifically relates to a leg structure and a humanoid robot. Background technique [0002] In the field of robotics, traditional large-scale humanoid robots have problems such as low center of gravity, heavy weight, and high moment of inertia. If the inertia of the legs can be reduced, it will be of great help to the control of the robot. Reducing the inertia can also reduce the robot. torque. Since the lower leg is at the end of the whole leg, it has the greatest influence on the inertia of the leg, so how to reduce the weight of the lower leg is very important. [0003] At present, the knee joint has the largest torque in the legs of a humanoid robot. In order to preserve the stability of the robot, the legs usually have to walk with their knees bent, which also causes more load on the knee joint. How to reduce the torque required by the knee joint? It is also crucial. M...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 丁宏钰黄亮
Owner UBTECH ROBOTICS CORP LTD
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