Biped humanoid robot leg

By using imitation tendon-driven pulling assembly and ball screw screw structure in humanoid robot legs, the problem of insufficient dynamic performance and stability of joint drive solutions in the prior art is solved, and the slenderness, exquisiteness and efficient battery life of the robot legs are achieved.

CN223148553UActive Publication Date: 2025-07-25SHANGHAI DROIDUP CO LTD
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Patent Information

Application Number
CN202422602861.9
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-10-26
Publication Date
2025-07-25
Estimated Expiration
2034-10-26

AI Technical Summary

Technical Problem

In the prior art, the joint driving scheme of humanoid robots leads to large end moment of inertia, insufficient dynamic performance and flexibility, poor stability, high power consumption, and difficult to achieve long-term battery life.

Method used

The imitation tendon-driven pull-up assembly and ball screw screw structure are adopted, combined with the coaxial stability kit and stable knee and ankle joint structure, and the leg movement is controlled through a small-power joint motor to reduce the load of the joint module motor and speed reduction mechanism, and realize distal drive and small joint transmission.

Benefits of technology

It improves the dynamic performance, nature and flexibility of the robot, reduces joint load and moment of inertia, enhances stability and impact resistance, reduces power consumption, and achieves long-term survival walking ability.

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Abstract

A double-foot humanoid robot leg comprises a waist joint supporting piece, a left leg structure and a right leg structure are installed on the two sides of the waist joint supporting piece through lateral joint components respectively, and each of the left leg structure and the right leg structure comprises a thigh structure, a shank structure and a motion control assembly part. The bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure, and the motion control assembly part is installed at the top of the thigh structure, connected with a tendon-imitating driving pull wire assembly and provided with an installation outer shell. A lateral joint connecting part is arranged on the installation outer shell and used for being connected with a lateral joint component. According to the utility model, the dynamic performance, the naturalness and the flexibility are excellent, the far-end driving is realized, the joint load and the rotational inertia are small, the stability of the joint structure is high, and the required initial driving force is smaller, so that the power consumption is lower.
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