CN216401581U - Sole drive structure, robot leg structure and robot - Google Patents
Sole drive structure, robot leg structure and robot Download PDFInfo
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- CN216401581U CN216401581U CN202123367598.2U CN202123367598U CN216401581U CN 216401581 U CN216401581 U CN 216401581U CN 202123367598 U CN202123367598 U CN 202123367598U CN 216401581 U CN216401581 U CN 216401581U
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- 210000000629 knee joint Anatomy 0.000 claims abstract description 73
- 210000002414 leg Anatomy 0.000 claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 23
- 210000001699 lower leg Anatomy 0.000 claims description 21
- 210000000689 upper leg Anatomy 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 10
- 239000011664 nicotinic acid Substances 0.000 description 6
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 210000002683 foot Anatomy 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Abstract
The embodiment of the application relates to the technical field of robots and discloses a sole drive structure, a robot leg structure and a robot, wherein the sole drive structure comprises a knee joint main body, two actuators arranged on the knee joint main body and two connecting rods in one-to-one correspondence with the two actuators, one end of each connecting rod is in transmission connection with the output end of the corresponding actuator, and the other end of each connecting rod is used for being connected with a sole and can drive the sole to pitch around and/or tilt left and right under the common drive of the corresponding actuators. The sole driving structure, the robot leg structure and the robot provided by the embodiment of the application can ensure that enough moment is provided when the sole is driven to act.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a sole driving structure, a robot leg structure and a robot.
Background
With the rapid development of robots, the application fields of robots are also more and more extensive, such as service robots, medical robots, industrial robots, and the like. In order to realize the walking of the robot, a bionic mechanical leg can be adopted in the robot, the bionic mechanical leg is the same as a leg used for walking by an animal, leg structures such as knee joint ankle joints, thighs, shanks and the like are provided, and meanwhile, the bionic mechanical leg of the robot can make bending and stretching actions under the driving of a power source.
In the robot walking process, the sole of the foot in the leg structure needs to realize pitching and tilting movements, and when the robot walks, the moment needed by the leg is large, so that the robot which can ensure to provide enough moment when the sole of the foot is driven to move needs to be designed.
SUMMERY OF THE UTILITY MODEL
An object of the embodiments of the present application is to provide a sole driving structure, a robot leg structure, and a robot, which can ensure that a sufficient moment is provided when the sole is driven to operate.
In order to solve the above technical problem, an embodiment of the present application provides a sole driving structure, including a knee joint main body, two actuators installed in the knee joint main body, and two connecting rods corresponding to the two actuators one to one, wherein one end of each connecting rod is in transmission connection with an output end of the corresponding actuator, and the other end of each connecting rod is used for being connected with a sole and driving the sole to pitch back and forth and/or tilt left and right under the common drive of the corresponding actuators.
The embodiment of the application also provides a robot leg structure which comprises the sole driving structure, a lower leg and a sole, wherein one end of the lower leg is fixed with the knee joint main body; the sole is hinged with the other end of the shank and hinged with the other ends of the two connecting rods.
The embodiment of the application also provides a robot, which comprises the sole driving structure.
According to the sole driving structure, the robot leg structure and the robot provided by the embodiment of the application, the two actuators are respectively installed on the knee joint main body, and the two actuators are respectively connected with the sole through the connecting rod, so that the two actuators can jointly apply driving force to the sole from the knee joint main body, the two actuators simultaneously act to drive the sole to realize the movement in two directions, the problem that the moment is insufficient due to the fact that the two actuators independently drive the sole to realize the movement in one direction is avoided, and the sufficient moment can be provided when the sole is driven to act.
In addition, the sole driving structure further comprises two cranks, the two cranks are respectively fixed with the output ends of the two actuators, and one end of each connecting rod is hinged to one crank to be in transmission connection with the corresponding actuator through the crank. In this way, a driving connection between the connecting rod and the actuator can be realized by the crank.
In addition, the output ends of the two actuators are arranged in a mode of deviating from each other, the two cranks are located on two opposite sides of the knee joint main body, and the two connecting rods are arranged at intervals. Thus, the problem of link interference caused by the fact that the two actuators are arranged on the same side of the knee joint main body can be avoided.
In addition, the sole driving structure also comprises two connecting pieces, each connecting piece is arranged between the output end of one crank and one actuator, each connecting piece is rotatably connected with the knee joint main body through a bearing, and the connecting pieces and the cranks are respectively pressed on two sides of the bearing. Therefore, the connecting piece and the bearing can ensure the stability of the crank when rotating relative to the main body of the knee joint.
In addition, the two actuators are vertically superposed on the knee joint main body along the height direction, and the two connecting rods have different lengths so as to be respectively connected with the corresponding actuators when being connected to the same horizontal position of the sole. Thus, the mounting of the two actuators on the knee joint main body can be facilitated, and the excessive lateral dimension of the knee joint main body in the horizontal direction can be avoided.
In addition, the actuator comprises a motor and a harmonic reducer, the motor is arranged on the knee joint main body, a rotor of the motor is in transmission connection with a wave generator of the harmonic reducer, a steel wheel of the harmonic reducer is fixed on the knee joint main body, and a flexible wheel of the harmonic reducer is used as an output end of the actuator. Therefore, the high rotating speed of the motor rotor can be reduced and transmitted to the connecting rod through the harmonic reducer, and therefore the stability of the actuator in driving the sole to act is ensured.
In addition, a first fixing hole and a second fixing hole are respectively formed in the knee joint main body, the first fixing hole is used for being hinged with a thigh, and the second fixing hole is used for being fixed with a shank. Thus, the knee joint body can be hinged with the thigh via the connecting member passing through the first fixing hole and fixed with the calf via the fastening member passing through the second fixing hole.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic perspective view of a leg structure of a robot provided in an embodiment of the present application;
fig. 2 is a schematic front view of a leg structure of a robot provided in an embodiment of the present application;
FIG. 3 is a schematic perspective view of a knee joint body in a leg structure of a robot provided in an embodiment of the present application;
FIG. 4 is a front view of a robot leg structure provided in an embodiment of the present application at the main body of a knee joint;
FIG. 5 is a schematic cross-sectional view taken along line A-A of FIG. 4;
figure 6 is a schematic top view of a knee joint body in a robot leg structure provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following describes each embodiment of the present application in detail with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in various embodiments of the present application in order to provide a better understanding of the present application. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present application, and the embodiments may be mutually incorporated and referred to without contradiction.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions.
In the description of the embodiments of the present application, the term "and/or" is only one kind of association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In the description of the embodiments of the present application, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, may be fixedly connected, detachably connected, or integrated; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.
The bionic mechanical leg can support the body part of the robot as the walking part of the robot, and can drive the body part to walk under the driving of a power source, the bionic mechanical leg of some robots is similar to the leg of an animal used for walking, and is provided with a knee joint, an ankle joint, a shank connecting the ankle joint and the knee joint, and leg structures such as a thigh connecting the knee joint and the body part.
The knee joint and the ankle joint of the bionic mechanical leg are hinged with other parts in the leg structure, and meanwhile, the actuator at the knee joint can be connected with the sole in the leg structure to drive the sole to rotate in the front-back direction and the left-right direction, namely, the sole can be driven to pitch front-back and tilt left and right.
In order to drive the sole to pitch forwards and backwards and incline left and right in the leg structure of the existing robot, the driving in two directions is respectively completed, namely one actuator drives the sole to pitch forwards and backwards, and the other actuator drives the sole to incline left and right, so that the two actuators respectively complete the driving in one direction. However, since the moment required for the leg is large when the robot travels, when the two actuators are driven in one direction, it is not possible to ensure a sufficient moment for each actuator when the sole of the foot is driven.
In order to be able to ensure that a sufficient torque is provided when driving the sole action, the applicant has found that two actuators may be connected to the sole by a linkage arrangement, in particular two actuators incorporated into the knee joint from opposite sides of the knee joint, each actuator being connected to the sole by a link.
Therefore, the movement of the sole is simultaneously driven by the two actuators, and the sole can be driven to pitch back and forth and/or tilt left and right through the connecting rod structure when the two actuators act simultaneously only by controlling the driving directions and the driving speeds of the two actuators, so that the robot is suitable for walking on different road surfaces.
Fig. 1 and 2 respectively show a robot leg structure provided by an embodiment of the present application from different perspectives, fig. 3 shows a three-dimensional structure at a knee joint body in the robot leg structure provided by the embodiment of the present application, fig. 4 shows a front view structure at the knee joint body in the robot leg structure provided by the embodiment of the present application, fig. 5 shows a cross-sectional structure along a-a in fig. 4, and fig. 6 shows a top view structure at the knee joint body in the robot leg structure provided by the embodiment of the present application.
The sole driving structure provided by the embodiment of the application comprises a knee joint main body 110, two actuators 120 installed on the knee joint main body 110, and two connecting rods 130 corresponding to the two actuators 120 one by one, wherein one end of each connecting rod 130 is connected with the output end of the corresponding actuator 120, and the other end of each connecting rod 130 is used for being connected with a sole 180 and driving the sole 180 to pitch back and forth and/or tilt left and right under the common driving of the corresponding actuators 120.
The knee joint main body 110 is a part connecting the upper leg and the lower leg 170 in the leg structure of the robot, the actuator 120 is a power source for driving the sole 180 to move on the knee joint main body 110, and the two actuators 120 on the knee joint main body 110 are connected to the sole 180 through one link 130.
In the sole driving structure provided by the embodiment of the application, the two actuators 120 are respectively mounted on the knee joint main body 110, and the two actuators 120 are respectively connected with the sole 180 through the one connecting rod 130, so that the two actuators 120 can jointly apply a driving force to the sole 180 from the knee joint main body 110, and the two actuators 120 simultaneously act to drive the sole 180 to realize the movement in two directions, thereby avoiding the problem of insufficient torque caused by the fact that the two actuators 120 respectively and independently drive the sole 180 to realize the movement in one direction, and ensuring that sufficient torque is provided when the sole 180 is driven to act.
When the actuators 120 adopt different driving forms, the connection mode adopted by each actuator 120 and the end of the corresponding link 130 is also different, for example, when the actuators 120 adopt linear driving, each actuator 120 and the end of the corresponding link 130 can be fixedly connected together, and when the actuators 120 adopt rotary driving, each actuator 120 and the end of the corresponding link 130 can be hinged together.
In some embodiments of the present application, the actuators 120 may be driven by rotation, and optionally, the sole driving structure further includes two cranks 140, the two cranks 140 are respectively fixed to output ends of the two actuators 120, and one end of each connecting rod 130 is hinged to one crank 140 to be in transmission connection with the corresponding actuator 120 through the crank 140.
The crank 140 here includes a main body 141 and an extension 142, the outer edge of the main body 141 is circular, the main body 141 is fixedly connected to the output end of the actuator 120, the extension 142 protrudes from the outer edge of the main body 141 in a direction away from the center of the main body 141, and the extension 142 is hinged to the corresponding connecting rod 130.
The crank 140 is a member for outputting the power of the actuator 120, the main body 141 is a portion of the crank 140 for receiving the power of the output end of the actuator 120, the extension 142 is a portion of the crank 140 for hinging with the end of the connecting rod 130, the outer edge of the main body 141 is circular, and the extension 142 protrudes from the outer edge of the main body 141 in a direction away from the center of the main body 141.
The crank 140 is used for realizing transmission connection between the connecting rod 130 and the actuator 120, and the power at the output end of the actuator 120 can be transmitted to the connecting rod 130 through the crank 140, wherein the crank 140 can be fixedly connected with the output end of the actuator 120 through the main body part 141, and can be hinged with the end part of the connecting rod 130 through the extension part 142.
In some embodiments of the present application, optionally, the output ends of the two actuators 120 are disposed away from each other, the two cranks 140 are disposed on opposite sides of the knee joint body 110, and the two links 130 are disposed at a distance from each other.
The two actuators 120 are disposed apart from each other, which means that the two actuators 120 are incorporated into the knee joint body 110 along two opposite sides of the knee joint body 110, and the output ends of the two actuators 120 are disposed apart from each other, so that the two actuators 120 can jointly apply driving force to the sole 180 from two opposite sides of the knee joint body 110, thereby avoiding the problem of interference of the two actuators 120 due to the connection rod 130 being installed on the same side of the knee joint body 110.
In some embodiments of the present application, optionally, the sole driving structure further includes two connecting members 150, each connecting member 150 is disposed between one crank 140 and an output end of one actuator 120, each connecting member 150 is rotatably connected to the knee joint body 110 via a bearing 160, and the connecting members 150 and the cranks 140 are respectively pressed on two sides of the bearing 160.
The connecting member 150 is a member for performing a switching function between the crank 140 and the output end of the actuator 120, the connecting member 150 is rotatably connected to the knee joint body 110 through the bearing 160, the connecting member 150 and the crank 140 are respectively pressed on two sides of the bearing 160 to limit the bearing 160, and the connecting member 150 and the bearing 160 can ensure the stability of the crank 140 during rotation relative to the knee joint body 110.
In some embodiments of the present application, optionally, two actuators 120 are stacked on top of each other in the height direction on the knee joint body 110, and the two links 130 have different lengths so as to be respectively connected to the corresponding actuators 120 when connected to the sole 180 at the same horizontal position.
By stacking the two actuators 120 on the knee joint body 110 one above the other in the height direction, it is possible to facilitate mounting of the two actuators 120 to the knee joint body 110, and it is possible to avoid an excessive lateral dimension of the knee joint body 110 in the horizontal direction. In order to adapt the distance between the two actuators 120 and the sole 180, two links 130 having different lengths are selected to realize the connection between the two actuators 120 and the sole 180.
When the two actuators 120 are operated in the same direction in the state shown in fig. 1, the sole 180 may be driven to tilt back and forth by the link structure, and when the two actuators 120 are operated in the opposite directions at the same time, the sole 180 may be driven to tilt left and right by the link structure, and when the two actuators 120 are operated in the same direction at different rates, the sole 180 may be driven to tilt left and right to some extent by the link structure while tilting back and forth, so as to adapt to the walking of the robot on different road surfaces. Here, in order to compensate for the difference in the driving speed of the two actuators 120 due to the up-down stacking, the driving speed of one of the actuators 120 may be changed so that the two actuators 120 can tilt the sole 180 forward or backward or leftward or rightward.
In some embodiments of the present application, in order to better achieve the articulation between each actuator 120 and the corresponding link 130, the sole driving structure may further include two joint bearings 131, one end of one link 130 is connected to the corresponding actuator 120 via one joint bearing 131, and one end of the other link 130 is connected to the corresponding actuator 120 via the other joint bearing 131.
The joint bearing 131 belongs to a spherical sliding bearing and can rotate and swing within a certain angle during movement, and the joint bearing 131 is adopted to realize the hinge connection between each actuator 120 and the end part of the corresponding connecting rod 130, so that when the actuator 120 drives the connecting rod 130 to move, the connecting rod 130 can swing by a certain angle relative to the rotating output end of the actuator 120, the actuator 120 can smoothly drive the connecting rod 130, and the situation that the actuator 120 and the end part of the connecting rod 130 are clamped when the actuator 120 drives the connecting rod 130 is avoided.
In some embodiments of the present application, optionally, the actuator 120 includes a motor 121 and a harmonic reducer 122, the motor 121 is disposed on the knee joint body 110 and is in transmission connection with a wave generator 123 of the harmonic reducer 122, a steel wheel 124 of the harmonic reducer 122 is fixed on the knee joint body 110, and a flexible wheel 125 of the harmonic reducer 122 serves as an output end of the actuator 120.
The harmonic reducer 122 elastically deforms the flexible gear (i.e., the flexible gear 125) through the wave generator 123, engages with the rigid gear (i.e., the steel gear 124) to transmit motion, and achieves speed reduction through the difference in the number of teeth between the flexible gear and the rigid gear.
The harmonic reducer 122 can reduce and transmit the high rotating speed of the motor 121 to the connecting rod 130, so as to ensure that the speed of the connecting rod 130 during movement meets the requirement, and ensure the smoothness of the action of the actuator 120 when driving the sole 180.
In some embodiments of the present application, optionally, a positioning pillar 151 is disposed on the side of the connecting member 150 close to the flexible gear 125 of the harmonic reducer 122, and the positioning pillar 151 is inserted into a central hole of the flexible gear 125 of the harmonic reducer 122.
The positioning column 151 is a cylindrical portion provided on the connecting member 150, and when the connecting member 150 is connected to the flexspline 125 of the harmonic reducer 122, the positioning column 151 can perform a positioning function, and the positioning column 151 is inserted into a central hole of the flexspline 125 of the harmonic reducer 122, so that the crank 140 and the connecting member 150 are fixed to the flexspline 125 of the harmonic reducer 122 by a fastening member such as a bolt.
In some embodiments of the present application, optionally, the motor 121 of each actuator 120 is an inner rotor motor, and the stator 126 of the motor 121 is fixed to the knee joint body 110 by a heat conducting glue.
The inner rotor motor is for the outer rotor motor, and for the rotor design of outer rotor motor outside the stator, the rotor design of inner rotor motor is inside the stator, compares with the outer rotor motor, and the dynamic balance performance of inner rotor motor is preferred, and changes and realize the heat dissipation. Therefore, the inner rotor motor is used as a power source to realize driving, dynamic balance performance of the power source can be ensured, and the stator 126 of the motor 121 is fixed with the knee joint main body 110 through the heat conducting glue, which is beneficial to realizing heat dissipation of the motor 121.
Wherein, the rotor 127 of the motor 121 is designed inside the stator 126, the rotor 127 is connected to the main shaft 128, the main shaft 128 is fixed with the wave generator 123 of the harmonic reducer 122 by a fastener such as a bolt, the movement of the rotor 127 is transmitted to the wave generator 123 of the harmonic reducer 122 through the main shaft 128, and further transmitted to the connecting rod 130 through the flexible gear 125 of the harmonic reducer 122.
In some embodiments of the present application, optionally, the knee joint main body 110 is provided with a first fixing hole 111 and a second fixing hole 112, respectively, the first fixing hole 111 is used for hinging with the thigh, and the second fixing hole 112 is used for fixing with the lower leg 170.
The first fixing hole 111 is a hole opened in the knee joint body 110 to be hinged to the thigh, the second fixing hole 112 is a hole opened in the knee joint body 110 to be fixed to the lower leg 170, and the knee joint body 110 may be hinged to the thigh via a coupling member inserted through the first fixing hole 111 and fixed to the lower leg 170 via a fastener inserted through the second fixing hole 112.
The embodiment of the application also provides a leg structure of a robot, which comprises the sole driving structure provided by the embodiment, a lower leg 170 and a sole 180, wherein one end of the lower leg 170 is fixed with the knee joint main body 110; the sole 180 is hinged to the other end of the lower leg 170 and to the other end of the two links 130.
Here, in order to enable the sole 180 to be deflected at different angles with respect to the lower leg 170, a convex structure 181 may be provided on the sole 180, the convex structure 181 may be provided with a rotary shaft body 190 that rotates around a horizontal axis extending forward and backward, one end of the lower leg 170 away from the knee joint main body 110 may be provided with a connecting portion 171, and the connecting portion 171 may be rotatably connected to the rotary shaft body 190 around a horizontal axis extending left and right. The rotating shaft 190 can form a universal joint structure at the lower leg 170 and the sole 180, so that the sole 180 can deflect at different angles relative to the lower leg 170, and in order to ensure that the two connecting rods 130 can smoothly drive the sole 180 to act, the two connecting rods 130 can be hinged with the sole 180 through fisheye bearings (i.e., knuckle bearings), so that the two connecting rods 130 can deflect at a certain angle when driving the sole 180 to act.
The embodiment of the application also provides a robot, which comprises the sole driving structure provided by the embodiment.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the present application, and that various changes in form and details may be made therein without departing from the spirit and scope of the present application in practice.
Claims (10)
1. A sole drive arrangement, comprising:
a knee joint main body;
two actuators mounted to the knee joint body;
and the two connecting rods are in one-to-one correspondence with the two actuators, one end of each connecting rod is in transmission connection with the output end of the corresponding actuator, and the other end of each connecting rod is used for being connected with the sole of a foot and driving the sole of the foot to pitch back and forth and/or tilt left and right under the common driving of the corresponding actuators.
2. The sole drive configuration according to claim 1, wherein:
the two cranks are respectively fixed with the output ends of the two actuators, and one end of each connecting rod is hinged to one crank so as to be in transmission connection with the corresponding actuator through the crank.
3. The sole drive arrangement according to claim 2, wherein:
the output ends of the two actuators are arranged in a mode of deviating from each other, the two cranks are located on two opposite sides of the knee joint main body, and the two connecting rods are arranged at intervals.
4. The sole drive arrangement according to claim 2, wherein:
the knee joint device is characterized by further comprising two connecting pieces, each connecting piece is arranged between one crank and the output end of one actuator, each connecting piece is rotatably connected with the knee joint main body through a bearing, and the connecting pieces and the cranks are respectively pressed on two sides of the bearing.
5. The sole drive configuration according to claim 1, wherein:
the two actuators are vertically superposed on the knee joint main body along the height direction, and the two connecting rods have different lengths so as to be respectively connected with the corresponding actuators when being connected to the same horizontal position of the sole.
6. The sole drive configuration according to claim 1, wherein:
the actuator comprises a motor and a harmonic reducer, the motor is arranged on the knee joint main body, a rotor of the motor is in transmission connection with a wave generator of the harmonic reducer, a steel wheel of the harmonic reducer is fixed on the knee joint main body, and a flexible wheel of the harmonic reducer serves as an output end of the actuator.
7. The sole drive configuration according to claim 1, wherein:
the knee joint main body is provided with a first fixing hole and a second fixing hole respectively, the first fixing hole is used for being hinged with a thigh, and the second fixing hole is used for being fixed with a shank.
8. A robot leg structure, comprising:
the sole drive structure of any one of claims 1 to 7;
one end of the shank is fixed with the knee joint main body;
and the sole is hinged with the other end of the shank and hinged with the other ends of the two connecting rods.
9. The robot leg structure of claim 8, wherein:
the knee joint is characterized in that a protruding structure is arranged on the sole, a rotating shaft body rotating around a horizontal axis extending from front to back is arranged on the protruding structure, a connecting portion is arranged at one end, away from the knee joint main body, of the lower leg, and the connecting portion is rotatably connected to the rotating shaft body around a horizontal axis extending from left to right.
10. A robot, comprising:
the sole drive arrangement according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123367598.2U CN216401581U (en) | 2021-12-29 | 2021-12-29 | Sole drive structure, robot leg structure and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123367598.2U CN216401581U (en) | 2021-12-29 | 2021-12-29 | Sole drive structure, robot leg structure and robot |
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| CN216401581U true CN216401581U (en) | 2022-04-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116142348A (en) * | 2022-12-30 | 2023-05-23 | 达闼机器人股份有限公司 | Robot lower limb mechanism and robot |
| CN118529172A (en) * | 2024-07-26 | 2024-08-23 | 上海傅利叶智能科技有限公司 | Lower limb assembly and humanoid robot |
| CN118529174A (en) * | 2024-07-26 | 2024-08-23 | 上海傅利叶智能科技有限公司 | Leg and foot assembly and humanoid robot |
-
2021
- 2021-12-29 CN CN202123367598.2U patent/CN216401581U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116142348A (en) * | 2022-12-30 | 2023-05-23 | 达闼机器人股份有限公司 | Robot lower limb mechanism and robot |
| CN118529172A (en) * | 2024-07-26 | 2024-08-23 | 上海傅利叶智能科技有限公司 | Lower limb assembly and humanoid robot |
| CN118529174A (en) * | 2024-07-26 | 2024-08-23 | 上海傅利叶智能科技有限公司 | Leg and foot assembly and humanoid robot |
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