Leg movement mechanism and four-foot robot

• Main Authors: CHEN XIN, ZHANG JINSHAN, HU MINGDUO, LI JING, CHEN YUAN, LI HAI'OU
• Format: Patent
• Language: Chinese; English
• Published: 12.12.2017
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

The invention discloses a leg movement mechanism and a four-foot robot, and belongs to the field of robots. The leg movement mechanism is used for being installed at the position of a hip shell of the robot, and comprises a step making mechanism, the step making mechanism comprises a step making driving motor, a crank, a joint connecting rod, a thigh connecting rod, a shank connecting rod and a foot, the step making driving motor is located inside the step making driving motor, one end of the thigh connecting rod is hinged to one side of the hip shell, and the other end of the thigh connecting rod is hinged to the upper end of the foot; and an output shaft of the step making driving motor is located on the other side of the hip shell, the tail end of the output shaft of the step making driving motor is in driving connection with one end of the crank, the joint connecting rod is in a triangle shape, the other end of the crank is hinged to a first corner part of the joint connecting rod, a second corner part of