US 12,258,082 B2
Leg assembly for legged robot and legged robot
Yiyang Liu, Beijing (CN); Wenping Guo, Beijing (CN); Xiaomao Wei, Beijing (CN); Fang Zhi, Beijing (CN); and Shuang Li, Beijing (CN)
Assigned to Beijing Xiaomi Robot Technology Co., Ltd., Beijing (CN)
Filed by Beijing Xiaomi Robot Technology Co., Ltd., Beijing (CN)
Filed on Dec. 30, 2021, as Appl. No. 17/565,825.
Claims priority of application No. 202120553343.6 (CN), filed on Mar. 17, 2021.
Prior Publication US 2022/0297776 A1, Sep. 22, 2022
Int. Cl. B62D 57/02 (2006.01); B25J 9/12 (2006.01); B60K 1/02 (2006.01); B60K 17/04 (2006.01)
CPC B62D 57/02 (2013.01) [B25J 9/126 (2013.01); B60K 1/02 (2013.01); B60K 17/04 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A leg assembly for a legged robot, comprising:
a first motor, a second motor and a third motor, the first motor being coupled to the second motor to drive the second motor to rotate relative to the first motor, a rotation axis of the first motor being substantially orthogonal to a rotation axis of the second motor, the second motor being coupled to the third motor to drive the third motor to rotate relative to the second motor, a rotation axis of the third motor substantially coinciding with the rotation axis of the second motor;
a first leg, a second leg and a transmission component, the third motor being arranged at a first end of the first leg, the second leg is pivotably coupled to a second end of the first leg, the transmission component being coupled to an output shaft of the third motor and the second leg to drive the second leg to rotate relative to the first leg; and
a first flange coupled to the second motor and located between the first motor and the second motor, the first flange being provided with a first limit portion, the first motor being provided with a first stop portion and a second stop portion, the first stop portion and the second stop portion being spaced apart to limit a rotation angle of the second motor by stopping the first limit portion.