Integrated articulated power unit and legged robot using the same

Abstract

The present application, relating to the technical field of legged robots, discloses an integrated articulated power unit and a legged robot using the same. The integrated articulated power unit provided by the present application comprises a base and a gearbox unit disposed within the base, the gearbox unit comprising a first planetary carrier; a mounting seat being coaxially provided within the base, and the first planetary carrier being sleeved within the mounting seat and rotatable relative to the mounting seat; a spacer and an input bearing being provided between the mounting seat and the first planetary carrier, and the first planetary carrier being fixed within the mounting seat by the spacer; and the edge of the spacer extending outward and against the mounting seat to form a concave groove matched with the mounting seat, so as to fix the spacer within the mounting seat. The present application provides a spacer, having an edge matched with the mounting seat, between the mounting seat and the first planetary carrier, so that when the spacer is pressed during rotation of the first planetary carrier, the spacer can always dovetail with the mounting seat, thus reducing the eccentricity runout of the first planetary carrier.