Patent ID: 11876412
Assignee: BEIJING XIAOMI ROBOT TECHNOLOGY CO., LTD.
Field: Electrical machinery, apparatus, energy (Electrical engineering)
Classification: CPC H  B | IPC B  H

Claim 9:
10. A robot, comprising:
a body assembly; and
a leg assembly rotatably connected to the body assembly and comprising:
a first leg,
a second leg pivotally connected to the first leg,
a servo motor, comprising:
a housing,
a rotor arranged in the housing and having a rotor support and a rotor shaft,
a stator arranged in the housing,
a Hall magnet arranged on the rotor, and
a printed circuit board arranged in the housing and provided with a position sensor facing the Hall magnet,

an output flange, and
a transmission component connected to the output flange and the second leg to drive the second leg to rotate relative to the first leg,

wherein the servo motor is arranged at a first end of the first leg, a motor output shaft of the servo motor is connected to the output flange to drive the output flange to rotate,
wherein the transmission component comprises a connecting rod, a first end of the connecting rod is pivotally connected to the output flange by a first pivot, a second end of the connecting rod is pivotally connected to a first end of the second leg by a second pivot, and a second end of the first leg and the first end of the second leg are pivotally connected by a third pivot wherein the transmission component comprises a connecting rod, a first end of the connecting rod is pivotally connected to the output flange by a first pivot, a second end of the connecting rod is pivotally connected to a first end of the second leg by a second pivot, and a second end of the first leg and the first end of the second leg are pivotally connected by a third pivot.