CN116062058A - Biped robot and leg structure thereof - Google Patents

Abstract

The application belongs to intelligent robot technical field, especially relates to a biped robot and leg structure thereof. Wherein the leg structure includes: a lower leg limb, a first end of the lower leg limb being for connecting a thigh of the bipedal robot; sole portion; the driving assembly is fixedly arranged on the shank; the first output rotating shaft of the driving assembly is in driving connection with the first end of the first shank connecting rod, and the second end of the first shank connecting rod is in rotating connection with the sole part; the second shank connecting rod, first shank connecting rod and second shank connecting rod are arranged side by side, and the second output pivot of drive assembly and the first end drive connection of second shank connecting rod, the second end and the sole portion of the foot of second shank connecting rod rotate to be connected. By the adoption of the technical scheme, the problem that the motion performance of the robot is affected due to the fact that the design of the calf mechanism of the existing humanoid robot is mostly designed by adopting a series mechanism, the ankle joint is relatively bloated, and the leg inertia is relatively large is solved.

Description

Biped robot and leg structure thereof

Technical Field

The application belongs to intelligent robot technical field, especially relates to a biped robot and leg structure thereof.

Background

With the progress of science and technology, various industries are increasingly applied to intelligent robots, and particularly, the application popularity of intelligent robots corresponding to service industries is relatively higher. Previously, the form of the intelligent robot is relatively simple, for example, a traveling system of the intelligent robot is generally replaced by a wheel type motion system. However, intelligent robots are now increasingly tending to mimic human-shaped designs, and so bipedal robots have emerged.

At present, the design of the calf mechanism of the humanoid robot is mostly designed by adopting a serial mechanism, and the structural characteristics of the calf mechanism are that a motor is strictly arranged according to the degree of freedom of a joint, and because two degrees of freedom exist at an ankle, the arrangement mode often causes the ankle joint to be relatively bloated, the inertia of the leg is relatively large, and the movement performance of the robot is influenced.

Disclosure of Invention

The utility model aims at providing a biped robot and leg structure thereof, aim at solving present imitative humanoid robot's shank mechanism design and adopt the series connection mechanism design more, often lead to its ankle joint department comparatively to be bloated, and shank inertia is great, influences the problem of the motion performance of robot itself.

In order to achieve the above purpose, the technical scheme adopted in the application is as follows: a leg structure of a biped robot, comprising:

A lower leg limb, a first end of the lower leg limb being for connecting a thigh of the bipedal robot;

sole portion;

the driving assembly is fixedly arranged on the shank and is provided with a first output rotating shaft and a second output rotating shaft;

the first output rotating shaft of the driving assembly is in driving connection with the first end of the first shank connecting rod, and the second end of the first shank connecting rod is in rotating connection with the sole part;

the second shank connecting rod, first shank connecting rod and second shank connecting rod are arranged side by side, and the second output pivot of drive assembly and the first end drive connection of second shank connecting rod, the second end and the sole portion of the foot of second shank connecting rod rotate to be connected.

In one embodiment, the drive assembly includes a first calf drive mechanism and a second calf drive mechanism, the second calf drive mechanism is disposed below the first calf drive mechanism, the output shaft of the first calf drive mechanism is drivingly connected to the first end of the first calf link, and the output shaft of the second calf drive mechanism is drivingly connected to the first end of the second calf link.

In one embodiment, the drive assembly further comprises a third calf link and a fourth calf link, the first end of the third calf link is fixedly connected with the output shaft of the first calf drive mechanism, the second end of the third calf link is rotatably connected with the first end of the first calf link, the first end of the fourth calf link is fixedly connected with the output shaft of the second calf drive mechanism, and the second end of the fourth calf link is rotatably connected with the first end of the second calf link.

In one embodiment, the second end of the third shank link is hinged to the first end of the first shank link by a first shank pin, and the second end of the fourth shank link is hinged to the first end of the second shank link by a second shank pin; or, one of the second end of the third shank link and the first end of the first shank link is provided with a first shank ball, the other of the second end of the third shank link and the first end of the first shank link is provided with a first shank socket structure, the first shank ball is hinged to the first shank socket structure, one of the second end of the fourth shank link and the first end of the second shank link is provided with a second shank ball, the other of the second end of the fourth shank link and the first end of the second shank link is provided with a second shank socket structure, and the second shank ball is hinged to the second shank socket structure.

In one embodiment, the leg structure further comprises a pivot pivotally connected to the ball portion, the second end of the first calf link pivotally connected to one end of the pivot, and the second end of the second calf link pivotally connected to the other end of the pivot.

In one embodiment, the second end of the first calf link is hinged to one end of the pivot through a third calf pin, and the second end of the second calf link is hinged to the other end of the pivot through a fourth calf pin; or, one of the second end of the first calf link and one end of the pivot is provided with a third calf bulb, the other of the second end of the first calf link and one end of the pivot is provided with a third calf socket structure, the third calf bulb is hinged to the third calf socket structure, one of the second end of the second calf link and the other end of the pivot is provided with a fourth calf bulb, the other of the second end of the second calf link and the other end of the pivot is provided with a fourth calf socket structure, and the fourth calf bulb is hinged to the fourth calf socket.

In one embodiment, the first and second calf links each comprise a first pole section, a second pole section, and a third pole section, the first pole section and the third pole section are each threaded at two ends of the second pole section, and the threads of the first pole section and the threads of the third pole section are opposite to each other.

In one embodiment, the first and second calf drive mechanisms are both fixed to the calf limb in an embedded manner, the first and second calf drive mechanisms are arranged at intervals along the extension direction of the calf limb, and the extension direction of the output rotating shaft of the first calf drive mechanism extending out of the calf limb is opposite to the extension direction of the output rotating shaft of the second calf drive mechanism extending out of the calf limb.

In one embodiment, the leg structure further comprises a first limiting block, the first limiting block is fixedly arranged on the leg limb corresponding to the first leg driving mechanism, a first limiting gap is formed on the first limiting block, the third leg connecting rod extends out of the first limiting gap, and two end walls of the first limiting gap are used for limiting the swinging range of the third leg connecting rod; and/or the leg structure further comprises a second limiting block, the second limiting block is fixedly arranged on the shank corresponding to the second shank driving mechanism, a second limiting gap is formed on the second limiting block, the third shank connecting rod extends out of the second limiting gap, and two end walls of the second limiting gap are used for limiting the swing range of the fourth shank connecting rod.

According to another aspect of the present application, a bipedal robot is provided. Specifically, the bipedal robot includes a leg structure as previously described.

The application has at least the following beneficial effects:

the leg structure mainly refers to the shank of the biped robot, and the leg structure specifically drives the sole part to carry out sole lifting motion through power transmission of the driving assembly, the first shank connecting rod and the second shank connecting rod. Because the first shank connecting rod and the second shank connecting rod are all rigid rod pieces, not only can traction power for lifting the sole part be transmitted to the sole part, but also driving force for putting down the sole part can be transmitted to the sole part, and when the first shank connecting rod and the second shank connecting rod perform up-down motion, the sole part can be driven to perform inside-outside rollover motion, that is, the power transmission of sole lifting motion can be realized by simply designing and assembling a group of transmission structures consisting of the driving component, the first shank connecting rod and the second shank connecting rod in the leg structure of the bipedal robot. Compared with the existing biped robot, the biped robot has the advantages that the number of component parts of the leg structure of the biped robot is smaller, the structure is simpler, the volume of the leg structure is obviously reduced, the motion inertia of the leg structure is greatly reduced, and the motion performance of the robot is better improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of an assembly structure of two legs of a bipedal robot according to an embodiment of the disclosure;

fig. 2 is a schematic diagram of an assembly structure of two legs of the bipedal robot according to the embodiment of the application;

FIG. 3 is a schematic diagram showing an exploded structure of one of the two legs of the bipedal robot according to the first embodiment;

fig. 4 is a schematic diagram of an exploded structure of one of the two legs of the bipedal robot according to the embodiment of the present application;

fig. 5 is an exploded structural view of an ankle connection member in a biped robot according to an embodiment of the present application.

Wherein, each reference sign in the figure:

120. two legs; 110. a hip joint structure;

200. thigh section; 210. thigh limbs; 211. an accommodation space; 220. a knee rotation mechanism; 230. a first knee link; 231. a first pole segment; 232. a second pole segment; 233. a third pole segment; 240. a second knee link; 251. a first knee pin; 252. a second knee pin;

300. A lower leg portion; 310. shank; 320. a first calf drive mechanism; 330. a first lower leg link; 340. a second calf drive mechanism; 350. a second lower leg link; 360. a third shank link; 370. a fourth shank link; 380. the connecting rotating shaft; 381. a first calf pin; 382. a second calf pin; 383. a third shank pin; 384. a fourth shank pin; 390. a pivot; 391. a first limiting block; 3911. the first limiting notch; 392. a second limiting block; 3921. the second limiting notch; 301. a first pole segment; 302. a second pole segment; 303. a third pole segment; 304. a first connection lug; 305. a second connecting ear; 311. a first connection end;

400. sole portion; 401. a first connection base; 402. a second connecting seat; 411. a first ankle connection lug; 412. a second ankle connecting lug; 420. an ankle connection member; 421. a first connector; 422. a second connector; 423. a third connector; 424. a fourth connector; 4201. a first cross member; 4202. a second cross member; 4203. a longitudinal shaft member; 42031. perforating; 4204. a fixing bolt; 431. a first bearing; 432. a second bearing; 433. a third bearing; 434. and a fourth bearing.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

As shown in fig. 1 to 2, there is shown an assembly structure schematic diagram of the both legs 120 of the bipedal robot of the embodiment of the application. Any one leg of the two legs 120 of the biped robot is the leg structure described herein, and further, the design key of the leg structure is the shank 300, and the leg structure is used to provide power for the sole motion.

As shown in fig. 3 and 4, the leg structure of the bipedal robot in the embodiment of the application includes (i.e., the lower leg 300 includes) a lower leg limb 310, a sole 400, a first lower leg driving mechanism 320, a first lower leg link 330, a second lower leg driving mechanism 340 and a second lower leg link 350, which form the main constituent parts of the lower leg 300, wherein the first lower leg driving mechanism 320 and the second lower leg driving mechanism 340 combine to form a driving assembly (i.e., the driving assembly includes the first lower leg driving mechanism 320 and the second lower leg driving mechanism 340, and the first lower leg driving mechanism 320 and the second lower leg driving mechanism 340 respectively independently use power sources to output power), and the output rotation axis of the first lower leg driving mechanism 320 is the first output rotation axis of the driving assembly, and the output rotation axis of the second lower leg driving mechanism 340 is the second output rotation axis of the driving assembly.

Specifically, a first end of the calf shank 310 is used to attach the thigh 200 of a bipedal robot and an end of the thigh 200 remote from the calf 300 is used to support the mounting hip joint structure 110, the hip joint structure 110 being used to support the upper body part of the mounting robot. The sole part 400 is provided with a first connection seat 401 and a second connection seat 402 which are spaced apart, and the extending direction of the connecting line between the first connection seat 401 and the second connection seat 402 is the same as the advancing direction of the robot. The second end of the shank 310 is movably connected to the first coupling seat 401, so that an ankle joint structure imitating a human ankle is assembled between the shank 310 and the sole portion 400.

Further, the first calf driving mechanism 320 is fixedly mounted on the calf limb 310, and when the first calf driving mechanism 320 is assembled, the axis extending direction of the output shaft of the first calf driving mechanism 320 is substantially horizontal and substantially perpendicular to the advancing direction of the robot. The output shaft of the first calf drive mechanism 320 is drivingly connected to the first end of the first calf link 330, and the second end of the first calf link 330 is rotatably connected to the second coupling mount 402. Thus, the first calf driving mechanism 320 is started to enable the output rotating shaft to output rotating power, so as to drive the first calf connecting rod 330 to move, and then the first calf connecting rod 330 drives the sole portion 400 to perform sole lifting motion by taking an ankle joint structure formed by assembling the calf limb 310 and the sole portion 400 as a rotating fulcrum through the second connecting seat 402, wherein the sole lifting motion comprises two degrees of freedom motions of lifting and lowering the sole.

Further, as shown in fig. 3 and 4, the second calf drive mechanism 340 is fixedly mounted to the calf shank 310, and the second calf drive mechanism 340 is disposed below the first calf drive mechanism 320, and when the second calf drive mechanism 340 is assembled, the axis extending direction of the output shaft of the second calf drive mechanism 340 is substantially horizontal and substantially perpendicular to the advancing direction of the robot. The output shaft of the second lower leg driving mechanism 340 is drivingly connected to the first end of the second lower leg link 350, and the second end of the second lower leg link 350 is rotatably connected to the second connecting base 402. Further, the first and second shank links 330 and 350 are juxtaposed in a direction perpendicular to the advancing direction of the robot. The length of the first calf link 330 is greater than the length of the second calf link 350. In this way, the group of transmission structures formed by the second calf drive mechanism 340 and the second calf link 350 and the group of transmission structures formed by the first calf drive mechanism 320 and the first calf link 330 are arranged in parallel, and the two groups of transmission structures together provide power to the sole part 400 at the same time to drive the sole part 400 to perform sole lifting motion. This allows the first and second lower leg drivers 320, 340 to be powered by a relatively low power device (e.g., a relatively low power motor), and thus the overall size of the lower leg 300 is relatively small, and the contour of the lower leg 300 is more closely matched to the contour of a human lower leg, as the lower leg drivers 320, 340 are positioned one above the other.

The leg structure provided by the application mainly refers to the shank 300 of the biped robot, and the leg structure specifically drives the sole 400 to perform sole lifting motion through power transmission of the driving component, the first shank link 330 and the second shank link 350. Because the first shank link 330 and the second shank link 350 are both rigid rods, not only traction power for lifting the sole 400 can be transmitted to the sole 400, but also pushing force for lowering the sole 400 can be transmitted to the sole 400, and when the first shank link 330 and the second shank link 350 are driven by the driving assembly to move up and down, the sole can be driven to do inside and outside rollover movement. That is, in the leg structure of the bipedal robot of the present application, only a set of transmission structures composed of the assembly driving assembly, the first calf link 330 and the second calf link 350 is needed to be simply designed to realize the power transmission of the sole lifting motion. Compared with the existing biped robot, the biped robot has the advantages that the number of component parts of the leg structure of the biped robot is smaller, the structure is simpler, the volume of the leg structure is obviously reduced, the motion inertia of the leg structure is greatly reduced, and the motion performance of the robot is better improved.

In addition, when the sole portion 400 performs only the upward and downward foot lifting movement without performing the inward and outward rollover movement, the driving assembly may also output power by using only one power source, to which the first output shaft and the second output shaft are both connected to transmit the output power; or, the driving assembly still adopts only one power source to output power, the first output rotating shaft and the second output rotating shaft are connected to the power source to transmit the output power, and a plurality of groups of clutches are arranged in a matched manner, when the sole part 400 performs the up-and-down foot lifting motion, the corresponding clutches are used for connecting the power source with the first output rotating shaft and the second output rotating shaft, so that the first output rotating shaft and the second output rotating shaft together transmit power to the sole part 400 to enable the sole part 400 to lift or put down, when the sole part 400 performs the inside-and-outside rollover motion, the corresponding clutches are used for connecting the power source with the first output rotating shaft and the second output rotating shaft, so that the power transmitted by the first output rotating shaft to the sole part 400 and the power output by the second output rotating shaft to the sole part 400 are opposite in direction, and thus the sole part 400 can perform the inside-and-outside rollover motion.

As shown in fig. 3 and 4, the drive assembly further includes a third calf link 360, with the drive connection between the output shaft of the first calf drive mechanism 320 and the first end of the first calf link 330 being made through the third calf link 360. Specifically, a first end of the third calf link 360 is fixedly coupled to the output shaft of the first calf drive mechanism 320 and a second end of the third calf link 360 is rotatably coupled to the first end of the first calf link 330. Thus, when the first calf driving mechanism 320 is started to make the output shaft output rotational power, the output shaft drives the third calf link 360 to swing with the axis of the output shaft as the rotational axis, so as to drive the first calf link 330 to move, and then the first calf link 330 drives the sole portion 400 to perform sole lifting motion with the ankle joint structure between the calf limb 310 and the sole portion 400 as the rotational fulcrum through the second connecting seat 402.

As shown in fig. 3 and 4, the drive assembly further includes a fourth calf link 370, with the drive connection between the output shaft of the second calf drive mechanism 340 and the first end of the second calf link 350 being achieved by the fourth calf link 370. Specifically, the first end of the fourth calf link 370 is fixedly coupled to the output shaft of the second calf drive mechanism 340 and the second end of the fourth calf link 370 is rotatably coupled to the first end of the second calf link 350. Thus, when the second calf driving mechanism 340 is started to make the output shaft output rotational power, the output shaft drives the fourth calf link 370 to swing with the axis of the output shaft as the rotational axis, thereby driving the second calf link 350 to move, and then the second calf link 350 drives the sole portion 400 to perform sole lifting motion with the ankle joint structure between the calf limb 310 and the sole portion 400 as the rotational pivot through the second connecting seat 402.

In the embodiment of the present application, as shown in fig. 3 and 4, the second end of the third shank link 360 is hinged to the first end of the first shank link 330 by the first shank pin 381, and the second end of the fourth shank link 370 is hinged to the first end of the second shank link 350 by the second shank pin 382. During the sole lifting movement, the second end of the third shank link 360 and the first end of the first shank link 330 rotate relative to each other about the axis of the first shank pin 381, and the second end of the fourth shank link 370 and the first end of the second shank link 350 rotate relative to each other about the axis of the second shank pin 382.

As shown in fig. 3 and 4, the leg structure further includes a pivot 390 rotatably disposed through the second connecting seat 402, the second end of the first calf link 330 rotatably coupled to one end of the pivot 390, and the second end of the second calf link 350 rotatably coupled to the other end of the pivot 390. During the ball lifting motion, the pivot 390 rotates with respect to the ball 400 about its own axis as a rotation axis.

Further, as shown in fig. 3 and 4, the second end of the first calf link 330 is hinged to one end of the pivot 390 via a third calf pin 383, and the second end of the second calf link 350 is hinged to the other end of the pivot 390 via a fourth calf pin 384. That is, the second end of the first lower leg link 330 and one end of the pivot 390 can rotate about the axis of the third lower leg pin 383, and the second end of the second lower leg link 350 and the other end of the pivot 390 can rotate about the axis of the fourth lower leg pin 384. The axis extending direction of the third shank pin 383 and the axis extending direction of the fourth shank pin 384 are parallel to each other and coincide with the traveling direction of the robot. At this time, referring to fig. 1 to 4 in combination, taking the left leg shown in fig. 4 as an example, when the sole part 400 needs to perform a right swing sole motion (i.e., a sole inner swing), the first calf driving mechanism 320 outputs power for driving the first calf link 330 to move downward, and the second calf driving mechanism 340 outputs power for driving the second calf link 350 to move upward, so that the sole part 400 swings with the connection line of the first connection seat 401 and the second connection seat 402 as a rotation axis to perform an inner side swing. When the sole portion 400 needs to perform left swing sole movement (i.e. sole outward swing), the first calf driving mechanism 320 outputs power for driving the first calf link 330 to move upward, and the second calf driving mechanism 340 outputs power for driving the second calf link 350 to move downward, so that the sole portion 400 performs outward turning swing by taking the connection line of the first connecting seat 401 and the second connecting seat 402 as a rotation axis.

Alternatively, in another embodiment of the present application, one of the second end of the third shank link 360 and the first end of the first shank link 330 is provided with a first shank ball (not shown), and the other of the second end of the third shank link 360 and the first end of the first shank link 330 is provided with a first shank socket (not shown) to which the first shank ball is hinged. Further, one of the second end of the fourth shank link 370 and the first end of the second shank link 350 is provided with a second shank ball (not shown), and the other of the second end of the fourth shank link 370 and the first end of the second shank link 350 is provided with a second shank socket structure (not shown) to which the second shank ball is hinged. Further, one of the second end of the first calf link 330 and one end of the pivot 390 is provided with a third calf ball (not shown), and the other of the second end of the first calf link 330 and one end of the pivot 390 is provided with a third calf socket structure (not shown), the third calf ball being hinged to the third calf socket structure. A fourth calf ball (not shown) is provided at one of the second end of the second calf link 350 and the other end of the pivot 390, and a fourth calf socket structure (not shown) is provided at the other of the second end of the second calf link 350 and the other end of the pivot 390, the fourth calf ball being hinged to the fourth calf socket.

As shown in fig. 3, the first and second shank links 330 and 350 each include the first, second and third rod segments 301, 302 and 303, i.e., the first and second shank links 330 and 350 are each a combined rod, enabling the overall assembly length of the rod to be adjusted, thereby enabling the first and second shank links 330 and 350 to be assembled more precisely. Adjusting the assembly length of the first calf link 330 to eliminate the assembly gap between the first calf link 330, the pivot 390 and the third calf link 360; the assembly length of the second calf link 350 is adjusted to eliminate the assembly gap between the second calf link 350, the pivot 390 and the fourth calf link 370. Specifically, the first shaft section 301 and the third shaft section 303 are respectively screwed to two ends of the second shaft section 302, and the threads of the first shaft section 301 and the threads of the third shaft section 303 are opposite to each other.

Taking the first calf link 330 as an example, after the first calf drive mechanism 320 is fixedly installed to the calf shank 310 and the third calf link 360 is fixedly connected to the output shaft of the first calf drive mechanism 320 and the pivot 390 is installed to the second connecting seat 402, when the first calf link 330 is assembled, the length of the first calf link 330 is adjusted to an appropriate assembly length according to an assembly size chain between the third calf link 360 and the pivot 390, and then both ends of the first calf link 330 are hinged to the second end of the third calf link 360 and the pivot 390 through the first calf pin 381 and the second calf pin 382, respectively. Then, depending on whether the length of the first shank link 330 is in a slightly long state of being tightly fitted between the second end of the third shank link 360 and the pivot 390 or in a slightly short state of being tightly fitted between the second end of the third shank link 360 and the pivot 390 at this time, the second shaft section 302 is rotated so that the first shaft section 301 and the third shaft section 303 are brought close to each other with respect to the second shaft section 302 to shorten the entire length of the first shank link 330 or are brought far away from each other to lengthen the entire length of the first shank link 330, so that the fitting length of the first shank link 330 is optimized.

In the present embodiment, both the first and second calf drive mechanisms 320, 340 are embedded in the calf shank 310, which can make the overall assembly of the calf 300 more compact. The first and second calf drive mechanisms 320 and 340 are arranged at intervals along the extending direction of the calf limb 310, and the extending direction of the output rotation shaft of the first calf drive mechanism 320 extending out of the calf limb 310 is opposite to the extending direction of the output rotation shaft of the second calf drive mechanism 340 extending out of the calf limb 310. This results in a lower overall volume of the lower leg 300, and the contour of the lower leg 300 is more closely approximated to the contour of a human lower leg.

As shown in fig. 3 and 4, the leg structure further includes a first stopper 391, and only the first stopper 391 is provided. Specifically, the first limiting block 391 is fixedly mounted on the shank 310 corresponding to the first shank driving mechanism 320, the first limiting block 391 is formed with a first limiting notch 3911, the third shank link 360 extends from the first limiting notch 3911, and two end walls of the first limiting notch 3911 are used for limiting the swing range of the third shank link 360. Alternatively, as shown in fig. 3, the leg structure further includes a second stopper 392, where the leg structure is provided with only the second stopper 392. Specifically, the second limiting block 392 is fixedly mounted on the shank 310 corresponding to the second shank driving mechanism 340, the second limiting block 392 is formed with a second limiting gap 3921, the third shank link 360 extends from the second limiting gap 3921, and two end walls of the second limiting gap 3921 are used for limiting the swing range of the fourth shank link 370. Or, the leg structure is provided with the first limiting block 391 and the second limiting block 392 at the same time, and the structural form and the assembly form of the first limiting block 391 and the second limiting block 392 are the same as those described above, so that the description is omitted.

According to another aspect of the present application, a bipedal robot is provided. Specifically, the bipedal robot includes a leg structure of the bipedal robot as described above.

Specifically, the leg structure further includes a thigh limb 210, a knee rotation mechanism 220, and a first knee link 230. The thigh limb 210 and the shank limb 310 of the shank 300 constitute a limb body of either one leg of the double-leg 120, wherein the thigh limb 210, the knee rotation mechanism 220, and the first knee link 230 constitute the thigh 200 of either one leg of the double-leg 120 of the double-foot robot. The biped robot can realize the flexion and extension movement of any single leg through the leg structure. The leg structure of the biped robot is specifically assembled as follows.

As shown in fig. 3, a first end of the thigh limb 210 is used to assemble the hip joint structure 110 and to mount the upper body part of the support bipedal robot by means of the hip joint structure 110. The lower leg 300 is rotatably mounted to the second end of the thigh limb 210 through the connection shaft 380 (i.e., the lower leg limb 310 of the lower leg 300 and the second end of the thigh limb 210 are hinged through the connection shaft 380), where a rotation fulcrum position of the knee portion between the thigh limb 210 and the lower leg 300 is formed, so that a flexion-extension movement is enabled between the thigh limb 210 and the lower leg limb 310 of the lower leg 300. Further, the lower leg limb 310 of the lower leg 300 is provided with a first connection end 311 toward the end of the thigh limb 210, and the knee rotation mechanism 220 is fixedly mounted on the limb of the thigh limb 210 near the first end of the thigh limb 210. When the knee rotation mechanism 220 is fixedly mounted to the thigh 210, an axis extending direction of an output shaft of the knee rotation mechanism 220 is substantially horizontal and substantially perpendicular to a forward direction of the robot, and the output shaft of the knee rotation mechanism 220 is drivingly connected to a first end of the first knee link 230, and a second end of the first knee link 230 is rotatably connected to the first connecting end 311. The knee rotation mechanism 220 drives the first knee link 230 to move, and then the first knee link 230 drives the first connecting end 311, so that the shank 310 of the shank 300 rotates relative to the thigh 210 with the axis of the connecting shaft 380 as the rotation axis, and the leg flexion and extension movement is performed.

Compared with the prior art, the rotating motor for connecting the thigh limb and the shank in any single leg of the biped robot is directly assembled at the knee part, the leg structure of the biped robot moves the assembling position of the knee rotating mechanism 220 up to one end of the thigh limb 210 far away from the shank limb 310, so that the volume of the knee part formed between the shank limb 310 of the shank 300 and the second end of the thigh limb 210 can be reduced, and the knee part of the humanoid knee with compact and small structure can be obtained on the basis of ensuring the flexion and extension movement between the thigh limb 210 and the shank limb 310 of the shank 300. Moreover, the knee rotation mechanism 220 which has been moved up to the mounting position in the leg structure of the present application is located exactly at the position of the maximum outer diameter of the thigh limb 210, that is, the thigh position where the human thigh muscle is most developed, so that after the shell is assembled for the thigh limb 210, not only the assembly space of the thigh part is reasonably utilized, but also the part where the knee rotation mechanism 220 is assembled can approach to the thigh muscle line, so that any single leg of the bipedal robot is more beautiful.

As shown in fig. 3 and 4, the leg structure further includes a second knee link 240, and the output shaft of the knee rotation mechanism 220 and the first knee link 230 are drivingly connected by the second knee link 240. Specifically, a first end of the second knee link 240 is fixedly coupled to the output shaft of the knee rotation mechanism 220, and a second end of the second knee link 240 is rotatably coupled to the first end of the first knee link 230. The knee rotation mechanism 220 drives the second knee link 240 to move, then the second knee link 240 drives the first knee link 230 to move, and then the first knee link 230 drives the first connecting end 311, so that the lower leg 300 rotates relative to the thigh limb 210 with the axis of the connecting shaft 380 as the rotation axis, and the leg flexion and extension movement is performed.

As shown in fig. 3, the second end of the second knee link 240 is hinged to the first end of the first knee link 230 by a first knee pin 251. Further, the second end of the first knee link 230 is hinged to the first connection end 311 through the second knee pin 252. During the flexion and extension movement of any one leg, the second end of the second knee link 240 and the first end of the first knee link 230 relatively rotate about the axis of the first knee pin 251, and the second end of the first knee link 230 and the first connecting end 311 relatively rotate about the axis of the second knee pin 252.

Alternatively, in another embodiment of the present application, one of the second end of the second knee link 240 and the first end of the first knee link 230 is provided with a first knee ball (not shown), and the other of the second end of the second knee link 240 and the first end of the first knee link 230 is provided with a first knee socket structure (not shown) to which the first knee ball is hinged. Further, one of the second end and the first connecting end 311 of the first knee link 230 is provided with a second knee ball (not shown), and the other of the second end and the first connecting end 311 of the first knee link 230 is provided with a second knee socket structure (not shown), to which the second knee ball is hinged.

As shown in fig. 3, the first knee link 230 of the embodiment of the present application includes the first bar section 231, the second bar section 232, and the third bar section 233, i.e., the first knee link 230 is a combined bar, and the overall length of the first knee link 230 can be adjusted, thereby enabling the first knee link 230 to be more precisely assembled between the second knee link 240 and the first connection end 311, eliminating an assembly gap generated by a dimensional chain error between the first knee link 230 and the second knee link 240, and eliminating an assembly gap generated by a dimensional chain error between the first knee link 230 and the first connection end 311. Specifically, the first and third rod segments 231 and 233 are respectively screwed to both ends of the second rod segment 232, and the threads of the first and third rod segments 231 and 233 are reversed with respect to each other.

After the hinge-coupling of the lower leg limb 310 of the lower leg 300 and the second end of the thigh limb 210 is completed through the coupling rotation shaft 380 and the knee rotation mechanism 220 is fixedly installed to the thigh limb 210 and the second knee link 240 is fixedly coupled to the output rotation shaft of the knee rotation mechanism 220, when the first knee link 230 is assembled, the length of the first knee link 230 is adjusted to an appropriate assembly length according to the assembly size chain between the second knee link 240 and the first coupling end 311, and then both ends of the first knee link 230 are hinged to the second end of the second knee link 240 and the first coupling end 311 through the first knee pin 251 and the second knee pin 252, respectively. Then, depending on whether the length of the first knee link 230 is in a slightly long state of being tightly fitted between the second knee link 240 and the first connection end 311 or in a slightly short state of being tightly fitted between the second knee link 240 and the first connection end 311 at this time, the second rod section 232 is rotated such that the first rod section 231 and the third rod section 233 are brought closer to each other with respect to the second rod section 232 to shorten the entire length of the first knee link 230 or are brought away from each other to lengthen the entire length of the first knee link 230, so that the fitting length of the first knee link 230 is optimized.

As shown in fig. 3 and 4, the thigh limb 210 is provided with an accommodation space 211, the first knee link 230 and the second knee link 240 are both located in the accommodation space 211, and the first connection end 311 extends into the accommodation space 211. In this way, the accommodation space 211 is used to accommodate and assemble the first knee link 230 and the second knee link 240, so that the overall assembly structure of the thigh 200 is more compact.

Further, the leg structure also includes an ankle connection member 420. The leg structure of the bipedal robot can realize basic freedom degree movements of lifting the sole, putting down the sole, left swing the sole and right swing the sole of the sole part 400.

As shown in fig. 3 and 4, one end of the shank 310 of the shank 300 is used to connect one end of the thigh 210 of the thigh 200 of the bipedal robot. The other end of the shank 310 of the shank 300 is provided with opposing and spaced apart first and second attachment ears 304, 305. Correspondingly, the sole portion 400 is provided with a first connecting seat 401, the first connecting seat 401 comprises a first ankle connecting lug 411 and a second ankle connecting lug 412 which are opposite and spaced, and the connecting line of the first ankle connecting lug 411 and the second ankle connecting lug 412 is perpendicular to the connecting line of the first connecting lug 304 and the second connecting lug 305. When the leg portion 310 of the lower leg 300 is connected with the first connecting seat 401 through the ankle connecting member 420 in a multi-degree-of-freedom movement manner, the ankle connecting member 420 is provided with a first connecting head 421, a second connecting head 422, a third connecting head 423 and a fourth connecting head 424, the connecting line of the first connecting head 421 and the second connecting head 422 is perpendicular to the connecting line of the third connecting head 423 and the fourth connecting head 424, the first connecting head 421 is rotationally connected with the first connecting lug 304, the second connecting head 422 is rotationally connected with the second connecting lug 305, the fourth connecting head 424 is rotationally connected with the first ankle connecting lug 411, and the third connecting head 423 is rotationally connected with the second ankle connecting lug 412.

In this way, the ankle joint structure is formed between the first coupling seat 401 of the sole portion 400 and the end portion of the shank 310 of the shank 300 by the ankle coupling member 420. During the movement of the sole portion 400, the sole portion 400 can perform two degrees of freedom movements of lifting and dropping the sole by using the connection line between the first connection head 421 and the second connection head 422 as a rotation axis, and the sole portion 400 can perform two degrees of freedom movements of left swing and right swing by using the connection line between the third connection head 423 and the fourth connection head 424 as a rotation axis. That is, the sole portion 400 can basically realize the most dominant four-degree-of-freedom motion function of the humanoid ankle joint. Moreover, the leg structure of the present application adopts a simple structure of the ankle connecting member 420, which can reduce the volume of the ankle as much as possible, so that the volume outline shape of the ankle structure of any one leg of the bipedal robot is more similar to the human ankle, and more accords with the aesthetic sense of people.

In this embodiment, as shown in fig. 3 to 5, the first connection head 421 and the first connection lug 304 are rotatably connected through a first bearing 431, the second connection head 422 and the second connection lug 305 are rotatably connected through a second bearing 432, the fourth connection head 424 and the first ankle connection lug 411 are rotatably connected through a fourth bearing 434, and the third connection head 423 and the second ankle connection lug 412 are rotatably connected through a third bearing 433. Alternatively, in another embodiment of the present application, the first connection head 421 and the first connection lug 304, the second connection head 422 and the second connection lug 305, the fourth connection head 424 and the first ankle connection lug 411, and the third connection head 423 and the second ankle connection lug 412 are all ball-and-socket joints.

To facilitate the assembly of the ankle connecting member 420 between the first connecting lug 304, the second connecting lug 305, the first ankle connecting lug 411 and the second ankle connecting lug 412, the ankle connecting member 420 is designed in a modular structure as shown in fig. 5. Specifically, the ankle connection member 420 includes a first transverse member 4201, a second transverse member 4202, and a longitudinal member 4203, one end of the first transverse member 4201 and one end of the second transverse member 4202 are fixedly connected to the longitudinal member 4203, and the axes of the first transverse member 4201 and the second transverse member 4202 are on the same straight line, and the axes of the first transverse member 4201 and the second transverse member 4202 are perpendicular to the axis of the longitudinal member 4203. At this time, the third connecting head 423 and the fourth connecting head 424 are respectively disposed at two ends of the longitudinal shaft 4203, the first connecting head 421 is disposed at one end of the first transverse shaft 4201 away from the longitudinal shaft 4203, and the second connecting head 422 is disposed at one end of the second transverse shaft 4202 away from the longitudinal shaft 4203. In a specific assembly, the first transverse shaft 4201 is rotatably connected to the first connecting lug 304, the second transverse shaft 4202 is rotatably connected to the second connecting lug 305, and two ends of the longitudinal shaft 4203 are rotatably connected to the first ankle connecting lug 411 and the second ankle connecting lug 412 of the first connecting seat 401, respectively.

As shown in fig. 5, the ankle connection member 420 also includes a securing bolt 4204, and the longitudinal member 4203 is provided with a bore 42031 having a bore axis perpendicular to the axis of the longitudinal member 4203. In a specific assembly, the first transverse shaft 4201 and the second transverse shaft 4202 respectively correspond to two side hole ports of the through hole 42031, and the fixing bolt 4204 sequentially passes through the first transverse shaft 4201 and the through hole 42031 to be screwed and fixed with the second transverse shaft 4202. In this way, first and second cross members 4201, 4202 are lock fastened to longitudinal member 4203 by fixing bolts 4204.

In assembling the ankle joint structure using the modular ankle connection member 420, the longitudinal shaft member 4203 is first placed between the first ankle connection ear 411 and the second ankle connection ear 412, then the first transverse shaft member 4201 is placed between the first connection ear 304 and the longitudinal shaft member 4203 and the second transverse shaft member 4202 is placed between the second connection ear 305 and the longitudinal shaft member 4203, and then the first transverse shaft member 4201 and the second transverse shaft member 4202 are locked to the longitudinal shaft member 4203 by the fixing bolts 4204. The first bearing 431, the second bearing 432, the third bearing 433 and the fourth bearing 434 are then assembled in this order, that is: the first bearing 431 is fitted between the first coupling head 421 and the first coupling lug 304, the second bearing 432 is fitted between the second coupling head 422 and the second coupling lug 305, the third bearing 433 is fitted between the second ankle coupling lug 412 and the third coupling head 423, and the fourth bearing 434 is fitted between the first ankle coupling lug 411 and the fourth coupling head 424.

Additionally, in another embodiment of the present application, ankle connecting member 420 is an integrally formed member. Preferably, the ankle connecting member 420 is an integrally forged member, or the ankle connecting member 420 is a cast member.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims (10)

1. A leg structure of a biped robot, comprising:

a lower leg limb (310), a first end of the lower leg limb (310) being for connecting to a thigh (200) of a bipedal robot;

a sole portion (400);

a drive assembly fixedly mounted to the calf limb (310), the drive assembly having a first output shaft and a second output shaft;

a first lower leg connecting rod (330), wherein a first output rotating shaft of the driving assembly is in driving connection with a first end of the first lower leg connecting rod (330), and a second end of the first lower leg connecting rod (330) is in rotating connection with the sole part (400);

the first lower leg connecting rod (330) and the second lower leg connecting rod (350) are arranged in parallel, a second output rotating shaft of the driving assembly is in driving connection with a first end of the second lower leg connecting rod (350), and a second end of the second lower leg connecting rod (350) is in rotating connection with the sole part (400).

2. The leg structure of the bipedal robot of claim 1 wherein,

the driving assembly comprises a first calf driving mechanism (320) and a second calf driving mechanism (340), the second calf driving mechanism (340) is arranged below the first calf driving mechanism (320), an output rotating shaft of the first calf driving mechanism (320) is in driving connection with a first end of a first calf connecting rod (330), and an output rotating shaft of the second calf driving mechanism (340) is in driving connection with a first end of a second calf connecting rod (350).

3. The leg structure of the bipedal robot of claim 2 wherein,

the driving assembly further comprises a third shank connecting rod (360) and a fourth shank connecting rod (370), wherein the first end of the third shank connecting rod (360) is fixedly connected with the output rotating shaft of the first shank driving mechanism (320), the second end of the third shank connecting rod (360) is rotatably connected with the first end of the first shank connecting rod (330), the first end of the fourth shank connecting rod (370) is fixedly connected with the output rotating shaft of the second shank driving mechanism (340), and the second end of the fourth shank connecting rod (370) is rotatably connected with the first end of the second shank connecting rod (350).

4. The leg structure of the bipedal robot of claim 3, wherein the leg structure comprises,

the second end of the third shank link (360) is hinged with the first end of the first shank link (330) through a first shank pin shaft (381), and the second end of the fourth shank link (370) is hinged with the first end of the second shank link (350) through a second shank pin shaft (382);

alternatively, one of the second end of the third shank link (360) and the first end of the first shank link (330) is provided with a first shank ball, the other of the second end of the third shank link (360) and the first end of the first shank link (330) is provided with a first shank socket structure, the first shank ball is hinged to the first shank socket structure, one of the second end of the fourth shank link (370) and the first end of the second shank link (350) is provided with a second shank ball, the other of the second end of the fourth shank link (370) and the first end of the second shank link (350) is provided with a second shank socket structure, and the second shank ball is hinged to the second shank socket structure.

5. The leg structure of the bipedal robot of any one of claims 1 to 4, wherein,

The leg structure further comprises a pivot (390), the pivot (390) is rotatably connected to the sole portion (400), the second end of the first calf link (330) is rotatably connected to one end of the pivot (390), and the second end of the second calf link (350) is rotatably connected to the other end of the pivot (390).

6. The leg structure of the bipedal robot of claim 5 wherein,

the second end of the first shank link (330) is hinged with one end of the pivot (390) through a third shank pin shaft (383), and the second end of the second shank link (350) is hinged with the other end of the pivot (390) through a fourth shank pin shaft (384);

alternatively, one of the second end of the first calf link (330) and one end of the pivot (390) is provided with a third calf-head, the other of the second end of the first calf link (330) and one end of the pivot (390) is provided with a third calf-head hinged to the third calf-head, one of the second end of the second calf link (350) and the other end of the pivot (390) is provided with a fourth calf-head, and the other of the second end of the second calf link (350) and the other end of the pivot (390) is provided with a fourth calf-head hinged to the fourth calf-head.

7. The leg structure of the bipedal robot of claim 2 wherein,

the first shank connecting rod (330) and the second shank connecting rod (350) comprise a first rod section part (301), a second rod section part (302) and a third rod section part (303), the first rod section part (301) and the third rod section part (303) are respectively connected with two ends of the second rod section part (302) in a threaded mode, and the threads of the first rod section part (301) and the threads of the third rod section part (303) are mutually opposite.

8. The leg structure of the bipedal robot of claim 2 wherein,

the first calf driving mechanism (320) and the second calf driving mechanism (340) are both embedded and fixed in the calf limb (310), the first calf driving mechanism (320) and the second calf driving mechanism (340) are arranged at intervals along the extending direction of the calf limb (310), and the extending direction of the calf limb (310) is opposite to the extending direction of the calf limb (310) when the output rotating shaft of the first calf driving mechanism (320) extends out of the extending direction of the calf limb (310) and the extending direction of the output rotating shaft of the second calf driving mechanism (340) extends out of the calf limb (310).

9. The leg structure of the bipedal robot of claim 3, wherein the leg structure comprises,

The leg structure further comprises a first limiting block (391), the first limiting block (391) is fixedly arranged on the shank (310) corresponding to the first shank driving mechanism (320), a first limiting gap (3911) is formed on the first limiting block (391), the third shank connecting rod (360) extends out of the first limiting gap (3911), and two end walls of the first limiting gap (3911) are used for limiting the swing range of the third shank connecting rod (360);

and/or, the leg structure further comprises a second limiting block (392), the second limiting block (392) is fixedly installed on the shank (310) corresponding to the second shank driving mechanism (340), a second limiting gap (3921) is formed on the second limiting block (392), the third shank connecting rod (360) extends out of the second limiting gap (3921), and two end walls of the second limiting gap (3921) are used for limiting the swing range of the fourth shank connecting rod (370).

10. A bipedal robot comprising a leg structure as claimed in any one of claims 1 to 9.

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