Leg structure and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a leg structure and a humanoid robot. A motor template; the hip joint assembly is mounted on the thigh bracket and comprises a rotary mounting frame which is in assembly connection with the motor template; the first end of the hip linear actuator is rotationally connected with the thigh support, and the second end of the hip linear actuator is connected with the hip joint assembly; the shank support is connected with the lower portion of the thigh support through a knee joint assembly; the knee joint linear actuator is arranged on the thigh support, and the driving end is connected with the knee joint assembly; the foot support is connected with the lower portion of the shank support through an ankle joint assembly; the first end of the ankle linear actuator is rotationally connected with the shank support, and the second end of the ankle linear actuator is rotationally connected with the foot support. According to the humanoid robot, the corresponding linear actuators are arranged on the thigh support and the shank support, the space on the thigh support and the space on the shank support are fully utilized, the inertia of the leg structure is reduced, the response speed is high when the leg structure conducts corresponding actions, and the dynamic stability of the humanoid robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a leg structure and a humanoid robot. Background Art

[0002] At present, humanoid robots are robots designed to imitate human appearance and behavior. Such robots usually integrate advanced technologies in multiple fields such as mechanics, electronics, computer science, materials science, sensor technology, control theory, etc. If humanoid robots want to complete various complex and diverse tasks like humans, they need to have flexible movement capabilities. However, to achieve highly maneuverable and flexible movement capabilities, it is necessary to first design a structural platform with similar or greater movement capabilities than humans, select appropriate joint drive methods, and have sufficient power to ensure that they can cope with various complex working conditions.

[0003] The leg structure of a humanoid robot includes the hip joint, thigh, knee joint, calf, ankle joint and foot. In order to achieve the bending of the joints, the driving components of the joints are generally installed at the corresponding joint positions. This leads to an increase in the inertia of the leg structure, and more energy is required to accelerate or decelerate when performing leg movements. This may affect the overall performance of the robot, such as slow response speed and poor dynamic stability. Summary of the invention

[0004] In view of this, the present invention provides a leg structure and a humanoid robot to solve the problem that the driving components of the joints are installed at the positions of the corresponding joints, which causes the inertia of the leg structure to increase and affects the overall performance of the robot.

[0005] In the first aspect, the present invention provides a leg structure, including: a thigh support; a motor template, suitable for being assembled and connected with a robot body; a hip joint assembly, installed on the thigh support; the hip joint assembly includes: a swivel mounting frame, assembled and connected with the motor template, and the motor template drives the thigh support to rotate through the swivel mounting frame; a hip linear actuator, a first end of which is connected to the thigh support, and a second end is connected to the hip joint assembly, so as to drive the thigh support to perform pitch and roll movements through the movement of the hip joint assembly; a calf support, connected to the lower part of the thigh support through the knee joint assembly; a knee joint linear actuator, arranged on the thigh support, a fixed end of the knee joint linear actuator is rotatably connected to the upper part of the thigh support, and a driving end of the knee joint linear actuator is connected to the knee joint assembly, so as to drive at least one of the calf support and the thigh support to pitch; a foot support, connected to the lower part of the calf support through the ankle joint assembly; an ankle linear actuator, a first end of which is rotatably connected to the calf support, and a second end of which is rotatably connected to the foot support, so as to drive at least one of the foot support and the calf support to pitch and roll movements.

[0006] Beneficial effects: The hip linear actuator and the knee linear actuator are both set on the thigh bracket, and the ankle linear actuator is set on the calf bracket, which fully utilizes the space on the thigh bracket and the calf bracket, reduces the inertia of the leg structure, requires less energy when the leg structure performs corresponding actions, has a fast response speed, and improves the dynamic stability of the humanoid robot. In addition, the motor template that drives the thigh bracket to rotate is set on the robot body, and the rotation angle of the thigh bracket driven by the motor template relative to the robot body can be larger. There is no need to set the motor template on the thigh bracket, which reduces the mass of the thigh structure, making the overall mass of the leg lighter, and the inertia of the thigh bracket when rotating is small, which is conducive to the robot adjusting its posture during movement.

[0007] In an optional embodiment, the swivel mount is suitable for rotating around the A axis when driven; the hip joint assembly also includes: a hip cross axis, having a first hip rotation axis suitable for rotating around the B axis and a second hip rotation axis suitable for rotating around the C axis; wherein the B axis is perpendicular to the C axis.

[0008] Beneficial effect: By using a hip linear actuator to drive the movement of the hip joint assembly, the thigh support can be driven to rotate around the B-axis and / or C-axis. There is no need to set up an independent driving component for each degree of freedom of rotation, thereby realizing a combination of multi-degree-of-freedom rotation actions, reducing the number of driving components and reducing the complexity of the structure.

[0009] In an optional embodiment, the hip joint assembly also includes a connecting rod mechanism, which includes: a first hip connecting rod, a first end of which is rotatably connected to the first hip connecting rod mounting shaft of the swivel mounting frame; a second hip connecting rod, a first end of which is rotatably connected to the second hip connecting rod mounting shaft of the thigh support; a connecting rod assembly shaft, a second end of the first hip connecting rod and a second end of the second hip connecting rod are both rotatably connected to the connecting rod assembly shaft; a second end of the hip linear actuator is also rotatably connected to the connecting rod assembly shaft; the hip linear actuator is extended and retracted to drive the connecting rod assembly shaft to move.

[0010] Beneficial effect: Since the second end of the hip linear actuator is rotatably connected to the connecting rod assembly shaft, when the hip linear actuator is extended or shortened, the connecting rod assembly shaft can be driven to move, and since the second end of the first hip connecting rod is rotatably connected to the connecting rod assembly shaft, the action of the hip linear actuator is continuously transmitted to the first hip connecting rod, and then the action is transmitted to the swivel mounting frame by the first hip connecting rod, and since the swivel mounting frame is provided with a first hip rotating shaft mounting seat, the first hip rotating shaft is rotatably connected to the first hip rotating shaft mounting seat, and then the swivel mounting frame can be rotated around the first hip rotating shaft, that is, the swivel mounting frame can be rotated around the B axis. Similarly, when the hip linear actuator is extended or shortened, the connecting rod assembly shaft can be driven to move, and since the second end of the second hip connecting rod is rotatably connected to the connecting rod assembly shaft, the action of the hip linear actuator is continuously transmitted to the second hip connecting rod, and the second hip connecting rod plays a role in constraining the second end of the hip linear actuator, constraining the movement trajectory of the second end of the hip linear actuator relative to the thigh support. When the swivel mounting frame rotates around the first hip axis, since the second hip link and the first hip link are commonly connected to the link assembly axis, that is, when the thigh support remains relatively fixed, the swivel mounting frame rotates around the first hip axis, and when the robot body remains relatively fixed, the thigh support can also rotate around the first hip axis.

[0011] In an optional embodiment, there are two hip linear actuators, which are respectively arranged on both sides of the thigh support along the B-axis direction; there are two groups of connecting rod mechanisms, and each group of connecting rod mechanisms is connected to a corresponding hip linear actuator; the hip linear actuators on both sides extend and retract synchronously to drive the two groups of connecting rod mechanisms to move in the same direction, thereby driving the thigh support to rotate around the B-axis, or causing the swivel mounting frame to rotate around the B-axis; the hip linear actuators on both sides extend and retract in different directions to drive the two groups of connecting rod mechanisms to move in different directions, thereby driving the thigh support to rotate around the C-axis, or causing the swivel mounting frame to rotate around the C-axis.

[0012] Beneficial effect: By extending and retracting the hip linear actuators on both sides in different directions, the two groups of connecting rod mechanisms can be driven to move in different directions respectively, that is, the hip second connecting rod of one group of connecting rod mechanisms rotates counterclockwise around the hip second connecting rod mounting axis of the thigh support, and at the same time, the hip first connecting rod of this group of connecting rod mechanisms rotates counterclockwise around the hip first connecting rod mounting axis of the swivel mounting frame; while the hip second connecting rod of the other group of connecting rod mechanisms rotates clockwise around the hip second connecting rod mounting axis of the thigh support, and at the same time, the hip first connecting rod of this group of connecting rod mechanisms rotates clockwise around the hip first connecting rod mounting axis of the swivel mounting frame.

[0013] In an optional embodiment, the knee joint assembly includes: a knee joint axis connecting the lower part of the thigh support and the upper part of the calf support; a knee joint connecting rod assembly, which forms a polygon with the hinge points of the lower part of the thigh support, the upper part of the calf support, and the driving end of the knee joint linear actuator. Driven by the driving end of the knee joint linear actuator, the axis center of the knee joint axis can move from the outside of the polygon to the inside of the polygon.

[0014] Beneficial effects: The knee joint linear actuator is set on the front side of the thigh bracket, which makes full use of the space on the front side of the thigh, reduces the inertia of the calf bracket, requires less energy when the calf bracket performs pitching movements, has a fast response speed, and improves the dynamic stability of the humanoid robot. In addition, the knee joint linear actuator drives the calf bracket to swing relative to the thigh bracket through the knee joint connecting rod assembly. On the premise of meeting the joint movement speed, the output requirement of the knee joint linear actuator can be reduced within a certain range of joint movement, and at the same time, the length of the force arm of the knee joint linear actuator driving the calf bracket is increased to reduce the output force of the knee joint linear actuator. The power is transmitted through the knee joint connecting rod assembly, and the transmission is smoother, which can accurately control the trajectory and speed of the calf bracket.

[0015] In an optional embodiment, the swing angle of the calf support is 0-135°.

[0016] Beneficial effect: The maximum swing angle of the calf bracket is 135°, which is very close to the maximum swing angle of the human calf, making it easier for the robot to perform running, walking, jumping and other actions.

[0017] In an optional embodiment, the knee joint link assembly includes a first knee joint link and a second knee joint link, one end of the first knee joint link and one end of the second knee joint link are connected to the driving end of the knee joint linear actuator through a first knee joint hinge axis, the other end of the first knee joint link is connected to the lower part of the thigh support through a second knee joint hinge axis, the other end of the second knee joint link is connected to the upper part of the calf support through a third knee joint hinge axis, and the polygon is a triangle.

[0018] Beneficial effects: The knee joint connecting rod assembly, thigh support and calf support form a planar four-bar linkage, which has a simple structure and is easy to design and manufacture. The length of the two connecting rods can be adjusted to adjust the swing angle of the calf support as needed. It can also maintain high stability and withstand high loads to meet the high load requirements of the robot.

[0019] In an optional embodiment, the ankle joint assembly includes: a swivel cross axis having a first ankle rotation axis suitable for rotating around an M axis and a second ankle rotation axis suitable for rotating around an N axis.

[0020] Beneficial effect: By using an ankle linear actuator to drive the movement of the ankle joint assembly, at least one of the foot support and the calf support can be rotated around the M axis and / or the N axis, without the need to provide an independent driving component for each degree of freedom of rotation, thereby achieving a combination of multi-degree-of-freedom rotation actions, reducing the number of driving components, and reducing the complexity of the structure.

[0021] In an optional embodiment, the number of ankle linear actuators is two, and the two ankle linear actuators are respectively arranged on both sides of the calf support along the N-axis direction; the two ankle linear actuators have a first action state of asymmetrical extension and contraction, and a second action state of synchronous extension and contraction; in the first action state, the calf support and / or the foot support are suitable for rotating around the M axis; in the second action state, the calf support and / or the foot support are suitable for rotating around the N axis.

[0022] Beneficial effects: The two ankle linear actuators have a first action state of asymmetric telescopic expansion and contraction. By asymmetric expansion and contraction of the ankle linear actuators on both sides, the two sides of the push rod mounting shaft can be driven to move in different directions respectively, so that in the first action state, the calf support is rotated around the M axis, or the foot support is rotated around the M axis, or the calf support and the foot support are simultaneously rotated around the M axis. The two ankle linear actuators also have a second action state of synchronous expansion and contraction. By synchronous expansion and contraction of the ankle linear actuators on both sides, the two sides of the push rod mounting shaft can be driven to move in the same direction respectively, so that in the second action state, the calf support is rotated around the N axis, or the foot support is rotated around the N axis, or the calf support and the foot support are simultaneously rotated around the N axis.

[0023] In a second aspect, the present invention further provides a humanoid robot, comprising: the above-mentioned leg structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A three-dimensional diagram of a leg structure in an upright state according to an embodiment of the present invention;

[0026] Figure 2 for Figure 1 The schematic diagram of the cooperation between the thigh support, hip joint assembly and hip linear actuator is shown;

[0027] Figure 3 for Figure 2 An exploded schematic diagram of the thigh brace and hip joint assembly and hip linear actuator is shown;

[0028] Figure 4 for Figure 3 A side view of an exploded state of the thigh brace and hip joint assembly and hip linear actuator is shown;

[0029] Figure 5 for Figure 3 An exploded schematic diagram of the hip joint components is shown;

[0030] Figure 6 for Figure 1 a perspective view of a portion of the leg structure shown;

[0031] Figure 7 for Figure 6 a perspective view of a portion of the leg structure shown from another perspective;

[0032] Figure 8 for Figure 7 A side view of the leg structure shown;

[0033] Fig. 9 for Figure 8 A is a partial enlarged schematic diagram;

[0034] Fig.10 for Figure 1 An exploded schematic diagram of a portion of the leg structure shown;

[0035] Fig.11 for Figure 1 A perspective view of the calf brace shown;

[0036] Fig.12 for Figure 1 A perspective view of the leg structure shown from another perspective;

[0037] Fig.13 for Figure 1 A side view of the leg structure shown;

[0038] Fig.14 for Fig.13 A front view of the leg structure shown;

[0039] Fig.15 for Figure 1 The leg structure is shown in a rear view in a side-swinging leg position;

[0040] Fig.16 for Fig.15 A partial enlarged schematic diagram of the upper portion of the leg structure shown;

[0041] Fig.17 for Fig.15 A top view of the leg structure shown;

[0042] Fig.18 for Figure 1 The leg structure is shown in a front view in a squatting position;

[0043] Fig.19 for Fig.18 A side view of the leg structure shown;

[0044] Fig. 20 for Fig.19 A partial enlarged schematic diagram of B in the middle;

[0045] Fig.21 for Figure 1 Schematic diagram of the calf support, foot support, ankle linear actuator and ankle joint assembly shown;

[0046] Fig. 22 for Fig.21 An exploded schematic diagram of the calf support, foot support, ankle linear actuator and ankle joint assembly shown;

[0047] Fig.23 for Fig.21 A cross-sectional view of the calf brace, foot brace, ankle linear actuator, and ankle joint assembly shown;

[0048] Fig.24 for Fig.21 An exploded schematic diagram of the foot support shown;

[0049] Fig.25 for Fig.24 An exploded schematic diagram of the buffer and sensor is shown.

[0050] Description of reference numerals:

[0051] 101, thigh support; 1011, hip second connecting rod mounting shaft; 1012, hip second rotating shaft mounting seat; 1013, hip actuator mounting shaft; 1014, lower hinge seat; 10141, accommodating groove; 1015, thigh rear lower plate; 1016, actuator connecting ear; 1017, knee joint shaft mounting head;

[0052] 102, calf support; 1021, ankle second shaft mounting seat; 1022, ankle actuator mounting shaft; 1025, avoidance recess; 1026, limiter; 1027, knee joint shaft mounting seat; 1028, connecting rod connecting ear;

[0053] 103, foot support; 1031, ankle first rotation axis mounting seat; 1032, push rod mounting axis; 1033, support plate; 1034, foot surface; 1035, foot bottom; 1036, buffer part; 10361, sensor mounting groove; 1037, wear-resistant part; 1038, sensor; 1039, receiving space; 10310, clearance hole; 10311, arch part;

[0054] 104. Motor template;

[0055] 2. Hip joint assembly; 201. Rotating mounting frame; 2011. Hip first rotating shaft mounting seat; 2012. Hip first connecting rod mounting shaft; 202. Hip cross shaft; 2021. Hip first rotating shaft; 2022. Hip second rotating shaft; 203. Hip first connecting rod; 2031. Hip first connecting rod fixed ball joint seat; 2032. Hip first connecting rod movable ball joint seat; 204. Hip second connecting rod; 2041. Hip second connecting rod fixed shaft seat; 205. Connecting rod assembly shaft;

[0056] 3. Knee joint assembly; 301. Knee joint axis; 302. Knee joint first connecting rod; 303. Knee joint second connecting rod; 304. Knee joint first hinge axis; 305. Knee joint second hinge axis; 306. Knee joint third hinge axis;

[0057] 4. Ankle joint assembly; 401. Rotating cross axis; 4011. First rotation axis of ankle; 4012. Second rotation axis of ankle; 4013. First rotation axis mounting pin; 402. Putter ball joint seat;

[0058] 501, hip linear actuator; 5011, actuator ball joint seat; 5012, hip actuator push rod; 5013, hip push rod mounting shaft seat;

[0059] 502, knee joint linear actuator; 5021, connector; 5022, knee joint push rod;

[0060] 503, ankle linear actuator; 5031, actuator body; 5032, ankle actuator push rod; 5033, ankle push rod mounting shaft seat. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0062] Combine the following Figures 1 to 25 , describing an embodiment of the present invention.

[0063] According to an embodiment of the present invention, on the one hand, a leg structure is provided, including: a thigh support 101, a motor template 104, a hip joint assembly 2, a hip linear actuator 501, a calf support 102, a knee joint linear actuator 502, a foot support 103 and an ankle linear actuator 503.

[0064] Specifically, the motor template 104 is suitable for being assembled and connected with the robot body.

[0065] The hip joint assembly 2 is mounted on the thigh support 101; the hip joint assembly 2 includes: a swivel mounting frame 201 assembled and connected with a motor template 104, and the motor template 104 drives the thigh support 101 to rotate through the swivel mounting frame 201.

[0066] The first end of the hip linear actuator 501 is connected to the thigh support 101, and the second end is connected to the hip joint assembly 2, so as to drive the thigh support 101 and at least one of the thigh supports 101 to perform pitch movement and lateral movement through the movement of the hip joint assembly 2.

[0067] The calf support 102 is connected to the lower part of the thigh support 101 through the knee joint assembly 3;

[0068] The knee joint linear actuator 502 is arranged on the thigh support 101, the fixed end of the knee joint linear actuator 502 is rotationally connected to the upper part of the thigh support 101, and the driving end of the knee joint linear actuator 502 is connected to the knee joint assembly 3 to drive the calf support 102 to perform pitch motion.

[0069] The foot support 103 is connected to the lower part of the calf support 102 through the ankle joint assembly 4;

[0070] The first end of the ankle linear actuator 503 is rotatably connected to the calf support 102, and the second end is rotatably connected to the foot support 103 to drive at least one of the foot support 103 and the calf support 102 to perform pitch and roll movements.

[0071] By using the leg structure of this embodiment, the hip linear actuator 501 and the knee joint linear actuator 502 are both set on the thigh bracket, and the ankle linear actuator is set on the calf bracket, so that the space on the thigh bracket and the calf bracket is fully utilized, the inertia of the leg structure is reduced, and the energy required for the leg structure to perform corresponding actions is less, the response speed is fast, and the dynamic stability of the humanoid robot is improved. In addition, the motor template 104 that drives the thigh bracket to rotate is set on the robot body. The rotation angle of the thigh bracket driven by the motor template relative to the robot body can be larger. There is no need to set the motor template on the thigh bracket, which reduces the mass of the thigh structure, making the overall mass of the leg lighter, and the inertia of the thigh bracket when rotating is small, which is conducive to the robot adjusting its posture during movement.

[0072] Furthermore, the swivel mounting frame 201 is adapted to rotate around the A axis when driven; the hip joint assembly 2 further comprises: a hip cross axis 202, having a hip first rotation axis 2021 adapted to rotate around the B axis and a hip second rotation axis 2022 adapted to rotate around the C axis; wherein the B axis is perpendicular to the C axis. The hip linear actuator 501 drives the hip joint assembly 2 to move, so as to drive the thigh support 101 to rotate around the B axis and / or the C axis.

[0073] In this embodiment, the thigh support 101 is similar to the femur of the human body and plays a supporting role. The hip joint assembly 2 is installed on the thigh support 101. The hip joint assembly 2 can drive the thigh support 101 to move in multiple degrees of freedom through the cooperation between the hip joint assembly 2 and the hip linear actuator 501.

[0074] In some embodiments, the A axis is perpendicular to the B axis. As a variation, the A axis may not be perpendicular to the B axis.

[0075] The leg structure of this embodiment is a part of the robot body. In order to realize the connection between the leg structure and the robot body, this embodiment can directly or indirectly assemble and connect the leg structure and the robot body by setting a swivel mounting frame 201. Since the swivel mounting frame 201 is connected to the robot body, at this time, the movement of the leg structure relative to the robot body, especially the movement of the thigh support 101 relative to the robot body, is equivalent to the movement of the thigh support 101 relative to the swivel mounting frame 201.

[0076] Specifically in this embodiment, the thigh support 101 can rotate around the B axis and around the C axis relative to the rotating mounting frame 201.

[0077] Since the hip joint assembly 2 includes the hip cross axis 202 , the hip cross axis 202 has a hip first rotation axis 2021 suitable for rotating around the B axis and a hip second rotation axis 2022 suitable for rotating around the C axis.

[0078] When the thigh support 101 rotates around the B axis, the thigh support 101 can rotate relative to the robot body around the B axis. For example, when the B axis is parallel to the left and right direction of the human body, when the robot body remains relatively fixed, the thigh support 101 rotates around the B axis to achieve a leg-lifting action; and when the thigh support 101 remains relatively fixed, the robot body rotates around the B axis to achieve a waist-bending action.

[0079] When the thigh support 101 rotates around the C-axis, the thigh support 101 can rotate relative to the robot body with the C-axis as the axis. For example, when the C-axis is parallel to the front-back direction of the human body, when the robot body remains relatively fixed, the thigh support 101 rotates around the C-axis to achieve a side-lifting action; and when the thigh support 101 remains relatively fixed, the robot body rotates around the C-axis to achieve a side-turning action.

[0080] In some embodiments, in combination Figure 1 As shown, the leg structure also includes: a motor template 104, the motor template 104 is assembled and connected with the swivel mounting frame 201, and the motor template 104 is suitable for driving the swivel mounting frame 201 to rotate around the A axis. When the swivel mounting frame 201 rotates around the A axis, it is equivalent to the thigh bracket 101 rotating around the A axis relative to the robot body. For example, when the A axis is parallel to the height direction of the human body, when the robot body remains relatively fixed, the thigh bracket 101 rotates around the A axis to achieve the leg turning action in situ; and when the thigh bracket 101 remains relatively fixed, the robot body rotates around the A axis to achieve the upper body turning action.

[0081] In order to realize the above-mentioned actions, this embodiment adopts a hip linear actuator 501 as an action driving mechanism, and the first end of the hip linear actuator 501 is rotatably connected to the thigh support 101, which can ensure that the position of the hip linear actuator 501 is fixed, and it is convenient to apply force to the hip joint component 2. The second end of the hip linear actuator 501 is connected to the hip joint component 2, and by driving the hip joint component 2, the thigh support 101 can be driven to rotate around the B axis, or around the C axis, or around the B axis and the C axis at the same time.

[0082] The leg structure provided by an embodiment of the present invention can drive the thigh support 101 to rotate around the B-axis and / or C-axis by adopting a hip linear actuator 501 to drive the movement of the hip joint assembly 2. There is no need to set up an independent driving component for each degree of freedom of rotation, thereby realizing a combination of multi-degree-of-freedom rotation actions, reducing the number of driving components, and reducing the complexity of the structure.

[0083] In this embodiment, the specific structural form of the hip linear actuator 501 can be a cylinder or an electric push rod, etc.

[0084] In some embodiments, in combination Figure 3 As shown, the hip joint assembly 2 also includes a connecting rod mechanism, which includes:

[0085] A first hip connecting rod 203, a first end of which is rotatably connected to a first hip connecting rod mounting shaft 2012 of a swivel mounting frame 201;

[0086] A hip second connecting rod 204, a first end of which is rotatably connected to a hip second connecting rod mounting shaft 1011 of a thigh support 101;

[0087] The connecting rod assembly shaft 205 , the second end of the first hip connecting rod 203 and the second end of the second hip connecting rod 204 are all rotatably connected to the connecting rod assembly shaft 205 ; the second end of the hip linear actuator 501 is also rotatably connected to the connecting rod assembly shaft 205 .

[0088] The hip linear actuator 501 is extended and retracted to drive the connecting rod assembly shaft 205 to move.

[0089] The hip linear actuator 501 includes an actuator body and a hip actuator push rod 5012 that is telescopic relative to the actuator body. A hip push rod mounting shaft seat 5013 is provided at the end of the hip actuator push rod 5012 to connect the second end of the hip linear actuator 501 to the connecting rod assembly shaft 205.

[0090] The swivel mounting frame 201 has a first hip link mounting shaft 2012 , and the first hip link 203 can be rotated relative to the first hip link mounting shaft 2012 by hinge-connecting the first end of the first hip link 203 to the first hip link mounting shaft 2012 .

[0091] In some embodiments, the swivel mounting frame 201 is provided with a hip first rotating shaft mounting seat 2011 , and the hip first rotating shaft 2021 is rotatably connected to the hip first rotating shaft mounting seat 2011 .

[0092] Since the second end of the hip linear actuator 501 is rotatably connected to the connecting rod assembly shaft 205, when the hip linear actuator 501 is extended or shortened, it can drive the connecting rod assembly shaft 205 to move. At the same time, since the second end of the hip first connecting rod 203 is rotatably connected to the connecting rod assembly shaft 205, the action of the hip linear actuator 501 continues to be transmitted to the hip first connecting rod 203, and then the action is transmitted to the swivel mounting frame 201 by the hip first connecting rod 203. Since the swivel mounting frame 201 is provided with a hip first rotating shaft mounting seat 2011, the hip first rotating shaft 2021 is rotatably connected to the hip first rotating shaft mounting seat 2011, and the swivel mounting frame 201 can be rotated around the hip first rotating shaft 2021, that is, the swivel mounting frame 201 can be rotated around the B axis.

[0093] At the same time, the first hip connecting rod 203 constrains the second end of the hip linear actuator 501 , thereby constraining the movement trajectory of the second end of the hip linear actuator 501 relative to the swivel mounting frame 201 .

[0094] The thigh support 101 has a hip second link mounting shaft 1011 , and by hingedly connecting the first end of the hip second link 204 to the hip second link mounting shaft 1011 , the hip second link 204 can be rotated relative to the hip second link mounting shaft 1011 .

[0095] Similarly, when the hip linear actuator 501 is extended or shortened, it can drive the connecting rod assembly shaft 205 to move. At the same time, since the second end of the hip second connecting rod 204 is rotatably connected to the connecting rod assembly shaft 205, the movement of the hip linear actuator 501 continues to be transmitted to the hip second connecting rod 204, and the hip second connecting rod 204 plays a role in constraining the second end of the hip linear actuator 501, constraining the movement trajectory of the second end of the hip linear actuator 501 relative to the thigh support 101. When the swivel mounting frame 201 rotates around the hip first rotating shaft 2021, since the hip second connecting rod 204 and the hip first connecting rod 203 are jointly connected to the connecting rod assembly shaft 205, that is, when the thigh support 101 remains relatively fixed, the swivel mounting frame 201 rotates around the hip first rotating shaft 2021, and when the robot body remains relatively fixed, the thigh support 101 can also rotate around the hip first rotating shaft 2021.

[0096] The first end of the second hip connecting rod 204 can be hinged to the second hip connecting rod mounting shaft 1011 through the second hip connecting rod fixing shaft seat 2041 .

[0097] In some embodiments, in combination Figure 3 As shown, there are two hip linear actuators 501 , and the two hip linear actuators 501 are respectively arranged on both sides of the thigh support 101 along the B-axis direction.

[0098] There are two groups of connecting rod mechanisms, and each group of connecting rod mechanisms is correspondingly connected to a hip linear actuator 501 .

[0099] The hip linear actuators 501 on both sides are synchronously extended and retracted to drive the two sets of connecting rod mechanisms to move in the same direction, thereby driving the thigh support 101 to rotate around the B axis, or causing the swivel mounting frame 201 to rotate around the B axis;

[0100] The hip linear actuators 501 on both sides extend and retract in different directions to drive the two sets of connecting rod mechanisms to move in different directions, thereby driving the thigh support 101 to rotate around the C axis.

[0101] By extending and retracting the hip linear actuators 501 on both sides in different directions, the two groups of connecting rod mechanisms can be driven to move in different directions respectively, that is, the hip second connecting rod 204 of one group of connecting rod mechanisms rotates counterclockwise around the hip second connecting rod mounting axis 1011 of the thigh support 101, and at the same time, the hip first connecting rod 203 of this group of connecting rod mechanisms rotates counterclockwise around the hip first connecting rod mounting axis 2012 of the rotating mounting frame 201; while the hip second connecting rod 204 of the other group of connecting rod mechanisms rotates clockwise around the hip second connecting rod mounting axis 1011 of the thigh support 101, and at the same time, the hip first connecting rod 203 of this group of connecting rod mechanisms rotates clockwise around the hip first connecting rod mounting axis 2012 of the rotating mounting frame 201.

[0102] In some embodiments, the thigh support 101 is provided with a hip second rotation axis mounting seat 1012 , and the hip second rotation axis 2022 is rotatably connected to the hip second rotation axis mounting seat 1012 .

[0103] That is, by extending and retracting the hip linear actuators 501 on both sides in different directions, the thigh support 101 can be rotated around the C-axis when the robot body remains relatively fixed, and the swivel mounting frame 201 can also be rotated around the C-axis when the thigh support 101 remains relatively fixed.

[0104] In some embodiments, in combination Figure 5 , Fig.15 , Fig.16 As shown, the first end of the first hip link 203 is rotatably connected to the first hip link mounting shaft 2012 via the first hip link fixed ball joint seat 2031; the second end of the first hip link 203 is rotatably connected to the link assembly shaft 205 via the first hip link movable ball joint seat 2032.

[0105] By adopting the ball joint connection, the free movement requirement of the first hip link 203 in the three-dimensional plane can be met, and then when the hip linear actuators 501 on both sides are extended and retracted in different directions, the thigh support 101 can be rotated around the C-axis when the robot body remains relatively fixed, and the swivel mounting frame 201 can also be rotated around the C-axis when the thigh support 101 remains relatively fixed, thereby avoiding interference with the first hip link 203 and meeting the multi-degree-of-freedom movement requirements.

[0106] In some embodiments, in combination Figure 3 As shown, the thigh support 101 is provided with a hip actuator mounting shaft 1013 , and the first end of the hip linear actuator 501 is rotationally connected to the hip actuator mounting shaft 1013 via an actuator ball joint seat 5011 .

[0107] When the hip linear actuators 501 on both sides extend and retract in different directions, the hip linear actuator 501 will tilt along the B-axis toward or away from the thigh support 101. By adopting a ball joint connection, the requirement for an angle tilt at the position where the first end of the hip linear actuator 501 is connected to the hip actuator mounting shaft 1013 can be met, thereby avoiding interference and meeting the requirements for multi-degree-of-freedom activities.

[0108] In some embodiments, in combination Figure 3 As shown, the first hip rotation axis 2021 is fixedly connected to the second hip rotation axis 2022, and there is a height difference between the first hip rotation axis 2021 and the second hip rotation axis 2022 along the axial direction perpendicular to both the B axis and the C axis.

[0109] It should be noted that the axis direction perpendicular to both the B axis and the C axis refers to a virtual axis perpendicular to both the B axis and the C axis. Along the direction of this virtual axis, there is a height difference between the first hip rotation axis 2021 and the second hip rotation axis 2022.

[0110] By creating a height difference between the first hip rotation axis 2021 and the second hip rotation axis 2022 , the rotations of the B axis and the C axis can be located in different planes, thereby avoiding interference with each other and expanding the free range of motion of the leg structure of this embodiment.

[0111] In one embodiment, the knee joint assembly 3 includes: a knee joint shaft 301 and a knee joint connecting rod assembly, the knee joint shaft 301 connecting the lower part of the thigh support 101 and the upper part of the calf support 102; the hinge points of the knee joint connecting rod assembly, the lower part of the thigh support 101, the upper part of the calf support 102, and the driving end of the knee joint linear actuator 502 form a polygon, and under the drive of the driving end of the knee joint linear actuator 502, the axis center of the knee joint shaft 301 can move from the outside of the polygon to the inside of the polygon.

[0112] The knee joint linear actuator 502 is arranged on the front side of the thigh support 101, which makes full use of the space on the front side of the thigh, reduces the inertia of the calf support 102, and requires less energy when the calf support 102 performs pitching movements, has a fast response speed, and improves the dynamic stability of the humanoid robot. In addition, the knee joint linear actuator 502 drives the calf support 102 to swing relative to the thigh support 101 through the knee joint connecting rod assembly. On the premise of meeting the joint movement speed, the output requirement of the knee joint linear actuator 502 can be reduced within a certain joint movement range, and at the same time, the length of the force arm of the knee joint linear actuator 502 driving the calf support 102 is increased to reduce the output force of the knee joint linear actuator 502. By transmitting power through the knee joint connecting rod assembly, the transmission is smoother, and the trajectory and speed of the calf support 102 can be accurately controlled.

[0113] Furthermore, driven by the driving end of the knee joint linear actuator 502, the axis of the knee joint shaft 301 can move from the outside of the polygon to the inside of the polygon, so that the calf support 102 can have a larger swing angle. The larger swing angle allows the robot to have more gait options when walking, and can more naturally imitate human gait, including steps, strides, side steps and other actions, to enhance gait flexibility; it can make a wider range of swinging movements, so that the robot can walk on different terrains, including going up and down stairs, crossing obstacles and other complex environments, to improve movement ability and adaptability; when maintaining balance, the larger swing angle of the calf support 102 can enable the robot to better adjust the center of gravity position, especially on uneven ground or when making rapid turns, to increase stability. For robots used in social, educational, and entertainment fields, a larger swing angle can make their movements more vivid and natural, and enhance the interactive experience with human users.

[0114] In one embodiment, Figure 7 and Fig.19 As shown, the rear side of the upper part of the calf support 102 has an inwardly recessed avoidance recess 1025, and the avoidance recess 1025 is used to avoid the rear side of the lower part of the thigh support 101, and the rear side of the lower part of the thigh support 101 has an inwardly recessed yielding recess. The avoidance recess 1025 of the calf support 102 can avoid the rear side of the lower part of the thigh support 101, so that the swing angle of the calf support 102 relative to the thigh support 101 is larger, more in line with the swing angle of the human calf, enhance the movement ability of the robot, improve the flexibility of the robot during movement, and improve the stability of the robot during movement. The yielding recess can avoid the calf support 102 or other components on the calf support 102, such as the ankle linear actuator on the calf support 102. The setting of the yielding recess and the avoidance recess 1025 enables the calf support 102 to swing at a large angle, enhance the gait flexibility, improve the movement ability, and enhance the overall stability.

[0115] Furthermore, the avoidance recess 1025 is in the shape of an arc that is arched and bent toward the inside of the calf support 102. The arc shape can ensure the structural strength of the calf support 102 and also enhance the aesthetics.

[0116] In one embodiment, Figure 8 and Fig.10As shown, the lower part of the thigh support 101 has adjacent lower hinge seat 1014 and lower thigh rear plate 1015, the lower hinge seat 1014 is hinged with the knee joint connecting rod assembly, and the rear side of the lower hinge seat 1014 and the lower thigh rear plate 1015 form a recessed portion. The arrangement of the lower hinge seat 1014 facilitates the hinged connection with the knee joint connecting rod assembly, thereby improving the reliability of the connection between the knee joint connecting rod assembly and the thigh support 101. The recessed portion formed by the lower hinge seat 1014 and the lower thigh rear plate 1015 ensures the structural strength of the lower part of the thigh support 101, thereby improving the stability of the leg structure.

[0117] Furthermore, the rear side of the lower hinge seat 1014 is in an arc shape that is arched and bent outward, and the lower rear thigh plate 1015 is a straight plate, which has a simple structure and is easy to process and manufacture, reducing the manufacturing difficulty.

[0118] It can be understood that, in another embodiment, the lower rear thigh plate 1015 can be an arc-shaped plate that is arched and bent toward the inside of the thigh support 101 or an arc-shaped plate that is arched and bent toward the outside of the thigh support 101.

[0119] In one embodiment, Figure 6 and Fig.10 As shown, the front side of the lower articulated seat 1014 has a receiving groove 10141, and the receiving groove 10141 is used to accommodate part of the knee joint connecting rod assembly. Under the drive of the knee joint linear actuator 502, part of the knee joint connecting rod assembly can move in the receiving groove 10141. The receiving groove 10141 can avoid the interference between the knee joint connecting rod assembly and the thigh support 101 when the knee joint connecting rod assembly moves, thereby ensuring the normal movement of the knee joint connecting rod assembly.

[0120] In one embodiment, Figure 7 and Fig.19 As shown, the rear side of the upper part of the calf support 102 also has a limiting portion 1026, which cooperates with the recessed portion to limit the maximum swing angle of the calf support 102. The limiting portion 1026 limits the maximum swing angle of the calf support 102 to prevent the calf support 102 from swinging too much and damaging the knee joint linear actuator 502 and the knee joint connecting rod assembly.

[0121] Furthermore, the limiting portion 1026 is a limiting convex portion protruding outward, and the limiting convex portion simulates the muscle distribution of the human calf, so that the leg structure of the robot can be more stable. The limiting convex portion can play an important supporting role when the robot stands and walks, and can help the robot better maintain balance.

[0122] Specifically, the limiting protrusion is in an arc shape that is arched and bent toward the outside of the calf. The limiting protrusion can simulate the calf of a human calf, and the appearance is more anthropomorphic.

[0123] In one embodiment, Figure 6 and Fig.19 As shown, the swing angle of the calf support 102 is 0-135°, and the maximum swing angle of the calf support 102 is 135°. The maximum swing angle of the calf support 102 is very close to the maximum swing angle of the human calf, which makes it easier for the robot to perform running, walking, jumping and other actions.

[0124] In one embodiment, Figures 9 and 10 As shown, the knee joint connecting rod assembly includes a first knee joint connecting rod 302 and a second knee joint connecting rod 303, one end of the first knee joint connecting rod 302 and one end of the second knee joint connecting rod 303 are connected to the driving end of the knee joint linear actuator 502 through a first knee joint hinge shaft 304, the other end of the first knee joint connecting rod 302 is connected to the lower part of the thigh support 101 through a second knee joint hinge shaft 305, and the other end of the second knee joint connecting rod 303 is connected to the upper part of the calf support 102 through a third knee joint hinge shaft 306, and the polygon is a triangle.

[0125] Furthermore, the hinge points of one end of the first link 302 of the knee joint, one end of the second link 303 of the knee joint and the driving end of the knee linear actuator 502, the hinge point of the other end of the first link 302 of the knee joint and the lower part of the thigh support 101, the hinge point of the other end of the second link 303 of the knee joint and the upper part of the calf support 102, and the hinge points of the thigh support 101 and the calf support 102 form a quadrilateral, and the knee joint link assembly, the thigh support 101 and the calf support 102 form a planar four-bar linkage, which has a simple structure and is easy to design and manufacture. The length of the two links can be adjusted as needed to adjust the swing angle of the calf support 102, and it can also maintain high stability and withstand high loads to meet the high load requirements of the robot.

[0126] It should be noted that the triangle Fig. 9 and Fig. 20 The dotted triangle in .

[0127] Furthermore, the first knee joint connecting rod 302 and the second knee joint connecting rod 303 are both straight rods, which are easier to process and manufacture and have low costs.

[0128] In one embodiment, Fig.10 As shown, the upper part of the thigh support 101 has an actuator connecting ear 1016, and the fixed end of the knee joint linear actuator 502 has a connecting head 5021. The actuator connecting ear 1016 is connected to the connecting head 5021 through an actuator connecting shaft to realize the swing of the knee joint linear actuator 502 relative to the thigh support 101.

[0129] Furthermore, if Fig.10 and Fig.11As shown, the upper part of the calf support 102 has a knee joint axis mounting seat 1027, and the lower part of the thigh support 101 has a knee joint axis mounting head 1017. The knee joint axis mounting head 1017 is installed on the knee joint axis mounting seat 1027 through the knee joint axis 301 to achieve the swing of the calf support 102 relative to the thigh support 101.

[0130] Specifically, Fig.10 and Fig.11 As shown, a connecting rod connecting ear 1028 is fixed to the front side of the knee joint axis mounting seat 1027, and the other end of the second connecting rod 303 of the knee joint is connected to the connecting rod connecting ear 1028 through the third hinge axis 306 of the knee joint, thereby realizing the swing of the second connecting rod 303 of the knee joint relative to the calf support 102.

[0131] Further, the front side of the knee joint shaft mounting seat 1027 is in an arc shape that is arched and bent toward the outside of the calf support 102. It is understandable that the shape of the front side of the knee joint mounting seat is not limited to this and can be designed according to specific circumstances.

[0132] In one embodiment, Figure 6 and Fig.19 As shown, the knee joint linear actuator 502 includes a knee joint motor, a knee joint push rod 5022 , etc. Driven by the knee joint motor, the knee joint push rod 5022 can be pushed out or retracted, thereby realizing the pitching movement of the calf support 102 .

[0133] It should be noted that the knee joint linear actuator 502 is a conventional structure in the prior art and will not be described in detail here.

[0134] Combine the following Figure 6 and Fig.19 The movement process of the calf support 102 of the leg structure is described as follows:

[0135] Driven by the knee joint motor, the knee joint push rod 5022 extends and generates thrust on one end of the first knee joint link 302 and the second knee joint link 303. The first knee joint link 302 rotates around the second knee joint hinge axis 305 and drives the first knee joint link 302 to rotate around the third knee joint hinge axis 306, thereby realizing the pitch movement of the calf support 102.

[0136] In one embodiment, the ankle joint assembly 4 is movably connected between the calf support 102 and the foot support 103; the ankle joint assembly 4 includes: a swivel cross axis 401, having a first ankle rotation axis 4011 suitable for rotating around the M axis and a second ankle rotation axis 4012 suitable for rotating around the N axis; the ankle linear actuator 503 is suitable for driving at least one of the foot support 103 and the calf support 102 to move, so that at least one of the foot support 103 and the calf support 102 rotates around the M axis and / or the N axis.

[0137] In this embodiment, the calf support 102 is similar to the tibia of the human body and plays a supporting force role, and the foot support 103 is similar to the foot bone of the human body and is convenient for standing support; the calf support 102 and the foot support 103 are connected through the ankle joint assembly 4, so that the calf support 102 and the foot support 103 can move relative to each other, and the calf support 102 and the foot support 103 of this embodiment can realize relative movement with multiple degrees of freedom.

[0138] The ankle joint assembly 4 includes a swivel cross axis 401, which has a first ankle rotation axis 4011 and a second ankle rotation axis 4012, and the first ankle rotation axis 4011 and the second ankle rotation axis 4012 are fixedly connected. The swivel cross axis 401 is in a fixed state. By making the first ankle rotation axis 4011 and the second ankle rotation axis 4012 of the swivel cross axis 401 rotatably connected to the foot support 103 and the calf support 102 respectively, at least one of the foot support 103 and the calf support 102 can be rotated around the M axis, or around the N axis, or around the M axis and the N axis at the same time.

[0139] The first end of the ankle linear actuator 503 is rotatably connected to the calf support 102 , and the second end of the ankle linear actuator 503 is rotatably connected to the foot support 103 .

[0140] In this embodiment, the specific structural form of the ankle linear actuator 503 can be a cylinder or an electric push rod.

[0141] In some embodiments, the M axis is perpendicular to the N axis. As a variation, the M axis and the N axis may also be arranged at a certain angle.

[0142] In some embodiments, in combination Fig.21 , Fig. 22 As shown, the ankle linear actuator 503 includes an actuator body 5031, and an ankle actuator push rod 5032 that is telescopic relative to the actuator body 5031; through the telescopic movement of the ankle linear actuator 503, at least one of the foot support 103 and the calf support 102 can be driven to move, so that at least one of the foot support 103 and the calf support 102 can rotate around the M axis and / or the N axis.

[0143] For example, when the M axis is parallel to the front-back direction of the human body, when the foot support 103 remains relatively fixed, the anisotropic expansion and contraction of the ankle linear actuator 503 can drive the calf support 102 to rotate around the M axis to achieve the side leg movement; and when the calf support 102 remains relatively fixed, the anisotropic expansion and contraction of the ankle linear actuator 503 can drive the foot support 103 to rotate around the M axis to achieve the left and right movement of the ankle, thereby causing the foot support 103 to swing left and right. It should be noted that the left and right here refers to the positional relationship when the left and right of the human body are used as a reference.

[0144] For example, when the N axis is parallel to the left-right direction of the human body, when the foot support 103 remains relatively fixed, the same-direction expansion and contraction of the ankle linear actuator 503 can drive the calf support 102 to rotate around the N axis, realizing the action of the calf squatting; and when the calf support 102 remains relatively fixed, the same-direction expansion and contraction of the ankle linear actuator 503 can drive the foot support 103 to rotate around the N axis, realizing the action of the ankle moving up and down, and then making the foot support 103 swing up and down. It should be noted that the above-mentioned action is in the form of action when the calf support 102 is in a vertical state. If the calf support 102 is in an inclined state, the foot support 103 rotates around the N axis, and the action of the toe position approaching or moving away from the calf support 102 is realized.

[0145] The mechanical leg structure provided by an embodiment of the present invention adopts the ankle linear actuator 503 to drive the ankle joint assembly 4 to move, so that at least one of the foot support 103 and the calf support 102 can rotate around the M axis and / or the N axis. There is no need to set an independent driving component for each degree of freedom of rotation, thereby realizing a combination of multi-degree-of-freedom rotation actions, reducing the number of driving components, and reducing the complexity of the structure.

[0146] In some embodiments, in combination Fig. 22 As shown, there are two ankle linear actuators 503 , and the two ankle linear actuators 503 are respectively arranged on both sides of the calf support 102 along the N-axis direction.

[0147] The two ankle linear actuators 503 have a first action state of anisotropic extension and a second action state of synchronous extension; in the first action state, the calf support 102 and / or the foot support 103 are suitable for rotating around the M axis; in the second action state, the calf support 102 and / or the foot support 103 are suitable for rotating around the N axis.

[0148] The two ankle linear actuators 503 have a first action state of dysdirectional extension and contraction. By extending and contracting the ankle linear actuators 503 on both sides dysdirectionally, the two sides of the push rod mounting shaft 1032 can be driven to move in dysdirectionally respectively. Thus, in the first action state, the calf support 102 is rotated around the M axis, or the foot support 103 is rotated around the M axis, or the calf support 102 and the foot support 103 are rotated around the M axis at the same time.

[0149] The two ankle linear actuators 503 also have a second action state of synchronous extension and retraction. By synchronously extending and retracting the ankle linear actuators 503 on both sides, they can respectively drive the two sides of the push rod mounting shaft 1032 to move in the same direction. Therefore, in the second action state, the calf support 102 is rotated around the N axis, or the foot support 103 is rotated around the N axis, or the calf support 102 and the foot support 103 are rotated around the N axis at the same time.

[0150] In some embodiments, in combination Fig. 22 As shown, the foot support 103 is provided with an ankle first rotation axis mounting seat 1031, and the ankle first rotation axis 4011 is rotatably connected to the ankle first rotation axis mounting seat 1031.

[0151] The axial direction of the first ankle shaft mounting seat 1031 coincides with the M axis.

[0152] The first end of the calf support 102 is provided with an ankle second rotation axis mounting seat 1021, and the ankle second rotation axis 4012 is rotatably connected to the ankle second rotation axis mounting seat 1021.

[0153] The axial direction of the second ankle shaft mounting seat 1021 coincides with the N axis.

[0154] The first ankle rotating shaft mounting seat 1031 has two or more bracket parts spaced apart along the M-axis direction, each bracket part is provided with an assembly hole, and the first ankle rotating shaft 4011 is rotatably connected to the assembly hole of the first ankle rotating shaft mounting seat 1031.

[0155] The first end of the calf support 102 is provided with an ankle second rotation axis mounting seat 1021, and the ankle second rotation axis mounting seat 1021 has two or more support parts arranged at intervals along the N-axis direction, and each support part is provided with an assembly hole. The ankle second rotation axis 4012 is rotatably connected to the assembly hole of the ankle second rotation axis mounting seat 1021.

[0156] In addition, the second end of the calf support 102 is suitable for connection to other structures, which may be the thigh support 101.

[0157] In this embodiment, the first ankle rotation axis 4011 is located relatively below the second ankle rotation axis 4012 in the height direction, that is, the first ankle rotation axis 4011 is arranged away from the second ankle rotation axis mounting seat 1021 relative to the second ankle rotation axis 4012, so that the second ankle rotation axis mounting seat 1021 can be preferentially connected to the second ankle rotation axis 4012, avoiding interference of the first ankle rotation axis 4011 when rotating around the second ankle rotation axis 4012, thereby increasing the range of motion.

[0158] In some embodiments, in combination Fig.21 , Fig. 22 As shown, the ankle linear actuator 503 includes an actuator body 5031 , an ankle actuator push rod 5032 that is telescopic relative to the actuator body 5031 , and an ankle push rod mounting shaft seat 5033 located at the end of the ankle actuator push rod 5032 .

[0159] The foot support 103 is also provided with a push rod installation shaft 1032, and the ankle push rod installation shaft seat 5033 is rotatably connected to the push rod installation shaft 1032.

[0160] The ankle push rod mounting shaft seat 5033 located at the end of the ankle actuator push rod 5032 is suitable for being sleeved on the push rod mounting shaft 1032 to achieve a rotational connection between the ankle push rod mounting shaft seat 5033 and the push rod mounting shaft 1032 .

[0161] In this embodiment, the axial direction of the push rod mounting shaft 1032 is parallel to the N axis, so that when the ankle linear actuator 503 pushes the push rod mounting shaft 1032 to move, the force on both sides can be balanced, which facilitates the foot support 103 to rotate around the M axis or around the N axis.

[0162] In some embodiments, in combination Fig.21 , Fig. 22 As shown, the actuator body 5031 is rotationally connected to the ankle actuator mounting shaft 1022 set on the calf support 102.

[0163] The ankle push rod mounting shaft seat 5033 is rotatably connected to the push rod mounting shaft 1032 via the push rod ball joint seat 402 .

[0164] When the ankle linear actuators 503 on both sides extend and retract in different directions, the ankle linear actuators 503 will tilt along the N axis toward or away from the calf support 102. By adopting a ball joint connection, the requirement for an angle tilt at the position where the ankle linear actuator 503 is connected to the push rod mounting shaft 1032 can be met, thereby avoiding interference and meeting the requirements for multi-degree-of-freedom activities.

[0165] Optionally, the axial direction of the ankle actuator mounting shaft 1022 is parallel to the N axis, and the actuator body 5031 and the ankle actuator mounting shaft 1022 are also connected by a ball joint, which can meet the requirement of angle inclination at the connection position between the ankle linear actuator 503 and the ankle actuator mounting shaft 1022, avoid interference, and meet the requirements of multi-degree-of-freedom activities.

[0166] In some embodiments, in combination Fig.23 As shown, the push rod mounting shaft 1032 is arranged at the heel position of the foot support 103 , and the ankle first rotating shaft mounting seat 1031 is arranged at the mid-foot position of the foot support 103 .

[0167] In some embodiments, the foot support 103 is further provided with a support plate 1033 at the heel position, and the push rod mounting shaft 1032 is arranged on the side of the support plate 1033 away from the sole of the foot; the foot support 103 is located at the middle position of the foot and is recessed to form a receiving space 1039, and the first ankle rotating shaft mounting seat 1031 is arranged in the receiving space 1039; the push rod mounting shaft 1032 is arranged higher than the first ankle rotating shaft mounting seat 1031.

[0168] By setting the push rod mounting shaft 1032 higher than the ankle first rotating shaft mounting seat 1031, when the ankle linear actuator 503 acts on the push rod mounting shaft 1032, the foot support 103 can be rotated more widely, thereby increasing the range of free movement and avoiding interference.

[0169] At the same time, by forming a receiving space 1039 in the middle of the foot support 103, the first ankle pivot mounting seat 1031 is set in the receiving space 1039, which can improve the space utilization rate of the foot support 103, make the first ankle pivot mounting seat 1031 closer to the ground, and have higher stability.

[0170] In some embodiments, in combination Fig. 22 , Fig.23 As shown, the first ankle shaft 4011 is installed on the first ankle shaft mounting seat 1031 via the first shaft mounting pin 4013; the support plate 1033 is penetrated along the M-axis direction to form a clearance hole 10310, and the first shaft mounting pin 4013 is suitable for passing through the clearance hole 10310 and being fixed to the first ankle shaft mounting seat 1031.

[0171] Since the first ankle pivot mounting seat 1031 is arranged in the accommodating space 1039, in order to simplify the assembly of the first ankle pivot 4011 and the first ankle pivot mounting seat 1031, a first pivot mounting pin 4013 is adopted. The first pivot mounting pin 4013 is suitable for passing through the give way hole 10310 to be fixed to the first ankle pivot mounting seat 1031, thereby eliminating the need for bilateral fixation, improving assembly efficiency and reducing installation difficulty.

[0172] In some embodiments, in combination Fig.24 , Fig.25 As shown, the foot support 103 is provided with: a foot surface portion 1034, a foot bottom portion 1035, a buffer portion 1036 and a wear-resistant portion 1037 in sequence from top to bottom; the foot support 103 also includes: a sensor 1038, the sensor 1038 is arranged on one of the foot bottom portion 1035, the buffer portion 1036 or the wear-resistant portion 1037; the sensor 1038 includes a pressure sensor.

[0173] The buffer portion 1036 may be made of rubber or foam material, etc., so as to play a buffering role and reduce the impact force from the sole of the foot.

[0174] In this embodiment, the sensor 1038 is arranged at the bottom of the buffer portion 1036. A sensor mounting groove 10361 is opened at the bottom of the buffer portion 1036. By installing the sensor 1038 in the sensor mounting groove 10361, the pressure value can be monitored when the sensor 1038 is subjected to pressure.

[0175] Additionally, the number of sensors 1038 may be plural.

[0176] In some other embodiments, the bottom of the foot support 103 is recessed to form an arch portion 10311, so that the foot support 103 can more realistically simulate the characteristics of the human foot, cushion shocks, and make the stress distribution on the sole of the foot more uniform.

[0177] According to an embodiment of the present invention, on the other hand, there is provided a humanoid robot, comprising: a robot body; and the above-mentioned leg structure installed on the robot body.

[0178] Furthermore, the leg structure includes: a thigh support 101, a calf support 102 arranged below the thigh support 101, and a foot support 103 arranged below the calf support 102.

[0179] Because the robot includes a leg structure, it has the same effect as the leg structure and will not be described in detail here.

[0180] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A leg structure, characterized in that: include: Thigh support (101); A motor template (104), suitable for assembly and connection with the robot body; A hip joint assembly (2) is mounted on the thigh support (101); the hip joint assembly (2) comprises: a swivel mounting frame (201) assembled and connected to the motor template (104), and the motor template (104) drives the thigh support (101) to perform rotational movement through the swivel mounting frame (201); A hip linear actuator (501), a first end of which is connected to the thigh support (101), and a second end of which is connected to the hip joint assembly (2), so as to drive the thigh support (101) to perform pitching and lateral swinging movements through the movement of the hip joint assembly (2); A calf support (102) connected to the lower part of the thigh support (101) via a knee joint assembly (3); A knee joint linear actuator (502) is arranged on the thigh support (101), the fixed end of the knee joint linear actuator (502) is rotatably connected to the upper part of the thigh support (101), and the driving end of the knee joint linear actuator (502) is connected to the knee joint component (3) to drive at least one of the calf support (102) and the thigh support (101) to perform pitch motion; A foot support (103) connected to the lower portion of the calf support (102) via an ankle joint assembly (4); An ankle linear actuator (503) has a first end rotatably connected to the calf support (102) and a second end rotatably connected to the foot support (103) to drive at least one of the foot support (103) and the calf support (102) to perform pitch and roll movements.

2. The leg structure according to claim 1, characterized in that: The rotary mounting frame (201) is suitable for rotating around axis A when driven; The hip joint assembly (2) further comprises: A hip cross axis (202) having a hip first rotation axis (2021) adapted to rotate about a B axis and a hip second rotation axis (2022) adapted to rotate about a C axis; Wherein, the B axis is perpendicular to the C axis.

3. The leg structure according to claim 2, characterized in that: The hip joint assembly (2) further comprises a connecting rod mechanism, wherein the connecting rod mechanism comprises: A first hip connecting rod (203), a first end of which is rotatably connected to a first hip connecting rod mounting shaft (2012) of the slewing mounting frame (201); A hip second connecting rod (204), a first end of which is rotatably connected to a hip second connecting rod mounting shaft (1011) of the thigh support (101); A connecting rod assembly shaft (205), the second end of the first hip connecting rod (203) and the second end of the second hip connecting rod (204) are both rotatably connected to the connecting rod assembly shaft (205); the second end of the hip linear actuator (501) is also rotatably connected to the connecting rod assembly shaft (205); The hip linear actuator (501) is extended and retracted to drive the connecting rod assembly shaft (205) to move.

4. The leg structure according to claim 3, characterized in that: The number of the hip linear actuators (501) is two, and the two hip linear actuators (501) are respectively arranged on both sides of the thigh support (101) along the B-axis direction; The number of the connecting rod mechanisms is two groups, and each group of the connecting rod mechanisms is correspondingly connected to one of the hip linear actuators (501); The hip linear actuators (501) on both sides are synchronously extended and retracted to drive the two sets of the connecting rod mechanisms to move in the same direction, thereby driving the thigh support (101) to rotate around the B axis, or causing the swivel mounting frame (201) to rotate around the B axis; The hip linear actuators (501) on both sides extend and retract in different directions to drive the two groups of the connecting rod mechanisms to move in different directions, thereby driving the thigh support (101) to rotate around the C-axis, or causing the swivel mounting frame (201) to rotate around the C-axis.

5. The leg structure according to any one of claims 1 to 4, characterized in that: The knee joint assembly (3) comprises: A knee joint shaft (301) connecting the lower part of the thigh support (101) and the upper part of the calf support (102); The knee joint connecting rod assembly, the lower part of the thigh support (101), the upper part of the calf support (102), and the hinge point of the driving end of the knee joint linear actuator (502) form a polygon. Under the drive of the driving end of the knee joint linear actuator (502), the axis of the knee joint shaft (301) can move from the outside of the polygon to the inside of the polygon.

6. The leg structure according to claim 5, characterized in that: The swing angle of the calf support (102) is 0-135°.

7. The leg structure according to claim 5, characterized in that: The knee joint connecting rod assembly includes a first knee joint connecting rod (302) and a second knee joint connecting rod (303), one end of the first knee joint connecting rod (302) and one end of the second knee joint connecting rod (303) are connected to the driving end of the knee joint linear actuator (502) through a first knee joint hinge shaft (304), the other end of the first knee joint connecting rod (302) is connected to the lower part of the thigh support (101) through a second knee joint hinge shaft (305), the other end of the second knee joint connecting rod (303) is connected to the upper part of the calf support (102) through a third knee joint hinge shaft (306), and the polygon is a triangle.

8. The leg structure according to any one of claims 1 to 4, characterized in that: The ankle joint component (4) comprises: a swivel cross axis (401), having a first ankle rotation axis (4011) suitable for rotating around the M axis and a second ankle rotation axis (4012) suitable for rotating around the N axis.

9. The leg structure according to claim 8, characterized in that: The number of the ankle linear actuators (503) is two, and the two ankle linear actuators (503) are respectively arranged on both sides of the calf support (102) along the N-axis direction; The two ankle linear actuators (503) have a first action state of asymmetric extension and contraction, and a second action state of synchronous extension and contraction; In the first action state, the calf support (102) and / or the foot support (103) are suitable for rotating around the M axis; In the second action state, the calf support (102) and / or the foot support (103) are suitable for rotating around the N axis.

10. A humanoid robot, characterized in that: include: The leg structure according to any one of claims 1 to 9.

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