Biped robot leg structure

Abstract

The invention discloses a leg structure of a biped robot, belongs to the technical field of humanoid robots, and solves the problem that the mass distribution of a series connection structure is too close to the tail end of a leg in the leg design on the basis of realizing two-degree-of-freedom rotation, namely left-right movement along an X axis and front-back movement along a Y axis. The movement of a human hip joint can be better simulated; the driver of the thigh part firstly drives the middleware, and then the middleware drives the driven part to move, so that relative sliding of the thighbone and the tibia and bending movement of the knee joint are simulated under the assistance of the middleware; the telescopic driving part of the shank part drives the universal joint to rotate at any angle in the telescopic process, meanwhile, the movable plate can conduct front-back pitching, left-right swinging and plane rotation, three-degree-of-freedom movement is achieved, the parallel structure is adopted, and better distribution of force and torque can be achieved.

Description

Technical Field

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

[0002] With the advancement of science and technology, intelligent robots are increasingly being used in all walks of life, especially in the service industry. In the past, the form of intelligent robots was relatively simple. For example, the walking system of intelligent robots generally used a wheeled motion system instead. Now, intelligent robots are increasingly tending to be humanoid in design, so bipedal robots came into being.

[0003] Any single leg of a humanoid bipedal robot should include corresponding leg joints such as the hip joint, knee joint, and ankle joint. The leg joints should cooperate with each other to complete walking movements similar to those of humans.

[0004] In the leg design of existing humanoid bipedal robots, the ankle, knee and hip joints have insufficient degrees of freedom. The hip, ankle and knee joints usually have only one degree of freedom, and they are simple swings with fixed shafts. Low degrees of freedom mean that the robot's range of motion is limited when performing actions, which will make it difficult for the robot to cope with complex terrain and lack adaptability; low degrees of freedom will also cause the robot to require more steps when performing certain actions, because it cannot optimize gait and movement like designs with higher degrees of freedom, thus affecting movement efficiency. The leg structure has fewer degrees of freedom, which will make it difficult for the robot to imitate the complex movements of the human leg during walking and other processes, and the movement will appear unnatural, reducing the similarity with human movement. Summary of the invention

[0005] In order to solve the problem of insufficient degrees of freedom of the leg structure of the existing biped robot, the present invention provides a biped robot leg structure with sufficient degrees of freedom.

[0006] The technical solution of the present invention is:

[0007] The present invention provides a biped robot leg structure, comprising:

[0008] A hip joint, wherein the hip joint comprises a joint actuator, an active rotating disk, an active rocker arm and a fixed rod, wherein the joint actuator is driven and connected to the active rotating disk, the active rocker arm is connected to the active rotating disk, and the fixed rod is connected to the active rocker arm;

[0009] A thigh part, the thigh part comprises a driver, a driven member, an intermediate member and a fixed block, one end of the intermediate member is connected to the driver, the other end of the intermediate member is connected to the driven member, the driver drives the intermediate member, the intermediate member drives the driven member, the driver is fixed in the fixed block, and the fixed block is connected to the fixed rod;

[0010] A calf part, the calf part comprising two movable plates and three telescopic driving members arranged between the two movable plates, a plurality of universal joints and a support rod, one end of the universal joint is connected to the movable plate, the other end of the universal joint is connected to the telescopic driving member, the support rod is arranged between the three telescopic driving members, one end of the support rod is provided with a ball joint, the other end of the support rod is fixedly connected to one of the movable plates, the ball joint is connected to another movable plate, and one of the movable plates is connected to the driven member;

[0011] The sole of the foot, and the other movable plate is fixedly connected to the sole of the foot.

[0012] Furthermore, the intermediate part includes a main connecting rod, a side connecting rod and a limit block, the main connecting rod and the side connecting rod are cross-arranged, one end of the main connecting rod is fixedly connected to the driver, the other end of the main connecting rod is fixedly connected to the driven part, one end of the limit block is fixedly connected to the position between the two ends of the main connecting rod, the other end of the limit block is fixedly connected to one end of the side connecting rod, and the other end of the side connecting rod is fixedly connected to the driven part.

[0013] Furthermore, the driven member is provided with a front mounting position and a rear mounting position, one end of the main connecting rod is provided on the rear mounting position, and one end of the side connecting rod is provided in the front mounting position.

[0014] Furthermore, a protrusion is provided at a position between the two ends of the main connecting rod, and a clamping hole is provided at one end of the limit block, and the clamping hole is installed on the protrusion.

[0015] Furthermore, the hip joint also includes a fixing frame, which has an integrally formed top surface, a rib and a spacer, the rib having two ribs symmetrically arranged on both sides of the top surface, the spacer having two ribs arranged between the two ribs, and the active rotating disk and the corresponding joint actuator are arranged between adjacent ribs and the spacer.

[0016] Furthermore, it also includes a hip joint driver and a fixing plate, wherein the fixing plate is fixedly connected to the fixing frame, and the hip joint driver is arranged on the fixing plate and drivingly connected to the fixing frame.

[0017] Furthermore, the hip joint also includes a passive rotating disk and a passive rocker arm, the passive rotating disk is arranged between the two partition bars, and the active rotating disk and the passive rotating disk are both provided with connecting rods, the connecting rod of the active rotating disk is fixedly connected to one end of the corresponding active rocker arm, the connecting rod of the passive rotating disk is fixedly connected to one end of the passive rocker arm, and the other end of the passive rocker arm is connected to the other ends of the two active rockers through a fixed rod.

[0018] Furthermore, the hip joint also includes a support shaft, and coaxial holes are opened on the two spacers. The support shaft penetrates the coaxial holes of the two spacers and the center of the passive rotating disk, or the support shaft penetrates the coaxial holes of the two connecting rings and the center of the passive rotating disk.

[0019] Furthermore, the ball joint includes a spherical portion and a concave portion, the concave portion is fixed to one of the movable plates, and the spherical portion is movably disposed in the concave portion.

[0020] Furthermore, a connecting hole is provided at the other end of the limit block, and the other end of the side connecting rod is fixedly connected to the connecting hole.

[0021] The beneficial effects of the present invention are:

[0022] The joint actuator in the hip joint drives the active rotating disk to rotate, thereby driving the active rocker and the fixed rod to swing together, realizing two degrees of freedom rotation, namely left and right movement along the X-axis and front and back movement along the Y-axis, and also solves the problem that the mass distribution of the series structure in the leg design is too close to the end of the leg, which is not conducive to motion control, and can better imitate the movement of the human hip joint; the driver of the thigh simulates the thigh, the telescopic part of the driver simulates the lower end of the femur, which is used to provide driving force for the knee joint, the driven part simulates the upper end of the tibia, and the middle part simulates the ligament. The driver first drives the middle part, and the middle part drives the driven part to move, so that with the assistance of the middle part, the relative sliding of the femur and the tibia is simulated, and the knee joint performs bending movement; two movable plates are arranged in the calf, and three telescopic driving parts, universal joints and support rods are arranged between the two movable plates. During the telescopic process, the telescopic driving part drives the universal joint to rotate at any angle, and the movable plate can pitch forward and backward, swing left and right, and rotate in the plane, realizing three degrees of freedom movement, and it is a parallel structure, and can also achieve a better distribution of force and torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the overall structure of the bipedal robot leg structure of the present invention;

[0024] Figure 2 A schematic diagram of the exploded structure of the hip joint of the leg structure of the biped robot of the present invention;

[0025] Figure 3 It is a schematic diagram of the overall structure of the hip joint of the leg structure of the biped robot of the present invention;

[0026] Figure 4 It is a schematic diagram of the state of the hip joint of the leg structure of the biped robot of the present invention when moving left and right along X;

[0027] Figure 5 It is a schematic diagram of the state of the hip joint of the leg structure of the biped robot of the present invention when moving forward and backward along the Y direction;

[0028] Figure 6 It is a schematic diagram of the overall structure of the thigh part of the leg structure of the biped robot of the present invention;

[0029] Figure 7 It is a schematic diagram of the exploded structure of the thigh part of the leg structure of the biped robot of the present invention;

[0030] Figure 8 A schematic diagram of the bending change structure of the thigh portion of the leg structure of the biped robot of the present invention;

[0031] Fig. 9 It is a schematic diagram of the overall structure of the calf part of the leg structure of the biped robot of the present invention;

[0032] Fig.10 It is a schematic diagram of the exploded structure of the calf part of the leg structure of the biped robot of the present invention;

[0033] Fig.11 It is a schematic diagram of the exploded structure of the universal joint of the calf part of the leg structure of the biped robot of the present invention;

[0034] Fig.12 A schematic diagram of the downward stretching of the calf portion of the leg structure of the biped robot of the present invention;

[0035] Fig.13 A schematic diagram of the outward-turned foot of the calf of the leg structure of the biped robot of the present invention;

[0036] Fig.14 A schematic diagram of the inward rotation of the lower leg portion of the leg structure of the biped robot of the present invention;

[0037] Figure numerals: 1, hip joint, 11, joint actuator, 12, active rotating disk, 13, active rocker, 131, first connector, 132, second connector, 14, fixed rod, 141, clamping head, 142, rod body, 15, passive rotating disk, 16, passive rocker, 161, third connector, 162, fourth connector, 163, fifth connector, 17, fixed frame, 171, top surface, 172, retaining edge, 173, spacer, 174, coaxial hole, 18, support shaft, 192, bearing, 191, connecting rod, 193, fixing ring, 194, nut; 2, thigh, 21, driver, a, driver, b, telescopic rod, 22, driven part, 221, front mounting Mounting position, 222, rear mounting position, 23, middle piece, 231, main connecting rod, 2311, protrusion, 232, side connecting rod, 233, limit block, 2331, clamping hole, 2332, connecting hole, 2333, mounting hole, 24, fixing block, 241, through hole, 25, connecting piece; 3, calf part, 31, movable plate, 32, telescopic driving member, 32a, first telescopic driving member, 32b, second telescopic driving member, 32c, third telescopic driving member, 33, universal joint, 331, first support, 332, second support, 333, cross shaft, 34, support rod, 35, ball joint, 351, spherical part, 352, concave part; 4, sole of the foot, 5, hip joint driver, 6, fixing plate. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0039] It should be understood that, in the description of the present invention, “at least two” means two or more than two, unless otherwise clearly and specifically defined.

[0040] In addition, the orientations or positional relationships indicated by terms such as “both sides”, “middle”, “top”, “both ends”, “parallel to each other”, “perpendicular to each other”, “inside”, and “bottom” are based on the orientations or positional relationships shown in the drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0041] It should be noted that the terms "first", "second", "third", "fourth", and "fifth" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", "third", "fourth", "fifth", etc. may explicitly or implicitly include one or more of the features.

[0042] Example 1

[0043] Please refer to Figure 1 , the present invention provides a biped robot leg structure, including a hip joint 1, a thigh part 2, a calf part 3 and a sole 4;

[0044] Reference Figure 2 and Figure 3 The hip joint 1 includes two joint actuators 11, two active rotating disks 12, two active rocking arms 13, a fixed rod 14, a passive rotating disk 15, a passive rocking arm 16, a fixed frame 17 and a support shaft 18.

[0045] Each of the joint actuators 11 is provided with a power output end surface, which may be a reduction motor for power output; each of the active rotating disks 12 is arranged corresponding to one of the joint actuators 11, specifically: each of the active rotating disks 12 is movably connected to the power output end surface of the corresponding joint actuator 11, and the rotation of the active rotating disk 12 is driven by the power output end surface of the joint actuator 11; one end of each of the active rocker arms 13 is fixedly connected to the corresponding active rotating disk 12, and the active rocker arm 13 is equivalent to the bone of the human body. The joint needs to drive the bone to rotate, and the active rotating disk 12 drives the active rocker arm 13 to swing; the other end of each of the active rocker arms 13 is fixedly connected to the fixed rod 14. Since the two active rockers 13 cannot rotate separately, the fixed rod 14 is required to fix the two active rockers 13; the power output end surface of the joint actuator 11 drives each active rotating disk 12 to rotate, and drives each active rocker arm 13 and the fixed rod 14 to swing synchronously, that is, to realize parallel transmission;

[0046] Each of the active rotating disks 12 is provided with a connecting rod 191, and the connecting rod 191 is fixedly connected to one end of the corresponding active rocker arm 13. The passive rotating disk 15 is also provided with a connecting rod 191, and the connecting rod 191 of the passive rotating disk 15 is fixedly connected to one end of the passive rocker arm 16, and the other end of the passive rocker arm 16 and the other ends of the two active rockers 13 are connected together by a fixed rod 14, and the passive rotating disk 15 is located between the two active rotating disks 12;

[0047] More specifically, each of the active rocker arms 13 is provided with a first connecting head 131 and a second connecting head 132, the first connecting head 131 and the second connecting head 132 are respectively located at the two ends of the active rocker arm 13, the first connecting head 131 is fixedly connected to the connecting rod 191 of the active rotating disk 12, and the fixed rod 14 passes through the second connecting head 132.

[0048] The passive rocker arm 16 has an integrally formed third connecting head 161, a fourth connecting head 162 and a fifth connecting head 163, the fourth connecting head 162 and the fifth connecting head 163 are arranged parallel to each other, the third connecting head 161 and the fourth connecting head 162 and / or the fifth connecting head 163 are arranged perpendicular to each other, the third connecting head 161 is fixedly connected to the connecting rod 191 of the passive rotating disk 15, the fixing rod 14 passes through the fourth connecting head 162 and the fifth connecting head 163, and the second connecting head 132 of the active rocker arm 13 is located between the fourth connecting head 162 and the fifth connecting head 163.

[0049] The fixing rod 14 has an integrally formed fixing head 141 and a rod body 142, the rod body 142 penetrates the fourth connecting head 162, the second connecting head 132 and the fifth connecting head 163, the fixing head 141 is arranged on the fourth connecting head 162, and a fixing ring 193 is detachably connected to the rod body 142, and the fixing ring 193 is arranged at the bottom of the fifth connecting head 163. The fourth connecting head 162, the second connecting head 132 and the fifth connecting head 163 are fixed by the fixing head 141 and the fixing ring 193, and the active rocker arm 13 and the passive rocker arm 16 are also fixed.

[0050] Bearings 192 are respectively provided on the passive rotating disk 15, the first connecting head 131, the second connecting head 132 and the third connecting head 161, the support shaft 18 penetrates into the bearing 192 of the passive rotating disk 15, the connecting rod 191 penetrates into the corresponding bearing 192 of the first connecting head 131 or the bearing 192 of the second connecting head 132 or the bearing 192 of the third connecting head 161, and a nut 194 is provided on each of the connecting rods 191, the connecting rod 191 penetrates into the center of the bearing 192, and the nut 194 tightens the first connecting head 131, the second connecting head 132 and the third connecting head 161 to the corresponding connecting rods 191 respectively.

[0051] The main function of the bearing 192 is to support the rocker arm for rotation, reduce the friction coefficient of the rocker arm during movement, and ensure the rotation accuracy of the rocker arm; in the passive rotating disk 15, the support shaft 18 penetrates into the bearing 192 in the passive rotating disk 15 to support the passive rotating disk 15, and the bearing 192 can also make the passive rotating disk 15 rotate more smoothly.

[0052] The fixing frame 17 has an integrally formed top surface 171, a rib 172 and a spacer bar 173. The rib 172 has two and is symmetrically arranged on both sides of the top surface 171. The spacer bar 173 has two and is arranged between the two ribs 172. Each active rotating disk 12 and the corresponding joint actuator 11 are arranged between the adjacent ribs 172 and the spacer bar 173. Coaxial holes 174 are formed on the ribs 172 and the spacer bar 173. The support shaft 18 penetrates into the coaxial holes 174 of the two spacer bars 173 and the bearing 192 of the passive rotating disk 15. The passive rotating disk 15 is located between the two spacer bars 173.

[0053] The function of the fixed frame 17 is to combine the leg structure of the bipedal robot into one, which can divide the three rotating disks into rotating spaces and form a modular joint structure for easy assembly and use; the function of the support shaft 18 is to support the bearing 192 on the passive rotating disk 15 for rotation.

[0054] Reference Figure 4 , realize the left and right movement of the legs along the X-axis, that is, thigh abduction (right hip swings to the right outside or left hip swings to the left outside) or thigh adduction (right hip swings to the left or left hip swings to the right), refer to Figure 5 , and also realizes the forward and backward movement of the legs along the Y-axis, that is, thigh flexion (lifting the legs forward) and thigh extension (lifting the legs backward), thereby realizing 2-degree-of-freedom rotation; this design can increase the physical height of the joint actuator 11 on the leg, thereby reducing the inertia of the leg end, which is more beneficial to motion control; in addition, the two joint actuators 11 can exert force at the same time. Compared with the joint actuator 11 with a series structure of the same specifications, the leg structure of the biped robot has a stronger bearing capacity and a larger load.

[0055] Figure 1 In the figure, the biped robot leg structure also includes a hip joint driver 5 and a fixing plate 6, wherein the fixing plate 6 is fixedly connected to the fixing frame 17, and the hip joint driver 5 is arranged on the fixing plate 6 and drives the fixing frame 17, and the overall rotation of the hip joint is controlled by the hip joint driver 5.

[0056] Reference Figure 6-Figure 8 The thigh part 2 includes a driver 21, a driven member 22, an intermediate member 23 and a fixed block 24. One end of the intermediate member 23 is connected to the driver 21, and the other end of the intermediate member 23 is connected to the driven member 22. The driver 21 drives the intermediate member 23, and the intermediate member 23 drives the driven member 22. The driver 21 is fixedly arranged in the fixed block 24, and the fixed block 24 is connected to the fixed rod 14. The fixed block 24 is used to limit the position of the driver 21, and when installed on the robot, the fixed block 24 serves as a thigh shell, and the driver 21 is fixedly arranged in the fixed block 24;

[0057] Specifically, the intermediate component 23 includes a main connecting rod 231, a side connecting rod 232 and a limit block 233, one end of the main connecting rod 231 is fixedly connected to the driver 21, the other end of the main connecting rod 231 is fixedly connected to the driven component 22, one end of the limit block 233 is fixedly connected to the position between the two ends of the main connecting rod 231, the other end of the limit block 233 is fixedly connected to one end of the side connecting rod 232, and the other end of the side connecting rod 232 is fixedly connected to the driven component 22.

[0058] The driver 21 uses a motor a and a telescopic rod b, and the motor a drives the telescopic rod b to extend and retract.

[0059] The motor simulates the thigh, the telescopic rod simulates the lower end of the femur, the driven part 22 simulates the upper end of the tibia, the driven part 22 can be connected to the part simulating the calf, the main connecting rod 231 simulates the anterior ligament, the side connecting rod 232 simulates the posterior ligament, and the limit block 233 is the installation connection block of the side connecting rod 232; through the telescopic movement of the driver 21, the main connecting rod 231 drives the driven part 22 to bend or restore, and the side connecting rod 232 prevents the driven part 22 from sliding backward and provides stability to the knee joint, thereby simulating the relative sliding of the femur and tibia and the bending movement of the knee joint.

[0060] Reference Figure 6 The main connecting rod 231 and the side connecting rod 232 are cross-arranged to imitate more natural biomechanics and achieve a transmission mode that is closer to the human knee joint.

[0061] In addition, the structural principle of the existing knee joint structure that performs circular motion is that its driver 21 is directly installed at the joint position. It can be understood that the robot includes both the thigh part 2 and the knee joint. The knee joint bears the weight of the two structures of the thigh and the driver 21. In this embodiment, the driver 21 is directly used as the thigh, and there is no need to add an additional driver 21. That is, the knee joint part only has two components, the driven part 22 and the middle part 23. The setting position of the driver 21 is improved, and the driven part 22 and the middle part 23 are lighter, thereby reducing the rotational inertia of the knee joint.

[0062] In summary, when a robot using the knee joint performs a task, it bears a uniform load, which will not cause serious wear of the mechanical structure, overload of the driver 21, increased energy consumption, and decreased overall stability.

[0063] Specifically, the driven member 22 is provided with a front mounting position 221 and a rear mounting position 222 , one end of the main connecting rod 231 is provided on the rear mounting position 222 , the other end of the main connecting rod 231 is fixedly connected to the telescopic rod, and one end of the side connecting rod 232 is provided in the front mounting position 221 .

[0064] A protrusion 2311 is provided between the two ends of the main connecting rod 231 , and a clamping hole 2331 is provided at one end of the limiting block 233 . The clamping hole 2331 is installed on the protrusion 2311 .

[0065] Preferably, the position between the two ends of the main connecting rod 231 can be a round hole, the protrusion 2311 is replaced by a connecting shaft, and the clamping hole 2331 is provided on the connecting shaft.

[0066] The other end of the limiting block 233 is provided with a connecting hole 2332 , and the other end of the side connecting rod 232 is fixedly connected to the connecting hole 2332 .

[0067] It also includes a plurality of connecting members 25, which are screws. The fixing block 24 is provided with a plurality of through holes 241. Figure 7 Four through holes 241 are provided on one side of the fixing block 24, a plurality of mounting holes 2333 are provided on the limiting block 233, four mounting holes 2333 are provided on one side of the limiting block 233, the through holes 241 are aligned with the mounting holes 2333, and the connecting piece 25 penetrates the through holes 241 and the mounting holes 2333, thereby realizing the connection between the fixing block 24 and the limiting block 233.

[0068] The limiting block 233 is in the shape of a triangle block, and the three corners of the triangle block are respectively provided with a mounting hole 2333, a clamping hole 2331 and a connecting hole 2332.

[0069] Reference Figure 9-11 The calf part 3 includes two movable plates 31 and three telescopic driving members 32 arranged between the two movable plates 31, a plurality of universal joints 33 and a support rod 34, one end of the universal joint 33 is connected to the movable plate 31, the other end of the universal joint 33 is connected to the telescopic driving member 32, the support rod 34 is arranged between the three telescopic driving members 32, one end of the support rod 34 is provided with a ball joint 35, the other end of the support rod 34 is fixedly connected to one of the movable plates 31, the ball joint 35 is connected to another movable plate 31, and one of the movable plates 31 is connected to the driven member 22;

[0070] The telescopic driving member 32 is used to extend or shorten, and the overall movement is achieved by the extension or shortening of the telescopic driving member 32. The setting of the universal joint 33 enables relative movement between the two movable plates 31 and the telescopic driving member 32. The support rod 34 is in the middle of the three telescopic driving members 32. The support rod 34 is used to limit the range of movement of the telescopic driving member 32 and the movable plate 31. Since a ball joint 35 is provided at one end of the support rod 34, the support member has a larger range of movement in one direction and can more stably support and bear weight in another direction.

[0071] Specifically, the movable plate 31 provided with one end of the ball joint 35 is connected to the sole 4 .

[0072] The ankle joint moves forward and backward, refer to Fig.12 When the robot's foot needs to be stretched downward, the three telescopic driving members 32 are respectively named as the first telescopic driving member 32a, the second telescopic driving member 32 and the third telescopic driving member 32, the first telescopic driving member 32 and the second telescopic driving member 32 are extended to the same length at the same time, and the third telescopic driving member 32 is shortened; conversely, when the robot's foot needs to bend upward, the first telescopic driving member 32 and the second telescopic driving member 32 are shortened to the same length at the same time, and the third telescopic driving member 32 is extended;

[0073] The ankle joint swings left and right, refer to Fig.13 When the robot's foot needs to be turned outward, the second telescopic driving member 32 is shortened, and the first telescopic driving member 32 and the third telescopic driving member 32 are extended to the same length; conversely, when the robot's foot needs to be turned inward, the third telescopic driving member 32 is shortened, and the first telescopic driving member 32 and the second telescopic driving member 32 are extended to the same length;

[0074] The ankle joint performs plane rotation movement, refer to Fig.14 When the robot's foot needs to be turned inward, the three telescopic driving members 32 extend or shorten by the same length counterclockwise; conversely, when the robot's foot needs to be turned outward, the three telescopic driving members 32 extend or shorten by the same length clockwise;

[0075] In summary, the realization of three degrees of freedom of movement makes the robot's ankle joint more diverse and flexible in movement, has more adjustment options, and can cope with more diverse movement tasks; better imitating the biomechanics of the human ankle joint, the robot can be more natural and smooth when walking, running, and performing other foot movements, greatly improving the robot's bionics level; compared to the series design of most ankle joints, the parallel structure is more compact, making the size of the ankle joint more in line with the actual size of the human ankle joint; the parallel structure also gives the ankle joint higher control accuracy and stability.

[0076] The ball joint 35 includes a spherical portion 351 and a concave portion 352 . The concave portion 352 is fixed to one of the movable plates 31 . The spherical portion 351 is movably disposed in the concave portion 352 . The spherical portion 351 can rotate within a wide range of 360 degrees in the concave portion 352 .

[0077] The telescopic driving member 32 also includes a motor a and a telescopic rod b, and the motor a drives and connects the telescopic rod b.

[0078] The universal joint 33 includes a first support 331 , a second support 332 and a cross shaft 333 . The first support 331 and the second support 332 are respectively connected to the cross shaft 333 . The first support 331 and the second support 332 both rotate around the cross shaft 333 .

[0079] One end of the first support 331 is fixedly connected to the movable plate 31 , one end of the second support 332 is fixedly connected to the telescopic driving member 32 , and the other ends of the first support 331 and the second support 332 are fixedly connected to the cross shaft 333 .

[0080] The movable plate 31 is a polygon. Fig. 9 The movable plate 31 is divided into three corners, the center is the setting position of the support rod 34, and the three corners are the setting positions of the telescopic driving rod.

[0081] The above-mentioned embodiment only expresses one implementation mode of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A bipedal robot leg structure, characterized in that: include: A hip joint (1), the hip joint (1) comprising a joint actuator (11), an active rotating disk (12), an active rocker arm (13) and a fixed rod (14), the joint actuator (11) drivingly connected to the active rotating disk (12), the active rocker arm (13) connected to the active rotating disk (12), and the fixed rod (14) connected to the active rocker arm (13); A thigh part (2), the thigh part (2) comprising a driver (21), a driven part (22), an intermediate part (23) and a fixed block (24), one end of the intermediate part (23) being connected to the driver (21), the other end of the intermediate part (23) being connected to the driven part (22), the driver (21) driving the intermediate part (23), the intermediate part (23) driving the driven part (22), the driver (21) being fixed in the fixed block (24), and the fixed block (24) being connected to the fixed rod (14); A calf part (3), the calf part (3) comprising two movable plates (31) and three telescopic driving members (32) arranged between the two movable plates (31), a plurality of universal joints (33) and a support rod (34), one end of the universal joint (33) being connected to the movable plate (31), the other end of the universal joint (33) being connected to the telescopic driving member (32), the support rod (34) being arranged between the three telescopic driving members (32), one end of the support rod (34) being provided with a ball joint (35), the other end of the support rod (34) being fixedly connected to one of the movable plates (31), the ball joint (35) being connected to another movable plate (31), and one of the movable plates (31) being connected to the driven member (22); The sole (4) is fixedly connected to the sole (4).

2. The biped robot leg structure according to claim 1, characterized in that: The intermediate component (23) comprises a main connecting rod (231), a side connecting rod (232) and a limit block (233); the main connecting rod (231) and the side connecting rod (232) are arranged crosswise; one end of the main connecting rod (231) is fixedly connected to the driver (21); the other end of the main connecting rod (231) is fixedly connected to the driven component (22); one end of the limit block (233) is fixedly connected to a position between the two ends of the main connecting rod (231); the other end of the limit block (233) is fixedly connected to one end of the side connecting rod (232); and the other end of the side connecting rod (232) is fixedly connected to the driven component (22).

3. The biped robot leg structure according to claim 2, characterized in that: The driven member (22) is provided with a front mounting position (221) and a rear mounting position (222), one end of the main connecting rod (231) is arranged on the rear mounting position (222), and one end of the side connecting rod (232) is arranged in the front mounting position (221).

4. The biped robot leg structure according to claim 3, characterized in that: A protrusion (2311) is provided between the two ends of the main connecting rod (231), and a clamping hole (2331) is provided at one end of the limit block (233), and the clamping hole (2331) is installed on the protrusion (2311).

5. The biped robot leg structure according to claim 1, characterized in that: The hip joint (1) also includes a fixing frame (17), the fixing frame (17) having an integrally formed top surface (171), a rib (172) and a spacer (173), the rib (172) having two ribs symmetrically arranged on both sides of the top surface (171), the spacer (173) having two ribs arranged between the two ribs (172), and the active rotating disk (12) and the corresponding joint actuator (11) being arranged between adjacent ribs (172) and spacer (173).

6. The biped robot leg structure according to claim 5, characterized in that: It also comprises a hip joint driver (5) and a fixing plate (6), wherein the fixing plate (6) is fixedly connected to the fixing frame (17), and the hip joint driver (5) is arranged on the fixing plate (6) and is drivingly connected to the fixing frame (17).

7. The biped robot leg structure according to claim 6, characterized in that: The hip joint (1) further comprises a passive rotating disk (15) and a passive rocker arm (16); the passive rotating disk (15) is arranged between the two spacer bars (173); the active rotating disk (12) and the passive rotating disk (15) are both provided with connecting rods (191); the connecting rod (191) of the active rotating disk (12) is fixedly connected to one end of a corresponding active rocker arm (13); the connecting rod (191) of the passive rotating disk (15) is fixedly connected to one end of the passive rocker arm (16); the other end of the passive rocker arm (16) and the other ends of the two active rockers (13) are connected together through a fixed rod (14).

8. The biped robot leg structure according to claim 7, characterized in that: The hip joint (1) further comprises a support shaft (18), and coaxial holes (174) are provided on the two spacer bars (173). The support shaft (18) penetrates the coaxial holes (174) of the two spacer bars (173) and the center of the passive rotating disk (15), or the support shaft (18) penetrates the coaxial holes (174) of the two connecting rings and the center of the passive rotating disk (15).

9. The biped robot leg structure according to claim 1, characterized in that: The ball joint (35) comprises a spherical portion (351) and a concave portion (352), wherein the concave portion (352) is fixed on one of the movable plates (31), and the spherical portion (351) is movably disposed in the concave portion (352).

10. The biped robot leg structure according to claim 4, characterized in that: The other end of the limit block (233) is provided with a connecting hole (2332), and the other end of the side connecting rod (232) is fixedly connected to the connecting hole (2332).

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