Knee joint assembly and humanoid robot

Abstract

The knee joint assembly comprises a first thigh web, a knee joint motor is arranged at the upper end of the side wall of the first thigh web in the X direction, and the output end of the knee joint motor is connected with a first flange plate; a knee joint connecting rod is hinged to the eccentric part of one end of the first flange away from the knee joint motor; the lower end of the side wall of the first thigh web is rotationally connected with a shank web in the X direction. The end, away from the first flange plate, of the knee joint connecting rod is hinged to the upper end of the shank web. The hinge point of the knee joint connecting rod and the first flange plate, the rotating shaft point of the first flange plate, the hinge point of the knee joint connecting rod and the shank web and the rotating shaft point of the shank web form a contra-parallelogram structure. The motion angle range of the knee joint connecting rod can be narrowed on the basis that the requirement for large-angle-range motion of the knee joint of the humanoid robot is met.

Description

Technical Field

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

[0002] Humanoid robots are popular in the market because they can simulate human body movements very well. The bipedal walking movement mode of humanoid robots, which is similar to that of humans, is more passable than other driving modes such as wheels or belts. Therefore, how to make the lower limb structure design of humanoid robots more suitable for human legs is of great significance.

[0003] Any single leg of a humanoid robot includes corresponding leg joints such as the knee joint and ankle joint. In particular, the movement of the knee joint is one of the key points in matching the leg movement of humans. Currently, the movement of the knee joint is driven by a parallelogram linkage structure. In order to meet the demand for a larger angle range of movement of the knee joint, the movement angle range of the knee joint linkage needs to be set relatively large, resulting in a low degree of human imitation. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the knee joint structure used in humanoid robots in the prior art requires the movement angle range of the knee joint connecting rod to be set relatively large to meet the use requirements, resulting in a low degree of human simulation, thereby providing a knee joint assembly and a humanoid robot.

[0005] In a first aspect, the present invention provides a knee joint assembly, which is connected to the lower part of the hip joint structure of a humanoid robot, and the knee joint assembly comprises:

[0006] first thigh ventral plate;

[0007] A knee joint motor is arranged at the upper end of the side wall of the first thigh ventral plate along the X direction, and the output end of the knee joint motor is connected to a first flange;

[0008] A knee joint connecting rod, hinged to an eccentric position of an end of the first flange away from the knee joint motor;

[0009] A calf rib plate is connected to the lower end of the side wall of the first thigh rib plate for rotation around the X direction, and one end of the knee joint connecting rod away from the first flange along the Z direction is hinged to the upper end of the calf rib plate;

[0010] The hinge point between the knee joint link and the first flange, the pivot point of the first flange, the hinge point between the knee joint link and the calf web, and the pivot point of the calf web form an antiparallelogram structure.

[0011] A knee joint assembly according to the present invention has at least the following technical effects:

[0012] By forming an antiparallelogram structure between the hinge point of the knee joint connecting rod and the first flange, the pivot point of the first flange, the hinge point of the knee joint connecting rod and the calf web, and the pivot point of the calf web, the output end of the knee joint motor is turned in the opposite direction to the rotation direction of the calf web relative to the first thigh web, that is, when the first flange rotates counterclockwise around the X direction, the calf web rotates clockwise around the X direction, and the knee joint connecting rod is hinged at the eccentric point of the first flange, so that the knee joint connecting rod can move in a small angle range to drive the calf web to move in a large angle range around the X direction, and the knee joint assembly is equipped with the present invention. The movement angle range of the knee joint connecting rod is reduced based on the demand for a larger angle range of movement of the knee joint of the humanoid robot, so that the humanoid effect of the humanoid robot equipped with the knee joint assembly is more ideal; the knee joint motor is also arranged at the upper end of the side wall of the first thigh belly plate, so that the center of gravity of the knee joint assembly is moved upward, the driving rotational inertia of the knee joint motor is reduced, and the heat generation is reduced; and the knee joint motor drives the calf belly plate to rotate around the X direction through the first flange plate and the knee joint connecting rod, which effectively reduces the torque directly applied to the knee joint motor by the calf belly plate, and improves the stability and service life of the knee joint motor.

[0013] In an optional embodiment, the first thigh rib is detachably connected to a second thigh rib along the X-direction along the end face of the knee joint connecting rod, and a mounting cavity is formed between the second thigh rib and the first thigh rib, the knee joint connecting rod and the first flange are both arranged in the mounting cavity, and the rotational connection between the calf rib and the first thigh rib is located in the mounting cavity.

[0014] In an optional embodiment, the first thigh ventral plate is configured as a metal ventral plate, a mounting hole is formed through the side wall of the first thigh ventral plate along the X-direction, the knee joint motor is arranged in the mounting hole, and at least a portion of the knee joint motor extends outside the first thigh ventral plate.

[0015] In an optional embodiment, a rotatable mounting portion is provided at one end of the calf rib facing the first thigh rib, and the rotatable mounting portion is rotatably connected to the first thigh rib and the second thigh rib at both ends along the X direction, and a connecting cavity is provided at the upper end of the rotatable mounting portion, and the end of the knee joint connecting rod facing away from the first flange is hinged in the connecting cavity; a first connecting platform is convexly provided on the outer peripheral surface of the first flange, and the knee joint connecting rod is hinged to the first connecting platform.

[0016] In an optional embodiment, a first arc guide groove is provided at a position of the first thigh ventral plate corresponding to the first connecting platform, the first connecting platform is rotatably connected to the first arc guide groove, and first soft rubber pads are respectively provided at both end walls of the first arc guide groove along the circumference of the first flange.

[0017] In an optional embodiment, it further includes a sole portion, which is rotatably connected to an end of the calf ventral plate away from the first thigh ventral plate through a cross joint bearing, and the sole portion is driven by a driving mechanism to rotate around the X direction and around the Y direction.

[0018] In an optional embodiment, the cross-section of the calf web perpendicular to the Z direction is set to be U-shaped, and the driving mechanism includes a first motor and a second motor, the first motor and the second motor are both arranged in the U-shaped groove of the calf web parallel to the Y direction, the first motor is located directly above the second motor, and a second flange is provided at the output end of the first motor, a first connecting rod is hinged at an eccentric point of the second flange, and the other end of the first connecting rod away from the second flange is hinged to the sole; a third flange is provided at the output end of the second motor, a second connecting rod is hinged at an eccentric point of the third flange, and the other end of the second connecting rod away from the third flange is hinged to the sole; the first connecting rod and the second connecting rod are located on the side of the calf web away from the first motor along the Y direction, and are arranged opposite to each other along the X direction.

[0019] In an optional embodiment, a second connecting platform is convexly provided on the outer circumferential surface of the second flange, and the first connecting rod is hinged to the second connecting platform; a first limiting platform is convexly provided on the end surface of the calf web facing away from the first motor along the Y direction, and the first limiting platform is provided with a first avoidance arc groove for avoiding the second flange, and second soft rubber pads are respectively provided on the two end walls of the first avoidance arc groove along the circumference of the second flange;

[0020] And / or, a third connecting platform is convexly provided on the outer circumferential surface of the third flange, and the second connecting rod is hinged to the third connecting platform; a second limit platform is convexly provided on the end surface of the calf web along the Y direction away from the second motor, and the second limit platform is provided with a second avoidance arc groove for avoiding the third flange, and third soft rubber pads are respectively provided on the two end walls of the second avoidance arc groove along the circumference of the third flange.

[0021] In an optional embodiment, the calf web is configured as a metal web;

[0022] And / or, the sole portion is provided with a connecting shaft along the X direction, and the first connecting rod and the second connecting rod are hinged to two ends of the connecting shaft respectively.

[0023] In a second aspect, the present invention further provides a humanoid robot, comprising the knee joint assembly provided in the first aspect.

[0024] A humanoid robot according to the present invention has at least the following technical effects:

[0025] By forming an antiparallelogram structure between the hinge point of the knee joint connecting rod and the first flange, the pivot point of the first flange, the hinge point of the knee joint connecting rod and the calf web, and the pivot point of the calf web, the output end of the knee joint motor is turned in the opposite direction to the rotation direction of the calf web relative to the first thigh web, that is, when the first flange rotates counterclockwise around the X direction, the calf web rotates clockwise around the X direction, and the knee joint connecting rod is hinged at the eccentric part of the first flange, so that the knee joint connecting rod can drive the calf web to move in a large angle range around the X direction when the knee joint connecting rod moves in a small angle range, and the knee joint connecting rod meets the shape of the individual. The movement angle range of the knee joint connecting rod is reduced on the basis of the demand for a larger angle range of movement of the robot's knee joint, so that the humanoid effect of the humanoid robot is more ideal; the knee joint motor is also arranged at the upper end of the side wall of the first thigh belly plate, so that the center of gravity of the knee joint assembly of the humanoid robot is moved upward, the driving rotational inertia of the knee joint motor is reduced, and the heat generation is reduced; and the knee joint motor drives the calf belly plate to rotate around the X direction through the first flange plate and the knee joint connecting rod transition, which effectively reduces the torque directly applied to the knee joint motor by the calf belly plate, and improves the stability and service life of the knee joint motor.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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.

[0028] Figure 1 is a schematic diagram of the three-dimensional structure of a knee joint assembly of this embodiment;

[0029] Figure 2 for Figure 1 The enlarged schematic diagram of point A in the middle;

[0030] Figure 3 for Figure 1 Schematic diagram of the decomposition structure;

[0031] Figure 4 for Figure 3 Schematic diagram of some structures in ;

[0032] Figure 5 for Figure 3 Another part of the structural diagram in FIG.

[0033] Figure 6 for Figure 1 A schematic diagram of the structure from another perspective with the second thigh ventral plate removed;

[0034] Figure 7 for Figure 6 The enlarged schematic diagram of point B in the middle;

[0035] Figure 8 It is a schematic diagram of the front view of a partial structure of a knee joint assembly of this embodiment;

[0036] Fig. 9 is a schematic structural diagram of a calf web in a knee joint assembly of this embodiment;

[0037] Fig.10 Schematic diagram of the structure of a cross bearing in a knee joint assembly of this embodiment.

[0038] Description of reference numerals:

[0039] 110-first thigh ventral plate, 111-mounting hole, 112-first arc-shaped guide groove, 113-first soft rubber pad, 114-threaded hole, 120-knee joint motor, 130-first flange, 131-first connecting platform, 140-knee joint connecting rod, 150-second thigh ventral plate, 151-countersunk through hole;

[0040] 210 - calf belly plate, 211 - rotating mounting portion, 212 - connecting cavity, 213 - first limiting platform, 214 - second soft rubber pad, 215 - second limiting platform, 216 - third soft rubber pad, 217 - second connecting ear, 218 - second mounting through hole;

[0041] 310 - sole part, 311 - connecting shaft, 312 - first connecting ear, 313 - first mounting through hole, 320 - cross joint bearing, 321 - connecting part, 322 - first mounting shaft, 323 - second mounting shaft;

[0042] 410 - first motor, 420 - second motor, 430 - second flange, 431 - second connecting platform, 440 - first connecting rod, 450 - third flange, 451 - third connecting platform, 460 - second connecting rod. DETAILED DESCRIPTION

[0043] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0047] Combine the following Figures 1 to 10 , describing an embodiment of the present invention.

[0048] According to a first aspect of an embodiment of the present invention, a knee joint assembly is provided, which is applied to the lower part of the hip joint structure of a humanoid robot; the knee joint assembly includes a first thigh ventral plate 110, and a knee joint motor 120 is arranged at the upper end of the side wall of the first thigh ventral plate 110 along the X direction, and the output end of the knee joint motor 120 is connected to a first flange 130; a knee joint connecting rod 140 is hinged at an eccentric point of one end of the first flange 130 away from the knee joint motor 120; the lower end of the side wall of the first thigh ventral plate 110 is connected to a calf ventral plate 210 for rotation around the X direction, and the end of the knee joint connecting rod 140 away from the first flange 130 along the Z direction is hinged to the upper end of the calf ventral plate 210; the hinge point of the knee joint connecting rod 140 and the first flange 130, the pivot point of the first flange 130, the hinge point of the knee joint connecting rod 140 and the calf ventral plate 210, and the pivot point of the calf ventral plate 210 form an antiparallelogram structure. It is understood that the X direction, Y direction and Z direction mentioned in the text refer to Figure 1 The X, Y and Z directions.

[0049] The knee joint assembly of this embodiment forms an antiparallelogram structure by forming the hinge point of the knee joint connecting rod 140 and the first flange 130, the pivot point of the first flange 130, the hinge point of the knee joint connecting rod 140 and the calf web 210, and the pivot point of the calf web 210, so that the rotation direction of the output end of the knee joint motor 120 is opposite to the rotation direction of the calf web 210 relative to the first thigh web 110, that is, when the first flange 130 rotates counterclockwise around the X direction, the calf web 210 rotates clockwise around the X direction, and the knee joint connecting rod 140 is hinged at the eccentric part of the first flange 130, so that the knee joint connecting rod 140 can drive the calf web 210 to move around the X direction in a large angle range by moving within a small angle range. When the knee joint connecting rod 140 is assembled with this embodiment, the rotation direction of the output end of the knee joint motor 120 is opposite to the rotation direction of the calf web 210 relative to the first thigh web 110. The knee joint assembly of the embodiment reduces the movement angle range of the knee joint connecting rod 140 on the basis of the requirement of a larger angle range of movement of the knee joint of the humanoid robot, so that the humanoid robot equipped with the knee joint assembly of this embodiment has a more ideal humanoid effect; the knee joint motor 120 is also arranged at the upper end of the side wall of the first thigh ventral plate 110, so that the center of gravity of the knee joint assembly of this embodiment is moved upward, the driving rotational inertia of the knee joint motor 120 is reduced, and the heat generation is reduced; and the knee joint motor 120 drives the calf ventral plate 210 to rotate around the X direction through the first flange 130 and the knee joint connecting rod 140, which effectively reduces the torque directly applied to the knee joint motor 120 by the calf ventral plate 210, thereby improving the stability and service life of the knee joint motor 120.

[0050] like Figure 1 and Figure 3 As shown, in some embodiments, the first thigh rib 110 is detachably connected to the second thigh rib 150 along the X-direction on the end face facing the knee joint connecting rod 140, and a mounting cavity is formed between the second thigh rib 150 and the first thigh rib 110, the knee joint connecting rod 140 and the first flange 130 are both arranged in the mounting cavity, and the rotational connection between the calf rib 210 and the first thigh rib 110 is located in the mounting cavity. Because the knee joint connecting rod 140 only needs to move within a relatively small angle range to drive the calf rib 210 to move within a relatively large angle range relative to the first thigh rib 110, the knee joint connecting rod 140 is hidden in the installation cavity; the first flange 130 and the rotating connection between the calf rib 210 and the first thigh rib 110 are also hidden in the installation cavity, so as to cover and protect some internal components of the knee joint assembly of this embodiment; at the same time, the cross-section of the first thigh rib 110 and the second thigh rib 150 connected as one is larger in perpendicular to the Z direction, so that the overall impact resistance and bending resistance formed by the first thigh rib 110 and the second thigh rib 150 are greatly enhanced, and the rigidity and strength performance of the structure are fully guaranteed, and the overall stability is improved on the basis of meeting the movement flexibility of the humanoid robot equipped with the knee joint assembly of this embodiment.

[0051] It should be noted that the installation cavity surrounded by the first thigh belly plate 110 and the second thigh belly plate 150 is used for concentrated hidden internal installation of some internal components, which has a high degree of integration and is conducive to improving the overall stability. It is also convenient to remove the second thigh belly plate 150 to expose the internal components for maintenance or inspection.

[0052] Here, the detachable connection structure of the first thigh rib plate 110 and the second thigh rib plate 150 is described in detail. Figure 3 As shown, in some embodiments, a plurality of threaded holes 114 are arranged at circumferential intervals along the first flange 130 on the end surface of the first thigh web 110 facing the second thigh web 150, and countersunk through holes 151 are arranged one by one on the second thigh web 150 at positions corresponding to the threaded holes 114; when the first thigh web 110 and the second thigh web 150 are assembled into one, the fastening screws are passed through the countersunk through holes 151 and screwed into the corresponding threaded holes 114.

[0053] like Figure 1 and Figure 3 As shown, in some embodiments, the first thigh rib 110 is configured as a metal rib, a mounting hole 111 is formed through the side wall of the first thigh rib 110 along the X direction, the knee joint motor 120 is disposed in the mounting hole 111, and at least a portion of the knee joint motor 120 extends outside the first thigh rib 110. By installing the knee joint motor 120 in contact with the wall of the mounting hole 111, the heat generated by the knee joint motor 120 can be quickly transferred to the first thigh web 110 and the second thigh web 150 made of metal. Relying on the large cross-section of the first thigh web 110 and the second thigh web 150 connected as one, they can fully exchange heat with the air naturally, and the heat dissipation capacity is greatly enhanced; and because the knee joint motor 120 is arranged at the upper end of the side wall of the first thigh web 110 to reduce the driving rotational inertia of the knee joint motor 120, and at least part of the knee joint motor 120 extends outside the first thigh web 110 for natural wind heat dissipation, it is possible to meet the heat dissipation requirements of the knee joint motor 120 without the need for additional heat dissipation equipment.

[0054] like Figure 3 , Figure 4 as well as Figures 6 to 9As shown, specifically, the end of the calf rib 210 facing the first thigh rib 110 is provided with a rotating mounting portion 211, and the two ends of the rotating mounting portion 211 along the X direction are respectively rotatably connected to the first thigh rib 110 and the second thigh rib 150, and the upper end of the rotating mounting portion 211 is provided with a connecting cavity 212, and the end of the knee joint connecting rod 140 away from the first flange 130 is hinged in the connecting cavity 212; the outer peripheral surface of the first flange 130 is convexly provided with a first connecting platform 131, and the knee joint connecting rod 140 is hinged to the first connecting platform 131. By hingedly connecting the knee joint connecting rod 140 to the first connecting platform 131, the distance between the hinge point of the knee joint connecting rod 140 and the first flange 130 and the rotation axis point of the first flange 130 is increased, which is more conducive to enabling the knee joint connecting rod 140 to move in a small angle range to drive the calf rib 210 to move in a large angle range around the X direction. The two ends of the rotating mounting portion 211 are respectively rotatably connected to the first thigh web 110 and the second thigh web 150, so as to support the calf web 210 in a structural manner similar to "double-sided support", thereby improving the stiffness of the calf web 210 in bearing torque. At the same time, the knee joint connecting rod 140 is hinged to the connecting cavity 212 located at the upper end of the rotating mounting portion 211, so as to ensure that the hinge point of the knee joint connecting rod 140 and the first flange 130, the pivot point of the first flange 130, the hinge point of the knee joint connecting rod 140 and the calf web 210, and the pivot point of the calf web 210 formed by the first thigh web 110 and the second thigh web 150 are covered and protected in an anti-parallelogram structure, which is beneficial to improving the structural strength.

[0055] like Figure 7 As shown, specifically, the first thigh ventral plate 110 is provided with a first arc guide groove 112 at a position corresponding to the first connecting platform 131, the first connecting platform 131 is rotatably connected to the first arc guide groove 112, and the first arc guide groove 112 is provided with first soft rubber pads 113 at both end walls along the circumference of the first flange 130. In this way, no matter the first connecting platform 131 rotates clockwise around the X direction to the extreme angle position or rotates counterclockwise around the X direction to the extreme position, it contacts the first soft rubber pad 113 for soft limit, has good buffering performance, and greatly improves the safety of the movement operation of the humanoid robot equipped with the knee joint assembly of this embodiment.

[0056] In some embodiments, the knee joint assembly further includes a sole portion 310, the sole portion 310 is rotatably connected to the end of the calf rib plate 210 away from the first thigh rib plate 110 through a cross joint bearing 320, and the sole portion 310 is driven by a driving mechanism to rotate around the X direction and around the Y direction. The driving mechanism drives the sole portion 310 to rotate around the X direction and around the Y direction relative to the calf rib plate 210, thereby improving the movement flexibility of the humanoid robot equipped with the knee joint assembly of this embodiment, so that the humanoid robot equipped with the knee joint assembly of this embodiment has a more ideal humanoid effect.

[0057] like Figures 1 to 3 as well as Figure 5 , Figure 8 and Fig. 9As shown, in some embodiments, the cross-section of the calf rib 210 perpendicular to the Z direction is set to be U-shaped, and the driving mechanism includes a first motor 410 and a second motor 420, the first motor 410 and the second motor 420 are both arranged in parallel to the Y direction in the U-shaped groove of the calf rib 210, the first motor 410 is located directly above the second motor 420, the output end of the first motor 410 is provided with a second flange 430, and the eccentric part of the second flange 430 is hinged with a first connecting rod 440, the The other end of the first connecting rod 440 facing away from the second flange 430 is hinged to the sole part 310; the output end of the second motor 420 is provided with a third flange 450, and the second connecting rod 460 is hinged at the eccentric point of the third flange 450, and the other end of the second connecting rod 460 facing away from the third flange 450 is hinged to the sole part 310; the first connecting rod 440 and the second connecting rod 460 are located on the side of the calf web 210 facing away from the first motor 410 along the Y direction, and are arranged opposite to each other along the X direction. The U-shaped calf web 210 has a larger cross-section, which greatly enhances the overall impact resistance and bending resistance of the calf web 210, fully guarantees the rigidity and strength performance of the structure, and improves its overall stability while meeting the movement flexibility of the humanoid robot equipped with the knee joint assembly of this embodiment; at the same time, because the hinge point of the first connecting rod 440 and the second flange 430, the pivot point of the second flange 430, the hinge point of the first connecting rod 440 and the sole part 310, and the rotation connection point of the sole part 310 and the calf web 210 form a parallelogram structure; and the hinge point of the second connecting rod 460 and the third flange 450, the pivot point of the third flange 450, the hinge point of the second connecting rod 460 and the sole part 310, and the rotation connection point of the sole part 310 and the calf web 210 form a parallelogram structure, the two The parallelogram structure is arranged relative to the axis of the first motor 410 and the axis of the second motor 420 along the X direction and the line connecting the axis of the second motor 420 along the Z direction, so when the first motor 410 and the second motor 420 move in the same direction, the sole part 310 can be driven to rotate around the Y direction; when the movement directions of the first motor 410 and the second motor 420 are opposite, the sole part 310 can be driven to rotate around the X direction, so that the sole part 310 can be flexibly controlled by the first motor 410 and the second motor 420 to move around the X direction and the Y direction to achieve anthropomorphism; at the same time, the first connecting rod 440 and the second connecting rod 460 and the first motor 410 and the second motor 420 are respectively arranged on both sides of the calf belly plate 210 along the Y direction, and the first motor 410 and the second motor 420 are hidden in the U-shaped groove of the calf belly plate 210, so that the knee joint assembly structure of this embodiment is more compact.

[0058] Specifically, the sole part 310 is provided with a connecting shaft 311 along the X direction, and the symmetric axis of the connecting shaft 311 about the Z direction, the rotation axis point of the first motor 410 and the rotation axis point of the second motor 420 are located on the same straight line along the Z direction; the first connecting rod 440 and the second connecting rod 460 are respectively hinged at both ends of the connecting shaft 311. The hinge point between the first connecting rod 440 and the sole part 310 and the hinge point between the second connecting rod 460 and the sole part 310 are assembled on the same component through the connecting shaft 311, so as to smoothly drive the sole part 310 to rotate around the X direction and the Y direction.

[0059] Specifically, the calf ventral plate 210 is configured as a metal ventral plate. By using the calf ventral plate 210 with a U-shaped cross-section to cover and protect the first motor 410 and the second motor 420, and the first motor 410 and the second motor 420 are installed in contact with the calf ventral plate 210, the heat generated by the first motor 410 and the second motor 420 can be quickly transferred to the calf ventral plate 210 made of metal. Relying on the large cross-section of the calf ventral plate 210, it can fully exchange heat with the air naturally, and the heat dissipation capacity is greatly enhanced; and because the U-shaped groove of the calf ventral plate 210 is not closed, the first motor 410 and the second motor 420 can also be naturally cooled by the wind, so that the heat dissipation requirements of the first motor 410 and the second motor 420 are met without the need for additional heat dissipation equipment.

[0060] like Figure 3 , Figure 5 , Fig. 9 and Fig.10 As shown, specifically, two first connecting ears 312 are relatively spaced apart at the upper end of the sole portion 310 along the Y direction, and the two first connecting ears 312 are penetrated to form a first mounting through hole 313 along the Y direction; the end surface of the calf web 210 facing the sole portion 310 is spaced apart along the X direction, and the two second connecting ears 217 are penetrated to form a second mounting through hole 218 along the X direction; the cross joint bearing 320 includes a connecting portion 321, and a first mounting through hole 218 is respectively formed on both sides of the connecting portion 321 along the Y direction. The mounting shafts 322, the axes of the two first mounting shafts 322 are located on the same straight line; a second mounting shaft 323 is respectively provided on both sides of the connecting portion 321 along the X direction, and the axes of the two second mounting shafts 323 are located on the same straight line; during assembly, the two first mounting shafts 322 are respectively rotatably connected in the two first mounting through holes 313, and the two second mounting shafts 323 are respectively rotatably connected in the two second mounting through holes 218, so as to realize the rotation of the sole portion 310 around the X direction and the Y direction to be connected to the calf belly plate 210.

[0061] like Figure 2As shown, in some embodiments, the outer peripheral surface of the second flange 430 is convexly provided with a second connecting platform 431, and the first connecting rod 440 is hinged to the second connecting platform 431; the end surface of the calf ventral plate 210 away from the first motor 410 along the Y direction is convexly provided with a first limiting platform 213, and the first limiting platform 213 is provided with a first avoidance arc groove for avoiding the second flange 430, and the first avoidance arc groove is respectively provided with a second soft rubber pad 214 at both end walls along the circumference of the second flange 430. In this way, no matter the second connecting platform 431 rotates clockwise around the Y direction to the extreme angle position or rotates counterclockwise around the Y direction to the extreme position, it contacts with the second soft rubber pad 214 for soft limiting, and has good buffering performance, which greatly improves the safety of the movement operation of the humanoid robot equipped with the knee joint assembly of this embodiment.

[0062] Specifically, the outer peripheral surface of the third flange 450 is convexly provided with a third connecting platform 451, and the second connecting rod 460 is hinged to the third connecting platform 451; the end surface of the calf ventral plate 210 away from the second motor 420 along the Y direction is convexly provided with a second limiting platform 215, and the second limiting platform 215 is provided with a second avoidance arc groove for avoiding the third flange 450, and the second avoidance arc groove is respectively provided with a third soft rubber pad 216 at both end walls along the circumference of the third flange 450. In this way, no matter the third connecting platform 451 rotates clockwise around the Y direction to the extreme angle position or rotates counterclockwise around the Y direction to the extreme position, it contacts the third soft rubber pad 216 for soft limiting, and has good buffering performance, which greatly improves the safety of the movement operation of the humanoid robot equipped with the knee joint assembly of this embodiment.

[0063] In the second aspect, the present invention further provides a humanoid robot, comprising the knee joint assembly provided in the first aspect. The humanoid robot of this embodiment forms an antiparallelogram structure by forming the hinge point of the knee joint link 140 and the first flange 130, the pivot point of the first flange 130, the hinge point of the knee joint link 140 and the calf web 210, and the pivot point of the calf web 210, so that the direction of rotation of the output end of the knee joint motor 120 is opposite to the direction of rotation of the calf web 210 relative to the first thigh web 110, that is, when the first flange 130 rotates counterclockwise around the X direction, the calf web 210 rotates clockwise around the X direction, and the knee joint link 140 is hinged at the eccentric point of the first flange 130, so that the knee joint link 140 can drive the calf web 210 to move around the X direction in a large angle range by moving in a small angle range. The movement angle range of the knee joint connecting rod 140 is reduced on the basis of meeting the demand for a larger angle range of movement of the knee joint of the humanoid robot of this embodiment, and the humanoid effect of the humanoid robot of this embodiment is more ideal; the knee joint motor 120 is also arranged at the upper end of the side wall of the first thigh ventral plate 110, so that the center of gravity of the knee joint assembly of the humanoid robot of this embodiment is moved upward, the driving rotational inertia of the knee joint motor 120 is reduced, and the heat generation is reduced; and the knee joint motor 120 drives the calf ventral plate 210 to rotate around the X direction through the first flange 130 and the knee joint connecting rod 140, which effectively reduces the torque directly applied to the knee joint motor 120 by the calf ventral plate 210, and improves the stability and service life of the knee joint motor 120.

[0064] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A knee joint assembly, used to connect to the lower part of the hip joint structure of a humanoid robot, characterized in that: The knee joint assembly comprises: first thigh ventral plate (110); A knee joint motor (120) is arranged at the upper end of the side wall of the first thigh ventral plate (110) along the X direction, and the output end of the knee joint motor (120) is connected to a first flange (130); A knee joint connecting rod (140) is hinged to an eccentric position of an end of the first flange (130) away from the knee joint motor (120); A calf ventral plate (210) is connected to the lower end of the side wall of the first thigh ventral plate (110) so as to rotate about the X direction, and one end of the knee joint connecting rod (140) away from the first flange (130) along the Z direction is hinged to the upper end of the calf ventral plate (210); The hinge point between the knee joint connecting rod (140) and the first flange (130), the pivot point of the first flange (130), the hinge point between the knee joint connecting rod (140) and the calf rib (210), and the pivot point of the calf rib (210) form an antiparallelogram structure.

2. A knee joint assembly according to claim 1, characterized in that: The first thigh rib (110) is detachably connected to a second thigh rib (150) along the X-direction at the end surface facing the knee joint connecting rod (140); a mounting cavity is formed between the second thigh rib (150) and the first thigh rib (110); the knee joint connecting rod (140) and the first flange (130) are both arranged in the mounting cavity; and the rotational connection between the calf rib (210) and the first thigh rib (110) is located in the mounting cavity.

3. A knee joint assembly according to claim 2, characterized in that: The first thigh ventral plate (110) is configured as a metal ventral plate, a mounting hole (111) is formed through the side wall of the first thigh ventral plate (110) along the X direction, the knee joint motor (120) is disposed in the mounting hole (111), and at least a portion of the knee joint motor (120) extends outside the first thigh ventral plate (110).

4. A knee joint assembly according to claim 2 or 3, characterized in that: A rotatable mounting portion (211) is provided at one end of the calf ventral plate (210) facing the first thigh ventral plate (110); the rotatable mounting portion (211) is rotatably connected to the first thigh ventral plate (110) and the second thigh ventral plate (150) at both ends along the X direction; a connecting cavity (212) is provided at the upper end of the rotatable mounting portion (211); an end of the knee joint connecting rod (140) facing away from the first flange (130) is hinged in the connecting cavity (212); a first connecting platform (131) is convexly provided on the outer peripheral surface of the first flange (130), and the knee joint connecting rod (140) is hinged to the first connecting platform (131).

5. A knee joint assembly according to claim 4, characterized in that: A first arc-shaped guide groove (112) is arranged at a position of the first thigh ventral plate (110) corresponding to the first connecting platform (131); the first connecting platform (131) is rotatably connected to the first arc-shaped guide groove (112); and first soft rubber pads (113) are respectively arranged at two end walls of the first arc-shaped guide groove (112) along the circumference of the first flange (130).

6. A knee joint assembly according to any one of claims 1 to 3, characterized in that: It also includes a sole part (310), which is rotatably connected to one end of the calf ventral plate (210) away from the first thigh ventral plate (110) through a cross joint bearing (320), and the sole part (310) is driven by a driving mechanism to rotate around the X direction and around the Y direction.

7. A knee joint assembly according to claim 6, characterized in that: The cross section of the calf ventral plate (210) perpendicular to the Z direction is set to be U-shaped, and the driving mechanism includes a first motor (410) and a second motor (420), the first motor (410) and the second motor (420) are both arranged in parallel to the Y direction in the U-shaped groove of the calf ventral plate (210), the first motor (410) is located directly above the second motor (420), the output end of the first motor (410) is provided with a second flange (430), the eccentric part of the second flange (430) is hinged with a first connecting rod (440), and the first connecting rod (440) ) the other end away from the second flange (430) is hinged to the sole part (310); the output end of the second motor (420) is provided with a third flange (450), the eccentric part of the third flange (450) is hinged with a second connecting rod (460), and the other end of the second connecting rod (460) away from the third flange (450) is hinged to the sole part (310); the first connecting rod (440) and the second connecting rod (460) are located on the side of the calf ventral plate (210) away from the first motor (410) along the Y direction, and are arranged opposite to each other along the X direction.

8. A knee joint assembly according to claim 7, characterized in that: A second connecting platform (431) is convexly provided on the outer circumferential surface of the second flange (430), and the first connecting rod (440) is hinged to the second connecting platform (431); a first limiting platform (213) is convexly provided on the end surface of the calf web (210) away from the first motor (410) along the Y direction, and the first limiting platform (213) is provided with a first avoidance arc groove for avoiding the second flange (430), and second soft rubber pads (214) are respectively provided on the two end walls of the first avoidance arc groove along the circumference of the second flange (430); And / or, a third connecting platform (451) is convexly provided on the outer peripheral surface of the third flange (450), and the second connecting rod (460) is hinged to the third connecting platform (451); a second limiting platform (215) is convexly provided on the end surface of the calf belly plate (210) away from the second motor (420) along the Y direction, and the second limiting platform (215) is provided with a second avoidance arc groove for avoiding the third flange (450), and the second avoidance arc groove is respectively provided with third soft rubber pads (216) at both end walls along the circumference of the third flange (450).

9. A knee joint assembly according to claim 7, characterized in that: The calf web (210) is configured as a metal web; And / or, the sole portion (310) is provided with a connecting shaft (311) along the X direction, and the first connecting rod (440) and the second connecting rod (460) are respectively hinged to two ends of the connecting shaft (311).

10. A humanoid robot, characterized in that: A knee joint component comprising any one of claims 1 to 9.

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