Simulation robot leg mechanism

Abstract

A simulation robot leg mechanism is provided with a leg crossing driving assembly, a thigh assembly, a knee joint driving motor, a shank assembly, an ankle assembly and a foot plate assembly. The upper end of the thigh assembly is connected with the power output end of the leg-striding driving assembly; the lower end of the thigh assembly is connected with the knee joint driving motor, the power output end of the knee joint driving motor is connected with the upper end of the shank assembly, and the lower end of the shank assembly is connected with the ankle assembly which is connected with the foot plate assembly. The thigh assembly comprises a striding and swinging output structural member, a striding and swinging driven end structural member, a leg rotation driving motor and a leg extending member; the shank assembly comprises a knee joint power output structural part, a knee joint passive end structural part, a shank structural part, a first ankle joint driving motor, a second ankle joint driving motor, a first rocker arm swinging part and a second rocker arm swinging part. The ankle assembly comprises an ankle cross shaft piece and an ankle connecting rod. The three-degree-of-freedom parallel robot is high in layout compactness and high in joint integration degree, a large movement range of the robot can be achieved, and flexibility and universality are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and particularly relates to a leg mechanism of a simulation robot. Background Art

[0002] With the deepening of people's understanding of the intelligent nature of robot technology, robot technology has begun to continuously penetrate into various fields of human activities. Combining the application characteristics of these fields, people have developed various special robots and various intelligent robots with sensing, decision-making, action, and interaction capabilities.

[0003] A robot is a machine device that automatically performs work. It can not only accept human commands, but also run pre-programmed programs, or act according to the principles and guidelines formulated by artificial intelligence technology. It is the product of the advanced integration of cybernetics, mechatronics, computers, materials, and bionics, and has important uses in industries, medicine, agriculture, service industries, construction, and even the military.

[0004] For a simulation robot, a reliable mechanical structure design is the premise for ensuring the realization of the robot's software control or programmed actions. Especially for a humanoid biped robot, the weight distribution of the legs is an important factor affecting the performance of the robot. The layout compactness, joint integration, and versatility of the leg structure are also relatively crucial. How to design a leg mechanism of a simulation robot with a compact layout, high joint integration, and strong flexibility has important application value. Summary of the Utility Model

[0005] Therefore, the utility model provides a leg mechanism of a simulation robot, with a more compact structure layout, high joint integration, and stronger flexibility.

[0006] To achieve the above object, the utility model provides the following technical solution: A leg mechanism of a simulation robot, comprising a cross-leg driving component, a thigh component, a knee joint driving motor, a calf component, an ankle component, and a foot plate component;

[0007] The upper end of the thigh component is connected to the power output end of the cross-leg driving component; the lower end of the thigh component is connected to the knee joint driving motor, the power output end of the knee joint driving motor is connected to the upper end of the calf component, the lower end of the calf component is connected to the ankle component, and the ankle component is connected to the foot plate component;

[0008] This leg mechanism of the simulation robot has 6 degrees of freedom of movement: forward swing, side swing, rotation, knee forward swing, ankle forward swing, and ankle side swing movements.

[0009] As a preferred solution for the leg mechanism of the simulation robot, the cross-leg drive assembly includes a cross-leg drive motor; the thigh assembly includes a cross-swing output structural member, a cross-swing passive end structural member, a leg rotation drive motor, and a leg extension member;

[0010] The power output end of the cross-leg drive motor is connected to the cross-swing output structural member, and the other end of the cross-leg drive motor is connected to the cross-swing passive end structural member.

[0011] As a preferred solution for the leg mechanism of the simulation robot, a leg rotation power output structural member is provided between the cross-swing output structural member and the cross-swing passive end structural member, and the power output end of the leg rotation drive motor is connected to the leg rotation power output structural member; the lower end of the leg rotation drive motor is connected to the leg extension member.

[0012] As a preferred solution for the leg mechanism of the simulation robot, the calf assembly includes a knee joint power output structural member, a knee joint passive end structural member, a calf structural member, a first ankle joint drive motor, a second ankle joint drive motor, a first rocker swing member, and a second rocker swing member; the ankle assembly includes an ankle cross shaft member and an ankle connecting rod;

[0013] The power output end of the knee joint drive motor is connected to the knee joint power output structural member, and the other end of the knee joint drive motor is connected to the knee joint passive end structural member; the upper part of the calf structural member is connected between the lower part of the knee joint power output structural member and the lower part of the knee joint passive end structural member, the lower part of the calf structural member is connected to the ankle cross shaft member, and the ankle cross shaft member is fixed above the foot plate assembly.

[0014] As a preferred solution for the leg mechanism of the simulation robot, the calf structural member is formed with a first motor mounting position and a second motor mounting position; the first ankle joint drive motor is fixed in the first motor mounting position, the power output end of the first ankle joint drive motor is connected to the upper part of the first rocker swing member, and the lower part of the first rocker swing member is connected to one side of the ankle connecting rod;

[0015] The second ankle joint drive motor is fixed in the second motor mounting position, the power output end of the second ankle joint drive motor is connected to the upper part of the second rocker swing member, and the lower part of the second rocker swing member is connected to the other side of the ankle connecting rod.

[0016] As a preferred solution for the leg mechanism of the simulation robot, the power output end orientation of the first ankle joint drive motor is opposite to the power output end orientation of the second ankle joint drive motor;

[0017] The length of the first rocker swing member is greater than the length of the second rocker swing member.

[0018] As a preferred solution for the leg mechanism of the simulation robot, a foot plate adapter is provided at the lower end of the ankle connecting rod, the ankle cross shaft member is connected to the foot plate adapter, and the foot plate adapter is fixed above the foot plate assembly.

[0019] As a preferred solution for the leg mechanism of the simulation robot, a first hinge slot is formed at the lower end of the calf structural member, and a second hinge slot is formed on the foot plate adapter;

[0020] The ankle cross shaft member is formed with a transverse receiving groove and a longitudinal receiving groove. The transverse receiving groove is provided with a transverse hinge portion, and the longitudinal receiving groove is provided with a longitudinal hinge portion; the transverse hinge portion and the longitudinal hinge portion are distributed in a cross shape;

[0021] The transverse hinge portion is hinged to the first hinge slot; the longitudinal hinge portion is hinged to the second hinge slot.

[0022] As a preferred solution for the leg mechanism of the simulation robot, the transverse hinge portion includes a first ankle transverse shaft needle bearing, a first ankle transverse shaft body, a left ankle transverse shaft gasket, a left ankle shaft end screw, a right ankle transverse shaft gasket, and a right ankle shaft end screw;

[0023] The first ankle transverse shaft needle bearing is inside the transverse receiving groove, and the first ankle transverse shaft body passes through the centers of the first ankle transverse shaft needle bearing, the left ankle transverse shaft gasket, and the right ankle transverse shaft gasket; the left ankle transverse shaft gasket is filled on one side of the transverse receiving groove, and the right ankle transverse shaft gasket is filled on the other side of the transverse receiving groove;

[0024] One end of the first ankle transverse shaft body is exposed outside the left ankle transverse shaft gasket, and the other end of the first ankle transverse shaft body is exposed outside the right ankle transverse shaft gasket; the first hinge slot is hinged to the first ankle transverse shaft body of the transverse hinge portion;

[0025] The left ankle shaft end screw connects one end of the first ankle transverse shaft body, and the right ankle shaft end screw connects the other end of the first ankle transverse shaft body.

[0026] As a preferred solution for the leg mechanism of the simulation robot, the longitudinal hinge portion includes a second ankle transverse shaft needle bearing, a second ankle transverse shaft body, a front ankle transverse shaft gasket, a front ankle shaft end screw, a rear ankle transverse shaft gasket, and a rear ankle shaft end screw;

[0027] The second ankle transverse shaft needle bearing is inside the longitudinal receiving groove, and the second ankle transverse shaft body passes through the centers of the second ankle transverse shaft needle bearing, the front ankle transverse shaft gasket, and the rear ankle transverse shaft gasket; the front ankle transverse shaft gasket is filled on one side of the longitudinal receiving groove, and the rear ankle transverse shaft gasket is filled on the other side of the longitudinal receiving groove;

[0028] One end of the second ankle transverse axis body is exposed outside the front ankle transverse axis gasket, and the other end of the second ankle transverse axis body is exposed outside the rear ankle transverse axis gasket; the second ankle transverse axis body of the second hinge slot and the longitudinal hinge part is hinged;

[0029] The front ankle shaft end is screwed to one end of the second ankle transverse axis body, and the rear ankle shaft end is screwed to the other end of the second ankle transverse axis body.

[0030] The beneficial effects of the present utility model are as follows. It is provided with a cross-leg drive assembly, a thigh assembly, a knee joint drive motor, a calf assembly, an ankle assembly and a foot plate assembly; the upper end of the thigh assembly is connected to the power output end of the cross-leg drive assembly; the lower end of the thigh assembly is connected to the knee joint drive motor, and the power output end of the knee joint drive motor is connected to the upper end of the calf assembly. The lower end of the calf assembly is connected to the ankle assembly, and the ankle assembly is connected to the foot plate assembly; the leg mechanism of this simulation robot has 6 degrees of freedom of movement: forward swing, side swing, rotation, knee forward swing, ankle forward swing and ankle side swing movements. The overall layout of the leg structure of the present utility model is highly compact, with a high degree of joint integration, enabling a large range of movement for the robot and increasing flexibility and versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, without creative efforts, other implementation drawings can also be obtained according to the provided drawings.

[0032] The structures, proportions, sizes, etc. shown in this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present utility model. Therefore, they do not have technical essence. Any modification of the structure, change in the proportional relationship or adjustment of the size, without affecting the effects that the present utility model can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present utility model.

[0033] Figure 1 It is a three-dimensional schematic diagram of a simulation robot adopting the leg mechanism of the embodiment of the present utility model;

[0034] Figure 2 It is a three-dimensional schematic diagram of the leg mechanism of the simulation robot provided by the embodiment of the present utility model;

[0035] Figure 3 It is a schematic diagram of the thigh assembly structure of the leg mechanism of the simulation robot provided by the embodiment of the present utility model;

[0036] Figure 4 Schematic diagram of the exploded structure of the thigh component of the leg mechanism of the simulation robot provided by the embodiment of the present utility model;

[0037] Figure 5 Schematic diagram of the structure of the calf component of the leg mechanism of the simulation robot provided by the embodiment of the present utility model;

[0038] Figure 6 Schematic diagram of the exploded structure of the calf component of the leg mechanism of the simulation robot provided by the embodiment of the present utility model;

[0039] Figure 7 Schematic diagram of the exploded structure of the ankle cross shaft component of the leg mechanism of the simulation robot provided by the embodiment of the present utility model.

[0040] In the figure, 1. Cross-leg drive component; 2. Thigh component; 3. Knee joint drive motor; 4. Calf component; 5. Ankle component; 6. Foot plate component; 7. Cross-leg drive motor; 8. Cross-swing output structural member; 9. Cross-swing passive end structural member; 10. Leg rotation drive motor; 11. Leg extension member; 12. Leg rotation power output structural member; 13. Knee joint power output structural member; 14. Knee joint passive end structural member; 15. Calf structural member; 16. First ankle joint drive motor; 17. Second ankle joint drive motor; 18. First rocker swing member; 19. Second rocker swing member; 20. Ankle cross shaft component; 21. Ankle connecting rod; 22. First motor mounting position; 23. Second motor mounting position; 24. Foot plate adapter; 25. First hinge slot; 26. Second hinge slot; 27. Transverse receiving groove; 28. Longitudinal receiving groove; 29. Transverse hinge portion; 30. Longitudinal hinge portion; 31. First ankle horizontal shaft needle bearing; 32. First ankle horizontal shaft body; 33. Left ankle horizontal shaft gasket; 34. Left ankle shaft end screw; 35. Right ankle horizontal shaft gasket; 36. Right ankle shaft end screw; 37. Second ankle horizontal shaft needle bearing; 38. Second ankle horizontal shaft body; 39. Front ankle horizontal shaft gasket; 40. Front ankle shaft end screw; 41. Rear ankle horizontal shaft gasket; 42. Rear ankle shaft end screw. Specific embodiments

[0041] The following specific embodiments illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0042] In order to fully disclose the leg mechanism of the simulation robot according to the embodiments of the present utility model, the following describes the simulation robot adopting the leg mechanism of the embodiments of the present utility model:

[0043] See Figure 1 , the simulation robot adopting the leg mechanism of the embodiments of the present utility model is provided with a head mechanism, a torso mechanism, a left arm mechanism, a right arm mechanism, a hip mechanism, a left leg mechanism and a right leg mechanism;

[0044] Among them, the head mechanism is connected to the upper end of the torso mechanism, and the head mechanism has 2 degrees of freedom of movement: the head mechanism rotates and pitches relative to the torso mechanism;

[0045] Among them, the left arm mechanism is connected to the left side of the torso mechanism, and the left arm mechanism has 4 degrees of freedom of movement: the left arm mechanism rotates relative to the torso mechanism, the left arm mechanism pitches relative to the torso mechanism, the upper arm of the left arm mechanism rotates, and the elbow of the left arm mechanism swings forward;

[0046] Among them, the right arm mechanism is connected to the right side of the torso mechanism, and the right arm mechanism has 4 degrees of freedom of movement: the right arm mechanism rotates relative to the torso mechanism, the right arm mechanism pitches relative to the torso mechanism, the upper arm of the right arm mechanism rotates, and the elbow of the right arm mechanism swings forward;

[0047] Among them, the hip mechanism is connected to the lower end of the torso mechanism, and the hip mechanism has 1 degree of freedom of movement: the hip mechanism rotates relative to the torso mechanism;

[0048] Among them, the left leg mechanism is connected to the left side of the hip mechanism, and the left leg mechanism has 6 degrees of freedom of movement: the left leg mechanism swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward and the ankle swings laterally;

[0049] Among them, the right leg mechanism is connected to the right side of the hip mechanism, and the right leg mechanism has 6 degrees of freedom of movement: the right leg mechanism swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward and the ankle swings laterally.

[0050] Among them, the drive motors of the head mechanism, torso mechanism, left arm mechanism, right arm mechanism, hip mechanism, left leg mechanism, and right leg mechanism are all powered by the battery pack, and at the same time, the main controller controls the movements of the head mechanism, torso mechanism, left arm mechanism, right arm mechanism, hip mechanism, left leg mechanism, and right leg mechanism, so as to realize the rotation and pitching movements of the head mechanism relative to the torso mechanism, the rotation movement of the left arm mechanism relative to the torso mechanism, the pitching movement of the left arm mechanism relative to the torso mechanism, the rotation of the upper arm of the left arm mechanism and the forward swing of the elbow of the left arm mechanism; realize the rotation movement of the right arm mechanism relative to the torso mechanism, the pitching movement of the right arm mechanism relative to the torso mechanism, the rotation of the upper arm of the right arm mechanism and the forward swing of the elbow of the right arm mechanism; realize the rotation movement of the hip mechanism relative to the torso mechanism; the rotation of the hip mechanism relative to the left leg mechanism; the rotation of the hip mechanism relative to the right leg mechanism; realize the forward swing, side swing, rotation, knee forward swing, ankle forward swing, and ankle side swing movements of the left leg mechanism; realize the forward swing, side swing, rotation, knee forward swing, ankle forward swing, and ankle side swing movements of the right leg mechanism.

[0051] Among them, a binocular camera is installed at the top of the head mechanism. The rotation and pitching movements of the binocular camera on the head can be realized through the head rotation drive motor and the head pitching drive motor. Among them, the head rotation drive motor that controls the rotation of the binocular camera is fixed inside the torso frame of the torso mechanism. The output flange of the head rotation drive motor is connected to the fixed end of the head pitching drive motor that controls the pitching of the binocular camera. The output flange of the head pitching drive motor that controls the pitching of the binocular camera is connected to the camera mounting assembly to realize the movement of the binocular camera.

[0052] Among them, the left arm rotation drive motor inside the torso frame can drive the left arm pitching drive motor, the left upper arm, the left elbow rotation drive motor, the left elbow swing drive motor, and the left forearm to rotate. The left arm pitching drive motor can drive the left upper arm, the left elbow rotation drive motor, the left elbow swing drive motor, and the left forearm to pitch. The left elbow rotation drive motor can drive the left elbow swing drive motor and the left forearm to rotate. The left elbow swing drive motor can drive the left forearm to swing. The right arm rotation drive motor inside the torso frame can drive the right arm pitching drive motor, the right upper arm, the right elbow rotation drive motor, the right elbow swing drive motor, and the right forearm to rotate. The right arm pitching drive motor can drive the right upper arm, the right elbow rotation drive motor, the right elbow swing drive motor, and the right forearm to pitch. The right elbow rotation drive motor can drive the right elbow swing drive motor and the right forearm to rotate. The right elbow swing drive motor can drive the right forearm to swing. The waist rotation drive motor can drive the hip structure to rotate through the hip flange. The left leg swing drive motor inside the hip structure can drive the entire left leg mechanism to swing. The right leg swing drive motor inside the hip structure can drive the entire right leg mechanism to swing.

[0053] Among them, for the left leg swing drive motor and the right leg swing drive motor, clamping structural members can be connected to the hip structural member. The clamping structural members fix the left leg swing drive motor and the right leg swing drive motor inside the hip structural member through bolts. The hip mechanism drives the cross-leg drive assembly to swing through the leg swing drive motor, and the cross-leg drive motor of the cross-leg drive assembly can drive the thigh assembly and the calf assembly to move laterally. The cross-leg drive motor is connected through a cross-swing output structural member and a cross-swing passive end structural member, and power is output through the cross-swing output structural member. The leg rotation drive motor can drive the leg rotation power output structural member between the cross-swing output structural member and the cross-swing passive end structural member to rotate, thereby driving the leg extension member, the knee joint drive motor and the lower calf assembly as a whole to rotate.

[0054] Among them, the knee joint drive motor can drive the calf assembly to swing back and forth. The knee joint drive motor is connected through a knee joint passive end structural member and a knee joint power output structural member, and the knee joint drive motor drives the calf structural member to swing back and forth through the knee joint power output structural member. The first ankle drive motor drives the ankle assembly to swing through the first rocker swing member, and the second ankle drive motor drives the ankle assembly to swing through the second rocker swing member. Among them, the lower parts of the first rocker swing member and the second rocker swing member swing relative to the ankle connecting rod, and the calf structural member swings relative to the ankle cross-axis member. When the first ankle drive motor drives the first rocker swing member and the second ankle drive motor drives the second rocker swing member in the same direction, the ankle cross-axis member swings forward relative to the calf structural member. When the first ankle drive motor drives the first rocker swing member and the second ankle drive motor drives the second rocker swing member in the opposite direction, the ankle cross-axis member swings laterally relative to the calf structural member. Among them, the ankle assembly can drive the foot plate assembly to perform corresponding forward swing and lateral movement.

[0055] Based on the above-mentioned simulation robot developed by the applicant:

[0056] See Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 In the embodiments of the present invention, a leg mechanism of a simulation robot is provided, including a cross-leg drive assembly 1, a thigh assembly 2, a knee joint drive motor 3, a calf assembly 4, an ankle assembly 5 and a foot plate assembly 6;

[0057] Among them, the upper end of the thigh assembly 2 is connected to the power output end of the cross-leg drive assembly 1; the lower end of the thigh assembly 2 is connected to the knee joint drive motor 3, the power output end of the knee joint drive motor 3 is connected to the upper end of the calf assembly 4, the lower end of the calf assembly 4 is connected to the ankle assembly 5, and the ankle assembly 5 is connected to the foot plate assembly 6;

[0058] Among them, the leg mechanism of the simulation robot has 6 degrees of freedom of movement: forward swing, lateral swing, rotation, knee forward swing, ankle forward swing, and ankle lateral swing movements.

[0059] See Figure 2 , Figure 3 and Figure 4 , in this embodiment, the leg-crossing drive assembly 1 includes a leg-crossing drive motor 7; the thigh assembly 2 includes a leg-crossing output structural member 8, a leg-crossing passive-end structural member 9, a leg-rotation drive motor 10, and a leg extension member 11; the power output end of the leg-crossing drive motor 7 is connected to the leg-crossing output structural member 8, and the other end of the leg-crossing drive motor 7 is connected to the leg-crossing passive-end structural member 9; a leg-rotation power output structural member 12 is provided between the leg-crossing output structural member 8 and the leg-crossing passive-end structural member 9, and the power output end of the leg-rotation drive motor 10 is connected to the leg-rotation power output structural member 12; the lower end of the leg-rotation drive motor 10 is connected to the leg extension member 11.

[0060] Specifically, the leg-crossing drive motor 7 of the leg-crossing drive assembly 1 can drive the thigh assembly 2 and the calf assembly 4 to move laterally across. The leg-crossing drive motor 7 is connected through the leg-crossing output structural member 8 and the leg-crossing passive-end structural member 9, and power is output through the leg-crossing output structural member 8. The leg-rotation drive motor 10 can drive the leg-rotation power output structural member 12 between the leg-crossing output structural member 8 and the leg-crossing passive-end structural member 9 to rotate, thereby driving the leg extension member 11, the knee joint drive motor 3, and the lower calf assembly 4 as a whole to rotate. Among them, the knee joint drive motor 3 can drive the calf assembly 4 to swing back and forth.

[0061] See Figure 5 and Figure 6, in this embodiment, the calf assembly 4 includes a knee joint power output structural member 13, a knee joint passive end structural member 14, a calf structural member 15, a first ankle drive motor 16, a second ankle drive motor 17, a first rocker swing member 18, and a second rocker swing member 19; the ankle assembly 5 includes an ankle cross shaft member 20 and an ankle connecting rod 21; the power output end of the knee joint drive motor 3 is connected to the knee joint power output structural member 13, and the other end of the knee joint drive motor 3 is connected to the knee joint passive end structural member 14; the upper part of the calf structural member 15 is connected between the lower part of the knee joint power output structural member 13 and the lower part of the knee joint passive end structural member 14, and the lower part of the calf structural member 15 is connected to the ankle cross shaft member 20, and the ankle cross shaft member 20 is fixed above the foot plate assembly 6; the calf structural member 15 is formed with a first motor mounting position 22 and a second motor mounting position 23; the first ankle drive motor 16 is fixed in the first motor mounting position 22, the power output end of the first ankle drive motor 16 is connected to the upper part of the first rocker swing member 18, and the lower part of the first rocker swing member 18 is connected to one side of the ankle connecting rod 21; the second ankle drive motor 17 is fixed in the second motor mounting position 23, the power output end of the second ankle drive motor 17 is connected to the upper part of the second rocker swing member 19, and the lower part of the second rocker swing member 19 is connected to the other side of the ankle connecting rod 21; the lower end of the ankle connecting rod 21 is provided with a foot plate adapter 24, the ankle cross shaft member 20 is connected to the foot plate adapter 24, and the foot plate adapter 24 is fixed above the foot plate assembly 6.

[0062] Specifically, the knee joint drive motor 3 is connected through the knee joint passive end structural member 14 and the knee joint power output structural member 13, and the knee joint drive motor 3 drives the calf structural member 15 to swing back and forth through the knee joint power output structural member 13. The first ankle drive motor 16 drives the ankle assembly 5 to swing through the first rocker swing member 18, and the second ankle drive motor 17 drives the ankle assembly 5 to swing through the second rocker swing member 19. Among them, the lower parts of the first rocker swing member 18 and the second rocker swing member 19 swing relative to the ankle connecting rod 21, and the calf structural member 15 swings relative to the ankle cross shaft member 20. When the first ankle drive motor 16 drives the first rocker swing member 18 and the second ankle drive motor 17 drives the second rocker swing member 19 in the same direction, the ankle cross shaft member 20 swings forward relative to the calf structural member 15. When the first ankle drive motor 16 drives the first rocker swing member 18 and the second ankle drive motor 17 drives the second rocker swing member 19 in the opposite direction, the ankle cross shaft member 20 swings laterally relative to the calf structural member 15. Among them, the ankle assembly 5 can drive the foot plate assembly 6 to perform corresponding forward swing and lateral movement.

[0063] Among them, the power output end of the first ankle joint drive motor 16 faces in the opposite direction to the power output end of the second ankle joint drive motor 17; the length of the first rocker swing member 18 is greater than the length of the second rocker swing member 19. Thus, when the first ankle joint drive motor 16 drives the first rocker swing member 18 and the second ankle joint drive motor 17 drives the second rocker swing member 19 in the same direction, the ankle cross shaft member 20 performs a forward swing movement relative to the calf structure member 15. When the first ankle joint drive motor 16 drives the first rocker swing member 18 and the second ankle joint drive motor 17 drives the second rocker swing member 19 in the opposite direction, the ankle cross shaft member 20 performs a side swing movement relative to the calf structure member 15. Moreover, the structures of the first ankle joint drive motor 16, the second ankle joint drive motor 17, the first rocker swing member 18, and the second rocker swing member 19 are more compact and have stronger movement flexibility.

[0064] See Figure 6 and Figure 7 , in this embodiment, a first hinge slot 25 is formed at the lower end of the calf structure member 15, and a second hinge slot 26 is formed on the foot plate adapter 24; the ankle cross shaft member 20 is formed with a transverse receiving groove 27 and a longitudinal receiving groove 28, the transverse receiving groove 27 is provided with a transverse hinge portion 29, and the longitudinal receiving groove 28 is provided with a longitudinal hinge portion 30; the transverse hinge portion 29 and the longitudinal hinge portion 30 are distributed in a cross shape; the transverse hinge portion 29 is hinged to the first hinge slot 25; the longitudinal hinge portion 30 is hinged to the second hinge slot 26.

[0065] Specifically, the first hinge slot 25 and the transverse hinge portion 29 play a role in connecting the calf structure member 15 and the ankle cross shaft member 20, and the calf structure member 15 rotates relative to the transverse hinge portion 29 of the ankle cross shaft member 20 through the first hinge slot 25. The second hinge slot 26 and the longitudinal hinge portion 30 play a role in connecting the foot plate adapter 24 and the ankle cross shaft member 20, and the foot plate adapter 24 rotates relative to the longitudinal hinge portion 30 of the ankle cross shaft member 20 through the second hinge slot 26. The transverse hinge portion 29 and the longitudinal hinge portion 30 form the cross-shaped ankle cross shaft member 20 through the transverse receiving groove 27 and the longitudinal receiving groove 28, with a more compact structure and stronger movement flexibility.

[0066] In this embodiment, the lateral hinge portion 29 includes a first ankle transverse axis needle bearing 31, a first ankle transverse axis body 32, a left ankle transverse axis gasket 33, a left ankle axis end screw 34, a right ankle transverse axis gasket 35, and a right ankle axis end screw 36; the first ankle transverse axis needle bearing 31 is inside the lateral receiving groove 27, and the first ankle transverse axis body 32 passes through the centers of the first ankle transverse axis needle bearing 31, the left ankle transverse axis gasket 33, and the right ankle transverse axis gasket 35; the left ankle transverse axis gasket 33 is filled on one side of the lateral receiving groove 27, and the right ankle transverse axis gasket 35 is filled on the other side of the lateral receiving groove 27; one end of the first ankle transverse axis body 32 is exposed outside the left ankle transverse axis gasket 33, and the other end of the first ankle transverse axis body 32 is exposed outside the right ankle transverse axis gasket 35; the first hinge card slot 25 is hinged to the first ankle transverse axis body 32 of the lateral hinge portion 29; the left ankle axis end screw 34 connects one end of the first ankle transverse axis body 32, and the right ankle axis end screw 36 connects the other end of the first ankle transverse axis body 32.

[0067] Specifically, the first ankle transverse axis needle bearing 31 is sleeved inside the lateral receiving groove 27, the first ankle transverse axis body 32 is sleeved inside the first ankle transverse axis needle bearing 31, and at the same time, the left ankle transverse axis gasket 33 and the right ankle transverse axis gasket 35 are respectively sleeved on the left and right sides of the lateral receiving groove 27. After the lower part of the calf structural member 15 is connected to the first ankle transverse axis body 32 through the first hinge card slot 25, the left ankle axis end screw 34 and the right ankle axis end screw 36 are used to limit the calf structural member 15, so that the first ankle transverse axis body 32 can rotate relative to the lateral receiving groove 27, and further the calf structural member 15 can rotate relative to the lateral hinge portion 29 of the ankle cross shaft member 20 through the first hinge card slot 25.

[0068] In this embodiment, the longitudinal hinge portion 30 includes a second ankle transverse axis needle bearing 37, a second ankle transverse axis body 38, a front ankle transverse axis gasket 39, a front ankle axis end screw 40, a rear ankle transverse axis gasket 41, and a rear ankle axis end screw 42; the second ankle transverse axis needle bearing 37 is inside the longitudinal receiving groove 28, and the second ankle transverse axis body 38 passes through the centers of the second ankle transverse axis needle bearing 37, the front ankle transverse axis gasket 39, and the rear ankle transverse axis gasket 41; the front ankle transverse axis gasket 39 is filled on one side of the longitudinal receiving groove 28, and the rear ankle transverse axis gasket 41 is filled on the other side of the longitudinal receiving groove 28; one end of the second ankle transverse axis body 38 is exposed outside the front ankle transverse axis gasket 39, and the other end of the second ankle transverse axis body 38 is exposed outside the rear ankle transverse axis gasket 41; the second hinge card slot 26 is hinged to the second ankle transverse axis body 38 of the longitudinal hinge portion 30; the front ankle axis end screw 40 connects one end of the second ankle transverse axis body 38, and the rear ankle axis end screw 42 connects the other end of the second ankle transverse axis body 38.

[0069] Specifically, the second ankle transverse axis needle roller bearing 37 is sleeved inside the longitudinal accommodation groove 28, and the second ankle transverse axis body 38 is sleeved inside the second ankle transverse axis needle roller bearing 37. Meanwhile, the front ankle transverse axis gasket 39 and the rear ankle transverse axis gasket 41 are respectively sleeved on the front and rear sides of the longitudinal accommodation groove 28. After the foot plate adapter 24 is connected to the second ankle transverse axis body 38 through the second hinge card slot 26, the foot plate adapter 24 is limited by the front ankle shaft end screw 40 and the rear ankle shaft end screw 42, so that the rotation of the second ankle transverse axis body 38 relative to the longitudinal accommodation groove 28 can be realized, and further the rotation of the foot plate adapter 24 relative to the longitudinal hinge portion 30 of the ankle cross shaft member 20 through the second hinge card slot 26 can be realized.

[0070] In summary, the utility model is provided with a cross-leg driving assembly 1, a thigh assembly 2, a knee joint driving motor 3, a calf assembly 4, an ankle assembly 5 and a foot plate assembly 6; the upper end of the thigh assembly 2 is connected to the power output end of the cross-leg driving assembly 1; the lower end of the thigh assembly 2 is connected to the knee joint driving motor 3, the power output end of the knee joint driving motor 3 is connected to the upper end of the calf assembly 4, the lower end of the calf assembly 4 is connected to the ankle assembly 5, and the ankle assembly 5 is connected to the foot plate assembly 6; the leg mechanism of this simulation robot has six degrees of freedom of movement: forward swing, side swing, rotation, knee forward swing, ankle forward swing and ankle side swing movements. The cross-leg driving motor 7 of the cross-leg driving assembly 1 can drive the thigh assembly 2 and the calf assembly 4 to move laterally. The cross-leg driving motor 7 is connected through a cross-swing output structural member 8 and a cross-swing passive end structural member 9, and power is output through the cross-swing output structural member 8. The leg rotation driving motor 10 can drive the leg rotation power output structural member 12 between the cross-swing output structural member 8 and the cross-swing passive end structural member 9 to rotate, thereby driving the leg extension member 11, the knee joint driving motor 3 and the lower calf assembly 4 as a whole to rotate. Among them, the knee joint driving motor 3 can drive the calf assembly 4 to swing back and forth. The knee joint driving motor 3 is connected through a knee joint passive end structural member 14 and a knee joint power output structural member 13, and the knee joint driving motor 3 drives the calf structural member 15 to swing back and forth through the knee joint power output structural member 13. The first ankle joint driving motor 16 drives the ankle assembly 5 to swing through the first rocker arm swinging member 18, and the second ankle joint driving motor 17 drives the ankle assembly 5 to swing through the second rocker arm swinging member 19. Among them, the lower parts of the first rocker arm swinging member 18 and the second rocker arm swinging member 19 swing relative to the ankle connecting rod 21, and the calf structural member 15 swings relative to the ankle cross shaft member 20. When the first ankle joint driving motor 16 drives the first rocker arm swinging member 18 and the second ankle joint driving motor 17 drives the second rocker arm swinging member 19 in the same direction, the ankle cross shaft member 20 makes a forward swing movement relative to the calf structural member 15. When the first ankle joint driving motor 16 drives the first rocker arm swinging member 18 and the second ankle joint driving motor 17 drives the second rocker arm swinging member 19 in the opposite direction, the ankle cross shaft member 20 makes a side swing movement relative to the calf structural member 15. Among them, the ankle assembly 5 can drive the foot plate assembly 6 to perform corresponding forward swing and side movements. The power output end orientation of the first ankle joint driving motor 16 is opposite to the power output end orientation of the second ankle joint driving motor 17; the length of the first rocker arm swinging member 18 is greater than the length of the second rocker arm swinging member 19. Thus, when the first ankle joint driving motor 16 drives the first rocker arm swinging member 18 and the second ankle joint driving motor 17 drives the second rocker arm swinging member 19 in the same direction, the ankle cross shaft member 20 makes a forward swing movement relative to the calf structural member 15. When the first ankle joint driving motor 16 drives the first rocker arm swinging member 18 and the second ankle joint driving motor 17 drives the second rocker arm swinging member 19 in the opposite direction, the ankle cross shaft member 20 makes a side swing movement relative to the calf structural member 15.Moreover, the structures of the first ankle joint drive motor 16, the second ankle joint drive motor 17, the first rocker swing member 18 and the second rocker swing member 19 are more compact, and their movement flexibility is stronger. The first articulated card slot 25 and the transverse articulated portion 29 play a role in connecting the lower leg structural member 15 and the ankle cross shaft member 20. The lower leg structural member 15 rotates relative to the transverse articulated portion 29 of the ankle cross shaft member 20 through the first articulated card slot 25. The second articulated card slot 26 and the longitudinal articulated portion 30 play a role in connecting the foot plate adapter 24 and the ankle cross shaft member 20. The foot plate adapter 24 rotates relative to the longitudinal articulated portion 30 of the ankle cross shaft member 20 through the second articulated card slot 26. The transverse articulated portion 29 and the longitudinal articulated portion 30 form the cross-shaped ankle cross shaft member 20 through the transverse accommodation groove 27 and the longitudinal accommodation groove 28, with a more compact structure and stronger movement flexibility. The first ankle transverse shaft needle bearing 31 is sleeved inside the transverse accommodation groove 27, and the first ankle transverse shaft body 32 is sleeved inside the first ankle transverse shaft needle bearing 31. At the same time, the left ankle transverse shaft gasket 33 and the right ankle transverse shaft gasket 35 are respectively sleeved on the left and right sides of the transverse accommodation groove 27. After the lower part of the lower leg structural member 15 is connected to the first ankle transverse shaft body 32 through the first articulated card slot 25, the lower leg structural member 15 is limited by the left ankle shaft end screw 34 and the right ankle shaft end screw 36, so that the first ankle transverse shaft body 32 can rotate relative to the transverse accommodation groove 27, and further the lower leg structural member 15 can rotate relative to the transverse articulated portion 29 of the ankle cross shaft member 20 through the first articulated card slot 25. The second ankle transverse shaft needle bearing 37 is sleeved inside the longitudinal accommodation groove 28, and the second ankle transverse shaft body 38 is sleeved inside the second ankle transverse shaft needle bearing 37. At the same time, the front ankle transverse shaft gasket 39 and the rear ankle transverse shaft gasket 41 are respectively sleeved on the front and rear sides of the longitudinal accommodation groove 28. After the foot plate adapter 24 is connected to the second ankle transverse shaft body 38 through the second articulated card slot 26, the foot plate adapter 24 is limited by the front ankle shaft end screw 40 and the rear ankle shaft end screw 42, so that the second ankle transverse shaft body 38 can rotate relative to the longitudinal accommodation groove 28, and further the foot plate adapter 24 can rotate relative to the longitudinal articulated portion 30 of the ankle cross shaft member 20 through the second articulated card slot 26. The overall layout of the structure of the present utility model is highly compact, with a high joint integration degree, and can achieve a large movement range of the robot, increasing flexibility and versatility.

[0071] Although the present utility model has been described in detail with general descriptions and specific embodiments above, based on the present utility model, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present utility model all fall within the scope of protection required by the present utility model.

Claims

1. A simulated robot leg mechanism, characterized in that: It comprises a cross-leg driving component (1), a thigh component (2), a knee joint driving motor (3), a calf component (4), an ankle component (5) and a foot component (6); The upper end of the thigh component (2) is connected to the power output end of the straddle-leg driving component (1); the lower end of the thigh component (2) is connected to the knee joint driving motor (3); the power output end of the knee joint driving motor (3) is connected to the upper end of the calf component (4); the lower end of the calf component (4) is connected to the ankle component (5); and the ankle component (5) is connected to the foot component (6); The leg mechanism of the simulation robot has six degrees of freedom: forward swing, side swing, rotation, knee forward swing, ankle forward swing and ankle side swing; The straddle leg driving assembly (1) comprises a straddle leg driving motor (7); the thigh assembly (2) comprises a straddle swing output structural component (8), a straddle swing passive end structural component (9), a leg rotation driving motor (10) and a leg extension component (11); The power output end of the straddle leg driving motor (7) is connected to the straddle swing output structural member (8), and the other end of the straddle leg driving motor (7) is connected to the straddle swing passive end structural member (9); The calf assembly (4) comprises a knee joint power output structure (13), a knee joint passive end structure (14), a calf structure (15), a first ankle joint drive motor (16), a second ankle joint drive motor (17), a first rocker arm swing member (18) and a second rocker arm swing member (19); the ankle assembly (5) comprises an ankle cross shaft member (20) and an ankle connecting rod (21); The power output end of the knee joint drive motor (3) is connected to the knee joint power output structure (13), and the other end of the knee joint drive motor (3) is connected to the knee joint passive end structure (14); the upper part of the calf structure (15) is connected between the lower part of the knee joint power output structure (13) and the lower part of the knee joint passive end structure (14), and the lower part of the calf structure (15) is connected to the ankle cross axis (20), and the ankle cross axis (20) is fixed above the foot plate assembly (6).

2. The simulated robot leg mechanism according to claim 1, characterized in that: A leg rotation power output structure (12) is provided between the span swing output structure (8) and the span swing passive end structure (9); the power output end of the leg rotation drive motor (10) is connected to the leg rotation power output structure (12); and the lower end of the leg rotation drive motor (10) is connected to the leg extension member (11).

3. The simulated robot leg mechanism according to claim 1, characterized in that: The calf structure (15) is formed with a first motor mounting position (22) and a second motor mounting position (23); the first ankle joint drive motor (16) is fixed to the first motor mounting position (22), the power output end of the first ankle joint drive motor (16) is connected to the upper part of the first rocker arm swing member (18), and the lower part of the first rocker arm swing member (18) is connected to one side of the ankle connecting rod (21); The second ankle joint drive motor (17) is fixed to the second motor mounting position (23), the power output end of the second ankle joint drive motor (17) is connected to the upper part of the second rocker arm swing member (19), and the lower part of the second rocker arm swing member (19) is connected to the other side of the ankle connecting rod (21).

4. The simulated robot leg mechanism according to claim 3, characterized in that: The power output end of the first ankle joint drive motor (16) is oriented in the opposite direction to the power output end of the second ankle joint drive motor (17); The length of the first rocker arm swinging member (18) is greater than the length of the second rocker arm swinging member (19).

5. The simulated robot leg mechanism according to claim 4, characterized in that: A foot plate adapter (24) is provided at the lower end of the ankle connecting rod (21), the ankle cross axis (20) is connected to the foot plate adapter (24), and the foot plate adapter (24) is fixed above the foot plate assembly (6).

6. The simulated robot leg mechanism according to claim 5, characterized in that: The lower end of the calf structure (15) is formed with a first hinge slot (25), and the foot plate adapter (24) is formed with a second hinge slot (26); The ankle cross shaft member (20) is formed with a transverse receiving groove (27) and a longitudinal receiving groove (28); the transverse receiving groove (27) is provided with a transverse hinge portion (29), and the longitudinal receiving groove (28) is provided with a longitudinal hinge portion (30); the transverse hinge portion (29) and the longitudinal hinge portion (30) are distributed in a cross shape; The transverse hinged portion (29) is hinged to the first hinged slot (25); and the longitudinal hinged portion (30) is hinged to the second hinged slot (26).

7. The simulated robot leg mechanism according to claim 6, characterized in that: The transverse hinge part (29) comprises a first ankle transverse axis needle bearing (31), a first ankle transverse axis body (32), a left ankle transverse axis washer (33), a left ankle axis end screw (34), a right ankle transverse axis washer (35) and a right ankle axis end screw (36); The first ankle transverse axis needle bearing (31) is located inside the transverse receiving groove (27), and the first ankle transverse axis body (32) passes through the center of the first ankle transverse axis needle bearing (31), the center of the left ankle transverse axis gasket (33), and the center of the right ankle transverse axis gasket (35); the left ankle transverse axis gasket (33) is filled on one side of the transverse receiving groove (27), and the right ankle transverse axis gasket (35) is filled on the other side of the transverse receiving groove (27); One end of the first ankle transverse axis body (32) is exposed on the outside of the left ankle transverse axis pad (33), and the other end of the first ankle transverse axis body (32) is exposed on the outside of the right ankle transverse axis pad (35); the first hinge slot (25) and the first ankle transverse axis body (32) of the transverse hinge portion (29) are hinged; The left ankle axis end screw (34) is connected to one end of the first ankle transverse axis body (32), and the right ankle axis end screw (36) is connected to the other end of the first ankle transverse axis body (32).

8. The simulated robot leg mechanism according to claim 7, characterized in that: The longitudinal hinge part (30) comprises a second ankle transverse axis needle bearing (37), a second ankle transverse axis body (38), an anterior ankle transverse axis washer (39), an anterior ankle axis end screw (40), a posterior ankle transverse axis washer (41) and a posterior ankle axis end screw (42); The second ankle transverse axis needle bearing (37) is located inside the longitudinal accommodating groove (28), and the second ankle transverse axis body (38) passes through the center of the second ankle transverse axis needle bearing (37), the center of the anterior ankle transverse axis gasket (39), and the center of the posterior ankle transverse axis gasket (41); the anterior ankle transverse axis gasket (39) is filled on one side of the longitudinal accommodating groove (28), and the posterior ankle transverse axis gasket (41) is filled on the other side of the longitudinal accommodating groove (28); One end of the second ankle transverse axis body (38) is exposed on the outside of the front ankle transverse axis pad (39), and the other end of the second ankle transverse axis body (38) is exposed on the outside of the rear ankle transverse axis pad (41); the second hinge slot (26) is hinged to the second ankle transverse axis body (38) of the longitudinal hinge portion (30); The anterior ankle axis end screw (40) is connected to one end of the second ankle transverse axis body (38), and the posterior ankle axis end screw (42) is connected to the other end of the second ankle transverse axis body (38).

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