Biped humanoid robot leg

Abstract

A double-foot humanoid robot leg comprises a waist joint supporting piece, a left leg structure and a right leg structure are installed on the two sides of the waist joint supporting piece through lateral joint components respectively, and each of the left leg structure and the right leg structure comprises a thigh structure, a shank structure and a motion control assembly part. The bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure, and the motion control assembly part is installed at the top of the thigh structure, connected with a tendon-imitating driving pull wire assembly and provided with an installation outer shell. A lateral joint connecting part is arranged on the installation outer shell and used for being connected with a lateral joint component. According to the utility model, the dynamic performance, the naturalness and the flexibility are excellent, the far-end driving is realized, the joint load and the rotational inertia are small, the stability of the joint structure is high, and the required initial driving force is smaller, so that the power consumption is lower.

Description

Technical Field

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

[0002] In the field of research, development and manufacturing of humanoid robots, the joint drive scheme is a key factor for the stability, reliability, economy and efficiency of the robots. In the prior art, the direct drive of the motor joint module or the link drive technology is the most mainstream technical solution. Whether it is the foreign Tesla Optimus and Digit robots, or the domestic Unitree Technology's H1 / G1 and the Zhiyuan's Expedition series robots, they all adopt the motor joint module drive scheme. The joint motor technology depends on the combination of the motor and the reducer. The advantages lie in the simple structure and the low cost of research and development and training (because there are many technical teams adopting this scheme and there are many existing supporting software solutions), but it cannot achieve remote drive, resulting in a large moment of inertia at the end, lacking dynamic performance in some scenarios, low naturalness and flexibility, relatively thick joints, heavy load, posing a great test to the bearing capacity and shock resistance of the initial joints, poor stability, and it is also difficult to achieve low power consumption. Therefore, the long-term endurance ability of the robot is insufficient. Summary of the Invention

[0003] In order to make up for the deficiencies of the prior art, the utility model provides a leg of a bipedal humanoid robot, which can achieve excellent dynamic performance, naturalness and flexibility, realize drive at the distal end, the whole legs can be slender and delicate, the joint load and moment of inertia are small, and the joint structure has high stability, the required initial driving force is small, and the bearing capacity and shock resistance can be larger instead. Therefore, it can achieve lower power consumption, and the robot has the ability of long-term endurance walking.

[0004] The specific technical solution is as follows:

[0005] A leg of a bipedal humanoid robot includes a waist joint support member. On both sides of the waist joint support member, a left leg structure and a right leg structure are respectively installed through lateral joint components. Both the left leg structure and the right leg structure include a thigh structure, a calf structure and a motion control component part. The bottom of the thigh structure is rotatably connected to the top of the calf structure through a knee joint structure. The bottom of the calf structure is rotatably installed with a foot plate structure through an ankle joint structure. The motion control component part is installed on the top of the thigh structure. The motion control component part is connected with a tendon-like drive cable assembly, and the tendon-like drive cable assembly is used to control and connect the thigh structure, the calf structure and / or the foot plate structure. The motion control component part has an installation housing body, and a lateral joint connection part is arranged on the installation housing body for connecting the lateral joint components.

[0006] Preferably, the waist joint support is provided with a left U-shaped support, a right U-shaped support, and an intermediate waist joint module. The intermediate waist joint module is used to connect the robot's trunk, and the left U-shaped support and the right U-shaped support are symmetrically arranged on both sides of the intermediate waist joint module respectively.

[0007] The lateral joint component is provided with a lateral control motor. The lateral control motor is rotatably installed on the left U-shaped support or the right U-shaped support. The output end of the lateral control motor is drivingly connected to a ball screw rod. A ball screw nut is rotatably installed at the lateral joint connection part, and the ball screw rod cooperates with the ball screw nut.

[0008] Preferably, the motion control component includes a first rotation driving device and a second rotation driving device. A first transmission wheel and a second transmission wheel are respectively arranged at the output ends of the first rotation driving device and the second rotation driving device. A first output wire reel and a second output wire reel are arranged in the knee joint structure and / or the ankle joint structure. The tendon-like driving wire pulling component is composed of a first driving wire pulling structure and a second driving wire pulling structure. The first driving wire pulling structure is tensioned and sleeved between the first transmission wheel and the first output wire reel, and the second driving wire pulling structure is tensioned and sleeved between the second transmission wheel and the second output wire reel.

[0009] Preferably, the motion control component further includes a thigh driving device. Thigh transmission wheels are respectively arranged at the output end of the thigh driving device. The first rotation driving device and the second rotation driving device are oppositely arranged on both sides of the thigh structure. The thigh driving device is arranged at the rear side of the top of the thigh structure, and the first rotation driving device and the second rotation driving device are respectively connected to both sides of the thigh driving device. The thigh transmission wheel is a bevel gear structure. At least one bevel gear disk is arranged at the top of the thigh structure, and the bevel gear structure cooperates with the bevel gear disk.

[0010] Preferably, the foot plate structure has a narrow foot plate body. The narrow foot plate body has a front foot plate part, a rear heel plate part, and a foot heart part. The front foot plate part and the rear heel plate part are respectively arranged on both sides of the foot heart part. The second output wire reel is fixedly installed on the foot heart part. Touching ground ends are arranged at two opposite ends of the front foot plate part and the rear heel plate part. The lower side of the foot heart part is suspended, and an arc-shaped installation part is arranged on the upper side of the foot heart part. The side of the second output wire reel is installed in the arc-shaped installation part. An ankle joint rotating shaft structure is arranged at the center of the second output wire reel, and both ends of the ankle joint rotating shaft structure are rotatably installed at the bottom of the calf structure through bearing structures.

[0011] Preferably: the knee joint structure also includes a knee joint rotation support shaft, both ends of the knee joint rotation support shaft are rotatably mounted on the bottom of the thigh structure through a bearing structure, an intermediate wire drum is also rotatably mounted on the knee joint rotation support shaft through a bearing structure, the first output wire drum is fixedly mounted on the knee joint rotation support shaft, and the first output wire drum is arranged side by side with the intermediate wire drum, and the side surface of the first output wire drum is fixedly connected to the top of the calf structure.

[0012] Preferably: the first transmission wheel and the second transmission wheel are sprockets or synchronous pulleys, the first drive wire structure and the second drive wire structure are both composed of a chain or a synchronous belt and metal cables connected to the two ends of the chain or synchronous belt, the chain or synchronous belt cooperates with the sprocket or synchronous pulley, the other ends of the two metal cables are fastened to the output cable drum structure and / or the driven control part, and at least one metal cable is fastened to the output cable drum structure and / or the driven control part through a tensioning adjustment structure.

[0013] Preferably, the tension adjustment structure includes an adjusting screw and a tightening adjustment nut structure, the tightening adjustment nut structure is sleeved on the adjusting screw, and the front end of the adjusting screw is connected to a metal cable, a wire end holder is provided on the output reel structure and / or the driven control component, and the tightening adjustment nut structure is clamped on the wire end holder.

[0014] Preferably: the first rotation driving device and the second rotation driving device are arranged opposite to each other, and a first output shaft structure and a second output shaft structure are respectively installed at the output ends of the first rotation driving device and the second rotation driving device, the first output shaft structure and the second output shaft structure are coaxial and opposite to each other, a coaxial stabilization kit structure is also installed between the first output shaft structure and the second output shaft structure, and the first transmission wheel disc and the second transmission wheel disc are respectively connected to the first rotation driving device and the second rotation driving device through the first output shaft structure and the second output shaft structure.

[0015] As a preferred embodiment, the coaxial stabilizing sleeve structure includes a stabilizing sleeve and a tensioning screw structure, one end of the stabilizing sleeve is connected to the side of the first transmission wheel, the other end of the stabilizing sleeve is provided with a bearing installation cavity, a rotating bearing structure is installed in the bearing installation cavity, and the rotating bearing structure is sleeved on the end of the second output shaft structure;

[0016] A mounting through hole is provided in the center of the first output shaft structure, and a mounting threaded hole is provided in the center of the second output shaft structure. The tensioning screw structure passes through the mounting through hole and cooperates with the mounting threaded hole, and a thrust bearing structure is provided between the nut of the tensioning screw structure and the side wall of the first output shaft structure.

[0017] The beneficial effects of the present utility model are as follows: A ball screw is provided to control the lateral extension of the left leg structure and the right leg structure, enabling the movement of the entire left leg structure or right leg structure to be controlled by a joint motor with a smaller power, making the control more precise, and enhancing the load-bearing capacity and shock resistance of the robot, increasing the stability, safety, and endurance walking ability of the robot.

[0018] The motion control component part is arranged at the distal end and driven by a tendon-like drive wire structure, so that there is no large load of the joint module motor and the reduction mechanism at the joint. Therefore, the overall leg can be made slender and delicate, and the rotational inertia of the drive is small. And an output wire reel is arranged at the distal end for tight sleeved transmission, without transmission play and impact load of the transmission. Various small joint components can be driven through the drive wire structure, so the dynamic performance, naturalness, and flexibility are all excellent. A coaxial stable kit structure, a stable knee joint structure, and an ankle joint structure are provided, making the overall joint structure highly stable in motion. The drive wire structure adopts a composite structure, which can achieve a larger reduction and torque increase transmission ratio. Therefore, the required initial driving force is smaller, and thus the power consumption can be made lower, enabling the robot leg to have a long endurance walking ability. Description of the Drawings

[0019] Figure 1 It is a three-dimensional structure schematic diagram of the whole of the present utility model.

[0020] Figure 2 It is an installation structure schematic diagram of the lateral joint component in the present utility model.

[0021] Figure 3 It is a three-dimensional structure schematic diagram of the left leg structure or the right leg structure in the present utility model.

[0022] Figure 4 It is an installation structure schematic diagram of the thigh structure and the calf structure in the present utility model.

[0023] Figure 5 It is an exploded structure schematic diagram of the motion control component part in the present utility model.

[0024] Figure 6 It is a cross-sectional structure schematic diagram of the motion control component part in the present utility model.

[0025] Figure 7 It is Figure 4 a partial enlarged schematic diagram of the A position in

[0026] Figure 8 It is a cross-sectional structure schematic diagram of the knee joint structure in the present utility model.

[0027] Figure 9 It is an installation structure schematic diagram of the foot plate structure in the present utility model.

[0028] Figure 10 This is a schematic cross-sectional view of the ankle joint structure in the present utility model.

[0029] Figure 11 This is a schematic view of the tension adjustment structure in the present utility model.

[0030] Explanation of reference numerals: waist joint support 1; lateral joint component 2; left leg structure 3; right leg structure 4; tension adjustment structure 5; coaxial stable kit structure 6;

[0031] Left U-shaped support 11; right U-shaped support 12; intermediate waist joint module 13; lateral control motor 21; ball screw rod 22; ball screw nut 23;

[0032] Thigh structure 31; calf structure 32; motion control component part 33; tendon-like drive cable assembly 34; foot plate structure 35; knee joint structure 36; ankle joint structure 37; adjustment screw 51; pressing adjustment nut structure 52; limit pressing cap structure 53

[0033] Stabilizing bushing 61; bearing installation cavity 62; rotating bearing structure 63; tensioning screw structure 64; thrust bearing structure 65;

[0034] Thigh drive device 331; first rotation drive device 332; second rotation drive device 333; thigh transmission pulley 334; first transmission pulley 335; second transmission pulley 336; first drive cable structure 341; second drive cable structure 342;

[0035] First output spool 361; knee joint rotation support shaft 362; intermediate spool 363; second output spool 371; ankle joint rotation shaft structure 372;

[0036] Narrow foot plate body 351; front foot plate part 352; rear heel plate part 353; instep part 354; ground contact end 355; arc-shaped installation part 356; installation housing 337; lateral joint connection part 338. Detailed implementation manners

[0037] The following elaborates on the preferred embodiments of the present utility model in conjunction with the accompanying drawings, so that the advantages and features of the present utility model can be more easily understood by those skilled in the art, thereby making the protection scope of the present utility model more clearly defined. Embodiment

[0038] As Figures 1 to 11As shown: a bipedal humanoid robot leg is provided with a waist joint support 1, and a left leg structure 3 and a right leg structure 4 are respectively installed on both sides of the waist joint support 1 through lateral joint components 2, and the left leg structure 3 and the right leg structure 4 both include a thigh structure 31, a calf structure 32 and a motion control component part 33, the bottom of the thigh structure 31 and the top of the calf structure 32 are rotatably connected through a knee joint structure 36, and a foot plate structure 35 is rotatably installed at the bottom of the calf structure 32 through an ankle joint structure 37, and the motion control component part 33 is rotatably installed on the top of the thigh structure 31, and the motion control component part 33 has an installation outer shell 337, and a lateral joint connection part 338 is arranged on the installation outer shell 337 for connecting the lateral joint components 2.

[0039] The above-mentioned waist joint support 1 is provided with a left U-shaped support 11, a right U-shaped support 12 and an intermediate waist joint module 13. The intermediate waist joint module 13 is used to connect the robot torso, and the left U-shaped support 11 and the right U-shaped support 12 are symmetrically arranged on both sides of the intermediate waist joint module 13; the intermediate waist joint module 13 is a joint motor module, which is used to directly drive the left U-shaped support 11 and the right U-shaped support 12 to rotate relative to each other, so as to realize the walking and turning of the robot. The intermediate waist joint module 13 can also include a bending joint structure, but for the sake of structural stability, the rotation control between the motion control component part 33 and the top of the thigh structure 31 can be used instead to realize the bending action.

[0040] The lateral joint component 2 is provided with a lateral control motor 21, which is rotatably mounted on the left U-shaped support 11 or the right U-shaped support 12. The output end of the lateral control motor 21 is connected to the ball screw 22. The ball screw nut 23 is rotatably mounted on the lateral joint connection part 338. The ball screw nut 23 cooperates with the ball screw nut 23. The lateral joint connection part 338 is provided with two mounting holes, which are respectively arranged on the inner side and the outer side of the mounting outer shell 337. The inner and outer sides of the shell 337 are specifically the side relatively close to the left leg structure 3 and the right leg structure 4 as the inner side, and the side relatively far away as the outer side. A lateral rotating shaft structure is installed in the inner mounting hole, and a short rotating shaft is installed through the outer mounting hole for rotating the ball screw nut 23 installed thereon. The lateral extension of the left leg structure 3 and the right leg structure 4 is controlled by the ball screw, and the movement of the entire left leg structure 3 or the right leg structure 4 can be controlled by a smaller power joint motor, thereby making the control more precise and avoiding the influence of rotational inertia on the lateral joint control.

[0041] At the output end of the motion control component unit 33, a tendon-like drive cable assembly 34 is drivingly connected. The tendon-like drive cable assembly 34 is used to control the connection of the thigh structure 31, the calf structure 32, and / or the foot plate structure 35. Among them, the foot plate structure 35 can be replaced by a ball head in the field of quadruped robots such as robotic dogs, and it is a non-essential component. However, the foot plate structure 35 is an essential component in the field of bipedal humanoid robots. Although the foot plate structure 5 can directly rotate freely within a certain range and achieve a similar stepping effect, it cannot meet the requirement of precisely controlling the legs. Controlling the rotation of the foot plate structure 35 through the tendon-like drive cable structure 34 is more conducive to controlling and maintaining the movement balance of the robot's legs and the overall robot.

[0042] The above-mentioned tendon-like drive cable assembly 34 is composed of a first drive cable structure 341 and a second drive cable structure 342. More drive cable structures can also be set. One component among the three can be controlled by one drive cable structure, or two or three components among the three or different degrees of freedom of the same component can be controlled by two or three drive cable structures.

[0043] The above-mentioned motion control component unit 33 includes a thigh drive device 331, a first rotation drive device 332, and a second rotation drive device 333. The above-mentioned installation housing 337 includes a first drive module installation part, a second drive module installation part, and a thigh drive module installation part. The thigh drive device 331, the first rotation drive device 332, and the second rotation drive device 333 are respectively installed in the thigh drive module installation part, the first drive module installation part, and the second drive module installation part. The first rotation drive device 332 and the second rotation drive device 333 are oppositely arranged on both sides of the thigh structure 31, and the first rotation drive device 332 and the second rotation drive device 333 are respectively connected to both sides of the thigh drive device 331, that is, the first drive module installation part and the second drive module installation part are respectively connected to both sides of the thigh drive module installation part, so as to establish the connection relationship between the rotation drive devices. The thigh drive device 331 is arranged at the rear of the top of the thigh structure 31 and can be used as a decoration for the robot's hip to avoid visual disharmony. Moreover, the rotation of the thigh structure 31 under the drive control of the thigh drive device 331 is the rotation of the thigh structure 31 relative to the installation housing 337 for swinging the leg forward and backward.

[0044] A first transmission wheel 335 and a second transmission wheel 336 are respectively provided at the output ends of the first rotation drive device 332 and the second rotation drive device 333, and a first output wire disc 361 and a second output wire disc 371 are provided in the knee joint structure 36 and / or the ankle joint structure 37, that is, the first output wire disc 361 and the second output wire disc 371 can be respectively provided in the knee joint structure 36 and the ankle joint structure 37, and the first output wire disc 361 and the second output wire disc 371 can be both provided in the knee joint structure 36 or the ankle joint structure 37, and the tendon-like drive wire assembly 34 consists of a first drive wire structure 341 and a second drive wire structure 342, and the first drive wire structure 341 is tightly sleeved between the first transmission wheel 335 and the first output wire disc 361 to form a closed loop structure; the second drive wire structure 342 is tightly sleeved between the second transmission wheel 336 and the second output wire disc 371 to form a closed loop structure.

[0045] Among them, although the thigh drive device 331 can also be transmitted through the imitation tendon drive wire assembly 34, since the thigh drive device 331 is arranged on the top of the thigh structure 31, it is better to adopt direct drive. However, in order to adjust the installation and output shaft position of each drive device, the thigh drive device 331 is arranged on the rear side of the thigh structure 31 and is connected through a bevel gear structure or a helical bevel gear structure. This not only makes the spatial arrangement more reasonable, but also further reduces the speed and increases the transmission torque. The motor module used in the thigh drive device 331 can adopt a smaller power relative to the full direct drive. Specifically: a thigh transmission pulley 334 is respectively arranged at the output end of the thigh drive device 331, and the thigh transmission pulley 334 is a bevel gear structure. One or two bevel gear disks are arranged on the top of the thigh structure 31. The bevel gear structure cooperates with the bevel gear disk, or the bevel gear structure can cooperate with two bevel gear disks on both sides at the same time. Although the transmission may be more stable in this way, the counterweight is increased and the complexity of the structural layout is increased, so it is generally not adopted.

[0046] The foot plate structure 35 has a narrow foot plate body 351. The width of the narrow foot plate body 351 is 10 mm - 50 mm, and the length of the narrow foot plate body 351 is preferably 100 mm - 500 mm. The narrow foot plate body 351 has a front foot plate portion 352, a rear heel plate portion 353, and a foot center portion 354. The front foot plate portion 352 and the rear heel plate portion 353 are respectively arranged on both sides of the foot center portion 354. The second output wire reel 371 is fixedly installed on the foot center portion 354. Touching ground end heads 355 are arranged at two opposite ends of the front foot plate portion 352 and the rear heel plate portion 353. The lower side of the foot center portion 354 is suspended and generally does not contact the ground, that is, the front foot plate portion 352 and the rear heel plate portion 353 protrude downward relative to the foot center portion 354. Such a structure is in the shape of a human hollow foot plate. Although generally only the touching ground end heads 355 at both ends contact the ground and the touching ground area is small, the touching ground end heads 355 are more likely to be in full contact with the ground, and the actual contact area is large. It will not be restricted by the ground environment or greatly affected by its actual contact area, and it is more convenient to meet the stable expectation of robot programming control. Its foot center portion 354 is suspended, so that it has a certain elastic space itself, and thus can absorb a large impact load and has stronger durability; it is not like the structure with a flat foot plate. Although it seems to have a large contact with the ground, as long as the ground is uneven or there are protrusions, the actual contact area will be greatly reduced, and the contact surface does not conform to the preset, which also affects the stability of the robot's walking and standing. And, an arc-shaped installation portion 356 is arranged on the upper side of the foot center portion 354. The side of the second output wire reel 371 is installed in the arc-shaped installation portion 356. An ankle joint rotating shaft structure 372 is arranged at the center of the second output wire reel 371. Both ends of the ankle joint rotating shaft structure 372 are rotationally installed at the bottom of the calf structure 32 through bearing structures. The second output wire reel 371 and the ankle joint rotating shaft structure 372 form an ankle joint structure 37.

[0047] Wherein, the ankle joint structure 37 may further include a first support plate shell and a second support plate shell. The first support plate shell and the second support plate shell are arranged at a relative interval, and the first support plate shell and the second support plate shell are fixedly arranged at the bottom of the calf structure 32. A coaxial first installation hole and a second installation hole are opened on the first support plate shell and the second support plate shell. A first half shaft structure and a second half shaft structure are rotationally installed in the first installation hole and the second installation hole through bearings. The first half shaft structure and the second half shaft structure form the ankle joint rotating shaft structure 372. Corresponding coaxial bolt holes are uniformly arranged around the first half shaft structure and the second half shaft structure. By installing bolts in the bolt holes, the first half shaft structure and the second half shaft structure are tightly pressed on both end faces of the center portion of the second output wire reel 371. An encoder is also installed on the first support plate shell or the second support plate shell. Through the encoder, it is convenient to monitor and feedback the rotation angle of the joint, and the encoder is an absolute encoder and is used in cooperation with a radial magnet installed on the half shaft structure.

[0048] By pressing against both end faces of the center part of the second output wire reel 371 through the first half-axis structure and the second half-axis structure, it is convenient to disassemble and assemble the rotating joint of the second output wire reel. Moreover, the installed second output wire reel 371 is more stable during the rotation relative to the ankle joint housing and is not prone to shaking. For other direct installation methods of the whole shaft, not only is it not easy to fall off during disassembly, but also machines with poor assembly technology and material quality are prone to cause joint shaking.

[0049] Among them, the knee joint structure 36 further includes a knee joint rotation support shaft 362. Both ends of the knee joint rotation support shaft 362 are rotatably installed at the bottom of the thigh structure 31 through bearing structures. An intermediate wire reel 363 is also rotatably installed on the knee joint rotation support shaft 362 through bearing structures. The first output wire reel 361 is fixedly installed on the knee joint rotation support shaft 362, and the first output wire reel 361 and the intermediate wire reel 363 are arranged side by side. The side of the first output wire reel 361 is fixedly connected to the top of the calf structure 32. An encoder for aligning with the knee joint rotation support shaft 362 is also installed at the bottom of the thigh structure 31 to facilitate the feedback of the motion state of the knee joint. Among them, one end of the knee joint rotation support shaft 362 is fixedly installed at the top of the calf structure 32, that is, a support plate frame is provided on one side of the top of the calf structure 32 for fixedly installing the knee joint rotation support shaft 362. The other end of the knee joint rotation support shaft 362 is supported on the other side of the top of the calf structure 32 through the first output wire reel 361, that is, the first output wire reel 361 is fixedly installed on the other side of the top of the calf structure 32. Two joint plate frames are respectively arranged on both sides of the bottom of the thigh structure 31. The knee joint rotation support shaft 362 is rotatably matched with the two joint plate frames through bearings, and the two joint plate frames are respectively arranged close to the side of the support plate frame and the first output wire reel 361. This not only facilitates installation, disassembly and subsequent maintenance, but also facilitates the rotation of the knee joint and the smooth operation of the intermediate wire reel, strengthens the support stability of the knee joint rotation support shaft 362, avoids problems such as inaccurate control positioning caused by shaking during the control process, and is beneficial to the overall balance and coordination control of the robot.

[0050] The first transmission wheel 335 and the second transmission wheel 336 are sprockets or synchronous pulleys. The first drive cable structure 341 and the second drive cable structure 342 are composed of a chain or a synchronous belt and metal cables connected to the two ends of the chain or the synchronous belt respectively. The chain or the synchronous belt cooperates with the sprocket or the synchronous pulley. The other ends of the two metal cables are fastened to the output cable drum structure and / or the driven control part. One of the metal cables is fastened to the output cable drum structure and / or the driven control part through the tension adjustment structure 5, thereby forming a tight return cable. The structure of the road avoids the impact transmission torque during the motion control process, and there is no vacuum distance for transmission looseness, so that the control stability and accuracy are high, and it has extremely high flexibility and exquisiteness. The structure of the metal cable and the chain or synchronous belt composite is not only easier to achieve the tension state, but also the chain or synchronous belt replaces the complete cable, which can also avoid the transmission wheel diameter being too small when the reduction transmission ratio is increased to increase the torque, resulting in fatigue fracture due to the ratio with the cable diameter, thereby extending the overall service life of the tendon-like drive line structure 34. Among them, the output cable disc structure is the first transmission wheel disc 335 or the second transmission wheel disc 336, and the driven control part is the calf structure 32 or the foot plate structure 35. If the thigh structure 31 adopts tendon control, the driven control part can also be the thigh structure 31. The output cable disc structure and the driven control part are represented the same below.

[0051] The above-mentioned tension adjustment structure 5 includes an adjusting screw 51 and a tightening adjustment nut structure 52. The tightening adjustment nut structure 52 is sleeved on the adjusting screw 51, and the front end of the adjusting screw 51 is connected to the metal cable. A wire end clamp is provided on the output reel structure and / or the driven control component, and the tightening adjustment nut structure 52 is clamped on the wire end clamp; a limited clamping cap structure 53 is also provided at the rear end of the adjusting screw 51, and a through hole is provided in the center of the adjusting screw 51. The metal cable passes through the through hole to the limited clamping cap structure 53 and is clamped, that is, the limited clamping cap structure 53 serves as both an end limit and a crimping joint. The steel cable pulling structure can also be directly welded to the front end of the adjusting screw 51, but its tensioning force and fracture protection will be limited.

[0052] The above-mentioned first rotation driving device 332 and the second rotation driving device 333 are arranged opposite to each other, and the first output shaft structure and the second output shaft structure are respectively installed at the output ends of the first rotation driving device 332 and the second rotation driving device 333, the first output shaft structure and the second output shaft structure are coaxial and arranged opposite to each other, and a coaxial stabilization kit structure 6 is also installed between the first output shaft structure and the second output shaft structure, and the first transmission wheel 335 and the second transmission wheel 336 are respectively connected to the first rotation driving device 332 and the second rotation driving device 333 through the first output shaft structure and the second output shaft structure.

[0053] The above-mentioned coaxial stabilization kit structure 6 includes a stabilizing bushing 61 and a tensioning screw structure 64. One end of the stabilizing bushing 61 is connected to the side surface of the first transmission wheel 335. The other end of the stabilizing bushing 61 is provided with a bearing installation cavity 62. A rotating bearing structure 63 is installed in the bearing installation cavity 62, and the rotating bearing structure 63 is sleeved on the end of the second output shaft structure.

[0054] An installation through hole is provided in the central part of the first output shaft structure, and an installation threaded hole is provided in the central part of the second output shaft structure. The tensioning screw structure 64 passes through the installation through hole and cooperates with the installation threaded hole, and a thrust bearing structure 65 is provided between the nut of the tensioning screw structure 64 and the side wall of the first output shaft structure.

[0055] Through the stabilizing bushing 61 and the tensioning screw structure 64, the stabilizing bushing is sleeved outside the first output shaft structure and the second output shaft structure, and is rotationally matched with the second output shaft structure to realize the stable fitting connection of the opposite ends of the two output shafts, so that they can work independently without interference, and it also avoids the vibration of the suspended opposite ends during the working process; one end of the tensioning screw structure 64 is fixedly connected to the second output shaft structure, and the other end of the tensioning screw structure 64 is rotationally matched with the first output shaft structure, thereby further enhancing the stability of the movement of the output shaft structure, and the fact that the stabilizing bushing 61 and the tensioning screw structure 64 are respectively rotationally matched with different output shafts makes the acting torque more balanced and the effect better; the stabilizing bushing 61 and the tensioning screw structure 64 can also be used alone, but the effect is better and the service life is longer when the stabilizing bushing 61 and the tensioning screw structure 64 are used in combination.

[0056] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A bipedal humanoid robot leg, characterized in that: The invention comprises a waist joint support component (1), a left leg structure (3) and a right leg structure (4) are respectively installed on both sides of the waist joint support component (1) through lateral joint components (2), the left leg structure (3) and the right leg structure (4) both comprising a thigh structure (31), a calf structure (32) and a motion control component part (33), the bottom of the thigh structure (31) and the top of the calf structure (32) are rotatably connected through a knee joint structure (36), and the bottom of the calf structure (32) is rotatably installed with a foot plate structure through an ankle joint structure (37). (35), the motion control component part (33) is installed on the top of the thigh structure (31), the motion control component part (33) is connected to the imitation tendon drive wire assembly (34), the imitation tendon drive wire assembly (34) is used to control the connection between the thigh structure (31), the calf structure (32) and / or the foot structure (35), the motion control component part (33) has a mounting outer shell (337), and a lateral joint connection part (338) is arranged on the mounting outer shell (337) for connecting the lateral joint component (2).

2. The biped humanoid robot leg according to claim 1, characterized in that: The waist joint support member (1) is provided with a left U-shaped support member (11), a right U-shaped support member (12) and an intermediate waist joint module (13), wherein the intermediate waist joint module (13) is used to connect the robot trunk, and the left U-shaped support member (11) and the right U-shaped support member (12) are symmetrically arranged on both sides of the intermediate waist joint module (13); The lateral joint component (2) is provided with a lateral control motor (21), and the lateral control motor (21) is rotatably mounted on the left U-shaped support member (11) or the right U-shaped support member (12). The output end of the lateral control motor (21) is drivingly connected to a ball screw (22), and a ball screw nut (23) is rotatably mounted on the lateral joint connection portion (338), and the ball screw (22) cooperates with the ball screw nut (23).

3. The biped humanoid robot leg according to claim 1, characterized in that: The motion control component (33) comprises a first rotation drive device (332) and a second rotation drive device (333); a first transmission wheel (335) and a second transmission wheel (336) are respectively arranged at the output ends of the first rotation drive device (332) and the second rotation drive device (333); a first output wire disk (361) and a second output wire disk (371) are arranged in the knee joint structure (36) and / or the ankle joint structure (37); the tendon-like drive wire assembly (34) comprises a first drive wire structure (341) and a second drive wire structure (342); the first drive wire structure (341) is tautly sleeved between the first transmission wheel (335) and the first output wire disk (361); and the second drive wire structure (342) is tautly sleeved between the second transmission wheel (336) and the second output wire disk (371).

4. The bipedal humanoid robot leg according to claim 3, characterized in that: The movement control component part (33) further includes a thigh driving device (331). At the output end of the thigh driving device (331), a thigh transmission pulley (334) is respectively arranged. The first rotation driving device (332) and the second rotation driving device (333) are oppositely arranged on both sides of the thigh structure (31), and the thigh driving device (331) is arranged at the rear side of the top of the thigh structure (31). The first rotation driving device (332) and the second rotation driving device (333) are respectively connected to both sides of the thigh driving device (331). The thigh transmission pulley (334) is a bevel gear structure. At least one bevel gear disk is arranged at the top of the thigh structure (31), and the bevel gear structure is matched with the bevel gear disk.

5. The biped humanoid robot leg according to claim 3 or 4, characterized in that: The foot plate structure (35) has a narrow foot plate body (351). The narrow foot plate body (351) has a front foot plate part (352), a rear heel plate part (353) and a foot heart part (354). The front foot plate part (352) and the rear heel plate part (353) are respectively arranged on both sides of the foot heart part (354). The second output wire reel (371) is fixedly installed on the foot heart part (354). Touching ground end heads (355) are arranged at two opposite ends of the front foot plate part (352) and the rear heel plate part (353). The lower side of the foot heart part (354) is suspended, and an arc-shaped installation part (356) is arranged on the upper side of the foot heart part (354). The side surface of the second output wire reel (371) is installed in the arc-shaped installation part (356). An ankle joint rotating shaft structure (372) is arranged at the center of the second output wire reel (371), and both ends of the ankle joint rotating shaft structure (372) are rotationally installed at the bottom of the calf structure (32) through bearing structures.

6. The biped humanoid robot leg according to claim 5, wherein: The knee joint structure (36) further includes a knee joint rotating support shaft (362). Both ends of the knee joint rotating support shaft (362) are rotationally installed at the bottom of the thigh structure (31) through bearing structures. An intermediate wire reel (363) is also rotationally installed on the knee joint rotating support shaft (362) through a bearing structure. The first output wire reel (361) is fixedly installed on the knee joint rotating support shaft (362), and the first output wire reel (361) and the intermediate wire reel (363) are arranged side by side. The side surface of the first output wire reel (361) is fixedly connected to the top of the calf structure (32).

7. The biped humanoid robot leg according to claim 6, wherein: The first transmission pulley (335) and the second transmission pulley (336) are chain wheels or synchronous belt wheels. The first driving cable structure (341) and the second driving cable structure (342) are both composed of a chain or a synchronous belt and metal cables respectively connected to both ends of the chain or the synchronous belt. The chain or the synchronous belt is matched with the chain wheel or the synchronous belt wheel. The other ends of the two metal cables are fastened to the output wire reel structure and / or the driven control part, and at least one metal cable is fastened and installed on the output wire reel structure and / or the driven control part through a tensioning adjustment structure (5).

8. The biped humanoid robot leg according to claim 7, characterized in that: The tension adjustment structure (5) comprises an adjustment screw (51) and a compression adjustment nut structure (52), wherein the compression adjustment nut structure (52) is sleeved on the adjustment screw (51), and the front end of the adjustment screw (51) is connected to a metal cable, and a cable end holder is provided on the output cable drum structure and / or the driven control component, and the compression adjustment nut structure (52) is clamped on the cable end holder.

9. The bipedal humanoid robot leg according to any one of claims 3, 4, 6, 7 or 8, characterized in that: The first rotation drive device (332) and the second rotation drive device (333) are arranged opposite to each other, and a first output shaft structure and a second output shaft structure are respectively installed at the output ends of the first rotation drive device (332) and the second rotation drive device (333), the first output shaft structure and the second output shaft structure are coaxial and opposite to each other, and a coaxial stabilizing kit structure (6) is also installed between the first output shaft structure and the second output shaft structure, and the first transmission wheel disc (335) and the second transmission wheel disc (336) are respectively connected to the first rotation drive device (332) and the second rotation drive device (333) through the first output shaft structure and the second output shaft structure.

10. The biped humanoid robot leg according to claim 9, wherein: The coaxial stabilizing sleeve structure (6) comprises a stabilizing sleeve (61) and a tensioning screw structure (64); one end of the stabilizing sleeve (61) is connected to the side of the first transmission wheel (335); the other end of the stabilizing sleeve (61) is provided with a bearing installation cavity (62); a rotating bearing structure (63) is installed in the bearing installation cavity (62); and the rotating bearing structure (63) is sleeved on the end of the second output shaft structure; A mounting through hole is provided at the center of the first output shaft structure, a mounting threaded hole is provided at the center of the second output shaft structure, the tensioning screw structure (64) passes through the mounting through hole and cooperates with the mounting threaded hole, and a thrust bearing structure (65) is provided between the nut of the tensioning screw structure (64) and the side wall of the first output shaft structure.

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