Robot joint driving mechanism, robot lower limb and footed humanoid robot

Abstract

The present invention relates to a robot joint drive mechanism, a robot lower limb and a footed humanoid robot. The main scheme adopted is: the robot joint drive mechanism includes a first joint component, a second joint component and at least one linear drive; the second joint component is connected to the first joint component to form a joint of the robot; each linear drive has a first end and a second end arranged oppositely; the first end of the linear drive is connected to the first joint component, and the second end is connected to the second joint component, so as to adjust the angle of the joint under the drive of the linear drive; a triangular electric drive structure is formed between the first joint component, the second joint component, and each linear drive. A robot lower limb includes the above-mentioned robot joint drive mechanism. A footed humanoid robot includes the above-mentioned robot lower limb. The present invention is mainly used to improve the energy efficiency ratio of the robot joint drive mechanism, reduce the manufacturing cost of the footed robot, and realize the industrialization and large-scale application of large-scale footed robots.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot joint driving mechanism, a robot lower limb and a foot-type humanoid robot. Background Art

[0002] A legged (bipedal or multi-legged) humanoid robot is a robot that imitates the movement characteristics of humans such as standing, walking and jumping. Legged humanoid robots involve the cross-integration of multiple disciplines (such as bionics, electromechanical control theory, mechanical design and manufacturing, computer science, sensor technology, etc.). Legged humanoid robots are multi-joint systems; and the research on joint drive of legged humanoid robots is a difficult problem in academia and industry at home and abroad.

[0003] At present, there are mainly two types of joint drive components for foot-type humanoid robots:

[0004] The first type: using industrial servo motors or digital servos to drive the joint movement of the robot; specifically, placing the motor at the rotation point of the robot joint to achieve the driven joint movement. For example, ASIMO of Honda of Japan, iCub of the European open source robot, HIT of Harbin Institute of Technology, KDW of National University of Defense Technology, BHR of Beijing Institute of Technology, THBIP of Tsinghua University, etc.; although these legged robots have different specifications and performances, the joint drive design ideas are consistent. In addition, this drive method is a commonly used drive method for legged robots.

[0005] The second type: using a hydraulic system to drive the joint movement of the robot (specifically, the hydraulic pump pushes the liquid as power, the pressure pump is placed in other parts of the robot, such as the waist, and only the liquid propulsion device is placed between the joint bones); such as the ATLAS-1 and Petman series of Boston Dynamics in the United States.

[0006] However, the inventors of the present invention have found that the above-mentioned joint driving method has at least the following technical problems:

[0007] (1) The motors in industrial servo motors or digital servos are joint circular rotating structures, which have the following practical engineering problems that cannot be overcome: First, low energy efficiency: Since the deceleration and transmission mechanisms are often of large mass, most of the energy is consumed in the motor joints. Second, high cost: The joints require huge torsional force, so high transmission gear processing accuracy is required, resulting in high production and manufacturing costs, which greatly hinders the application of legged robots.

[0008] (2) The hydraulic system has difficult-to-overcome engineering and technical problems such as complex control systems and large hydraulic system volumes. In addition, the large size and redundancy of the hydraulic system make its cost extremely high, making it difficult to achieve large-scale commercialization and civilian use. Summary of the invention

[0009] In view of this, the present invention creatively provides a robot joint drive mechanism, a robot lower limb and a footed humanoid robot, the main purpose of which is to improve the energy efficiency of the robot joint drive mechanism, reduce the manufacturing cost of the footed humanoid robot, and realize the industrialization and large-scale application of large-scale footed humanoid robots.

[0010] In order to achieve the above object, the present invention mainly provides the following technical solutions:

[0011] On the one hand, an embodiment of the present invention provides a robot joint driving mechanism, wherein it comprises:

[0012] first joint;

[0013] a second joint component, the second joint component being connected with the first joint component to form a joint of the robot;

[0014] At least one linear actuator, each of the linear actuators having a first end and a second end disposed opposite to each other; wherein the first end of the linear actuator is connected to the first joint component, and the second end is connected to the second joint component, so as to adjust the relative angle between the first joint component and the second joint component under the drive of the linear actuator;

[0015] Wherein, the first joint component, the second joint component, and each of the linear actuators form a triangle structure.

[0016] The purpose of the present invention and the solution to its technical problems can be further achieved by adopting the following technical measures.

[0017] Preferably, the first joint component and the second joint component are connected via a first connecting component; wherein the first connecting component comprises any one of a ball joint, a revolute joint and a Hooke's joint; and / or the first end of the linear drive is connected to the first joint component via a second connecting component; wherein the second connecting component comprises a ball joint or a revolute joint; and / or the second end of the linear drive is connected to the second joint component via a third connecting component; the third connecting component comprises a ball joint or a revolute joint.

[0018] Preferably, the linear drive is an electric linear drive; and / or the linear drive is a pen holder type structure.

[0019] Preferably, the linear drive comprises:

[0020] Pencil holder sleeve,

[0021] A push rod, the push rod having a first end and a second end arranged opposite to each other; wherein the first end of the push rod extends into the pen barrel sleeve, and the second end of the push rod is located outside the pen barrel sleeve;

[0022] A driving mechanism, the driving mechanism is installed in the pen holder sleeve, and the driving mechanism is connected to the push rod;

[0023] Preferably, the driving mechanism comprises a DC motor; a planetary reduction mechanism is installed in the push rod; wherein the planetary reduction mechanism is drivingly connected to the driving shaft of the motor, and is used to convert the rotational motion of the motor into the linear motion of the push rod;

[0024] Preferably, the linear drive also includes a Hall device; wherein the Hall device is installed in the pen holder sleeve, and the position, speed and acceleration of the push rod are detected by detecting the magnetic field changes of the magnet on the motor.

[0025] Furthermore, based on the application of the above-mentioned robot joint driving mechanism in different leg joints, an embodiment of the present invention provides a robot lower limb structure and driving solution, wherein the robot lower limb includes the robot joint driving mechanism described in any one of the above items, and the specific connection method within the joint driving structure is designed and adjusted accordingly according to each joint.

[0026] Preferably, the robot's lower limbs include: a waist, legs and soles; wherein the legs include thighs and calves; wherein,

[0027] The thigh and waist are connected via a Hooke's joint, and the connection between the thigh and waist constitutes a hip joint of the robot;

[0028] The thigh and the shank are connected via a revolute pair, and the connection between the thigh and the shank constitutes a knee joint of the robot;

[0029] The shank and the sole are connected via a Hooke's joint, and the connection between the shank and the sole constitutes an ankle joint of the robot;

[0030] Preferably, the robot has two legs and two feet on its lower limbs, and they are symmetrical about the robot's central axis.

[0031] Preferably, the joint drive mechanism includes an ankle joint drive mechanism; wherein the first joint component of the ankle joint drive mechanism is the calf, and the second joint component of the ankle joint drive mechanism is the sole; and the ankle joint drive mechanism includes two linear actuators, one of which is used to adjust and control the forward and backward rotation angle of the calf and / or the sole around the ankle joint; and the other linear actuator is used to adjust and control the left and right rotation angle of the calf and / or the sole around the ankle joint. Preferably, when the linear actuator includes a pen holder sleeve and a push rod, the second end of the push rod is connected to the calf, and the end of the pen holder sleeve away from the push rod is connected to the sole.

[0032] Preferably, the joint driving mechanism includes a knee joint driving mechanism; wherein, the first joint component of the knee joint driving mechanism is the thigh, and the second joint component of the knee joint driving mechanism is the calf; and the knee joint driving mechanism includes a linear driver for adjusting and controlling the forward and backward rotation angle of the thigh and / or calf around the knee joint; preferably, when the linear driver includes a pen holder-type sleeve and a push rod, the second end of the push rod is connected to the thigh, and the end of the pen holder-type sleeve away from the push rod is connected to the calf.

[0033] Preferably, the joint drive mechanism includes a hip joint drive mechanism, wherein the first joint component of the hip joint drive mechanism is the thigh and the second joint component of the hip joint drive mechanism is the waist; and the hip joint drive mechanism includes two linear drives; wherein one of the linear drives is used to adjust and control the forward and backward rotation angle of the waist and / or thigh around the hip joint; and the other linear drive is used to adjust and control the left and right rotation angle of the waist and / or thigh around the hip joint; preferably, when the linear drive includes a pen holder and a push rod, the second end of the push rod is connected to the thigh, and the end of the pen holder away from the push rod is connected to the waist.

[0034] On the other hand, an embodiment of the present invention further provides a footed humanoid robot, wherein the footed humanoid robot includes the robot lower limbs described in any one of the above items.

[0035] Compared with the prior art, the robot joint drive mechanism, robot lower limb and footed humanoid robot of the present invention have at least the following beneficial effects:

[0036] Different from the joint drive mechanism of the prior art (the traditional joint drive uses a rotary motor, and the motor is placed at the joint rotation point and only performs rotational motion), the robot joint drive mechanism provided by the embodiment of the present invention enables each linear drive to form a triangular structure with the first joint part and the second joint part, and the linear drive not only changes its own length, but also drives the first joint part and the second joint part to perform circular motion with the connection as the axis. In addition, the linear drive also plays a supporting and stabilizing role. Therefore, the joint drive mechanism provided by this embodiment is a new type of robot joint drive method. And the advantages of this new type of joint drive method of this embodiment are: (1) High energy efficiency ratio: The joint drive method of this embodiment is more in line with the principle of human bionics and has a very high energy efficiency ratio; (2) Low cost: Due to the high energy efficiency ratio and excellent structural performance, the robot drive joint has greatly reduced the processing accuracy requirements, thereby greatly reducing the manufacturing cost of legged (bipedal and multi-legged) robots, making the large-scale application of legged robots possible.

[0037] Furthermore, the linear drive in the embodiment of the present invention is an electric linear drive, so that the robot joint drive mechanism provided by the embodiment is simpler. The linear drive in the embodiment is designed as a pen holder structure, which is convenient for realizing the linear drive of the linear drive, and also convenient for the linear drive to serve as the supporting edge and connecting edge of the first joint part and the second joint part, so that the structural stability of the entire joint drive mechanism is better.

[0038] Furthermore, a Hall device is installed on the motor in the linear drive mechanism in this embodiment to detect changes in the magnetic field in the motor and obtain the number of revolutions of the motor, which can be used as position feedback to accurately detect the position, speed and acceleration of the control push rod, thereby achieving precise control of the position, speed and acceleration of the push rod, and ultimately achieving precise control of the robot's bipedal walking posture and other movement postures.

[0039] On the other hand, an embodiment of the present invention provides a robot lower limb and a footed humanoid robot, which includes the above-mentioned joint drive mechanism. Therefore, the robot lower limb and the footed humanoid robot of the embodiment of the present invention have the beneficial effects described in any one of the above-mentioned items, which will not be elaborated here one by one.

[0040] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a structural schematic diagram of an ankle joint driving mechanism of a footed humanoid robot provided by an embodiment of the present invention;

[0042] Figure 2 is another structural schematic diagram of an ankle joint driving mechanism of a footed humanoid robot provided by an embodiment of the present invention;

[0043] Figure 3 is a structural schematic diagram of a knee joint driving mechanism of a footed humanoid robot provided by an embodiment of the present invention;

[0044] Figure 4 is a structural schematic diagram of a hip joint driving mechanism of a footed humanoid robot provided by an embodiment of the present invention;

[0045] Figure 5 A schematic diagram of a control module of a legged humanoid robot system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention application are described in detail below in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures, or characteristics in one or more embodiments may be combined in any suitable form.

[0047] Example 1

[0048] On the one hand, this embodiment provides a robot joint driving mechanism. Figure 1 The ankle joint driving mechanism of the legged robot shown in FIG. 1 is used as an example to illustrate that the robot joint in this embodiment includes: a first joint component (such as Figure 1 The lower leg 1 shown), the second joint member (such as Figure 1 The second joint part is connected with the first joint part to form a joint of the robot (here, the formed joint has at least one degree of freedom; as shown in FIG. Figure 1 As shown, the calf 1 and the sole 2 are connected to form the ankle joint of the robot. Each linear actuator 3 has a first end and a second end that are arranged opposite to each other; wherein the first end of the linear actuator 3 is connected to the first joint component, and the second end is connected to the second joint component, so that the relative angle between the first joint component and the second joint component can be adjusted under the drive of the linear actuator 3; wherein the first joint component, the second joint component, and each linear actuator 3 form a triangular electric drive structure.

[0049] Different from the joint drive mechanism of the prior art (the traditional joint drive adopts a rotary motor, and the motor is placed at the joint rotation point and only performs rotational motion), the robot joint drive mechanism provided in this embodiment enables each linear drive 3 to form a triangular structure with the first joint part and the second joint part, and the linear drive 3 not only changes its own length, but also performs circular motion around the first joint part and the second joint part with the connection as the axis; in addition, the linear drive 3 also plays a supporting and stabilizing role. Therefore, the joint drive mechanism provided in this embodiment is a new type of drive mode. And the advantages of this new type of joint drive mode in this embodiment are: (1) High energy efficiency ratio: The joint drive mode of this embodiment is more in line with the principle of human bionics and has a very high energy efficiency ratio; (2) Low cost: Due to the high energy efficiency ratio and excellent structural performance, the robot drive joint has greatly reduced the processing accuracy requirements, thereby greatly reducing the manufacturing cost of legged (bipedal and multi-legged) robots, making the large-scale application of legged robots possible.

[0050] In summary, the technological breakthrough brought about by the new joint drive architecture design in this embodiment enables large-scale legged robots to stand stably and walk efficiently, and greatly changes the requirements of large-scale legged robots for traditional reduction gear torque and mechanical precision, thereby greatly reducing the manufacturing cost of the robot and greatly accelerating the commercialization process of large-scale legged robots.

[0051] Preferably, the first joint component and the second joint component in this embodiment and the following embodiments are connected by a first connecting member, wherein the first connecting member includes any one of a ball joint, a revolute joint, and a Hooke joint. Here, the corresponding connection structure is selected according to the degree of freedom of the joint.

[0052] Preferably, the first end (i.e., the push rod end) of the linear drive 3 in this embodiment and the following embodiments is connected to the first joint part through a second connecting member; wherein the second connecting member includes a ball head pair or a revolute pair; the second end (i.e., the pen holder sleeve end) of the linear drive 3 is connected to the second joint part through a third connecting member; wherein the third connecting member includes a ball head pair or a revolute pair.

[0053] Example 2

[0054] Preferably, this embodiment provides a robot joint driving mechanism, compared with the previous embodiment, such as Figure 1 As shown, this embodiment is further designed as follows:

[0055] Preferably, the linear drive 3 in this embodiment is an electric linear drive to make the robot joint drive mechanism provided by this embodiment simpler. The linear drive 3 in this embodiment is designed as a pen holder structure, which is convenient for realizing the linear drive of the linear drive 3 and for making the linear drive 3 as the supporting edge and connecting edge of the first joint part and the second joint part, so that the structural stability of the entire joint drive mechanism is better.

[0056] Preferably, the structure of the linear drive 3 in this embodiment is specifically designed as follows: the linear drive includes a pen barrel sleeve 31, a push rod 32 and a driving mechanism; wherein the push rod 32 has a first end and a second end arranged oppositely; wherein the first end of the push rod 32 extends into the pen barrel sleeve 31, and the second end of the push rod 32 is located outside the pen barrel sleeve 31. The driving mechanism is installed in the pen barrel sleeve 31, and the driving mechanism is connected to the first end of the push rod 32, driving the push rod 32 to perform linear motion along the straight line where the first end and the second end of the push rod are located. Preferably, the driving mechanism includes a motor (preferably a DC motor); a planetary reduction mechanism is installed in the push rod; wherein the planetary reduction mechanism is connected to the drive shaft of the motor to convert the rotational motion of the motor into the linear motion of the push rod. The planetary reduction mechanism consists of a sun gear system plus a group or multiple groups of planetary gears (a group is three), which can maintain a relatively high accuracy during high-speed operation, and the volume of the planetary reducer is very small relative to its output torque. The planetary reducer is a precision reducer; the sun gear is connected to the motor through a coupling. Specifically, the motor is driven and connected to the planetary reduction mechanism; the planetary reduction mechanism is driven and connected to the screw (the screw is installed inside the push rod) to drive the screw to rotate; a nut is mounted on the screw, wherein the nut is connected to the push rod so that the rotating screw pushes the push rod to move linearly relative to the pen holder sleeve.

[0057] Here, this embodiment applies the pen holder type electric linear drive to the angle drive of the robot's lower limb joints for the first time; and the electric linear drive in this embodiment is also different from the screw linear motor in the prior art. The existing screw linear motor is large in size and complex in structure, which leads to the need for more connecting components in actual engineering design to convert the driving force into the required motion force; for example, it is usually necessary to design a connecting piece to connect and match the slider and the driven part. In addition, the screw of this type of design only plays a guiding role, not a driving role. The electric linear drive in this embodiment only needs to install a motor in the pen holder and a planetary reduction mechanism in the push rod, so that the motor and the planetary reduction mechanism are driven and connected to realize the conversion of the motor's rotational motion into the linear motion of the push rod. It can be seen that the electric linear drive in this embodiment has a simple structure, small size, light weight, large bearing capacity and long service life.

[0058] Preferably, a Hall device is installed on the motor in the linear drive mechanism in this embodiment (preferably, the Hall device is installed at the tail of the motor; the Hall device includes a Hall element and a Hall circuit board). Preferably, the Hall device is installed in the pen holder, and a magnet is installed at the tail of the motor, the magnet is sleeved on the motor rotor shaft, and the Hall device is sleeved outside the magnet and does not contact the magnet, that is, there is a gap between the Hall device and the magnet; by detecting the magnetic field change of the magnet installed on the motor, the position, speed, and acceleration of the push rod are detected, and the position, speed, and acceleration of the push rod are precisely controlled, and finally the joint movement of the robot is precisely controlled.

[0059] Example 3

[0060] On the other hand, this embodiment provides a robot lower limb, wherein the robot lower limb comprises any one of the above-mentioned joint drive mechanisms, wherein the joint drive mechanisms include ankle joint drive mechanisms, knee joint drive mechanisms and hip joint drive mechanisms.

[0061] The robot lower limb provided in this embodiment adopts the joint driving mechanism provided in the above embodiment, so that the robot lower limb is more in line with the human bionics principle and has a very high energy efficiency ratio; due to the high energy efficiency ratio and excellent structural performance, the robot driving joint has greatly reduced the processing accuracy requirements, thereby greatly reducing the manufacturing cost of the robot lower limb.

[0062] like Figures 1 to 4 As shown, the robot lower limbs of this embodiment include: a waist 5, legs and soles 2; wherein the legs include a thigh 4 and a calf 1; wherein the thigh 4 and the waist 5 are connected by a Hooke's pair, and the connection between the thigh 4 and the waist 5 constitutes the hip joint of the robot. The thigh 4 and the calf 1 are connected by a revolute pair, and the connection between the thigh 4 and the calf 1 constitutes the knee joint of the robot. The calf 1 and the sole 2 are connected by a Hooke's pair, and the connection between the calf 1 and the sole 2 constitutes the ankle joint of the robot.

[0063] Here, the robot lower limbs in this embodiment are the lower limbs of a bipedal or multi-legged robot. Preferably, the robot lower limbs in this embodiment are the lower limbs of a bipedal humanoid robot; accordingly, the robot lower limbs have two legs and two soles, which are connected one-to-one, that is, each leg is connected to the corresponding sole.

[0064] Example 4

[0065] Preferably, this embodiment provides a robot lower limb. Compared with Embodiment 3, this embodiment mainly designs the ankle joint drive mechanism in the robot lower limb as follows:

[0066] like Figure 1 and Figure 2As shown, the first joint member of the ankle joint drive mechanism is the shank 1, and the second joint member of the ankle joint drive mechanism is the sole 2; the ankle joint formed between the shank 1 and the sole 2 has two degrees of freedom, and the ankle joint drive mechanism includes two linear actuators 3 (see Figure 2 , Figure 2 The ankle joint drive mechanism of the foot-type robot shown in the figure is used to drive the shank component on the ankle joint to rotate in two mutually perpendicular planes, and can drive the shank to rotate freely in two perpendicular planes), wherein a linear drive 3 is used to adjust the forward and backward rotation angle of the shank and / or the sole of the foot around the ankle joint (see Figure 2 , the linear drive 3 is connected to the front of the calf 1); another linear drive is used to adjust the left and right rotation angle of the calf and / or the sole around the ankle joint (see Figure 2 , the linear drive 3 is hinged to the side of the lower leg).

[0067] It should be noted here that the "front and back" and "left and right" mentioned in this embodiment correspond to the front and back, left and right of the humanoid robot; that is, the "front and back rotation angle" refers to the angle of rotation of the joint in the front and back direction of the robot, and the "left and right rotation angle" refers to the angle of rotation of the joint in the left and right direction of the robot.

[0068] Preferably, when the second end of the push rod in the linear drive 3 is connected to the calf 1, the end of the pen holder sleeve away from the push rod is connected to the sole 2; here, such an arrangement can make the driving movement of the ankle joint driving mechanism more stable.

[0069] Example 5

[0070] Preferably, this embodiment provides a robot lower limb, and this embodiment mainly designs the knee joint drive mechanism in the robot lower limb as follows:

[0071] like Figure 3 As shown, the first joint component of the knee joint drive mechanism is the thigh 4, and the second joint component of the knee joint drive mechanism is the calf 1; the knee joint formed by the thigh 4 and the calf 1 has one degree of freedom, and the knee joint drive mechanism includes a linear drive 3 for adjusting the front and rear rotation angle of the thigh and / or calf around the knee joint. Preferably, one end of the linear drive 3 is connected to the rear of the thigh 4, and the other end of the linear drive 3 is connected to the rear of the calf 1.

[0072] Preferably, when the second end of the push rod in the linear drive is connected to the thigh 4, the end of the pen holder sleeve away from the push rod is connected to the calf 1; here, such an arrangement can make the driving movement of the knee joint drive mechanism more stable.

[0073] It should be noted here that the "front and back" mentioned in this embodiment corresponds to the front and back of the humanoid robot; that is, the "front and back rotation angle" refers to the angle of rotation of the joint in the front and back direction of the robot.

[0074] Example 6

[0075] Preferably, this embodiment provides a robot lower limb, and this embodiment mainly designs the hip joint drive mechanism in the robot lower limb as follows:

[0076] like Figure 5 As shown, the first joint component of the hip joint drive mechanism is the thigh 4, and the second joint component of the hip joint drive mechanism is the waist 5; and the hip joint drive mechanism includes two linear drives; wherein, one of the linear drives is used to adjust the front and rear rotation angles of the waist 5 and / or thigh 4 around the hip joint (preferably, one end of the linear drive is connected to the front side of the thigh 4); and the other linear drive is used to adjust the left and right rotation angles of the waist 5 and / or thigh 4 around the hip joint (preferably, one end of the linear drive is connected to the inner side of the thigh 4).

[0077] Preferably, when the linear actuator includes a pen-tube sleeve and a push rod, the second end of the push rod is connected to the thigh 4, and the end of the pen-tube sleeve away from the push rod is connected to the waist 5 through a ball joint.

[0078] It should be noted here that the "front and back" and "left and right" mentioned in this embodiment correspond to the front and back, left and right of the humanoid robot; that is, the "front and back rotation angle" refers to the angle of rotation of the joint in the front and back direction of the robot, and the "left and right rotation angle" refers to the angle of rotation of the joint in the left and right direction of the robot.

[0079] Example 7

[0080] On the other hand, the present embodiment provides a footed humanoid robot, wherein the footed humanoid robot includes the robot lower limbs described in any one of Embodiments 3 to 6.

[0081] Here, the footed humanoid robot provided in this embodiment adopts the robot lower limbs of any one of Examples 3 to 6, so that the robot is more in line with the principles of human bionics and has a higher energy efficiency ratio; due to the high energy efficiency ratio and excellent structural performance, the processing accuracy requirements of the driving joints of the footed robot are greatly reduced, thereby reducing the cost of the footed robot and making large-scale application of the footed robot possible.

[0082] Preferably, the legged robot in this embodiment is a bipedal humanoid robot or a multi-legged humanoid robot.

[0083] Preferably, if Figure 5As shown, the legged humanoid robot of this embodiment also includes a robot control module, which includes: a robot system main control board, a motion control board, other control and perception modules, and a power supply module; wherein the power supply module is used to provide power to the robot control module. The motion control module is connected to the robot main control board to control the linear drive in the robot joint drive mechanism.

[0084] To sum up, the technological breakthrough brought about by the new robot joint drive mechanism design in this embodiment enables large-scale legged robots to stand stably and walk efficiently, and greatly changes the requirements of large-scale legged robots for traditional reduction gear torque and mechanical precision, thereby greatly reducing the manufacturing cost of the robot and greatly accelerating the commercialization process of large-scale legged robots.

[0085] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0086] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A robot joint driving mechanism, characterized in that: It includes: first joint; a second joint component, the second joint component being connected with the first joint component to form a joint of the robot; At least one linear actuator, each of the linear actuators having a first end and a second end disposed opposite to each other; wherein the first end of the linear actuator is connected to the first joint component, and the second end is connected to the second joint component, so as to adjust the relative angle between the first joint component and the second joint component under the drive of the linear actuator; Wherein, the first joint component, the second joint component, and each of the linear actuators form a triangle structure.

2. The robot joint driving mechanism according to claim 1, characterized in that: The first joint component and the second joint component are connected via a first connecting member; wherein the first connecting member comprises any one of a ball joint, a revolute joint, and a Hooke's joint; and / or The first end of the linear actuator is connected to the first joint through a second connecting member; wherein the second connecting member comprises a ball joint or a revolute joint; and / or The second end of the linear drive is connected to the second joint component via a third connecting member; wherein the third connecting member comprises a ball joint or a revolute joint.

3. The robot joint driving mechanism according to claim 1 or 2, characterized in that: The linear drive is an electric linear drive; and / or the linear drive is a pen holder type structure.

4. The robot joint driving mechanism according to claim 3, characterized in that: The linear drive comprises: Pencil holder sleeve, A push rod, the push rod having a first end and a second end arranged opposite to each other; wherein the first end of the push rod extends into the pen barrel sleeve, and the second end of the push rod is located outside the pen barrel sleeve; A driving mechanism is installed in the pen holder sleeve and is connected to the push rod.

5. The robot joint driving mechanism according to claim 4, characterized in that: The driving mechanism includes a DC motor; a planetary reduction mechanism is installed in the push rod; wherein the planetary reduction mechanism is drivingly connected to the driving shaft of the DC motor and is used to convert the rotational motion of the DC motor into the linear motion of the push rod.

6. The robot joint driving mechanism according to claim 5, characterized in that: The linear drive also includes a Hall device, wherein the Hall device is installed in the pen holder sleeve, and detects the position, speed and acceleration of the push rod by detecting the magnetic field changes of the magnet installed on the DC motor.

7. A robot lower limb, characterized in that: The robot lower limb comprises the robot joint driving mechanism according to any one of claims 1-4.

8. The robot lower limb according to claim 7, characterized in that: The robot's lower limbs include: a waist, legs and soles; the legs include thighs and calves; wherein, The thigh and waist are connected via a Hooke's joint, and the connection between the thigh and waist constitutes a hip joint of the robot; The thigh and the shank are connected via a revolute pair, and the connection between the thigh and the shank constitutes a knee joint of the robot; The shank and the sole are connected via a Hooke's joint, and the connection between the shank and the sole constitutes an ankle joint of the robot.

9. The robot lower limb according to claim 8, characterized in that: The joint drive mechanism includes an ankle joint drive mechanism; wherein the first joint component of the ankle joint drive mechanism is the calf, and the second joint component of the ankle joint drive mechanism is the sole of the foot; wherein the ankle joint drive mechanism includes two linear drives, one of which is used to adjust and control the forward and backward rotation angle of the calf around the ankle joint, and / or one of which is used to adjust and control the forward and backward rotation angle of the sole of the foot around the ankle joint; the other linear drive is used to adjust and control the left and right rotation angle of the calf around the ankle joint, and / or the other linear drive is used to adjust and control the left and right rotation angle of the sole of the foot around the ankle joint.

10. The robot lower limb according to claim 9, characterized in that: When the linear drive comprises a pen-tube-type sleeve and a push rod, the second end of the push rod is connected to the calf, and the end of the pen-tube-type sleeve away from the push rod is connected to the sole of the foot.

11. The robot lower limb according to claim 8, characterized in that: The joint driving mechanism includes a knee joint driving mechanism; wherein the first joint component of the knee joint driving mechanism is the thigh, and the second joint component of the knee joint driving mechanism is the calf; wherein the knee joint driving mechanism includes a linear driver for adjusting and controlling the forward and backward rotation angle of the thigh around the knee joint, and / or for adjusting and controlling the forward and backward rotation angle of the calf around the knee joint.

12. The robot lower limb according to claim 11, characterized in that: When the linear drive includes a pen-tube-type sleeve and a push rod, the second end of the push rod is connected to the thigh, and the end of the pen-tube-type sleeve away from the push rod is connected to the calf.

13. The robot lower limb according to claim 8, characterized in that: The joint drive mechanism includes a hip joint drive mechanism, wherein the first joint component of the hip joint drive mechanism is the thigh and the second joint component of the hip joint drive mechanism is the waist; wherein the hip joint drive mechanism includes two linear drives; one of the linear drives is used to adjust and control the front and rear rotation angle of the thigh around the hip joint, and / or one of the linear drives is used to adjust and control the front and rear rotation angle of the waist around the hip joint; the other linear drive is used to adjust and control the left and right rotation angle of the thigh around the hip joint, and / or the other linear drive is used to adjust and control the left and right rotation angle of the waist around the hip joint.

14. The robot lower limb according to claim 13, characterized in that: When the linear actuator comprises a pen-tube-type sleeve and a push rod, the second end of the push rod is connected to the thigh, and the end of the pen-tube-type sleeve away from the push rod is connected to the waist.

15. A foot-type humanoid robot, characterized in that: The footed humanoid robot comprises the robot lower limbs as described in any one of claims 7-14.

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