Leg structure and robot

Abstract

The application discloses a leg structure and a robot, and relates to the technical field of robots. The leg structure comprises a lower leg part, a driving part, a foot part, a first transmission part and a second transmission part. The driving part is arranged on the lower leg part and close to the knee joint above the lower leg part; the foot part is provided with a first hinge and a second hinge; the first transmission part is connected with the driving part and the first hinge; the second transmission part is connected with the first transmission part and the second hinge, and is used for transmitting the movement of the first transmission part to the foot part to make the foot part move. The leg structure provided by the application transmits the power of the driving part to the foot part through the first transmission part and the second transmission part, so that the foot part moves. In this way, the driving part is arranged at the upper half of the leg structure, the center of mass of the leg structure is improved, and the inertia of the leg structure is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a leg structure and a robot. BACKGROUND

[0002] With the development of science and technology, humanoid robot technology develops rapidly, which brings great convenience to people's life and production. Among them, the biped has been an important part of humanoid robots. At present, the small leg mechanism of the humanoid robot usually adopts a series mechanism design, and the driving motor is usually arranged at the ankle joint in the series mechanism, which will cause the center of gravity of the leg to move downward and the problem of large rotational inertia. SUMMARY

[0003] Therefore, the purpose of the present application is to overcome the deficiencies in the prior art, and the present application provides a leg structure to solve the technical problems of low center of gravity of the small leg and large rotational inertia in the prior art.

[0004] The present application provides:

[0005] A leg structure, comprising:

[0006] a small leg portion;

[0007] a driving portion arranged on the small leg portion and close to the knee joint above the small leg portion;

[0008] a foot portion provided with a first hinge member and a second hinge member;

[0009] a first transmission portion connected with the driving portion and the first hinge member;

[0010] a second transmission portion connected with the first transmission portion and the second hinge member, for transmitting the movement of the first transmission portion to the foot portion to move the foot portion.

[0011] In addition, the leg structure according to the present application can also have the following additional technical features:

[0012] In some embodiments of the present application, the driving portion, the first transmission portion and the second transmission portion are each provided with two;

[0013] wherein the two driving portions are symmetrically arranged on the small leg portion, one first transmission portion and one second transmission portion are located on the same side of one driving portion, and the other first transmission portion and the other second transmission portion are located on the same side of the other driving portion.

[0014] In some embodiments of the present application, the lower leg part comprises a first support and a second support, the first support is connected with the second support in a vertical direction, the first support is above the second support, and two driving parts are symmetrically arranged on the first support; two first transmission parts are symmetrically arranged on the second support and are respectively connected with the second support in a sliding manner, and two second transmission parts are symmetrically arranged on the second support.

[0015] In some embodiments of the present application, the first transmission part comprises a lead screw, a nut, a first fixing seat and a second fixing seat, the first fixing seat is connected with the first support and the second support respectively, the nut is arranged in the second fixing seat and is sleeved on the lead screw;

[0016] The lead screw is arranged in the second fixing seat and the first fixing seat, one end of the lead screw is connected with the output end of the driving part, and the other end is rotationally connected with the first hinge piece;

[0017] The second transmission part is connected with the second fixing seat, and the second fixing seat is connected with the second support in a sliding manner.

[0018] In some embodiments of the present application, the second fixing seat comprises a seat body and a connecting plate, the seat body is provided with a mounting cavity for mounting the nut, and the outside of the seat body is connected with the connecting plate, and the second transmission part is connected with the connecting plate;

[0019] The second support is provided with a guide rail, and the connecting plate is provided with a sliding block connected with the guide rail in a sliding manner.

[0020] In some embodiments of the present application, both ends of the guide rail are respectively provided with a limiting block for limiting the sliding block from being separated from the guide rail.

[0021] In some embodiments of the present application, the first support has a plurality of first hollow holes, and / or the second support has a plurality of second hollow holes.

[0022] In some embodiments of the present application, the second transmission part comprises a connecting rod and two rod end bearings, one end of the connecting rod is connected with the first transmission part through one of the rod end bearings, and the other end is connected with the second hinge piece through the other rod end bearing.

[0023] In some embodiments of the present application, the second hinge piece comprises a third shaft seat and a rotating shaft, the third shaft seat is fixed on the foot part, the rotating shaft is rotationally arranged on the third shaft seat, and the end of the rotating shaft is connected with the second transmission part.

[0024] In some embodiments of the present application, the first hinge comprises a first shaft seat, a cross shaft and a second shaft seat;

[0025] The first shaft seat is fixed on the foot and has a first U-shaped opening, two opposite side walls of the first U-shaped opening are provided with first shaft holes;

[0026] The second shaft seat is connected with the first transmission part and has a second U-shaped opening, the second U-shaped opening is arranged opposite to the first U-shaped opening, and two opposite side walls of the second U-shaped opening are provided with second shaft holes;

[0027] The cross shaft comprises a first shaft body and a second shaft body arranged orthogonally, the first shaft body is arranged through the two first shaft holes, and the second shaft body is arranged through the two second shaft holes.

[0028] In some embodiments of the present application, the foot comprises a foot plate, a damping part and a bottom plate, the first hinge and the second hinge are arranged on the foot plate, the foot plate is connected with the bottom plate, and the damping part is supported between the foot plate and the bottom plate.

[0029] The present application also provides a robot comprising the leg structure in any of the above embodiments.

[0030] Compared with the prior art, the present application has the beneficial effects that the present application provides a leg structure and a robot, the leg structure comprises a lower leg part, a driving part, a foot, a first transmission part and a second transmission part, the driving part is installed on the lower leg part and close to the knee joint above, and the power of the driving part is transmitted to the foot through the first transmission part and the second transmission part to drive the foot to move. In this way, the driving part is arranged in the upper half of the leg structure, the center of mass of the leg structure is improved, the inertia of the leg structure is reduced, and the problem of large inertia caused by arranging the driving motor at the ankle joint is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced below, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0032] Figure 1 A perspective view of the leg structure provided by some embodiments of the present application is shown;

[0033] Figure 2 An enlarged structure schematic view of part A in Figure 1 ​

[0034] Figure 3 A perspective view of a leg structure is shown according to some embodiments of the present application;

[0035] Figure 4 An assembly view of a foot, a first rotating part and a second rotating part is shown according to some embodiments of the present application;

[0036] Figure 5 A perspective view of a foot is shown according to some embodiments of the present application;

[0037] Figure 6 A partial perspective view of a leg structure is shown according to some embodiments of the present application;

[0038] Figure 7 An exploded view of a lower leg part is shown according to some embodiments of the present application;

[0039] Figure 8 An assembly view of a foot, a first rotating part and a second rotating part is shown according to some embodiments of the present application; Figure 7 An enlarged view of a B part is shown according to some embodiments of the present application;

[0040] Figure 9 An exploded view of a second hinge is shown according to some embodiments of the present application;

[0041] Figure 10 An exploded view of a first hinge is shown according to some embodiments of the present application;

[0042] Figure 11 An exploded view of a first rotating part and a second support is shown according to some embodiments of the present application;

[0043] Figure 12 A perspective view of a foot is shown according to some embodiments of the present application;

[0044] Figure 13 An assembly view of a foot is shown according to some embodiments of the present application; Figure 12 A perspective view of a foot is shown according to some embodiments of the present application;

[0045] Figure 14 An assembly view of a foot is shown according to some embodiments of the present application; Figure 13 A sectional view along a C-C direction is shown according to some embodiments of the present application;

[0046] Figure 15 An assembly view of a foot is shown according to some embodiments of the present application; Figure 14 An enlarged view of a D part is shown according to some embodiments of the present application;

[0047] Figure 16 An assembly view of a foot is shown according to some embodiments of the present application; Figure 13 A sectional view along an E-E direction is shown according to some embodiments of the present application;

[0048] Figure 17 An assembly view of a foot is shown according to some embodiments of the present application; Figure 16 An enlarged view of a F part is shown according to some embodiments of the present application.

[0049] Main element symbol explanation:

[0050] 100 - leg structure; 110 - lower leg; 111 - first support; 1111 - first hollow hole; 1112 - slot; 112 - second support; 1121 - guide rail; 1122 - limiting block; 1123 - second hollow hole; 1124 - positioning column; 1125 - extension; 113 - L-shaped plate; 114 - support plate; 1141 - positioning hole; 1142 - gap; 120 - driving part; 121 - shaft coupling; 130 - first transmission part; 131 - lead screw; 132 - nut; 133 - first fixing seat; 134 - second fixing seat; 1341 - seat body; 1342 - connecting plate; 1343 - sliding block; 1344 - mounting cavity; 135 - lead screw fixing seat; 140 - second transmission part; 141 - connecting rod; 142 - rod end bearing; 150 - first hinged piece; 151 - first shaft seat; 1511 - first U-shaped opening; 1512 - first shaft hole; 152 - cross shaft; 1521 - first shaft body; 1522 - second shaft body; 153 - second shaft seat; 1531 - second U-shaped opening; 1532 - second shaft hole; 154 - clamping block; 155 - first angle sensor; 156 - second angle sensor; 1561 - magnet; 157 - bolt; 160 - second hinged piece; 161 - third shaft seat; 1611 - through hole; 162 - rotating shaft; 1621 - U-shaped structure; 170 - foot; 171 - foot plate; 1711 - clamping groove; 172 - bottom plate; 1721 - protrusion; 173 - damping piece; 174 - pressure sensor; 180 - bearing; 190 - knee joint. DETAILED DESCRIPTION

[0051] Embodiments of the present application are described below in detail with reference to examples thereof illustrated in the accompanying drawings, in which like or similar elements or components throughout the drawings are denoted by the same or similar reference numerals, and any description that is the same or similar can not be repeated. The embodiments described below by reference to the accompanying drawings are exemplary only, and are for the purpose of explaining the present application, and should not be understood as limiting the present application.

[0052] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore should not be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be understood as limiting the present application.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0054] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0055] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0056] like Figures 1 to 3 As shown, an embodiment of this application provides a leg structure 100, mainly used in robots, which can be used as intelligent mobile robots indoors or as intelligent robots outdoors, especially bipedal humanoid robots. The leg structure 100 includes: a lower leg 110, a drive unit 120, a first transmission unit 130, a second transmission unit 140, and a foot 170.

[0057] It should be noted that the leg structure 100 also includes a thigh and a knee joint 190. The thigh is connected to the lower leg 110 through the knee joint 190, and the thigh is located above the lower leg 110.

[0058] This embodiment mainly focuses on the structure of the lower leg 110 and the foot 170 below it.

[0059] The drive unit 120 is disposed on the lower leg 110. At the same time, the drive unit 120 is close to the knee joint 190 above the lower leg 110, so that the drive unit 120 is located in the upper half of the lower leg 110, thereby raising the center of gravity of the leg structure 100 and reducing the moment of inertia.

[0060] Referring to Figure 4 , the foot 170 is provided with a first hinge 150 and a second hinge 160, the first transmission part 130 is connected with the driving part 120, and at the same time, the first transmission part 130 is connected with the first hinge 150 to transmit the power of the driving part 120 to the foot 170. The second transmission part 140 is connected with the first transmission part 130, and at the same time, the second transmission part 140 is connected with the second hinge 160, and the second transmission part 140 is used to transmit the movement of the first transmission part 130 to the foot 170 to make the foot 170 move.

[0061] The leg structure 100 provided by the embodiment of the application transmits the power of the driving part 120 to the foot 170 through the first transmission part 130 and the second transmission part 140 to make the foot 170 move. In this way, the driving part 120 is located in the upper half of the leg structure 100, the center of mass of the leg structure 100 is improved, the inertia of the leg structure 100 is reduced, the torque requirement of the driving part 120 is met, and the problem of large inertia caused by arranging the driving motor at the ankle joint is avoided.

[0062] As Figure 3 shown in one embodiment of the application, the driving part 120, the first transmission part 130 and the second transmission part 140 are all provided with two.

[0063] The two driving parts 120 are symmetrically arranged on the lower leg part 110, one first transmission part 130 and one second transmission part 140 are located on the same side of one driving part 120, and the other first transmission part 130 and the other second transmission part 140 are located on the same side of the other driving part 120.

[0064] In the embodiment, the driving part 120, the first transmission part 130 and the second transmission part 140 are all provided with two, the two driving parts 120 are arranged in parallel, and the two first transmission parts 130 and the two second transmission parts 140 are arranged in parallel respectively, so that the rigidity of the leg structure 100 is improved in structure, thereby improving the payload capacity thereof.

[0065] In addition, the two driving parts 120, the two first transmission parts 130 and the two second transmission parts 140 arranged in parallel ensure the torque requirement of driving, so that the driving gravity center is located in the upper half of the lower leg part 110 instead of the ankle joint, the center of mass of the leg structure 100 is improved, and the overall inertia of the lower leg part 110 is reduced, compared with the existing scheme of arranging the driving motor at the ankle joint.

[0066] As shown in Figure 3 , Figure 6 and Figure 7 , in the above-mentioned embodiments of the present application, further, the lower leg part 110 comprises a first support 111 and a second support 112, the first support 111 is connected with the second support 112 in the vertical direction, and the first support 111 is above the second support 112, two driving parts 120 are symmetrically arranged on the first support 111; two first transmission parts 130 are symmetrically arranged on the second support 112 and are respectively in sliding connection with the second support 112, and two second transmission parts 140 are symmetrically arranged on the second support 112.

[0067] In the present embodiment, two driving parts 120 are arranged in parallel and symmetrically on the first support 111, two first transmission parts 130 are arranged in parallel and symmetrically on the second support 112, and the two first transmission parts 130 are respectively in sliding connection with the second support 112. In this way, on the one hand, the rigidity of the leg structure 100 is improved in structure. On the other hand, the two driving parts 120 are respectively located in the upper half of the lower leg part 110, which improves the mass center of the lower leg part 110 in the vertical direction and reduces the overall inertia of the lower leg part 110.

[0068] In addition, the two driving parts 120, the two first transmission parts 130 and the two second transmission parts 140 arranged in parallel and symmetrically are more reasonable in spatial structure, and improve the space utilization rate of the leg structure 100.

[0069] It can be understood that the connection position of the knee joint 190 is near the position of the first support 111 close to the thigh part.

[0070] As shown in Figure 2 and Figure 4 , in the above-mentioned embodiments of the present application, optionally, the first transmission part 130 comprises a lead screw 131, a nut 132, a first fixed seat 133 and a second fixed seat 134.

[0071] Referring to Figure 11 together, the first fixed seat 133 is connected with the first support 111 and the second support 112 respectively, and is used for mounting the lead screw 131. The nut 132 is arranged in the second fixed seat 134 and is sleeved on the lead screw 131. Specifically, the second fixed seat 134 has a mounting cavity 1344 for mounting the nut 132, the nut 132 is fixed in the mounting cavity 1344 and is in threaded connection with the lead screw 131, so that the lead screw 131 drives the nut 132 to move on the lead screw when the lead screw 131 rotates, and in turn drives the second fixed seat 134 to move.

[0072] The screw rod 131 is arranged in the second fixing seat 134 and the first fixing seat 133, and one end of the screw rod 131 is connected with the output end of the driving part 120, and the other end is rotationally connected with the first hinged piece 150. In this way, when the driving part 120 is started, the screw rod is driven to rotate, and then the second fixing seat 134 is driven to slide on the second support 112.

[0073] The second transmission part 140 is connected with the second fixing seat 134, and the second fixing seat 134 is slidingly connected with the second support 112. In the embodiment, when the screw rod 131 drives the nut 132 to move, and then drives the second fixing seat 134 to slide on the second support 112, the second transmission part 140 is driven to move, the second transmission part 140 is hingedly rotated with the second hinged piece 160, and the foot 170 is driven to move.

[0074] It should be noted that the driving part 120 can be an electric motor, and the electric motor can be a stepping motor or a servo motor. The electric motor is connected with the screw rod 131 through a shaft coupling 121.

[0075] When the foot 170 needs to have a freedom degree in the anterior direction of the foot, that is, the ankle joint moves in the anterior direction, the two screw rods 131 are driven to rotate by the two electric motors at the same time, the two second fixing seats 134 move linearly along the screw rods 131, the movement is transmitted to the second hinged piece 160 through the transmission of the second transmission part 140, and the foot 170 is driven to have a freedom degree in the anterior direction of the ankle joint. When the electric motors drive the screw rods 131 at different times, the second fixing seats 134 realize the differential between the two screw rods 131, the movement is transmitted to the first hinged piece 150, and a freedom degree in the lateral direction of the ankle joint is realized.

[0076] It can be understood that in other embodiments, the linear movement of the screw rod 131 and the nut 132 can also be replaced by a belt transmission mode, the second fixing seat 134 is fixed on the belt, the driving wheel of the belt is driven to rotate by the electric motor, the belt is driven to move, and then the second fixing seat 134 moves linearly relative to the second support 112.

[0077] In combination Figure 11 It is further shown that the second fixing seat 134 comprises a seat body 1341 and a connecting plate 1342, the seat body 1341 is provided with a mounting cavity 1344 for mounting the nut 132, and the outside of the seat body 1341 is connected with the connecting plate 1342, and the second transmission part 140 is connected with the connecting plate 1342.

[0078] In the above embodiment, further, the second support 112 is provided with a guide rail 1121, and the connecting plate 1342 is provided with a sliding block 1343 slidingly connected with the guide rail 1121, so as to realize the sliding connection of the second fixing seat 134 relative to the second support 112.

[0079] In the embodiment, when the two parallel lead screws 131 run at the same speed, the ankle joint formed by the first hinge 150 and the second hinge 160 realizes the pitching action, through the arrangement of the guide rail 1121 and the sliding block 1343. When the two parallel lead screws 131 run at different speeds, the guide rail 1121 is fixedly connected with the nut 132 to ensure the parallelism of the running of the two lead screws 131, so that there is no additional force between the lead screw 131 and the nut 132, and the first transmission part 130 runs more smoothly, thereby improving the overall rigidity of the leg structure 100.

[0080] It can be understood that, for the matching scheme of the guide rail 1121 and the sliding block 1343, the structure of the guide rod and the sleeve can also be replaced, so that the sleeve is connected with the seat body 1341, and the sleeve is slidably sleeved on the guide rod, and the sliding of the second fixed seat 134 relative to the second support 112 can also be realized.

[0081] Continuing to refer to Figure 2 Further, in order to prevent the sliding block 1343 from falling off the guide rail 1121 during movement, a limiting block 1122 is arranged at each end of the guide rail 1121, and the limiting block 1122 is used to limit the sliding block 1343 from falling off the guide rail 1121, thereby improving the reliability of the product.

[0082] Specifically, the two guide rails 1121 are arranged in a vertical direction, that is, the height direction of the lower leg part 110, one limiting block 1122 is installed at the top end of the guide rail 1121, and the other limiting block 1122 is installed at the bottom end of the guide rail 1121.

[0083] As Figure 6 shown, in an embodiment of the present application, the first support 111 has a plurality of first hollow holes 1111. In the embodiment, the weight of the first support 111 is reduced through the first hollow holes, thereby reducing the overall weight of the leg structure 100.

[0084] Based on the structure of the first support 111, it can be understood that the second support 112 has a plurality of second hollow holes 1123. Thus, the overall weight of the leg 110 is further reduced, and the flexible movement of the leg structure 100 is facilitated.

[0085] Further, the central axes of the first hollow holes 1111 and the second hollow holes 1123 are perpendicular. The central axis of the first hollow hole 1111 is a line perpendicular to the hole diameter direction of the first hollow hole 1111, and the central axis of the second hollow hole 1123 is a line perpendicular to the hole diameter direction of the second hollow hole 1123.

[0086] As Figure 7As shown, it should be noted that the motor is fixed on the first support 111 through an L-shaped plate 113, and a part of the L-shaped plate 113 is arranged in one of the first hollows, and specifically, the part is mounted on the first support 111 through a screw.

[0087] As shown in Figure 8 Optionally, a support plate 114 is arranged between the first support 111 and the second support 112, and the first fixing seat 133 is connected with the first support 111 and the second support 112 through the support plate 114.

[0088] Further, the second support 112 is provided with a positioning column 1124, and the support plate 114 is provided with a positioning hole 1141 matched with the positioning column 1124, and the positioning column 1124 is inserted into the positioning hole 1141. In this way, the assembly of the second support 112 and the support plate 114 is facilitated, and the structure is more compact, and the occupied space is reduced.

[0089] Continuing to refer to Figure 8 Further, one end of the second support 112 towards the first support 111 is formed with an extension 1125, the support plate 114 is formed with a gap 1142 for the extension 1125 to pass through, and the first support 111 is provided with a slot 1112, so that a part of the extension 1125 is located in the slot 1112. In this way, the assembly of the first support 111, the support plate 114 and the second support 112 is more compact, and the space utilization of the calf part 110 is improved. In addition, the interference limiting of the three in the horizontal direction and the vertical direction is also achieved, the structural strength of the calf part 110 is improved, and the reliability of the product is further ensured.

[0090] As shown in Figure 4 In one embodiment of the present application, the second transmission part 140 optionally includes a connecting rod 141 and two rod end bearings 142. One end of the connecting rod 141 is connected with the first transmission part 130 through one of the rod end bearings 142, and the other end of the connecting rod 141 is connected with the second hinge 160 through the other rod end bearing 142.

[0091] In the present embodiment, as an example of the structure of the second fixing seat 134 of the first transmission part 130, one end of the connecting rod 141 is connected with the connecting plate 1342 of the second fixing seat 134 through one rod end bearing 142, and the other end of the connecting rod 141 is connected with the second hinge 160 through the rod end bearing 142. The second transmission part 140 adopts the combination of the connecting rod 141 and the rod end bearing 142, so that the structure is simple, and the transmission cooperation is facilitated.

[0092] It should be noted that the rod end bearing 142 is provided with a universal ball head to ensure the freedom degree of the connection position of the rod end bearing 142.

[0093] It can be understood that, in other embodiments, the second transmission part 140 can also be a universal joint coupling 121.

[0094] As shown in the drawings, Figure 9 In an embodiment of the present application, optionally, the second hinge 160 comprises a third shaft seat 161 and a rotating shaft 162.

[0095] The third shaft seat 161 is fixed to the foot 170, and the third shaft seat 161 can be fixed to the foot 170 by bolting or by welding. The rotating shaft 162 is rotatably arranged on the third shaft seat 161. The third shaft seat 161 can be provided with a through hole 1611, and the rotating shaft 162 is arranged in the through hole 1611. Of course, a bearing 180 can also be installed at the through hole 1611, and the rotating shaft 162 is rotatably connected to the third shaft seat 161 through the bearing 180.

[0096] The end of the rotating shaft 162 is connected to the second transmission part 140. Specifically, the end of the rotating shaft 162 can be connected to the rod end bearing 142, and the end of the rotating shaft 162 defines a U-shaped structure 1621, and the rod end bearing 142 is arranged at the U-shaped structure 1621 to facilitate the movement of the rod end bearing 142 and the rotating shaft 162. Of course, the universal joint of the universal joint coupling 121 can also be connected to the rotating shaft 162.

[0097] As shown in the drawings, Figure 10 In an embodiment of the present application, optionally, the first hinge 150 comprises a first shaft seat 151, a cross shaft 152, and a second shaft seat 153. The cross shaft 152 comprises a first shaft body 1521 and a second shaft body 1522 arranged orthogonally, and the first shaft body 1521 is connected perpendicularly to the second shaft body 1522. The two can be integrally formed, or can be detachably connected and fixed.

[0098] The first shaft seat 151 is fixed to the foot 170, and the first shaft seat 151 can be fixed to the foot 170 by bolting or by welding. At the same time, the first shaft seat 151 has a first U-shaped opening 1511, and the two opposite side walls of the first U-shaped opening 1511 are provided with first shaft holes 1512; the first shaft body 1521 is arranged in the two first shaft holes 1512. In this way, the cross shaft 152 is rotated relative to the first shaft seat 151.

[0099] It can be understood that, in order to make the cross shaft 152 rotate more smoothly relative to the first shaft seat 151, reduce the rotation friction between the two, the bearing 180 is sleeved at both ends of the first shaft body 1521, and the bearing 180 is installed in the first shaft hole 1512. Alternatively, the bearing 180 can be a tapered roller bearing 180, or a thrust ball bearing 180 can be selected.

[0100] The second shaft seat 153 is connected with the first transmission part 130. For example, when the first transmission part 130 is a structure of a lead screw 131 and a nut 132, the second shaft seat 153 is connected with the lead screw fixed seat 135, and meanwhile, a through hole 1611 is formed in the position corresponding to the lead screw of the second shaft seat 153, so as to avoid interference between the lead screw 131 and the second shaft seat 153 when the lead screw 131 rotates. Of course, when the first transmission part 130 is a belt transmission mode, the second shaft seat 153 is connected with the driven wheel fixed seat of the belt.

[0101] The second shaft seat 153 has a second U-shaped opening 1531, which is arranged opposite to the first U-shaped opening 1511, and the two opposite side walls of the second U-shaped opening 1531 are provided with second shaft holes 1532.

[0102] The second shaft body 1522 penetrates through the two second shaft holes 1532. In this way, the rotation of the cross shaft 152 relative to the second shaft seat 153 is realized. The rotation axis 162 line of the cross shaft 152 relative to the second shaft seat 153 is perpendicular to the rotation axis 162 line of the cross shaft 152 relative to the first shaft seat 151.

[0103] It can be understood that, in order to make the cross shaft 152 rotate more smoothly relative to the second shaft seat 153, reduce the rotation friction between the two, the bearing 180 is sleeved at both ends of the second shaft body 1522, and the bearing 180 is installed in the second shaft hole 1532. Alternatively, the bearing 180 can be a tapered roller bearing 180, or a thrust ball bearing 180 can be selected.

[0104] It should be noted that the structure of the first hinge 150 and the second hinge 160 described above constitutes the ankle joint of the foot 170. Through the cooperation of the cross shaft 152, the first shaft seat 151 and the second shaft seat 153, and the cooperation of the rotation shaft 162 and the third shaft seat 161, the space is more saved compared with the prior art that the driving motor and the transmission part are installed at the ankle joint, the design space of the robot is ensured, and the relative movement range of the connecting rod 141 and the rod end bearing 142 of the second transmission part 140 and the second hinge 160 is larger.

[0105] In combination Figures 12 to 14As shown, further, a first angle sensor 155 is arranged on one side of the first shaft seat 151, and a second angle sensor 156 is arranged on one side of the second shaft seat 153, so that the rotation speed and angle output by the first hinged part 150 can be detected by the first angle sensor 155 and the second angle sensor 156, facilitating control and adjustment of the driving part 120, and avoiding falling due to rotation speed and angle exceeding a preset threshold.

[0106] Further combined Figure 15 As shown, further, the first shaft body 1521 is fixedly connected to the bearing 180 on the first shaft seat 151 through the bolt 157, and the second shaft body 1522 is fixedly connected to the bearing 180 on the second shaft seat 153 through the bolt 157. The first angle sensor 155 and the second angle sensor 156 are magnetic angle sensors, and a magnet 1561 is arranged in a hole in the nut of the bolt 157. In this way, when the first shaft body 1521 or the second shaft body 1522 rotates, the magnet 1561 also rotates, and the rotation speed and angle output by the first hinged part 150 can be obtained by detecting the change in the magnetic field.

[0107] In one specific embodiment of the present application, when the foot 170 needs to have freedom in the anterior direction, i.e., the ankle joint moves in the anterior direction, the two motors are simultaneously driven to rotate the lead screws 131, so that the two second fixed seats 134 move linearly along the lead screws 131, and the movement is transmitted to the rotating shaft 162 through the transmission of the connecting rods 141 and the rod end bearings 142, so as to drive the foot 170 to realize the freedom in the anterior direction of the ankle joint. When the motors are not simultaneously driven, the second fixed seats 134 realize differential between them on the corresponding lead screws 131, and the movement is transmitted to the cross shaft 152, so as to realize the freedom in the lateral direction of the ankle joint.

[0108] As Figure 5 As shown in one embodiment of the present application, optionally, the foot 170 includes a foot plate 171, a damping part 173, and a bottom plate 172.

[0109] The first hinged part 150 and the second hinged part 160 are arranged on the foot plate 171, e.g., the first shaft seat 151 and the first shaft seat 151 are arranged on the foot plate 171, and the first shaft seat 151 and the first shaft seat 151 can be fixed on the foot plate 171 through bolts. In this embodiment, a clamping groove 1711 is formed on the foot plate 171, and a clamping block 154 is arranged on the third shaft seat 161 and the first shaft seat 151, respectively, and the clamping block 154 of the first shaft seat 151 and the clamping block 154 of the third shaft seat 161 are clamped into the clamping groove 1711, so as to fix the first shaft seat 151 and the third shaft seat 161.

[0110] Further, the foot plate 171 is connected with the bottom plate 172, and the damping member 173 is supported between the foot plate 171 and the bottom plate 172. Specifically, the damping member 173 is a plurality of damping springs, and the damping spring is an arc-shaped spring supported between the foot plate 171 and the bottom plate 172. Of course, the damping member 173 can also be a plurality of columnar springs supported between the foot plate 171 and the bottom plate 172. In the embodiment, through the design of the damping member 173, the vibration during the movement of the robot is reduced, and the peak torque of the driving part 120 is reduced, such as the peak torque of the motor.

[0111] In any of the above embodiments, further, a pressure sensor 174 is arranged on the foot 170, and the pressure sensor 174 is connected with the control system of the robot, and the pressure value of the foot 170 can be fed back to the control system in real time, so as to control the start-stop or rotating speed of the driving part 120.

[0112] In combination with Figure 16 and Figure 17 Further, the pressure sensor 174 is provided with four, and a protrusion 1721 is arranged on the bottom plate 172 corresponding to the position of the pressure sensor, and the pressure sensor is attached to the foot plate 171 and arranged corresponding to the protrusion 1721, and at the same time, a gap is formed between the foot plate 171 and the bottom plate 172. Through the arrangement of the four pressure sensors 174, when the pressure applied on the foot 170 makes the protrusion 1721 contact with the pressure sensor 174, the stress condition of the leg structure 100 is obtained, so that different ankle movements can be made for different grounds.

[0113] It should be noted that in the embodiment, the protrusion 1721 is in a cylindrical shape, and of course, in other embodiments, the protrusion 1721 can also be in a square columnar shape or a boss shape.

[0114] The embodiment of the application also provides a robot, which comprises the leg structure 100 in any of the above embodiments.

[0115] Further, the robot is a humanoid robot.

[0116] The robot in the embodiment has the leg structure 100 in any of the above embodiments, and therefore has all the beneficial effects of the leg structure 100, which will not be described here.

[0117] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0118] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A leg structure, characterized in that, The leg structure includes: Lower legs; A drive unit is disposed on the lower leg and near the knee joint above the lower leg; The foot is provided with a first hinge and a second hinge; A first transmission unit, which is connected to the drive unit and also to the first hinge member; The second transmission part is connected to the first transmission part and to the second hinge, and is used to transmit the movement of the first transmission part to the foot to make the foot move; The drive unit, the first transmission unit, and the second transmission unit are all provided in two forms; Two drive units are symmetrically arranged on the lower leg, with one first transmission unit and one second transmission unit located on the same side as one drive unit, and another first transmission unit and another second transmission unit located on the same side as the other drive unit; The lower leg includes a first support and a second support. The first support and the second support are connected vertically, and the first support is located above the second support. Two drive parts are symmetrically arranged on the first support. Two first transmission parts are symmetrically arranged on the second support and are slidably connected to the second support. Two second transmission parts are symmetrically arranged on the second support. The knee joint is connected to the first support near the thigh. The first transmission part includes a lead screw, a nut, a first fixed seat and a second fixed seat. The first fixed seat is connected to the first bracket and the second bracket respectively. The nut is disposed in the second fixed seat and sleeved on the lead screw. The lead screw passes through the second fixed seat and the first fixed seat, and one end of the lead screw is connected to the output end of the drive unit, and the other end is rotatably connected to the first hinge member; The second transmission part is connected to the second fixed base, and the second fixed base is slidably connected to the second bracket; The second fixed seat includes a seat body and a connecting plate. The seat body is provided with a mounting cavity for installing the nut, and the outside of the seat body is connected to the connecting plate. The second transmission part is connected to the connecting plate. The second bracket is provided with a guide rail, and the connecting plate is provided with a slider that is slidably connected to the guide rail.

2. The leg structure according to claim 1, characterized in that, Limiting blocks are provided at both ends of the guide rail, and the limiting blocks are used to prevent the slider from disengaging from the guide rail.

3. The leg structure according to claim 1 or 2, characterized in that, The first bracket has a plurality of first hollow holes; and / or the second bracket has a plurality of second hollow holes.

4. The leg structure according to claim 1 or 2, characterized in that, The second transmission unit includes a connecting rod and two rod end bearings. One end of the connecting rod is connected to the first transmission unit through one of the rod end bearings, and the other end is connected to the second hinge through the other rod end bearing.

5. The leg structure according to claim 1 or 2, characterized in that, The first hinge includes a first bearing, a cross bearing, and a second bearing; The first bearing is fixed to the foot and has a first U-shaped opening, and the two opposite sidewalls of the first U-shaped opening are provided with first shaft holes; The second shaft seat is connected to the first transmission part and has a second U-shaped opening. The second U-shaped opening is opposite to the first U-shaped opening, and a second shaft hole is provided on both opposite sidewalls of the second U-shaped opening. The cross shaft includes a first shaft and a second shaft arranged orthogonally, the first shaft passing through two first shaft holes, and the second shaft passing through two second shaft holes.

6. The leg structure according to claim 1 or 2, characterized in that, The second hinge includes a third bearing and a rotating shaft. The third bearing is fixed to the foot, and the rotating shaft is rotatably mounted on the third bearing. The end of the rotating shaft is connected to the second transmission part.

7. The leg structure according to claim 1 or 2, characterized in that, The foot includes a foot plate, a shock absorber, and a base plate. The first hinge and the second hinge are disposed on the foot plate. The foot plate is connected to the base plate, and the shock absorber is supported between the foot plate and the base plate.

8. The leg structure according to claim 1 or 2, characterized in that, A pressure sensor is installed on the foot.

9. A robot, characterized in that, It includes the leg structure as described in any one of claims 1 to 8.

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