Biped robot and hip joint structure thereof

Abstract

The application belongs to the technical field of intelligent robots, and particularly relates to a biped robot and a hip joint structure thereof. The hip joint structure comprises: a hip adapter structure, the hip adapter structure comprising a first adapter part and a second adapter part fixedly connected with each other, the second adapter part being used for connecting a leg structure of the biped robot; a first driving mechanism, the first driving mechanism being fixedly installed on the second adapter part, and the first driving mechanism being used for driving the leg structure to swing sideways; and a second driving mechanism, the second driving mechanism and an output rotating shaft of the first driving mechanism being fixedly connected, an end of the leg structure and the output rotating shaft of the second driving mechanism being connected, an axis direction of the output rotating shaft of the second driving mechanism and an axis direction of the output rotating shaft of the first driving mechanism being orthogonally arranged, and the second driving mechanism being used for driving the leg structure to rotate. The technical scheme of the application solves the problem that the structure design of the hip joint in the current biped robot is complex, resulting in a very bulky hip joint of the biped robot.

Description

Technical Field

[0001] This application belongs to the field of intelligent robot technology, and in particular relates to a bipedal robot and its hip joint structure. Background Technology

[0002] With the advancement of technology, intelligent robots are increasingly being used across various industries, especially in the service sector where their adoption rate is relatively higher. Previously, intelligent robots were relatively simple in form; for example, their locomotion systems commonly used wheeled systems. Now, however, intelligent robots are increasingly adopting humanoid designs, leading to the emergence of bipedal robots.

[0003] Each leg of a humanoid bipedal robot should include corresponding leg joints such as the hip, knee, and ankle joints. These joints must work together to achieve walking movements similar to those of a human. Since the hip joint connects the upper and lower body of the robot, it has one of the most degrees of freedom among the leg joints. In current bipedal robots, the hip joint is responsible not only for the left-right swaying and twisting of the upper body, but also for the alternating forward and backward strides of the lower body and the lateral swinging of either leg. To achieve these degrees of freedom, current bipedal robot designs employ highly complex hip joint structures, using intricate motion mechanisms to achieve these movements. This results in a bulky hip joint, often described as having a "barrel waist," which clashes with the aesthetic ideal of humanoid robots. Summary of the Invention

[0004] The purpose of this application is to provide a bipedal robot and its hip joint structure, which aims to solve the problem that the complex structural design of the hip joint in current bipedal robots results in a very bulky hip joint.

[0005] To achieve the above objectives, the technical solution adopted in this application is: a hip joint structure for a bipedal robot, comprising:

[0006] The hip adapter structure includes a first adapter part and a second adapter part that are fixedly connected to each other. The second adapter part is used to connect the leg structure of the bipedal robot.

[0007] The first drive mechanism is fixedly installed on the second adapter and is used to drive the leg structure to swing sideways.

[0008] The second drive mechanism is orthogonal to the axis of the output shaft of the first drive mechanism. The second drive mechanism is used to drive the leg structure to rotate around the axis of the output shaft of the second drive mechanism. The second drive mechanism is installed on the second adapter.

[0009] In one embodiment, both the first adapter and the second adapter are plate-shaped components. The extension directions of the first adapter and the second adapter are orthogonal, and the extension direction of the first adapter is basically horizontal. The first drive mechanism and the second drive mechanism are located on both sides of the second adapter. The second adapter is provided with an assembly hole, and the output shaft of the first drive mechanism passes through the assembly hole and connects to the second drive mechanism.

[0010] In one embodiment, the hip joint structure further includes a hip flange member and a hip support member, the hip flange member being fixedly connected to the output shaft of the first drive mechanism, the hip support member being fixedly connected to the hip flange member, and the second drive mechanism being mounted on the hip support member.

[0011] In one embodiment, the hip joint structure further includes a third drive mechanism and a leg adapter. The leg adapter is fixedly connected to the output shaft of the second drive mechanism. The third drive mechanism is mounted on the leg adapter. The axial direction of the output shaft of the third drive mechanism is orthogonal to the axial direction of the output shaft of the first drive mechanism, and the axial direction of the output shaft of the third drive mechanism is orthogonal to the axial direction of the second drive mechanism. The leg structure is fixedly connected to the output shaft of the third drive mechanism.

[0012] In one embodiment, the third drive mechanism is located on the outside of the leg adapter.

[0013] According to another aspect of this application, a bipedal robot is provided. Specifically, the bipedal robot includes:

[0014] Leg structure; and

[0015] As mentioned above, the hip joint structure, leg structure, and hip joint structure of the bipedal robot are connected.

[0016] In one embodiment, a thigh shaft has a first end connected to a hip joint structure; a lower leg is rotatably mounted to a second end of the thigh shaft, and a first connecting end is provided at the end of the lower leg near the thigh shaft; a knee drive mechanism is fixedly mounted to one end of the thigh shaft near the hip joint structure; and a first knee link is drivenly connected to the output shaft of the knee drive mechanism and the first end of the first knee link, and the second end of the first knee link is rotatably connected to the first connecting end.

[0017] In one embodiment, the leg structure further includes a foot portion, which has a spaced first connecting seat and a second connecting seat; the lower leg includes: a lower leg shaft, the first end of which is rotatably mounted to the second end of the thigh shaft, the second end of which is movably connected to the first connecting seat, and the second end of which extends to have a first connecting end; a first lower leg drive mechanism, which is mounted on the lower leg shaft; and a first lower leg link, the output shaft of which is drivenly connected to the first end of which is drivenly connected, and the second end of which is rotatably connected to the second connecting seat.

[0018] In one embodiment, the lower leg also includes a second lower leg drive mechanism and a second lower leg connecting rod. The second lower leg drive mechanism is mounted on the lower leg shaft. The output shaft of the second lower leg drive mechanism is driven to connect with the first end of the second lower leg connecting rod. The second end of the second lower leg connecting rod is rotatably connected to the second connecting seat. The first lower leg connecting rod and the second lower leg connecting rod are arranged side by side.

[0019] In one embodiment, the leg structure further includes an ankle connecting member, which has a first connecting head, a second connecting head, a third connecting head, and a fourth connecting head. The line connecting the first connecting head and the second connecting head is perpendicular to the line connecting the third connecting head and the fourth connecting head. The second end of the lower leg shaft has a first connecting ear and a second connecting ear that are opposite to each other and spaced apart. The first connecting seat includes a first ankle connecting ear and a second ankle connecting ear that are opposite to each other and spaced apart. The line connecting the first ankle connecting ear and the second ankle connecting ear is perpendicular to the line connecting the first connecting ear and the second connecting ear. The first connecting head is rotatably connected to the first connecting ear, the second connecting head is rotatably connected to the second connecting ear, the fourth connecting head is rotatably connected to the first ankle connecting ear, and the third connecting head is rotatably connected to the second ankle connecting ear.

[0020] This application has at least the following beneficial effects:

[0021] By applying the hip joint structure provided in this application, a hip adapter structure is used as a supporting and connecting platform to assemble the upper body and leg structure of the robot. The leg structure is connected to the hip adapter structure via a first drive mechanism and a second drive mechanism. During hip joint movement, the first drive mechanism enables the leg structure to perform two degrees of freedom of left and right leg swinging (i.e., the leg structure swings sideways) around the axis of the output shaft of the first drive mechanism. The second drive mechanism enables the leg structure to perform two degrees of freedom of rotational movement (i.e., the leg structure rotates) around the axis of the output shaft of the second drive mechanism. This achieves multi-degree-of-freedom movement capability of the hip joint. Furthermore, the hip joint structure provided in this application uses fewer components and has a simpler structure. Compared with existing bipedal robots, it can effectively reduce the volume of the hip joint, thereby making the humanoid contour of the bipedal robot more in line with people's aesthetic sense. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the hip joint structure and the assembly structure of the legs in the bipedal robot of this application embodiment. Figure 1 Among them, the hip joint structure is in a partially decomposed state;

[0024] Figure 2 This is a schematic diagram of the hip joint structure and the assembly structure of the legs in the bipedal robot of this application embodiment. Figure 2 Among them, the hip joint structure is in a partially decomposed state;

[0025] Figure 3 This is a structural diagram of the left leg and the corresponding part of the hip joint structure in the bipedal robot of this application embodiment;

[0026] Figure 4 This is a schematic diagram of the hip joint structure and the assembly structure of the legs in the bipedal robot of this application embodiment. Figure 3 The left leg is in a disassembled state.

[0027] Figure 5 This is a structural diagram of the left leg and the corresponding part of the hip joint structure in the bipedal robot of this application embodiment, wherein the left leg is in a disassembled state;

[0028] Figure 6This is a schematic diagram of the assembly structure of the ankle connection component in a bipedal robot according to an embodiment of this application;

[0029] Figure 7 for Figure 6 A schematic diagram of its decomposed structure.

[0030] The following are the labeling elements in the figure:

[0031] 121. Left leg; 122. Right leg; 110. Hip transition structure; 111. First transition part; 112. Second transition part; 1121. Assembly hole; 130. First drive mechanism; 140. Second drive mechanism; 151. Hip flange component; 152. Hip support component; 160. Third drive mechanism; 170. Leg transition component;

[0032] 200. Thigh; 210. Thigh shaft; 211. Accommodation space; 220. Knee drive mechanism; 230. First knee link; 231. First link segment; 232. Second link segment; 233. Third link segment; 240. Second knee link; 251. First knee pin; 252. Second knee pin;

[0033] 300. Lower leg; 310. Lower leg limb; 320. First lower leg drive mechanism; 330. First lower leg connecting rod; 340. Second lower leg drive mechanism; 350. Second lower leg connecting rod; 360. Third lower leg connecting rod; 370. Fourth lower leg connecting rod; 380. Connecting pivot; 381. First lower leg pin; 382. Second lower leg pin; 383. Third lower leg pin; 384. Fourth lower leg pin; 390. Pivot; 391. First limiting block; 3911. First limiting notch; 392. Second limiting block; 3921. Second limiting notch; 301. First rod segment; 302. Second rod segment; 303. Third rod segment; 304. First connecting ear; 305. Second connecting ear; 311. First connecting end;

[0034] 400. Foot part; 401. First connecting seat; 402. Second connecting seat; 411. First ankle connecting ear; 412. Second ankle connecting ear; 420. Ankle connecting component; 421. First connecting head; 422. Second connecting head; 423. Third connecting head; 424. Fourth connecting head; 4201. First horizontal shaft; 4202. Second horizontal shaft; 4203. Longitudinal shaft; 42031. Perforation; 4204. Fixing bolt; 431. First bearing; 432. Second bearing; 433. Third bearing; 434. Fourth bearing. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0036] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] Furthermore, the terms "first," "second," etc., 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. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] 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.

[0039] The bipedal robot of this application includes a hip joint structure. The hip joint structure is the load-bearing transition point between the upper body and lower body (i.e., both legs, with each leg constituting a leg structure), thus assembling the hip joint. The hip joint is one of the important joints in humanoid robots. Specifically, such as... Figures 1 to 5As shown, the hip joint structure includes a hip adapter structure 110, a first drive mechanism 130, and a second drive mechanism 140. The hip adapter structure 110 includes a first adapter portion 111 and a second adapter portion 112 fixedly connected to each other. The first adapter portion 111 is used to mount and support the upper body of the robot, and the second adapter portion 112 is used to support and connect the leg structure of the bipedal robot. The left leg 121 and right leg 122 are symmetrically arranged with respect to the hip adapter structure 110; that is, both the left leg 121 and right leg 122 are leg structures with identical structures. Correspondingly, two of each of the first drive mechanism 130 and the second drive mechanism 140 are provided, corresponding to the left leg 121 and right leg 122 respectively. The following description focuses on one of the leg structures and the corresponding first drive mechanism 130 and second drive mechanism 140 of the hip joint structure.

[0040] The first drive mechanism 130 is fixedly mounted on the second adapter 112. When the first drive mechanism 130 is assembled on the second adapter 112, the axial extension direction of the output shaft of the first drive mechanism 130 is substantially horizontal (and the axial extension directions of the output shafts of the two first drive mechanisms 130 are substantially parallel). The second drive mechanism 140 is fixedly connected to the output shaft of the first drive mechanism 130. When the second drive mechanism 140 is assembled, the axial extension direction of the output shaft of the second drive mechanism 140 is substantially perpendicular to the axial extension direction of the corresponding output shaft of the first drive mechanism 130; that is, the axial direction of the output shaft of the second drive mechanism 140 is orthogonal to the axial direction of the output shaft of the first drive mechanism 130. Then, the end of the leg structure is connected to the output shaft of the second drive mechanism 140.

[0041] By applying the hip joint structure provided in this application, the hip adapter structure 110 serves as a supporting and connecting platform to assemble the upper body and leg structure of the robot. The leg structure is connected to the hip adapter structure via the first drive mechanism 130 and the second drive mechanism 140. During hip joint movement, the first drive mechanism 130 enables the leg structure to perform two degrees of freedom of left and right leg swinging (i.e., the leg structure swings sideways) with the axis of rotation of the output shaft of the first drive mechanism 130 as the axis of rotation. The second drive mechanism 140 enables the leg structure to perform two degrees of freedom of rotational leg movement (i.e., the leg structure rotates) with the axis of rotation of the output shaft of the second drive mechanism 140 as the axis of rotation. This achieves multi-degree-of-freedom movement capability of the hip joint. Furthermore, the hip joint structure provided in this application uses fewer components and has a simpler structure. Compared with existing bipedal robots, it can effectively reduce the volume of the hip joint, thereby making the humanoid contour of the bipedal robot more in line with people's aesthetic sense.

[0042] To achieve relative flexion-extension movements (i.e., squatting or bending movements, especially squatting movements) between the leg structure and the robot's upper body, therefore, as Figures 1 to 5 As shown, the hip joint structure also includes a third drive mechanism 160 and a leg adapter 170. During assembly, the leg adapter 170 is fixedly connected to the output shaft of the second drive mechanism 140, and the third drive mechanism 160 is fixedly mounted on the leg adapter 170. When the third drive mechanism 160 is assembled, the axial extension direction of the output shaft of the third drive mechanism 160 is substantially perpendicular to the axial extension direction of the output shaft of the first drive mechanism 130, and also to the axial extension direction of the output shaft of the third drive mechanism 160 and the axial extension direction of the second drive mechanism 140. Furthermore, the end of the leg structure is fixedly connected to the output shaft of the third drive mechanism 160. Taking the left leg 121 as an example during a squatting exercise... Figure 3 As shown, the third drive mechanism 160 starts and outputs rotational power to the end of the left leg 121, causing the left leg 121 to rotate relative to the leg adapter 170 with the axis of rotation of the output shaft of the third drive mechanism 160 as the axis of rotation, thereby realizing the two degrees of freedom of movement of bending down and returning to an upright position.

[0043] In this embodiment, the third drive mechanism 160 is located on the outer side (i.e., the outer side of the thigh) of the leg adapter member 170. That is, the third drive mechanism 160 corresponding to the left leg 121 is located on the side of the left leg 121 opposite to the right leg 122, and the third drive mechanism 160 corresponding to the right leg 122 is located on the side of the right leg 122 opposite to the left leg 121. Taking the left leg 121 as an example... Figure 3 As shown, the assembled third drive mechanism 160 is located on the outer side of the left leg 121 near the hip joint. This location is basically where the outer diameter of the thigh muscle of the left leg 121 is the largest. Therefore, after assembling the thigh shell of the left leg 121 to cover the third drive mechanism 160, the outline of this location will appear fuller and closer to the humanoid thigh outline, making the thigh lines more aesthetically pleasing.

[0044] Furthermore, such as Figure 1 and Figure 2As shown, both the first adapter 111 and the second adapter 112 are plate-shaped components. The extension directions of the first adapter 111 and the second adapter 112 are orthogonal, and the extension direction of the first adapter 111 is basically horizontal. This makes the arrangement of the hip adapter structure 110 more consistent with the shape of a humanoid waist. Furthermore, the basically horizontal first adapter 111 is more convenient for supporting and installing the upper body of the robot, and the basically vertical second adapter 112 is more convenient for installing the legs of the bipedal robot. The first drive mechanism 130 and the second drive mechanism 140 are located on both sides of the second adapter 112. The second adapter 112 has a mounting hole 1121, through which the output shaft of the first drive mechanism 130 passes and is fixedly connected to the second drive mechanism 140. Thus, the two assembled first drive mechanisms 130 are positioned at the hip of the bipedal robot. When the robot's hip shell is attached, the hip area appears fuller and more aesthetically pleasing.

[0045] To improve assembly efficiency and reduce assembly difficulty, therefore, such as Figures 1 to 5 As shown, the hip joint structure also includes a hip flange member 151 and a hip support member 152, which are used to connect and mount the first drive mechanism 130 and the second drive mechanism 140. Specifically, the hip flange member 151 is fixedly connected to the output shaft of the first drive mechanism 130, the hip support member 152 is fixedly connected to the hip flange member 151, and the second drive mechanism 140 is fixedly mounted on the hip support member 152.

[0046] The leg structure of the bipedal robot provided in this application includes a thigh shaft 210, a lower leg 300, a knee drive mechanism 220, and a first knee link 230. The thigh shaft 210 and the lower leg 300 form the main shaft structure of the leg structure, wherein the thigh shaft 210, the knee drive mechanism 220, and the first knee link 230 together constitute the thigh 200 of the bipedal robot's leg structure.

[0047] like Figures 1 to 5As shown, the first end of the thigh shaft 210 is connected to the output shaft of the third drive mechanism 160 of the hip joint structure. The lower leg 300 is rotatably mounted on the second end of the thigh shaft 210 via a connecting shaft 380 (i.e., the lower leg 300 and the second end of the thigh shaft 210 are hinged together via the connecting shaft 380). A knee joint (i.e., the knee area) is formed between the thigh shaft 210 and the lower leg 300, enabling flexion and extension movements between them. Furthermore, a first connecting end 311 is provided at the end of the lower leg 300 near the thigh shaft 210, and a knee drive mechanism 220 is fixedly mounted at the end of the thigh shaft 210 near the hip joint structure. When the knee drive mechanism 220 is fixedly mounted on the thigh shaft 210, the axis of the output shaft of the knee drive mechanism 220 extends in a substantially horizontal and substantially perpendicular direction to the robot's forward direction. Furthermore, the output shaft of the knee drive mechanism 220 is drivenly connected to the first end of the first knee link 230, and the second end of the first knee link 230 is rotatably connected to the first connecting end 311. The knee drive mechanism 220 drives the first knee link 230 to move, which in turn pulls the first connecting end 311, causing the lower leg 300 to rotate relative to the thigh shaft 210 about the axis of the connecting shaft 380, thereby performing flexion and extension movements of the knee joint.

[0048] Compared to current bipedal robots where the rotary motor connecting the thigh shaft and lower leg is directly mounted at the knee, this application's bipedal robot moves the mounting position of the knee drive mechanism 220 to the first end of the thigh shaft 210 near the hip joint structure. This reduces the volume of the knee joint formed between the lower leg 300 and the second end of the thigh shaft 210, allowing for flexion and extension movements between the thigh shaft 210 and the lower leg 300 while achieving a compact and humanoid knee structure. Furthermore, the moved knee drive mechanism 220 is positioned precisely at the maximum outer diameter of the thigh shaft 210, corresponding to the most muscular part of the human thigh. This allows for efficient use of the thigh space after the outer shell is fitted onto the thigh shaft 210, and the mounting position of the knee drive mechanism 220 closely follows the thigh muscle lines, resulting in a more aesthetically pleasing leg structure for the bipedal robot.

[0049] like Figures 3 to 5As shown, the leg structure also includes a second knee link 240, which drives the output shaft of the knee drive mechanism 220 and the first knee link 230. Specifically, the first end of the second knee link 240 is fixedly connected to the output shaft of the knee drive mechanism 220, and the second end of the second knee link 240 is rotatably connected to the first end of the first knee link 230. The knee drive mechanism 220 drives the second knee link 240 to move, which in turn drives the first knee link 230 to move. The first knee link 230 then pulls the first connecting end 311, causing the lower leg 300 to rotate relative to the thigh limb 210 about the axis of the connecting shaft 380, thereby performing leg flexion and extension movements.

[0050] like Figure 4 As shown, the second end of the second knee link 240 and the first end of the first knee link 230 are hinged together by a first knee pin 251. Furthermore, the second end of the first knee link 230 and the first connecting end 311 are hinged together by a second knee pin 252. During the flexion and extension movement of any single leg, the second end of the second knee link 240 and the first end of the first knee link 230 rotate relative to each other about the axis of the first knee pin 251, and the second end of the first knee link 230 and the first connecting end 311 rotate relative to each other about the axis of the second knee pin 252.

[0051] Alternatively, in another embodiment of this application, one of the second end of the second knee link 240 and the first end of the first knee link 230 is provided with a first knee ball head (not shown), and the other of the second end of the second knee link 240 and the first end of the first knee link 230 is provided with a first knee recess structure (not shown), with the first knee ball head hinged to the first knee recess structure. Further, one of the second end of the first knee link 230 and the first connecting end 311 is provided with a second knee ball head (not shown), and the other of the second end of the first knee link 230 and the first connecting end 311 is provided with a second knee recess structure (not shown), with the second knee ball head hinged to the second knee recess structure.

[0052] like Figure 4As shown, the first knee link 230 in this embodiment includes a first segment 231, a second segment 232, and a third segment 233. That is, the first knee link 230 is a composite member, capable of adjusting its overall length. This allows the first knee link 230 to be more precisely assembled between the second knee link 240 and the first connecting end 311, eliminating assembly gaps caused by dimensional chain errors between the first knee link 230 and the second knee link 240, as well as between the first knee link 230 and the first connecting end 311. Specifically, the first segment 231 and the third segment 233 are threaded to both ends of the second segment 232, and the threads of the first segment 231 and the third segment 233 are opposite to each other.

[0053] After the lower leg 300 and the second end of the thigh limb 210 are hinged together by the connecting shaft 380, and the knee drive mechanism 220 is fixedly installed on the thigh limb 210 and the second knee link 240 is fixedly connected to the output shaft of the knee drive mechanism 220, when assembling the first knee link 230, the length of the first knee link 230 is adjusted to a suitable assembly length according to the assembly dimension chain between the second knee link 240 and the first connecting end 311. Then, the two ends of the first knee link 230 are respectively hinged to the second end of the second knee link 240 and the first connecting end 311 through the first knee pin 251 and the second knee pin 252. Then, depending on whether the length of the first knee link 230 is in a slightly longer state that is tightly assembled between the second knee link 240 and the first connecting end 311, or in a slightly shorter state that is stretched between the second knee link 240 and the first connecting end 311, the second link segment 232 is rotated so that the first link segment 231 and the third link segment 233 move closer to each other relative to the second link segment 232 to shorten the overall length of the first knee link 230, or move further apart to lengthen the overall length of the first knee link 230, so that the assembly length of the first knee link 230 reaches the optimal value.

[0054] like Figure 4 and Figure 5 As shown, the thigh limb 210 is provided with a receiving space 211, in which the first knee link 230 and the second knee link 240 are both located, and the first connecting end 311 extends into the receiving space 211. In this way, the first knee link 230 and the second knee link 240 are housed and assembled using the receiving space 211, making the overall assembly structure of the thigh 200 more compact.

[0055] The leg structure of the bipedal robot of this application further includes a foot portion 400, which has a spaced first connecting seat 401 and a second connecting seat 402, and the line connecting the first connecting seat 401 and the second connecting seat 402 extends in the same direction as the robot's direction of travel. The lower leg portion 300 of the bipedal robot's leg structure provides power for the movement of the foot portion 400. Figures 3 to 5 As shown, the lower leg 300 includes a lower leg shaft 310, a first lower leg drive mechanism 320, and a first lower leg connecting rod 330, forming the main components of the lower leg 300. During assembly, the first end of the lower leg shaft 310 is rotatably mounted to the second end of the thigh shaft 210, and the second end of the lower leg shaft 310 is movably connected to the first connecting seat 401. Furthermore, the second end of the lower leg shaft 310 extends to form a first connecting end 311. Thus, a human-like ankle joint is formed between the lower leg shaft 310 and the foot portion 400. Further, the first lower leg drive mechanism 320 is fixedly mounted to the lower leg shaft 310. After the first lower leg drive mechanism 320 is assembled, the axis of the output shaft of the first lower leg drive mechanism 320 extends in a substantially horizontal and substantially perpendicular direction to the robot's forward movement. Furthermore, the output shaft of the first calf drive mechanism 320 is driven to the first end of the first calf link 330, and the second end of the first calf link 330 is rotatably connected to the second connecting seat 402. Thus, when the first calf drive mechanism 320 is activated, the output shaft outputs rotational power, thereby driving the first calf link 330 to move. Then, the first calf link 330 drives the foot part 400 to perform a foot-lifting movement through the second connecting seat 402, with the ankle joint structure formed by the calf limb 310 and the foot part 400 as the rotation fulcrum. The foot-lifting movement includes two degrees of freedom: lifting the foot and lowering the foot.

[0056] In the bipedal robot provided in this application, the lower leg 300 specifically drives the foot 400 to lift its foot through a power transmission via a first lower leg drive mechanism 320 and a first lower leg link 330. Since the first lower leg link 330 is a rigid rod, it can transmit both the traction force to lift the foot 400 and the pushing force to lower it. In other words, the lower leg 300 of the bipedal robot in this application only requires a simple design and assembly of a transmission structure consisting of the first lower leg drive mechanism 320 and the first lower leg link 330 to achieve the power transmission for lifting the foot. Compared to current bipedal robots, the lower leg 300 of the bipedal robot in this application has fewer components and a simpler structure, thus greatly reducing assembly difficulty and significantly improving assembly efficiency.

[0057] like Figure 4 and Figure 5As shown, the lower leg 300 also includes a third lower leg link 360, which enables a drive connection between the output shaft of the first lower leg drive mechanism 320 and the first end of the first lower leg link 330. Specifically, the first end of the third lower leg link 360 is fixedly connected to the output shaft of the first lower leg drive mechanism 320, and the second end of the third lower leg link 360 is rotatably connected to the first end of the first lower leg link 330. Thus, when the first lower leg drive mechanism 320 is activated to output rotational power to the output shaft, the output shaft drives the third lower leg link 360 to swing about the axis of rotation of the output shaft, thereby driving the first lower leg link 330 to move. Then, the first lower leg link 330 drives the foot part 400 to lift the foot by using the ankle joint formed by the lower leg limb 310 and the foot part 400 as the pivot point through the second connecting seat 402.

[0058] Furthermore, such as Figure 4 and Figure 5 As shown, the lower leg 300 also includes a second lower leg drive mechanism 340 and a second lower leg link 350. The second lower leg drive mechanism 340 is fixedly installed on the lower leg shaft 310. After the second lower leg drive mechanism 340 is assembled, the axis of the output shaft of the second lower leg drive mechanism 340 extends in a substantially horizontal and substantially perpendicular direction to the robot's forward movement. Furthermore, the output shaft of the second lower leg drive mechanism 340 is drivenly connected to the first end of the second lower leg link 350, and the second end of the second lower leg link 350 is rotatably connected to the second connecting seat 402. Further, the first lower leg link 330 and the second lower leg link 350 are arranged side by side in a direction perpendicular to the robot's forward movement. Thus, the transmission structure consisting of the second lower leg drive mechanism 340 and the second lower leg link 350 and the transmission structure consisting of the first lower leg drive mechanism 320 and the first lower leg link 330 are arranged side by side, and the two transmission structures together provide power to the foot 400 to drive the foot 400 to perform a foot-lifting movement. This allows the first lower leg drive mechanism 320 and the second lower leg drive mechanism 340 to use power devices with relatively small rated power (such as motors with relatively small rated power), thus making the device size of the first lower leg drive mechanism 320 and the second lower leg drive mechanism 340 relatively small, thereby making the overall volume of the lower leg 300 smaller, and the outline of the lower leg 300 closer to the outline of the human lower leg.

[0059] like Figure 4 and Figure 5As shown, the lower leg 300 also includes a fourth lower leg link 370, which enables a drive connection between the output shaft of the second lower leg drive mechanism 340 and the first end of the second lower leg link 350. Specifically, the first end of the fourth lower leg link 370 is fixedly connected to the output shaft of the second lower leg drive mechanism 340, and the second end of the fourth lower leg link 370 is rotatably connected to the first end of the second lower leg link 350. Thus, when the second lower leg drive mechanism 340 is activated to output rotational power to the output shaft, the output shaft drives the fourth lower leg link 370 to swing about the axis of rotation of the output shaft, thereby driving the second lower leg link 350 to move. Then, the second lower leg link 350 also drives the foot part 400 to lift the foot by using the ankle joint formed by the lower leg limb 310 and the foot part 400 as the pivot point through the second connecting seat 402.

[0060] In the embodiments of this application, such as Figure 4 and Figure 5 As shown, the second end of the third lower leg link 360 and the first end of the first lower leg link 330 are hinged together by the first lower leg pin 381, and the second end of the fourth lower leg link 370 and the first end of the second lower leg link 350 are hinged together by the second lower leg pin 382. During the foot-lifting movement, the second end of the third lower leg link 360 and the first end of the first lower leg link 330 rotate relative to each other about the axis of the first lower leg pin 381, and the second end of the fourth lower leg link 370 and the first end of the second lower leg link 350 rotate relative to each other about the axis of the second lower leg pin 382.

[0061] like Figure 4 and Figure 5 As shown, the lower leg portion 300 also includes a pivot 390, which is rotatably mounted on the second connecting seat 402. The second end of the first lower leg connecting rod 330 is rotatably connected to one end of the pivot 390, and the second end of the second lower leg connecting rod 350 is rotatably connected to the other end of the pivot 390. During the foot-lifting movement, the pivot 390 rotates relative to the foot portion 400 about its own axis.

[0062] Furthermore, such as Figure 4 and Figure 5As shown, the second end of the first lower leg link 330 and one end of the pivot 390 are hinged together by a third lower leg pin 383, and the second end of the second lower leg link 350 and the other end of the pivot 390 are hinged together by a fourth lower leg pin 384. That is, the second end of the first lower leg link 330 and one end of the pivot 390 can rotate about the axis of the third lower leg pin 383, and the second end of the second lower leg link 350 and the other end of the pivot 390 can rotate about the axis of the fourth lower leg pin 384. Furthermore, the axial extension directions of the third lower leg pin 383 and the fourth lower leg pin 384 are parallel to each other and both coincide with the robot's direction of travel. At this time, referring to the example below... Figures 1 to 5 As shown, with Figure 3 and Figure 5 Taking the left leg as an example, when the foot 400 needs to perform a right-side foot swing (i.e., foot inward swing), the first lower leg drive mechanism 320 outputs power to drive the first lower leg connecting rod 330 downward, and the second lower leg drive mechanism 340 outputs power to drive the second lower leg connecting rod 350 upward, thereby causing the foot 400 to rotate inward about the line connecting the first connecting seat 401 and the second connecting seat 402. When the foot 400 needs to perform a left-side foot swing (i.e., foot outward swing), the first lower leg drive mechanism 320 outputs power to drive the first lower leg connecting rod 330 upward, and the second lower leg drive mechanism 340 outputs power to drive the second lower leg connecting rod 350 downward, thereby causing the foot 400 to rotate outward about the line connecting the first connecting seat 401 and the second connecting seat 402.

[0063] Alternatively, in another embodiment of this application, one of the second end of the third lower leg link 360 and the first end of the first lower leg link 330 is provided with a first lower leg ball head (not shown), and the other of the second end of the third lower leg link 360 and the first end of the first lower leg link 330 is provided with a first lower leg recess structure (not shown), with the first lower leg ball head hinged to the first lower leg recess structure. Furthermore, one of the second end of the fourth lower leg link 370 and the first end of the second lower leg link 350 is provided with a second lower leg ball head (not shown), and the other of the second end of the fourth lower leg link 370 and the first end of the second lower leg link 350 is provided with a second lower leg recess structure (not shown), with the second lower leg ball head hinged to the second lower leg recess structure. Furthermore, one of the second end of the first lower leg link 330 and one end of the pivot 390 is provided with a third lower leg ball head (not shown), and the other of the second end of the first lower leg link 330 and one end of the pivot 390 is provided with a third lower leg recess structure (not shown), with the third lower leg ball head hinged to the third lower leg recess structure. Also, one of the second end of the second lower leg link 350 and the other end of the pivot 390 is provided with a fourth lower leg ball head (not shown), and the other of the second end of the second lower leg link 350 and the other end of the pivot 390 is provided with a fourth lower leg recess structure (not shown), with the fourth lower leg ball head hinged to the fourth lower leg recess.

[0064] like Figure 5 As shown, both the first lower leg link 330 and the second lower leg link 350 include a first link segment 301, a second link segment 302, and a third link segment 303. That is, both the first lower leg link 330 and the second lower leg link 350 are composite members, allowing for adjustment of the overall assembly length of the members. This enables more precise assembly of the first lower leg link 330 and the second lower leg link 350. Adjusting the assembly length of the first lower leg link 330 eliminates the assembly gap between the first lower leg link 330, the pivot 390, and the third lower leg link 360; adjusting the assembly length of the second lower leg link 350 eliminates the assembly gap between the second lower leg link 350, the pivot 390, and the fourth lower leg link 370. Specifically, the first rod segment 301 and the third rod segment 303 are threaded to both ends of the second rod segment 302, and the threads of the first rod segment 301 and the third rod segment 303 are opposite to each other.

[0065] Taking the first lower leg link 330 as an example, after the first lower leg drive mechanism 320 is fixedly installed on the lower leg limb 310, the third lower leg link 360 is fixedly connected to the output shaft of the first lower leg drive mechanism 320, and the pivot 390 is installed on the second connecting seat 402, when assembling the first lower leg link 330, the length of the first lower leg link 330 is adjusted to a suitable assembly length according to the assembly dimension chain between the third lower leg link 360 and the pivot 390. Then, the two ends of the first lower leg link 330 are respectively hinged to the second end of the third lower leg link 360 and the pivot 390 through the first lower leg pin 381 and the second lower leg pin 382. Then, depending on whether the length of the first lower leg link 330 is in a slightly longer state where it is tightly fitted between the second end of the third lower leg link 360 and the pivot 390, or in a slightly shorter state where it is stretched between the second end of the third lower leg link 360 and the pivot 390, the second link segment 302 is rotated so that the first link segment 301 and the third link segment 303 move closer to each other relative to the second link segment 302 to shorten the overall length of the first lower leg link 330, or move further apart to lengthen the overall length of the first lower leg link 330, so that the assembly length of the first lower leg link 330 reaches the optimal value.

[0066] In this embodiment, both the first lower leg drive mechanism 320 and the second lower leg drive mechanism 340 are embedded and fixed within the lower leg shaft 310, making the overall assembly of the lower leg 300 more compact. Furthermore, the first lower leg drive mechanism 320 and the second lower leg drive mechanism 340 are arranged at intervals along the extension direction of the lower leg shaft 310, with the output shaft of the first lower leg drive mechanism 320 extending out of the lower leg shaft 310 in the opposite direction to that of the second lower leg drive mechanism 340. This results in a smaller overall volume of the lower leg 300, making its contour shape closer to that of a human lower leg.

[0067] like Figure 4 and Figure 5 As shown, the lower leg portion 300 also includes a first limiting block 391, at which point the lower leg portion 300 only has the first limiting block 391. Specifically, the first limiting block 391 is fixedly installed on the lower leg shaft 310 corresponding to the first lower leg drive mechanism 320. The first limiting block 391 has a first limiting notch 3911, and the third lower leg connecting rod 360 extends out from the first limiting notch 3911. The two end walls of the first limiting notch 3911 are used to limit the swing range of the third lower leg connecting rod 360.

[0068] Or, such as Figure 5As shown, the lower leg portion 300 also includes a second limiting block 392, at which point the lower leg portion 300 only has the second limiting block 392. Specifically, the second limiting block 392 is fixedly installed on the lower leg shaft 310 corresponding to the second lower leg drive mechanism 340. The second limiting block 392 forms a second limiting notch 3921, and the third lower leg connecting rod 360 extends out from the second limiting notch 3921. The two end walls of the second limiting notch 3921 are used to limit the swing range of the fourth lower leg connecting rod 370.

[0069] Alternatively, the lower leg 300 may be provided with a first limiting block 391 and a second limiting block 392. The structure and assembly of the first limiting block 391 and the second limiting block 392 are the same as those described above, and therefore will not be repeated.

[0070] The leg structure of the bipedal robot in this application also includes an ankle connection member 420. For example... Figures 3 to 5 As shown, one end of the lower leg 300 is used to connect to the thigh 200 of the bipedal robot, and the lower leg 300 and the thigh 200 form the limb structure of the leg structure. The other end of the lower leg 300 is provided with a first connecting ear 304 and a second connecting ear 305 that are opposite to each other and spaced apart. Correspondingly, the foot 400 is provided with a first connecting seat 401, which includes a first ankle connecting ear 411 and a second ankle connecting ear 412 that are opposite to each other and spaced apart, and the line connecting the first ankle connecting ear 411 and the second ankle connecting ear 412 is perpendicular to the line connecting the first connecting ear 304 and the second connecting ear 305. The lower leg 300, away from the thigh 200, is connected to the first connecting seat 401 via an ankle connecting member 420, enabling multi-degree-of-freedom motion. In specific assembly, the ankle connecting member 420 is provided with a first connecting head 421, a second connecting head 422, a third connecting head 423, and a fourth connecting head 424. The line connecting the first connecting head 421 and the second connecting head 422 is perpendicular to the line connecting the third connecting head 423 and the fourth connecting head 424. The first connecting head 421 is rotatably connected to the first connecting ear 304, the second connecting head 422 is rotatably connected to the second connecting ear 305, the fourth connecting head 424 is rotatably connected to the first ankle connecting ear 411, and the third connecting head 423 is rotatably connected to the second ankle connecting ear 412.

[0071] Thus, the ankle joint structure is formed by assembling the first connecting seat 401 of the foot part 400 and the end of the lower leg part 300 through the ankle connecting member 420. During the movement of the foot part 400, the foot part 400 can perform two degrees of freedom of movement: lifting the foot and lowering the foot, with the line connecting the first connecting head 421 and the second connecting head 422 as the axis of rotation. Furthermore, the foot part 400 can perform two degrees of freedom of movement: swinging the foot to the left and swinging the foot to the right, with the line connecting the third connecting head 423 and the fourth connecting head 424 as the axis of rotation. In other words, the ankle joint structure formed by assembling the foot part 400 can basically realize the four main degrees of freedom of movement of the human ankle joint, and basically realize the multi-degree-of-freedom movement function of the ankle joint. Moreover, this application adopts a simple structure of the ankle connecting member 420, which can minimize the volume of the ankle joint, making the volume and contour shape of the ankle joint of the bipedal robot's leg structure closer to the human ankle joint, and more in line with people's aesthetic sense.

[0072] In the embodiments of this application, combined with, as Figure 6 and Figure 7 As shown, the first connector 421 and the first connecting ear 304 are rotatably connected by a first bearing 431; the second connector 422 and the second connecting ear 305 are rotatably connected by a second bearing 432; the fourth connector 424 and the first ankle connecting ear 411 are rotatably connected by a fourth bearing 434; and the third connector 423 and the second ankle connecting ear 412 are rotatably connected by a third bearing 433. Alternatively, in another embodiment of this application, the first connector 421 and the first connecting ear 304, the second connector 422 and the second connecting ear 305, the fourth connector 424 and the first ankle connecting ear 411, and the third connector 423 and the second ankle connecting ear 412 are all connected by ball joints.

[0073] To facilitate the assembly of the ankle connecting member 420 between the first connecting ear 304, the second connecting ear 305, the first ankle connecting ear 411, and the second ankle connecting ear 412, therefore, as Figure 6 and Figure 7As shown, the ankle connector 420 adopts a modular design. Specifically, the ankle connector 420 includes a first horizontal shaft 4201, a second horizontal shaft 4202, and a vertical shaft 4203. One end of the first horizontal shaft 4201 and one end of the second horizontal shaft 4202 are both fixedly connected to the vertical shaft 4203, and the axes of the first horizontal shaft 4201 and the second horizontal shaft 4202 are on the same straight line. The axes of the first horizontal shaft 4201 and the second horizontal shaft 4202 are both perpendicular to the axis of the vertical shaft 4203. At this time, the two ends of the vertical shaft 4203 are the third connector 423 and the fourth connector 424, respectively. The end of the first horizontal shaft 4201 away from the vertical shaft 4203 is the first connector 421, and the end of the second horizontal shaft 4202 away from the vertical shaft 4203 is the second connector 422. During specific assembly, the first horizontal shaft 4201 is rotatably connected to the first connecting ear 304, the second horizontal shaft 4202 is rotatably connected to the second connecting ear 305, and the two ends of the vertical shaft 4203 are respectively rotatably connected to the first ankle connecting ear 411 and the second ankle connecting ear 412 of the first connecting seat 401.

[0074] like Figure 6 and Figure 7 As shown, the ankle connecting member 420 also includes a fixing bolt 4204, and the longitudinal shaft member 4203 has a through hole 42031 with its axis perpendicular to the axis of the longitudinal shaft member 4203. During assembly, the first transverse shaft member 4201 and the second transverse shaft member 4202 correspond to the two side holes of the through hole 42031, respectively. The fixing bolt 4204 passes through the first transverse shaft member 4201 and the through hole 42031 in sequence and is screwed to the second transverse shaft member 4202 for fixation. Thus, the first transverse shaft member 4201 and the second transverse shaft member 4202 are locked and fixed to the longitudinal shaft member 4203 by the fixing bolt 4204.

[0075] When assembling the ankle connecting component 420 with a combined structure, the longitudinal shaft 4203 is first placed between the first ankle connecting ear 411 and the second ankle connecting ear 412. Then, the first transverse shaft 4201 is placed between the first connecting ear 304 and the longitudinal shaft 4203, and the second transverse shaft 4202 is placed between the second connecting ear 305 and the longitudinal shaft 4203. Finally, the first transverse shaft 4201 and the second transverse shaft 4202 are locked and fixed to the longitudinal shaft 4203 by the fixing bolts 4204. Then, the first bearing 431, the second bearing 432, the third bearing 433, and the fourth bearing 434 are assembled in sequence, that is: the first bearing 431 is assembled between the first connector 421 and the first connecting lug 304, the second bearing 432 is assembled between the second connector 422 and the second connecting lug 305, the third bearing 433 is assembled between the second ankle connecting lug 412 and the third connector 423, and the fourth bearing 434 is assembled between the first ankle connecting lug 411 and the fourth connector 424.

[0076] In another embodiment of this application, the ankle connection member 420 is a one-piece molded component. Preferably, the ankle connection member 420 is a one-piece forged component, or the ankle connection member 420 is a casting.

[0077] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A bipedal robot, characterized in that, The bipedal robot includes a leg structure and a hip joint structure, and the leg structure and the hip joint structure are connected. The hip joint structure includes: A hip adapter structure, comprising a first adapter portion and a second adapter portion fixedly connected to each other, wherein both the first adapter portion and the second adapter portion are plate-shaped components and their extension directions are orthogonal, and the extension direction of the first adapter portion is basically horizontal. A first drive mechanism is fixedly installed on one side of the second adapter, and the first drive mechanism is used to drive the leg structure to swing sideways. The second drive mechanism is installed on the other side of the second adapter. The axial direction of the output shaft of the second drive mechanism is orthogonal to the axial direction of the output shaft of the first drive mechanism. The second drive mechanism is used to drive the leg structure to rotate around the axis of the output shaft of the second drive mechanism. The output shaft of the first drive mechanism passes through the mounting hole of the second adapter and is connected to the second drive mechanism. The leg structure includes: The thigh shaft has a first end connected to the hip joint structure, and the thigh shaft has a receiving space extending along its length. The lower leg is rotatably mounted to the second end of the thigh shaft via a connecting shaft. The end of the lower leg near the thigh shaft is provided with a first connecting end, which extends into the receiving space. A knee drive mechanism is fixedly installed on one end of the thigh shaft near the hip joint structure. The first knee link and the second knee link are connected by a drive shaft of the knee drive mechanism and a first end of the first knee link. The second end of the first knee link is rotatably connected to the first connecting end. Both the first knee link and the second knee link are located in the receiving space. The first knee link is a composite rod, including a first segment, a second segment, and a third segment. The first segment and the third segment are threaded to both ends of the second segment, and the thread directions are opposite, which is used to adjust the overall length of the link to eliminate assembly gaps.

2. The bipedal robot according to claim 1, characterized in that, The hip joint structure further includes a hip flange component and a hip support component. The hip flange component is fixedly connected to the output shaft of the first drive mechanism, and the hip support component is fixedly connected to the hip flange component. The second drive mechanism is mounted on the hip support component.

3. The bipedal robot according to any one of claims 1-2, characterized in that, The hip joint structure further includes a third drive mechanism and a leg adapter component. The leg adapter component is fixedly connected to the output shaft of the second drive mechanism. The third drive mechanism is mounted on the leg adapter component. The axial direction of the output shaft of the third drive mechanism is orthogonal to the axial direction of the output shaft of the first drive mechanism, and the axial direction of the output shaft of the third drive mechanism is orthogonal to the axial direction of the second drive mechanism. The leg structure is fixedly connected to the output shaft of the third drive mechanism.

4. The bipedal robot according to claim 3, characterized in that, The third drive mechanism is located on the outside of the leg adapter.

5. The bipedal robot according to claim 1, characterized in that, The leg structure also includes a foot portion, which is provided with a spaced first connecting seat and a second connecting seat; The lower leg includes: The lower leg shaft has a first end rotatably mounted on the second end of the thigh shaft, the second end of the lower leg shaft is movably connected to the first connecting seat, and the second end of the lower leg shaft extends to provide the first connecting end; A first lower leg drive mechanism is installed on the lower leg shaft; The first lower leg connecting rod is driven by the output shaft of the first lower leg drive mechanism and the first end of the first lower leg connecting rod, and the second end of the first lower leg connecting rod is rotatably connected to the second connecting seat.

6. The bipedal robot according to claim 5, characterized in that, The lower leg also includes a second lower leg drive mechanism and a second lower leg connecting rod. The second lower leg drive mechanism is installed on the lower leg shaft. The output shaft of the second lower leg drive mechanism is driven to be connected to the first end of the second lower leg connecting rod. The second end of the second lower leg connecting rod is rotatably connected to the second connecting seat. The first lower leg connecting rod and the second lower leg connecting rod are arranged side by side.

7. The bipedal robot according to claim 5 or 6, characterized in that, The leg structure also includes an ankle connecting member, which has a first connecting head, a second connecting head, a third connecting head, and a fourth connecting head. The line connecting the first connecting head and the second connecting head is perpendicular to the line connecting the third connecting head and the fourth connecting head. The second end of the lower leg shaft has a first connecting ear and a second connecting ear that are opposite to each other and spaced apart. The first connecting seat includes a first ankle connecting ear and a second ankle connecting ear that are opposite to each other and spaced apart. The line connecting the first ankle connecting ear and the second ankle connecting ear is perpendicular to the line connecting the first connecting ear and the second connecting ear. The first connecting head is rotatably connected to the first connecting ear, the second connecting head is rotatably connected to the second connecting ear, the fourth connecting head is rotatably connected to the first ankle connecting ear, and the third connecting head is rotatably connected to the second ankle connecting ear.

Images