Robot lower limb structure and robot

Abstract

The present invention discloses a lower limb structure of a robot and a robot. The lower limb structure of the robot includes: a first joint; a second joint, which is movably connected to the first joint; a third joint, which is movably connected to the second joint; a fourth joint, which is movably connected to the third joint; a foot structure, which is movably connected to the fourth joint; wherein, the third joint includes: a joint body, a first motor and a reducer. The two ends of the joint body are respectively movably connected to the second joint and the fourth joint. The first motor and the reducer are respectively connected to the joint body, and the first motor and the reducer are arranged oppositely. The first output shaft of the reducer is arranged at the central position of the reducer and the first motor, and a part of the joint body is connected to the output shaft. The present invention concentrates the center of gravity of the robot's leg on the thigh joint of the lower limb, which is beneficial to improving the motion control ability of the robot and facilitating more precise control of the robot's movement and walking.

Description

Technical Field

[0001] The present invention relates to the technical field of robot manufacturing, and more specifically, to a robot lower limb structure and a robot. Background Art

[0002] The design of the leg structure of a biped robot is a complex task that requires comprehensive consideration of multiple factors. For example, motion flexibility, strength and durability control complexity, and lightweight. Among them, motion flexibility ensures that the legs should be able to walk, turn, and step flexibly on different terrains. Strength and durability can cope with external impacts and unstable situations and ensure the stability of the robot. Control complexity can reduce the number of actuators and joints through simplified design and improve the accuracy and stability of the control system. Lightweight design can reduce the weight of the leg structure, reduce energy consumption, and improve the efficiency of the robot. To increase the operability of the robot, those skilled in the art also need to further optimize the robot lower limb structure and improve the motion stability. Summary of the Invention

[0003] An object of the present invention is to provide a new technical solution for a robot lower limb structure and a robot, which can at least optimize problems such as motion flexibility, strength and durability control complexity, and lightweight of the robot lower limb structure in the prior art.

[0004] In the first aspect of the present invention, a robot lower limb structure is provided, including: a first joint; a second joint, the second joint is movably connected to the first joint, and the second joint and the first joint form a lower limb hip external structure; a third joint, the third joint is movably connected to the second joint, and the third joint forms a lower limb thigh structure; a fourth joint, the fourth joint is movably connected to the third joint, and the fourth joint forms a lower limb calf structure; a foot structure, the foot structure is movably connected to the fourth joint;

[0005] Wherein, the third joint includes: a joint body, a first motor, and a speed reducer. The two ends of the joint body are respectively movably connected to the second joint and the fourth joint. The first motor and the speed reducer are respectively connected to the joint body, and the first motor and the speed reducer are arranged oppositely. The first output shaft of the speed reducer is arranged at the central position of the speed reducer and the first motor, and a part of the joint body is connected to the output shaft.

[0006] Optionally, the joint body includes: a bracket; a first link, the first link and the bracket are arranged in parallel at a distance; two connecting rods, the two connecting rods are respectively arranged at both ends of the bracket, and one connecting rod close to the second joint is formed as a second output shaft. The connecting rod, the bracket and the first link form a movable four-bar linkage structure. The reducer and the first motor are respectively located on both sides of the first link. The first link is connected to the first output shaft, and the second output shaft is connected to the first output shaft.

[0007] Optionally, the third joint further includes: a mounting shaft, the mounting shaft is sleeved on the first output shaft, the second output shaft is sleeved on the first output shaft, the second output shaft is connected to the first link, and the second output shaft and the mounting shaft are sequentially distributed in the axial direction of the first output shaft.

[0008] Optionally, the second output shaft and the first output shaft are connected by a secondary sun gear, a secondary planet gear and a secondary planet carrier, and the secondary planet carrier rotates synchronously with the second output shaft.

[0009] Optionally, the first output shaft and the second output shaft are concentrically connected by a bearing.

[0010] Optionally, the first motor includes a third output shaft, the third output shaft is sleeved on the mounting shaft, and the first motor, the third output shaft, the mounting shaft, the first output shaft, the second output shaft and the reducer form a power transmission mechanism.

[0011] Optionally, the bracket includes: a first plate body and a second plate body, the first plate body and the second plate body are arranged in parallel at a distance, the first link is arranged between the first plate body and the second plate body, the reducer is arranged on the first plate body, the first motor is arranged on the second plate body, and the first output shaft extends from the first plate body towards the second plate body.

[0012] Optionally, the first link is located on the central symmetry plane between the first plate body and the second plate body.

[0013] Optionally, the bracket is provided with a first hollow portion.

[0014] Optionally, the first joint includes two second motors, the second joint includes a third motor, the fourth joint includes a fourth motor, and the first motor, the second motor, the third motor and the fourth motor are located in the same vertical plane.

[0015] Optionally, the third joint further includes: an actuating driver connected to the bracket; a first crank connected to the actuating driver and rotatable relative to the actuating driver; a rod body connected to the first crank and rotatable relative to the first crank; and an elastic member having one end connected to the rod body and the other end connected to one of the connecting rods.

[0016] Optionally, the first joint further includes: a hip abduction structure having a second hollow portion, the hip abduction structure having a flange provided with a plurality of bridge plates, each bridge plate being provided with a strain gauge, and when the plurality of bridge plates are stressed, the deformation amount of the bridge plates is detected by the strain gauges.

[0017] Optionally, the fourth joint further includes: a support rod having one end connected to the third joint through the fourth motor and the other end connected to the foot structure; a second crank having one end connected to the fourth motor; and a second connecting rod having one end connected to the other end of the crank and the other end connected to the foot structure, and a four-bar linkage structure is formed among the support rod, the second crank, and the second connecting rod.

[0018] Optionally, the foot structure includes: a foot body connected to the fourth joint and having a third hollow portion; and a contact member provided at the bottom of the foot body to form a point contact between the foot body and the ground.

[0019] In a second aspect of the present invention, a robot is provided, including the robot lower limb structure described in the above embodiments.

[0020] In the robot lower limb structure of the present invention, a first motor and a reducer are arranged on the third joint, and the center of gravity of the robot's leg is concentrated on the lower limb thigh joint, which is beneficial to improving the motion control ability of the robot, facilitating more precise control of the robot's motion, and enabling it to walk, turn, or step more stably and flexibly in different terrains and environments. At the same time, by arranging the first motor and the reducer relatively in the joint body and setting the first output shaft of the reducer at the central position of the reducer and the first motor, the robot lower limb structure is made more compact, further simplifying the motion control difficulty of the robot lower limb structure, ensuring that the robot's motion can be achieved more efficiently, ensuring the coordination between each joint, and making the robot's gait and movements more smooth.

[0021] Other features and advantages of the present invention will become clear from the following detailed description of the exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings incorporated in and forming a part of this specification illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0023] Figure 1 is a schematic structural diagram of a robot lower limb structure according to an embodiment of the present invention;

[0024] Figure 2 is another schematic structural diagram of a robot lower limb structure according to an embodiment of the present invention;

[0025] Figure 3 is yet another schematic structural diagram of a robot lower limb structure according to an embodiment of the present invention;

[0026] Figure 4 is a schematic structural diagram of the third joint of a robot lower limb structure according to an embodiment of the present invention;

[0027] Figure 5 is another schematic structural diagram of the third joint of a robot lower limb structure according to an embodiment of the present invention;

[0028] Figure 6 is Figure 5 a sectional view along line A-A;

[0029] Figure 7 is yet another schematic structural diagram of the third joint of a robot lower limb structure according to an embodiment of the present invention;

[0030] Figure 8 is a partial schematic structural diagram of the first joint of a robot lower limb structure according to an embodiment of the present invention.

[0031] Reference numerals:

[0032] First joint 10; Second motor 11; Hip abduction structure 12; Second hollow portion 121; Flange 122; Bridge plate 123; Strain gauge 124; Hip internal rotation structure 13;

[0033] Second joint 20; Third motor 21;

[0034] Third joint 30; Joint body 31; Bracket 311; First plate body 3111; Second plate body 3112; First hollow portion 3113; Mounting shaft 3114; First connecting rod 312; Connecting rod 313; First motor 32; Third output shaft 321; Reducer 33; First output shaft 331; Secondary sun gear 332; Secondary planetary gear 333; Secondary planetary carrier 334; Bearing 335; Ring gear 336; Actuating driver 35; First crank 36; Rod body 37; Elastic member 38; Knee joint 39;

[0035] Fourth joint 40; Fourth motor 41; Support rod 42; Second crank 43; Second connecting rod 44;

[0036] Foot structure 50; Foot body 51; Third hollow part 511; Contact member 52. Detailed implementation mode

[0037] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: Unless otherwise specifically stated, the relative arrangements of components and steps set forth in these embodiments, numerical expressions and numerical values do not limit the scope of the present invention.

[0038] The following description of at least one exemplary embodiment is actually merely illustrative and in no way restricts the present invention and its application or use.

[0039] Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said techniques, methods, and devices should be regarded as part of the specification.

[0040] In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0041] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0042] In the description of the present invention, features related to the terms "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / ", generally represents an "or" relationship between the associated objects before and after.

[0043] In the description of the present invention, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are involved, the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" involved should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0045] The following specifically describes the robot lower limb structure according to an embodiment of the present invention with reference to the accompanying drawings.

[0046] As Figures 1 to 3 shown, the robot lower limb structure according to an embodiment of the present invention includes a first joint 10, a second joint 20, a third joint 30, a fourth joint 40, and a foot structure 50.

[0047] Specifically, the second joint 20 is movably connected to the first joint 10, and the second joint 20 and the first joint 10 form an external hip structure of the lower limb. The third joint 30 is movably connected to the second joint 20, and the third joint 30 forms a thigh structure of the lower limb. The fourth joint 40 is movably connected to the third joint 30, and the fourth joint 40 forms a calf structure of the lower limb. The foot structure 50 is movably connected to the fourth joint 40. Among them, the third joint 30 includes: a joint body 31, a first motor 32, and a reducer 33. Both ends of the joint body 31 are movably connected to the second joint 20 and the fourth joint 40 respectively. The first motor 32 and the reducer 33 are respectively connected to the joint body 31, and the first motor 32 and the reducer 33 are arranged oppositely. The first output shaft 331 of the reducer 33 is located at the central position between the reducer 33 and the first motor 32, and a part of the joint body 31 is connected to the output shaft.

[0048] In other words, referring to Figures 1 to 3, the lower limb structure of the robot according to the embodiment of the present invention mainly consists of a first joint 10, a second joint 20, a third joint 30, a fourth joint 40 and a foot structure 50. Among them, the second joint 20 is movably connected to the first joint 10, and the second joint 20 and the first joint 10 can form the external hip structure of the lower limb. The third joint 30 is rotatably connected to the second joint 20, and the third joint 30 can form the thigh structure of the lower limb. The fourth joint 40 is rotatably connected to the third joint 30, and the fourth joint 40 can form the calf structure of the lower limb. The foot structure 50 is movably connected to the fourth joint 40. Among them, the third joint 30 mainly consists of a joint body 31, a first motor 32 and a speed reducer 33. By arranging the first motor 32 and the speed reducer 33 on the third joint 30, the center of gravity of the robot's leg is concentrated on the thigh joint of the lower limb, which is beneficial to improving the motion control ability of the robot, facilitating more precise control of the robot's movement, and enabling it to walk, turn or step more stably and flexibly in different terrains and environments.

[0049] Both ends of the joint body 31 can be movably connected to the second joint 20 and the fourth joint 40 respectively. The first motor 32 and the speed reducer 33 can be connected to the joint body 31 respectively, and the first motor 32 and the speed reducer 33 are arranged oppositely, ensuring that the overall setting of the robot's lower limb structure is more compact. At the same time, it is beneficial to strengthen the overall structural strength of the third joint 30, facilitate wire routing, and have a higher aesthetic degree. The first output shaft 331 of the speed reducer 33 serves as the torque output shaft and is arranged at the center position between the speed reducer 33 and the first motor 32. A part of the joint body 31 is connected to the output shaft to achieve power output. By arranging the first motor 32 and the speed reducer 33 oppositely within the joint body 31 and setting the first output shaft 331 of the speed reducer 33 at the center position between the speed reducer 33 and the first motor 32, it is ensured that the robot's lower limb structure is more compact, further simplifies the motion control difficulty of the robot's lower limb structure, ensures that the robot's movement can be achieved more efficiently, ensures the coordination between each joint, and makes the robot's gait and actions more fluent.

[0050] The overall design of the lower limb structure of the robot of the present invention is an anti-arch structure. The first joint 10, the second joint 20, the third joint 30, the fourth joint 40 and the foot structure 50 roughly correspond to the joint positions of the human lower limb structure, realizing the humanoid design of the robot's lower limb structure, effectively optimizing the lower limb structure of traditional robots, and improving the flexibility, stability and durability of the robot's movement, etc.

[0051] Thus, in the lower limb structure of the robot according to the embodiment of the present invention, the first motor 32 and the reducer 33 are arranged on the third joint 30, concentrating the center of gravity of the robot's leg on the lower thigh joint, which is beneficial to improving the motion control ability of the robot, facilitating more precise control of the robot's movement, and enabling it to walk, turn or step more stably and flexibly in different terrains and environments. At the same time, by arranging the first motor 32 and the reducer 33 relatively within the joint body 31 and setting the first output shaft 331 of the reducer 33 at the central position between the reducer 33 and the first motor 32, the lower limb structure of the robot is made more compact, further simplifying the motion control difficulty of the lower limb structure of the robot, ensuring that the movement of the robot can be achieved more efficiently, ensuring the coordination between each joint, and making the gait and actions of the robot smoother.

[0052] According to an embodiment of the present invention, the joint body 31 includes a bracket 311, a first link 312, and two connecting rods 313.

[0053] Specifically, the first link 312 and the bracket 311 are arranged in parallel at intervals. The two connecting rods 313 are respectively arranged at both ends of the bracket 311. One connecting rod 313 close to the second joint 20 is formed as a second output shaft. The connecting rod 313, the bracket 311, and the first link 312 form a movable four-bar linkage structure. The reducer 33 and the first motor 32 are respectively located on both sides of the first link 312. The first link 312 is connected to the first output shaft 331, and the second output shaft is connected to the first output shaft 331.

[0054] That is to say, as Figure 1 、 Figure 2 and Figure 4 shown, the joint body 31 is mainly composed of a bracket 311, a first link 312, and two connecting rods 313. Among them, the first link 312 and the bracket 311 are arranged in parallel at intervals. The two connecting rods 313 are respectively arranged at both ends of the bracket 311. One connecting rod 313 close to the second joint 20 is formed as a second output shaft, and this connecting rod 313 (second output shaft) is connected to the second joint 20, and the other connecting rod 313 is connected to the first link 312. The connecting rod 313, the bracket 311, and the first link 312 form a movable four-bar linkage structure. And the reducer 33 and the first motor 32 are respectively located on opposite sides of the first link 312. The first link 312 is connected to the first output shaft 331, and the second output shaft is connected to the first output shaft 331. The first link 312 can transmit the power output by the first output shaft 331 to realize the rotation of the third joint 30. By connecting the first link 312 to the first output shaft 331 of the reducer 33 and at the same time connecting the link to the foot structure 50, it is beneficial to adjust the pitch motion of the foot.

[0055] The present invention focuses the center of gravity of the robot's leg on the thigh joint (the third joint 30) by adopting a four-bar linkage design. This optimized design helps to improve the motion control ability of the robot, enabling more precise control of the robot's movement and allowing it to walk, turn, and step more stably and flexibly on different terrains and in different environments.

[0056] According to an embodiment of the present invention, the third joint 30 further includes: a mounting shaft 3114, the mounting shaft 3114 is sleeved on the first output shaft 331, the second output shaft is sleeved on the first output shaft 331, the second output shaft is connected to the first link 312, and the second output shaft and the mounting shaft 3114 are sequentially distributed along the axial direction of the first output shaft 331.

[0057] In other words, referring to Figure 5 and Figure 6 , the third joint 30 further includes a mounting shaft 3114, wherein the second output shaft is sleeved on the first output shaft 331, and the second output shaft serves as the joint output shaft. The second output shaft is connected to the first link 312, the mounting shaft 3114 is sleeved on the first output shaft 331, and the second output shaft and the mounting shaft 3114 are sequentially distributed along the axial direction of the first output shaft 331. The power output by the first motor 32 is transmitted through the mounting shaft 3114, the mounting shaft 3114 is fixedly connected to the first output shaft 331, the first output shaft 331 serves as the torque output shaft of the reducer 33, and the power of the first motor 32 is output to the reducer 33. Under the action of the reducer 33, the reducer 33 transmits the power to the second output shaft through the first output shaft 331 and transmits the power to the first link 312 through the second output shaft to achieve power transmission.

[0058] According to an embodiment of the present invention, referring to Figure 6 , the second output shaft (a connecting rod 313 close to the second joint 20) and the first output shaft 331 can be connected through a second-stage sun gear 332, a second-stage planetary gear 333, and a second-stage planetary carrier 334. The first output shaft 331 is directly connected to the second-stage sun gear 332, the second-stage sun gear 332 and the second-stage planetary gear 333 are meshed with the gear ring 336 to drive the second-stage planetary carrier 334 to rotate, and the second-stage planetary carrier 334 rotates synchronously with the second output shaft, ensuring that the first output shaft 331 rotates synchronously with the second output shaft after the speed ratio is adjusted by the second-stage sun gear 332 and the second-stage planetary gear 333, realizing the speed adjustment of the reducer 33, meeting the synchronous and flexible movement of each joint of the robot, and ensuring the movement accuracy of the robot.

[0059] Of course, for those skilled in the art, other structures and working principles of the reducer 33 are understandable and achievable, and will not be elaborated in detail in the present invention.

[0060] According to an embodiment of the present invention, as Figure 6As shown, the first output shaft 331 and the second output shaft can be concentrically connected through a bearing 335, and the first output shaft 331 and the second output shaft are not fixed, realizing the synchronous rotation of the first output shaft 331 and the second output shaft, which is beneficial to adjusting the speed ratio.

[0061] According to an embodiment of the present invention, the first motor 32 includes a third output shaft 321. The third output shaft 321 is sleeved on the mounting shaft 3114. The first motor 32, the third output shaft 321, the mounting shaft 3114, the first output shaft 331, the second output shaft and the speed reducer form a power transmission mechanism.

[0062] That is to say, referring to Figure 6 , the first motor 32 includes a third output shaft 321. The third output shaft 321 is sleeved on the mounting shaft 3114. The first motor 32, the third output shaft 321, the mounting shaft 3114, the first output shaft 331, the second output shaft and the speed reducer form a power transmission mechanism. By symmetrically arranging the first motor 32 and the speed reducer 33 within the bracket 311, and simultaneously connecting the first connecting rod 312 to the first output shaft 331 of the speed reducer 33, it is ensured that the lower limb structure of the robot is more compact, further simplifying the motion control difficulty of the lower limb structure of the robot, ensuring that the movement of the robot can be realized more efficiently, ensuring the coordination between each joint, and making the gait and actions of the robot more smooth.

[0063] In the present invention, referring to Figure 6 , the first connecting rod 312 serves as a fourth output shaft, and the fourth output shaft is connected to the second output shaft. Under the action of the speed reducer 33, the speed reducer 33 transmits power to the second output shaft through the first output shaft 331, and transmits power to the fourth output shaft through the second output shaft, and finally transmits the power to the first connecting rod 312 through the fourth output shaft to realize power transmission.

[0064] According to an embodiment of the present invention, the bracket 311 includes: a first plate body 3111 and a second plate body 3112. The first plate body 3111 and the second plate body 3112 are arranged in parallel at intervals. The first connecting rod 312 is arranged between the first plate body 3111 and the second plate body 3112. The speed reducer 33 is arranged on the first plate body 3111, the first motor 32 is arranged on the second plate body 3112, and the first output shaft 331 extends from the first plate body 3111 towards the second plate body 3112.

[0065] In other words, as Figure 1 , Figure 2 and Figure 5As shown, the bracket 311 includes a first plate body 3111 and a second plate body 3112. The first plate body 3111 and the second plate body 3112 can be arranged in parallel at intervals. The first connecting rod 312 is installed between the first plate body 3111 and the second plate body 3112. A speed reducer 33 is arranged on the first plate body 3111, and a first motor 32 is arranged on the second plate body 3112. The speed reducer 33 and the first motor 32 are symmetrically arranged with respect to the centers of the first plate body 3111 and the second plate body 3112. The first output shaft 331 extends from the first plate body 3111 towards the second plate body 3112, so that the first output shaft 331 is located at the central position between the speed reducer 33 and the first motor 32, simplifying the difficulty of motion control of the robot and greatly improving the accuracy and stability of the robot's motion.

[0066] According to an embodiment of the present invention, the first connecting rod 312 is located on the central symmetry plane between the first plate body 3111 and the second plate body 3112. That is to say, referring to Figures 1 to 3 , the first connecting rod 312 is arranged on the central symmetry plane between the first plate body 3111 and the second plate body 3112. The structural design is ingenious, which is convenient for matching the design of the first output shaft 331 of the speed reducer 33 at the central position between the speed reducer 33 and the first motor 32, conducive to simplifying the difficulty of motion control of the robot and greatly improving the accuracy and stability of the robot's motion.

[0067] According to an embodiment of the present invention, the bracket 311 is provided with a first hollowed-out portion 3113. In other words, referring to Figure 7 , the bracket 311 is provided with a first hollowed-out portion 3113. The first hollowed-out portion 3113 can be designed as a hollowed-out hole. By setting the first hollowed-out portion 3113, on the premise of ensuring the overall strength of the lower limb structure of the robot, it is beneficial to reduce the overall weight of the lower limb structure of the robot, meet the lightweight design of the robot, and further improve the flexibility of the overall motion of the robot. Of course, the specific shape and number of the hollowed-out holes can be specifically designed according to actual needs and will not be elaborated in detail in the present invention.

[0068] According to an embodiment of the present invention, the first joint 10 includes two second motors 11, the second joint 20 includes a third motor 21, the fourth joint 40 includes a fourth motor 41, and the first motor 32, the second motor 11, the third motor 21, and the fourth motor 41 are located in the same vertical plane.

[0069] In other words, as Figure 1 and Figure 2As shown, the first joint 10 mainly consists of two second motors 11. The second joint 20 includes a third motor 21, and the fourth joint 40 includes a fourth motor 41. Moreover, the first motor 32, the second motor 11, the third motor 21, and the fourth motor 41 are located in the same vertical plane. By ingeniously arranging the first motor 32, the second motor 11, the third motor 21, and the fourth motor 41 in the same plane, the present invention creatively arranges the first output shaft 331 at the central position between the speed reducer 33 and the first motor 32. This design simplifies the motion control difficulty of the robot and ensures the accuracy and stability of the robot's motion. By arranging the motors (the first motor 32, the second motor 11, the third motor 21, and the fourth motor 41) in the same plane, it is possible to more efficiently control the motion of the robot, ensure the coordination between each joint, and make the robot's gait and actions smoother.

[0070] According to an embodiment of the present invention, the third joint 30 further includes an actuator 35, a first crank 36, a rod body 37, and an elastic body.

[0071] Specifically, the actuator 35 is connected to the bracket 311. The first crank 36 is connected to the actuator 35, and the first crank 36 is rotatable relative to the actuator 35. The rod body 37 is connected to the first crank 36, and the rod body 37 is rotatable relative to the first crank 36. One end of the elastic member 38 is connected to the rod body 37, and the other end is connected to a connecting rod 313.

[0072] That is to say, referring to Figure 7 , the third joint 30 further includes an actuator 35, a first crank 36, a rod body 37, and an elastic body. Among them, the actuator 35 is fixedly connected to the bracket 311, and the bracket 311 can serve as the thigh bone frame. The first crank 36 is connected to the actuator 35, and the first crank 36 can rotate around the actuator 35. The rod body 37 is connected to the first crank 36, and the rod body 37 can rotate around the first crank 36. One end of the elastic member 38 is connected to the rod body 37, and the other end of the elastic member 38 is connected to a connecting rod 313 close to the fourth joint 40. Both ends of the first connecting rod 312 are respectively connected to the first output shaft 331 and the rod body 37 to achieve the overall flexible movement of the third joint 30. The elastic member 38 can be a tension spring or a leaf spring to meet the elastic reset of the movement of the third joint 30 and ensure that the movement of the third joint 30 is more flexible. Of course, the third joint 30 also includes structures such as a knee joint 39. The knee joint 39 and the speed reducer 33 or the first motor 32 are located at opposite ends of the first connecting rod 312 of the bracket 311, which will not be elaborated in detail in the present invention.

[0073] According to an embodiment of the present invention, the first joint 10 further includes: a hip abduction structure 12. Specifically, the hip abduction structure 12 is provided with a second hollow portion 121, the hip abduction structure 12 is provided with a flange 122, the flange 122 is provided with a plurality of bridge plates 123, and each bridge plate 123 is provided with a strain gauge 124. When the plurality of bridge plates 123 are stressed, the deformation of the bridge plates 123 is detected by the strain gauges 124.

[0074] That is to say, as Figure 8 shown, the first joint 10 further includes a hip abduction structure 12. Among them, the hip abduction structure 12 is provided with a second hollow portion 121, and the second hollow portion 121 can be designed as a hollow hole, which is beneficial to reducing the overall weight of the first joint 10 and improving the overall movement flexibility of the robot lower limb structure. The hip abduction structure 12 is provided with a flange 122, and the flange 122 is provided with a plurality of bridge plates 123. The plurality of bridge plates 123 are respectively fixedly connected to the flange 122. Each bridge plate 123 is provided with a strain gauge 124. When the bridge plate 123 is stressed, it can deform, and the deformation of the bridge plate 123 is detected by the strain gauge 124, so that the force output of the robot lower limb structure can be detected, and it is convenient to adjust the activity range and activity force of the robot lower limb structure according to the deformation of the bridge plate 123.

[0075] In the present invention, the first joint 10 is further provided with a hip internal rotation structure 13. The hip abduction structure 12 is connected to the hip internal rotation structure 13 to realize the relative rotation of the hip internal rotation structure 13 and the hip abduction structure 12, and realize the flexible rotation of the overall robot lower limb structure. Of course, other structures and working principles of the first joint 10 can be understood and realized, and will not be described in detail in the present invention.

[0076] According to an embodiment of the present invention, the fourth joint 40 further includes a support rod 42, a second crank 43 and a second connecting rod 44.

[0077] Specifically, one end of the support rod 42 is connected to the third joint 30 through the fourth motor 41, and the other end of the support rod 42 is connected to the foot structure 50. One end of the second crank 43 is connected to the fourth motor 41. One end of the second connecting rod 44 is connected to the other end of the crank, and the other end of the second connecting rod 44 is connected to the foot structure 50. A four-bar linkage structure is formed among the support rod 42, the second crank 43 and the second connecting rod 44.

[0078] In other words, referring to Figure 3, the fourth joint 40 may further include a support rod 42, a second crank 43, and a second connecting rod 44. One end of the support rod 42 may be connected to the third joint 30 through the fourth motor 41, and the other end of the support rod 42 may be connected to the foot structure 50. The support rod 42 and the second connecting rod 44 are arranged in parallel at intervals. One end of the second crank 43 is connected to the fourth motor 41. One end of the second connecting rod 44 is connected to the other end of the crank, and the other end of the second connecting rod 44 is connected to the foot structure 50. A four-bar linkage structure is formed among the support rod 42, the second crank 43, and the second connecting rod 44. By adopting a four-bar linkage design for the fourth joint 40, it helps to improve the motion control ability of the robot, can more precisely control the motion of the robot, and enables it to walk, turn, and step more stably and flexibly in different terrains and environments.

[0079] According to an embodiment of the present invention, the foot structure 50 includes a foot body 51 and a contact member 52.

[0080] Specifically, the foot body 51 is connected to the fourth joint 40, and a third hollow portion 511 is provided on the foot body 51. The contact member 52 is provided at the bottom of the foot body 51 to form a point contact between the foot body 51 and the ground.

[0081] That is to say, referring to Figure 1 , the foot structure 50 is mainly composed of the foot body 51 and the contact member 52. Among them, the foot body 51 is connected to the fourth joint 40, and a third hollow portion 511 is provided on the foot body 51. The third hollow portion 511 can be set as a hollow hole, which is beneficial to reducing the overall weight of the foot structure 50, improving the flexibility of the movement of the foot structure 50, and facilitating the arrangement of wire harnesses and sensors at the same time. The contact member 52 is provided at the bottom of the foot body 51. By providing the contact member 52 at the bottom of the foot body 51, it can ensure that the foot body 51 forms a point contact with the ground, which is beneficial to improving the stability of the robot walking on the ground and greatly simplifies the control model of the robot.

[0082] All in all, for the lower limb structure of the robot according to the embodiment of the present invention, the first motor 32 and the reducer 33 are arranged on the third joint 30, and the center of gravity of the robot's leg is concentrated on the lower limb thigh joint, which is beneficial to improving the motion control ability of the robot, facilitating more precise control of the robot's motion, and enabling it to walk, turn, or step more stably and flexibly in different terrains and environments. At the same time, by arranging the first motor 32 and the reducer 33 relatively within the joint body 31 and setting the first output shaft 331 of the reducer 33 at the central position of the reducer 33 and the first motor 32, it ensures that the lower limb structure of the robot is more compact, further simplifies the motion control difficulty of the lower limb structure of the robot, ensures that the motion of the robot can be realized more efficiently, ensures the coordination between each joint, and makes the gait and actions of the robot more smooth.

[0083] Of course, for those skilled in the art, other structures and their working principles of the robot lower limb structure are understandable and achievable, and will not be elaborated in detail in the present invention.

[0084] According to the second aspect of the embodiments of the present invention, a robot is provided, including the robot lower limb structure in the above embodiments. Since the robot lower limb structure according to the embodiments of the present invention has the above technical effects, the robot according to the embodiments of the present invention should also have corresponding structures. That is, by adopting the robot lower limb structure, the center of gravity of the robot's leg can be concentrated on the lower limb thigh joint, which is beneficial to improving the motion control ability of the robot, facilitating more precise control of the robot's movement, and enabling it to walk, turn or step more stably and flexibly in different terrains and environments. At the same time, by relatively arranging the first motor 32 and the reducer 33 within the joint body 31 and setting the first output shaft 331 of the reducer 33 at the central position of the reducer 33 and the first motor 32, the robot lower limb structure is made more compact, further simplifying the motion control difficulty of the robot lower limb structure, ensuring more efficient realization of the robot's movement, ensuring the coordination between each joint, and making the robot's gait and actions smoother.

[0085] Of course, for those skilled in the art, other structures and their working principles of the robot are understandable and achievable, and will not be elaborated in detail in the present invention.

[0086] Although some specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration purposes and not for limiting the scope of the present invention. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A robot lower limb structure, characterized in that, Comprising: The first joint; The second joint, which is movably connected to the first joint, and the second joint and the first joint form the hip external structure of the lower limb; The third joint, which is movably connected to the second joint, and the third joint forms the thigh structure of the lower limb; The fourth joint, which is movably connected to the third joint, and the fourth joint forms the calf structure of the lower limb; The foot structure, which is movably connected to the fourth joint; Wherein, the third joint includes: a joint body, a first motor and a speed reducer. The two ends of the joint body are respectively movably connected to the second joint and the fourth joint. The first motor and the speed reducer are respectively connected to the joint body, and the first motor and the speed reducer are arranged oppositely. The first output shaft of the speed reducer is arranged at the central position between the speed reducer and the first motor; The joint body includes: A bracket; A first connecting rod, which is arranged parallel to the bracket at an interval; Two connecting rods, which are respectively arranged at both ends of the bracket. One of the connecting rods close to the second joint is formed as a second output shaft. The connecting rods, the bracket and the first connecting rod form a movable four-link structure. The speed reducer and the first motor are respectively located on both sides of the first connecting rod. The first connecting rod is connected to the first output shaft, and the second output shaft is connected to the first output shaft.

2. The robot lower limb structure according to claim 1, characterized in that, The third joint further includes: a mounting shaft, which is sleeved on the first output shaft. The second output shaft is sleeved on the first output shaft. The second output shaft is connected to the first connecting rod, and the second output shaft and the mounting shaft are sequentially distributed in the axial direction of the first output shaft.

3. The robot lower limb structure according to claim 1, characterized in that, The second output shaft and the first output shaft are connected by a secondary sun gear, a secondary planet gear and a secondary planet carrier, and the secondary planet carrier rotates synchronously with the second output shaft.

4. The robot lower limb structure according to claim 1, characterized in that, The first output shaft and the second output shaft are concentrically connected by a bearing.

5. The robot lower limb structure according to claim 2, characterized in that, The first motor includes a third output shaft, which is sleeved on the mounting shaft. The first motor, the third output shaft, the mounting shaft, the first output shaft, the second output shaft and the speed reducer form a power transmission mechanism.

6. The robot lower limb structure according to claim 1, wherein The bracket includes: A first plate body and a second plate body, which are arranged parallel to each other at an interval. The first connecting rod is arranged between the first plate body and the second plate body. The speed reducer is arranged on the first plate body, and the first motor is arranged on the second plate body. The first output shaft extends from the first plate body towards the second plate body.

7. The robot lower limb structure according to claim 6, wherein, The first connecting rod is located on the central symmetry plane between the first plate body and the second plate body.

8. The robot lower limb structure according to claim 1, wherein, The bracket is provided with a first hollow part.

9. The robot lower limb structure according to claim 1, characterized in that, The first joint includes two second motors, the second joint includes a third motor, the fourth joint includes a fourth motor, and the first motor, the second motor, the third motor and the fourth motor are located in the same vertical plane.

10. The robot lower limb structure according to claim 1, characterized in that, The third joint further includes: An execution driver, which is connected to the bracket; A first crank, the first crank is connected to the actuating driver, and the first crank is rotatable relative to the actuating driver; A rod body, the rod body is connected to the first crank, and the rod body is rotatable relative to the first crank; An elastic member, one end of the elastic member is connected to the rod body, and the other end is connected to one of the connecting rods.

11. The robot lower limb structure according to claim 1, characterized in that, The first joint further includes: An abductor structure, the abductor structure is provided with a second hollow portion, the abductor structure is provided with a flange, and a plurality of bridge plates are provided on the flange. A strain gauge is provided on each bridge plate. When the plurality of bridge plates are stressed, the deformation amount of the bridge plate is detected by the strain gauge.

12. The robot lower limb structure according to claim 9, wherein, The fourth joint further includes: A support rod, one end of the support rod is connected to the third joint through the fourth motor, and the other end of the support rod is connected to the foot structure; A second crank, one end of the second crank is connected to the fourth motor; A second connecting rod, one end of the second connecting rod is connected to the other end of the crank, and the other end of the second connecting rod is connected to the foot structure. A four-bar linkage structure is formed among the support rod, the second crank, and the second connecting rod.

13. The robot lower limb structure according to claim 1, wherein, The foot structure includes: A foot body, the foot body is connected to the fourth joint, and the foot body is provided with a third hollow portion; A contact member, the contact member is provided at the bottom of the foot body so that the foot body forms a point contact with the ground.

14. A robot, characterized in that, Including the robot lower limb structure according to any one of claims 1-13.

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