Lower limb mechanism and humanoid robot

Abstract

A lower limb mechanism and a humanoid robot, the lower limb mechanism includes a calf member, a sole member, a first driving structure and a second driving structure. The sole member includes a first bracket and a second bracket, the first bracket is connected to the calf member for rotation around a first axis and a second axis, and the first axis intersects with the second axis; the first driving structure is arranged on the calf member, the first driving structure is connected to the first bracket for rotation, and the first driving structure drives the calf member to rotate relative to the sole member around the first axis; the second driving structure is arranged on the calf member, the second driving structure is connected to the second bracket for rotation, and the second driving structure drives the calf member to rotate relative to the sole member around the second axis. In the present application, the rotation of the calf member relative to the sole member around the first axis is driven by the first driving structure, and the rotation of the calf member relative to the sole member around the second axis is driven by the second driving structure, so that the rotation of the calf member relative to the sole member around the first axis and the second axis is independently controlled, reducing the complexity of the overall control strategy of the lower limb mechanism.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a lower limb mechanism and a humanoid robot. Background Art

[0002] With the rapid development of robots, the application fields of robots are becoming more and more extensive, such as service robots, medical robots and industrial robots. Humanoid robots can imitate the appearance and movement posture of the human body and have broad development prospects. Similar to the human body, the structure of humanoid robots includes torso, head, upper limbs, lower limbs, etc. The lower limbs mainly include thighs, calves, soles, etc. The humanoid robot is equipped with a driving structure to drive the soles and calves to rotate relative to each other to realize the function of the ankle joint.

[0003] In the related art, the design of the driving structure for driving the sole of the foot and the calf to rotate relative to each other makes the control strategy of the driving structure relatively complex, which increases the complexity and difficulty of the control system. Summary of the invention

[0004] The purpose of this application is to provide a lower limb mechanism and a humanoid robot to solve the problem that the control strategy of the driving structure in the lower limb mechanism is relatively complex, which increases the complexity and difficulty of the control system.

[0005] To achieve the purpose of this application, this application provides the following technical solutions:

[0006] In a first aspect, the present application provides a lower limb mechanism, applied to a humanoid robot, comprising:

[0007] shank piece;

[0008] A sole member, comprising a first bracket and a second bracket sequentially arranged along a first direction, the first bracket being rotatably connected to the shank member around a first axis and a second axis, the first axis intersecting the second axis, the second axis extending along a second direction, the second direction being a width direction of the humanoid robot, and the first direction being perpendicular to the second direction;

[0009] A first driving structure, disposed on the calf member, the first driving structure being rotatably connected to the first bracket, and the first driving structure driving the calf member to rotate relative to the sole member around the first axis;

[0010] The second driving structure is arranged on the calf member, the second driving structure is rotatably connected to the second bracket, and the second driving structure drives the calf member to rotate relative to the sole member around the second axis.

[0011] The lower limb mechanism of the embodiment of the present application can drive the calf member to rotate relative to the sole member around the first axis and the second axis by setting the first driving structure and the second driving structure, so as to realize the function of the ankle joint; wherein, the rotation of the calf member relative to the sole member around the first axis is driven by the first driving structure, and the rotation of the calf member relative to the sole member around the second axis is driven by the second driving structure, so that the rotation of the calf member relative to the sole member around the first axis and the second axis can be independently controlled, thereby reducing the complexity of the overall control strategy of the lower limb mechanism, and the control logic of the first driving structure and the second driving structure can be relatively independently designed and optimized, thereby improving the decoupling of the lower limb mechanism control system; at the same time, since the first driving structure and the second driving structure are independently controlled, the control algorithm of the lower limb mechanism can be designed separately for each driving structure, which can simplify the control logic, reduce the amount of calculation, and improve the real-time performance and response speed of the system. And by reasonably setting the direction of the bracket and the axis, the structure of the lower limb mechanism is made more compact, which is conducive to reducing the overall size of the humanoid robot; and the independence of the rotation of the calf member relative to the sole member around the first axis and the second axis is ensured, thereby improving the accuracy and efficiency of motion control.

[0012] In one embodiment, the lower leg member is rotatably connected to the first bracket via a first rotating shaft and a second rotating shaft, the axis of the first rotating shaft is coaxial with the first axis, the axis of the second rotating shaft is coaxial with the second axis, and the first driving structure is rotatably connected to the second rotating shaft;

[0013] The second bracket is rotatably connected to a third rotating shaft, the third rotating shaft extends along the second direction, and the second driving structure is rotatably connected to the third rotating shaft.

[0014] In this way, the calf piece is connected to the first bracket through the first rotating shaft and the second rotating shaft. Under the drive of the first driving structure and the second driving structure, the calf piece can be rotated relative to the sole piece around the first axis and the second axis, which simplifies the structure of the lower limb mechanism and can utilize space more effectively; and the first driving structure is directly connected to the second rotating shaft, which improves the connection between the first driving structure and the sole piece and the second driving structure is directly connected to the third rotating shaft, which reduces the energy loss in the transmission process and improves the transmission efficiency.

[0015] In one embodiment, one end of the first driving structure connected to the second rotating shaft is located on one side of the calf member in the second direction, and one end of the second driving structure connected to the third rotating shaft is located on one side of the calf member in the first direction.

[0016] In this way, the connection position between the first drive structure and the second rotating shaft and the connection position between the second drive structure and the third rotating shaft are distributed on different sides of the calf member, avoiding mutual interference and optimizing the overall layout; it helps to achieve weight balance of the lower limb mechanism and improve the stability of the humanoid robot and the smoothness of walking.

[0017] In one embodiment, the first driving structure includes a first driving member, a first crank and a first connecting rod, the first driving member is mounted on the lower leg member, one end of the first crank is connected to the first driving member, one end of the first connecting rod is rotatably connected to the other end of the first crank, and the other end of the first connecting rod is rotatably connected to the second rotating shaft.

[0018] In this way, the first driving member transmits power to the second rotating shaft through the first crank and the first connecting rod, thereby driving the first connecting rod to rotate relative to the second rotating shaft; this transmission method is not only simple and compact in structure, but also can effectively convert the power of the first driving member into rotation of the first connecting rod relative to the second rotating shaft.

[0019] In one embodiment, the second driving structure includes a second driving member, a second crank and a second connecting rod, the second driving member is mounted on the calf member, one end of the second crank is connected to the second driving member, one end of the second connecting rod is rotatably connected to the other end of the second crank, and the other end of the second connecting rod is rotatably connected to the third rotating shaft.

[0020] In this way, the second driving member transmits power to the third rotating shaft through the second crank and the second connecting rod, thereby driving the second connecting rod to rotate relative to the third rotating shaft; this transmission method is not only simple and compact in structure, but also can effectively convert the power of the second driving member into rotation of the second connecting rod relative to the third rotating shaft.

[0021] In one embodiment, one end of the first crank connected to the first connecting rod is located on the side of the calf member close to the second bracket in the first direction, and one end of the first connecting rod connected to the second rotating shaft and one end of the second crank connected to the second connecting rod are respectively located on two opposite sides of the calf member in the second direction.

[0022] In this way, the layout of the first drive structure and the second drive structure is further optimized, making the lower limb mechanism more efficient in space utilization; at the same time, mutual interference between the first drive structure and the second drive structure is avoided, thereby improving the smoothness of movement.

[0023] In one embodiment, a first limiting portion and a second limiting portion are provided on the calf member, the first limiting portion is used to limit the rotation range of the first crank, and the second limiting portion is used to limit the rotation range of the second crank.

[0024] In this way, the first crank is rotated within a predetermined angle range through the first limiting portion, and the second crank is rotated within a predetermined angle range through the second limiting portion, thereby avoiding excessive movement of the first crank and the second crank, which would interfere with other components near the calf part, and help reduce the shaking and instability of the humanoid robot when walking, running or performing other complex movements, thereby improving the overall movement performance of the lower limb mechanism.

[0025] In one embodiment, the first driving structure further includes a first spherical bearing and a second spherical bearing, the first spherical bearing includes a first inner ring and a first outer ring, the first inner ring and the first outer ring are connected to form a spherical pair, the first inner ring is fixed to the first crank, and the first outer ring is fixed to the first connecting rod;

[0026] The second spherical bearing includes a second inner ring and a second outer ring, the second inner ring and the second outer ring are connected to form a spherical pair, the second inner ring is fixed to the second rotating shaft, and the second outer ring is fixed to the first connecting rod.

[0027] In this way, the first crank and the first connecting rod are connected by the first joint bearing, and the second rotating shaft and the first connecting rod are connected by the second joint bearing. The spherical pair connection of the joint bearing allows a larger angle change and rotational freedom, thereby improving the flexibility between the first crank, the first connecting rod and the second rotating shaft, and enabling the first connecting rod to rotate relative to the second rotating shaft. At the same time, the spherical pair design of the joint bearing can reduce friction and wear during rotation, the contact area of ​​the spherical pair is relatively large, the force distribution is more uniform, and the service life is extended.

[0028] In one embodiment, the second driving structure further includes a third joint bearing and a fourth joint bearing, the third joint bearing includes a third inner ring and a third outer ring, the third inner ring and the third outer ring are connected to form a spherical pair, the third inner ring is fixed to the second crank, and the third outer ring is fixed to the second connecting rod;

[0029] The fourth spherical bearing includes a fourth inner ring and a fourth outer ring, the fourth inner ring and the fourth outer ring are connected to form a spherical pair, the fourth inner ring is fixed to the third rotating shaft, and the fourth outer ring is fixed to the second connecting rod.

[0030] In this way, the second crank and the second connecting rod are connected by the third joint bearing, and the third rotating shaft and the second connecting rod are connected by the fourth joint bearing. The spherical pair connection of the joint bearing allows a larger angle change and rotational freedom, thereby improving the flexibility between the second crank, the second connecting rod and the third rotating shaft, and can adapt to the rotation requirements of the second connecting rod relative to the third rotating shaft. At the same time, the spherical pair design of the joint bearing helps to reduce friction and resistance in the transmission process and improve transmission efficiency.

[0031] In one embodiment, the calf member is provided with a first mounting groove and a second mounting groove, the first mounting groove and the second mounting groove are spaced apart in a third direction, and the first direction, the second direction and the third direction are perpendicular to each other;

[0032] The first mounting groove extends along the first direction, and the first driving member is installed in the first mounting groove. The second mounting groove extends along the second direction, and the second driving member is installed in the second mounting groove.

[0033] In this way, the design of the first mounting groove and the second mounting groove makes the installation and fixation of the first driving member and the second driving member more convenient and quick, and further optimizes the structural layout of the calf member, making the entire lower limb mechanism more compact.

[0034] In a second aspect, the present application also provides a humanoid robot comprising a lower limb mechanism as described in any one of the various embodiments of the first aspect.

[0035] The embodiments of the present application improve the movement ability, flexibility and stability of the ankle joint of the humanoid robot by applying the above-mentioned lower limb mechanism to the humanoid robot, and optimize the control system of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A three-dimensional diagram of a lower limb mechanism according to an embodiment of the present application;

[0038] Figure 2 for Figure 1 A structural diagram from another perspective;

[0039] Figure 3 A side view of a lower limb mechanism according to an embodiment of the present application;

[0040] Figure 4 for Figure 1 Exploded diagram of

[0041] Figure 5 This is a partial structural exploded diagram of the lower limb mechanism of one embodiment of the present application.

[0042] Description of reference numerals:

[0043] 100, calf member; 110, first mounting slot; 120, second mounting slot; 130, first limiting portion; 140, second limiting portion; 200, sole member; 210, first bracket; 211, first rotating shaft; 212, second rotating shaft; 220, second bracket; 221, third rotating shaft; 300, first driving structure; 310, first driving member; 320, first crank; 330, first connecting rod; 340, first joint bearing; 350, second joint bearing; 400, second driving structure; 410, second driving member; 420, second crank; 430, second connecting rod; 440, third joint bearing; 450, fourth joint bearing; A, first axis; B, second axis; X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0046] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0047] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0048] refer to Figures 1 to 5 , an embodiment of the present application provides a humanoid robot, including the lower limb mechanism in the embodiment of the present application.

[0049] The humanoid robot of the embodiment of the present application can imitate the appearance and movement posture of a human, and may include a trunk mechanism (not shown), a head mechanism (not shown), an upper limb mechanism (not shown) and a lower limb mechanism, etc. The lower limb mechanism may include a thigh member (not shown), a calf member 100, a sole member 200, etc. The lower limb mechanism of the embodiment of the present application also includes a first driving structure 300 and a second driving structure 400. Through reasonable design, while driving the calf member 100 and the sole member 200 to rotate relative to each other to realize the ankle joint function, the first driving structure 300 and the second driving structure 400 respectively drive the calf member 100 to rotate relative to the sole member 200 around two axes, thereby reducing the complexity of the overall control strategy of the lower limb mechanism and improving the decoupling of the lower limb mechanism control system.

[0050] The lower limb mechanism of the embodiment of the present application is introduced in detail below.

[0051] refer to Figure 1 , Figure 2 and Figure 3 The present application provides a lower limb mechanism for use in a humanoid robot. It should be understood that the lower limb mechanism includes a left leg part and a right leg part, and the structures of the left leg part and the right leg part are symmetrical, so the present application embodiment is only described with reference to any one of the left leg part and the right leg part.

[0052] The lower limb mechanism includes a calf member 100, a sole member 200, a first driving structure 300, a second driving structure 400 and the like.

[0053] The calf member 100 is a rod-shaped member, which is used to imitate the calf of a human body. One end of the calf member 100 is rotatably connected to the sole member 200, and the other end is used to rotatably connect to the thigh member. The radial dimension of the calf member 100 from the end close to the thigh member to the end close to the sole member 200 is a structure that gradually decreases, so as to imitate the structure of the calf of a human body that gradually decreases in radial dimension from the thigh to the sole.

[0054] The sole member 200 is roughly in the shape of a curved plate, and is used to imitate the sole of a human body. The sole member 200 includes a first bracket 210 and a second bracket 220. The first bracket 210 is rotatably connected to the calf member 100, and the rotatably connected portion is similar to the function of the ankle joint of a human body. One side of the sole of the sole member 200 is used to contact a support surface, and the support surface is, for example, the ground, a work surface, etc., without limitation. Among them, the first bracket 210 is rotatably connected to the calf member 100 around a first axis A and a second axis B, and the first axis A intersects with the second axis B, that is, the calf member 100 can rotate around two axes relative to the sole member 200 to achieve flexible ankle joint movement.

[0055] The first driving structure 300 is disposed on the calf member 100, and the first driving structure 300 can be any feasible structure. At least part of the first driving structure 300 is disposed on the calf member 100, and it can be connected to the calf member 100 in any feasible manner such as being embedded in the calf member 100, being installed outside the calf member 100, and the first driving structure 300 can be disposed at any position on the calf member 100, without limitation. Among them, the first driving structure 300 is rotatably connected to the first bracket 210, and the first driving structure 300 drives the calf member 100 to rotate relative to the sole member 200 around the first axis A, so as to realize the leftward and rightward tilting movements of the calf member 100 relative to the sole member 200.

[0056] The second driving structure 400 is disposed on the calf member 100, and the second driving structure 400 can be any feasible structure. At least part of the second driving structure 400 is disposed on the calf member 100, and it can be connected to the calf member 100 in any feasible manner such as being embedded in the calf member 100 or installed outside the calf member 100, and the first driving structure 300 can be disposed at any position on the calf member 100, without limitation. Among them, the second driving structure 400 is rotatably connected to the second bracket 220, and the second driving structure 400 drives the calf member 100 to rotate relative to the sole member 200 around the second axis B, so as to realize the forward and backward tilting of the calf member 100 relative to the sole member 200.

[0057] However, the current driving structure of the lower limb mechanism adopts a parallel driving method, which makes the control strategy of the driving structure relatively complex and increases the complexity and difficulty of the control system.

[0058] For example, current lower limb mechanisms achieve ankle joint movements, such as leaning forward, leaning backward, leaning left, and leaning back, all of which require multiple drive structures to work simultaneously.

[0059] The lower limb mechanism of the embodiment of the present application is provided with a first driving structure 300 and a second driving structure 400. The rotation of the calf member 100 relative to the sole member 200 around the first axis A is driven by the first driving structure 300, and the rotation of the calf member 100 relative to the sole member 200 around the second axis B is driven by the second driving structure 400. Therefore, the rotation of the calf member 100 relative to the sole member 200 around the first axis A and the second axis B can be independently controlled, thereby reducing the complexity of the overall control strategy of the lower limb mechanism. The control logic of the first driving structure 300 and the second driving structure 400 can be relatively independently designed and optimized, thereby improving the decoupling of the control system of the lower limb mechanism. At the same time, since the first driving structure 300 and the second driving structure 400 are independently controlled, the control algorithm of the lower limb mechanism can be designed separately for each driving structure, which can simplify the control logic, reduce the amount of calculation, and improve the real-time performance and response speed of the system.

[0060] In addition, the series drive form of the first drive structure 300 and the second drive structure 400 is convenient for functional expansion or adjustment as needed. For example, if it is necessary to increase the motion capacity in a new degree of freedom, a new drive and transmission mechanism can be simply added without large-scale modification of the existing control strategy. This flexibility makes it easier for the lower limb mechanism to adapt to different application scenarios and needs. In the series drive structure, the state and performance of each drive structure can be independently monitored and evaluated. If the system fails, it is easier to locate the problem and take corresponding maintenance measures. This design reduces the complexity and cost of maintenance and improves the reliability and maintainability of the system. And by independently controlling each drive structure, it is easier to optimize the performance and energy management of the lower limb mechanism. For example, the output power and speed of each drive structure can be adjusted according to different motion requirements to achieve the best energy efficiency ratio. At the same time, unnecessary energy consumption and mechanical wear can also be reduced by optimizing the control strategy.

[0061] In the embodiment of the present application, the front-to-back direction of the humanoid robot is taken as the first direction X, the width direction of the humanoid robot is taken as the second direction Y, and the height direction of the humanoid robot is taken as the third direction Z for illustration.

[0062] Among them, the first bracket 210 and the second bracket 220 are sequentially arranged along the first direction X, the second axis B extends along the second direction Y, and the second direction Y is perpendicular to the first direction X. The first bracket 210 and the second bracket 220 can be split structures, and the first bracket 210 and the second bracket 220 can also be integrated structures, both of which are not limited. The specific structures of the first bracket 210 and the second bracket 220 are not limited. Optionally, the first bracket 210 and the second bracket 220 are split structures, and the first bracket 210 and the second bracket 220 are spaced apart in the first direction X to suppress the first drive structure 300 and the second drive structure 400 from interfering with each other when they move.

[0063] When in use, the calf member 100 and the first driving structure 300 are both connected to the first bracket 210, so that the structure of the lower limb mechanism is more compact, which is conducive to reducing the overall size of the humanoid robot. The second axis B is extended along the second direction Y. Because the first axis A intersects with the second axis B, when the calf member 100 rotates around the second axis B relative to the sole member 200, the extension direction of the first axis A will change. Optionally, the first axis A is perpendicular to the second axis B, and the first axis A is in a plane perpendicular to the second axis B. By reasonably setting the arrangement direction of the first bracket 210 and the second bracket 220 and the directions of the first axis A and the second axis B, the independence of the rotation of the calf member 100 relative to the sole member 200 around the first axis A and the second axis B is ensured, and the accuracy and efficiency of motion control are improved.

[0064] refer to Figure 2 , Figure 3 and Figure 4 The calf member 100 is rotatably connected to the first bracket 210 via the first rotating shaft 211 and the second rotating shaft 212. The axis of the first rotating shaft 211 is coaxial with the first axis A, and the axis of the second rotating shaft 212 is coaxial with the second axis B. The first driving structure 300 is rotatably connected to the second rotating shaft 212. The second bracket 220 is rotatably connected to the third rotating shaft 221, and the third rotating shaft 221 extends along the second direction Y. The second driving structure 400 is rotatably connected to the third rotating shaft 221. The calf member 100 is connected to the first bracket 210 through the first rotating shaft 211 and the second rotating shaft 212. Under the drive of the first driving structure 300 and the second driving structure 400, the calf member 100 can be rotated relative to the sole member 200 around the first axis A and the second axis B, which simplifies the structure of the lower limb mechanism and can utilize space more effectively; and the first driving structure 300 is directly connected to the second rotating shaft 212, which improves the first driving structure 300 and the sole member 200, and the second driving structure 400 is directly connected to the third rotating shaft 221, which reduces the energy loss in the transmission process and improves the transmission efficiency.

[0065] The first rotating shaft 211 and the second rotating shaft 212 can both be arranged on the first bracket 210 or the calf member 100, or one of them can be arranged on the first bracket 210 and the other on the calf member 100, without limitation. The first rotating shaft 211 can be fixed to the calf member 100, and the second rotating shaft 212 can rotate relative to the first bracket 210, or the first rotating shaft 211 and the second rotating shaft 212 can rotate relative to the first bracket 210 and the calf member 100, without limitation. At the position where relative rotation is possible, a hole-shaft matching structure can be used, or a bearing can be arranged, the inner ring of the bearing is connected to the rotating shaft, and the outer ring of the bearing is connected to the calf member 100 or the first bracket 210, so as to realize the relative rotation of the calf member 100 and the first bracket 210. In this embodiment, the calf member 100 and the first bracket 210 can rotate around the first rotation axis 211 and the second rotation axis 212, so that the calf member 100 can have two rotational degrees of freedom relative to the sole member 200.

[0066] Illustratively, when the calf member 100 and the first bracket 210 rotate relative to each other around the first rotation axis 211, the calf member 100 can tilt left or right relative to the first bracket 210; when the calf member 100 and the first bracket 210 rotate relative to each other around the second rotation axis 212, the calf member 100 can tilt forward or backward relative to the first bracket 210.

[0067] Optionally, the lower leg member 100 is rotatably connected to the first rotating shaft 211, the first bracket 210 is rotatably connected to the second rotating shaft 212, and the first rotating shaft 211 is fixedly connected to the second rotating shaft 212. This design simplifies the transmission structure and reduces the number of moving parts, thereby reducing the failure rate and maintenance costs. Since the lower leg member 100 is rotatably connected to the first rotating shaft 211, the first rotating shaft 211 is fixedly connected to the second rotating shaft 212, and the first bracket 210 is rotatably connected to the second rotating shaft 212, this structure enables the waist-cross mechanism to flexibly rotate in multiple directions, providing a rich range of motion postures for the humanoid robot.

[0068] Similar to the above structure, the third rotating shaft 221 and the second bracket 220 can rotate relative to each other, or the third rotating shaft 221 and the second bracket 220 can be fixed. The third rotating shaft 221 and the second bracket 220 can be hole-shaft matched, or bearings can be provided.

[0069] In one embodiment, one end of the first driving structure 300 connected to the second rotating shaft 212 is located on one side of the calf member 100 in the second direction Y, and one end of the second driving structure 400 connected to the third rotating shaft 221 is located on one side of the calf member 100 in the first direction X. The connection position of the first driving structure 300 and the second rotating shaft 212 and the connection position of the second driving structure 400 and the third rotating shaft 221 are distributed on different sides of the calf member 100, thereby avoiding mutual interference and optimizing the overall layout; this helps to achieve weight balance of the lower limb mechanism and improve the stability and walking stability of the humanoid robot.

[0070] The first driving structure 300 includes a first driving member 310, a first crank 320 and a first connecting rod 330. The first driving member 310 is mounted on the lower leg member 100. One end of the first crank 320 is connected to the first driving member 310, one end of the first connecting rod 330 is rotatably connected to the other end of the first crank 320, and the other end of the first connecting rod 330 is rotatably connected to the second rotating shaft 212. The first driving member 310 transmits power to the second rotating shaft 212 through the first crank 320 and the first connecting rod 330, thereby driving the first connecting rod 330 to rotate relative to the second rotating shaft 212; this transmission method is not only simple and compact in structure, but also can effectively convert the power of the first driving member 310 into the rotation of the first connecting rod 330 relative to the second rotating shaft 212.

[0071] The second driving structure 400 includes a second driving member 410, a second crank 420 and a second connecting rod 430. The second driving member 410 is mounted on the lower leg member 100. One end of the second crank 420 is connected to the second driving member 410, one end of the second connecting rod 430 is rotatably connected to the other end of the second crank 420, and the other end of the second connecting rod 430 is rotatably connected to the third rotating shaft 221. The second driving member 410 transmits power to the third rotating shaft 221 through the second crank 420 and the second connecting rod 430, thereby driving the second connecting rod 430 to rotate relative to the third rotating shaft 221; this transmission method is not only simple and compact in structure, but also can effectively convert the power of the second driving member 410 into the rotation of the second connecting rod 430 relative to the third rotating shaft 221.

[0072] In the embodiment of the present application, driving force is provided by the first driving member 310 and the second driving member 410. The first driving member 310 drives the calf member 100 to rotate relative to the sole member 200 around the first axis A, and the second driving member 410 drives the calf member 100 to rotate relative to the sole member 200 around the second axis B. The first driving member 310 and the second driving member 410 can work independently, ensuring the independence of the rotation of the calf member 100 relative to the sole member 200 around the first axis A and the second axis B, thereby improving the accuracy and efficiency of motion control.

[0073] The first driving member 310 can be a motor, specifically a stepping motor, a servo motor, etc., without limitation. The first driving member 310 is mounted on the calf member 100, and can be embedded, that is, the main body of the first driving member 310 is embedded in the calf member 100, and its output shaft extends out of the calf member 100. The second driving member 410 can be a motor, specifically a stepping motor, a servo motor, etc., without limitation. The second driving member 410 is mounted on the calf member 100, and can be embedded, that is, the main body of the second driving member 410 is embedded in the calf member 100, and its output shaft extends out of the calf member 100.

[0074] refer to Figure 4 and Figure 5 The calf member 100 is provided with a first mounting groove 110 and a second mounting groove 120, the first mounting groove 110 and the second mounting groove 120 are arranged at intervals in the third direction Z, and the first direction X, the second direction Y and the third direction Z are perpendicular to each other; the first mounting groove 110 extends along the first direction X, the first driving member 310 is installed in the first mounting groove 110, the second mounting groove 120 extends along the second direction Y, and the second driving member 410 is installed in the second mounting groove 120. The design of the first mounting groove 110 and the second mounting groove 120 makes the installation and fixation of the first driving member 310 and the second driving member 410 more convenient and quick, and further optimizes the structural layout of the calf member 100, making the entire lower limb mechanism more compact.

[0075] In one embodiment, one end of the first crank 320 connected to the first connecting rod 330 is located on the side of the calf member 100 close to the second bracket 220 in the first direction X, and one end of the first connecting rod 330 connected to the second rotating shaft 212 and one end of the second crank 420 connected to the second connecting rod 430 are respectively located on opposite sides of the calf member 100 in the second direction Y. In this way, the layout of the first driving structure 300 and the second driving structure 400 is further optimized, making the lower limb mechanism more efficient in space utilization; at the same time, mutual interference between the first driving structure 300 and the second driving structure 400 is avoided, and the smoothness of movement is improved.

[0076] The lower leg member 100 is provided with a first limiting portion 130 and a second limiting portion 140, wherein the first limiting portion 130 is used to limit the rotation range of the first crank 320, and the second limiting portion 140 is used to limit the rotation range of the second crank 420. The first limiting portion 130 allows the first crank 320 to rotate within a predetermined angle range, and the second limiting portion 140 allows the second crank 420 to rotate within a predetermined angle range, thereby preventing the first crank 320 and the second crank 420 from moving too much and interfering with other parts near the lower leg member 100, and helping to reduce the shaking and instability of the humanoid robot when walking, running or performing other complex movements, thereby improving the overall movement performance of the lower limb mechanism.

[0077] The first driving structure 300 also includes a first spherical bearing 340 and a second spherical bearing 350. The first spherical bearing 340 includes a first inner ring and a first outer ring, and the first inner ring and the first outer ring are connected to form a spherical pair. The first inner ring is fixed to the first crank 320, and the first outer ring is fixed to the first connecting rod 330. The second spherical bearing 350 includes a second inner ring and a second outer ring, and the second inner ring and the second outer ring are connected to form a spherical pair. The second inner ring is fixed to the second rotating shaft 212, and the second outer ring is fixed to the first connecting rod 330. The first crank 320 and the first connecting rod 330 are connected by the first joint bearing 340, and the second rotating shaft 212 and the first connecting rod 330 are connected by the second joint bearing 350. The spherical pair connection of the joint bearing allows a larger angle change and rotational freedom, thereby improving the flexibility between the first crank 320, the first connecting rod 330 and the second rotating shaft 212, so that the first connecting rod 330 can rotate relative to the second rotating shaft 212; at the same time, the spherical pair design of the joint bearing can reduce friction and wear during rotation, the contact area of ​​the spherical pair is relatively large, the force distribution is more uniform, and the service life is extended.

[0078] The second drive structure 400 also includes a third joint bearing 440 and a fourth joint bearing 450. The third joint bearing 440 includes a third inner ring and a third outer ring, and the third inner ring and the third outer ring are connected to form a spherical pair. The third inner ring is fixed to the second crank 420, and the third outer ring is fixed to the second connecting rod 430. The fourth joint bearing 450 includes a fourth inner ring and a fourth outer ring, and the fourth inner ring and the fourth outer ring are connected to form a spherical pair. The fourth inner ring is fixed to the third rotating shaft 221, and the fourth outer ring is fixed to the second connecting rod 430. The second crank 420 and the second connecting rod 430 are connected by a third joint bearing 440, and the third rotating shaft 221 and the second connecting rod 430 are connected by a fourth joint bearing 450. The spherical pair connection of the joint bearing allows a larger angle change and rotational freedom, thereby improving the flexibility between the second crank 420, the second connecting rod 430 and the third rotating shaft 221, and can adapt to the rotation requirements of the second connecting rod 430 relative to the third rotating shaft 221; at the same time, the spherical pair design of the joint bearing helps to reduce friction and resistance in the transmission process and improve transmission efficiency.

[0079] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0080] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A lower limb mechanism, applied to a humanoid robot, characterized in that: include: The calf member is provided with a first mounting groove and a second mounting groove, the first mounting groove extends along a first direction, the second mounting groove extends along a second direction, the first mounting groove and the second mounting groove are arranged at intervals in a third direction, the second direction is a width direction of the humanoid robot, and the first direction, the second direction and the third direction are perpendicular to each other; A sole member, comprising a first bracket and a second bracket sequentially arranged along a first direction, the calf member is rotatably connected to the first bracket via a first rotating shaft and a second rotating shaft, the axis of the first rotating shaft is coaxial with the first axis, the axis of the second rotating shaft is coaxial with the second axis, the first axis intersects with the second axis, the second axis extends along the second direction, and a third rotating shaft is rotatably connected to the second bracket, the third rotating shaft extends along the second direction; A first driving structure includes a first driving member, a first crank and a first connecting rod, wherein the first driving member is installed in the first installation slot, the first driving member is a motor, the first crank is connected to the first driving member, one end of the first connecting rod is rotatably connected to the first crank, and the other end of the first connecting rod is rotatably connected to the second rotating shaft, so as to drive the calf member to rotate relative to the sole member around the first axis; The first driving structure further includes a first spherical bearing and a second spherical bearing, the first spherical bearing includes a first inner ring and a first outer ring, the first inner ring and the first outer ring are connected to form a spherical pair, the first inner ring is fixed to the first crank, and the first outer ring is fixed to the first connecting rod; the second spherical bearing includes a second inner ring and a second outer ring, the second inner ring and the second outer ring are connected to form a spherical pair, the second inner ring is fixed to the second rotating shaft, and the second outer ring is fixed to the first connecting rod; A second driving structure includes a second driving member, a second crank and a second connecting rod, wherein the second driving member is installed in the second installation slot, the second driving member is a motor, the second crank is connected to the second driving member, one end of the second connecting rod is rotatably connected to the second crank, and the other end of the second connecting rod is rotatably connected to the third rotating shaft, so as to drive the calf member to rotate relative to the sole member around the second axis; Among them, one end of the second connecting rod connected to the third rotating shaft is located on one side of the calf member in the first direction, one end of the first connecting rod connected to the first crank is located on the side of the calf member close to the second bracket in the first direction, and one end of the first connecting rod connected to the second rotating shaft and one end of the second connecting rod connected to the second crank are respectively located on two opposite sides of the calf member in the second direction.

2. The lower limb mechanism according to claim 1, characterized in that: The calf member is provided with a first limiting portion and a second limiting portion, wherein the first limiting portion is used to limit the rotation range of the first crank, and the second limiting portion is used to limit the rotation range of the second crank.

3. The lower limb mechanism according to claim 1, characterized in that: The second driving structure further includes a third joint bearing and a fourth joint bearing, the third joint bearing includes a third inner ring and a third outer ring, the third inner ring and the third outer ring are connected to form a spherical pair, the third inner ring is fixed to the second crank, and the third outer ring is fixed to the second connecting rod; The fourth spherical bearing includes a fourth inner ring and a fourth outer ring, the fourth inner ring and the fourth outer ring are connected to form a spherical pair, the fourth inner ring is fixed to the third rotating shaft, and the fourth outer ring is fixed to the second connecting rod.

4. A humanoid robot, characterized in that: Comprising a lower limb mechanism as described in any one of claims 1 to 3.

Images