Leg structure and humanoid robot

Abstract

The application relates to the technical field of robots and discloses a leg structure and a humanoid robot, which comprise a thigh support, a motor template, a hip joint assembly installed on the thigh support and comprising a rotary mounting frame assembled with the motor template, a hip linear actuator rotationally connected with the thigh support at a first end and connected with the hip joint assembly at a second end, a shank support connected with the lower part of the thigh support through a knee joint assembly, a knee joint linear actuator arranged on the thigh support and connected with the knee joint assembly at a driving end, a foot support connected with the lower part of the shank support through an ankle joint assembly, and an ankle linear actuator rotationally connected with the shank support at a first end and rotationally connected with the foot support at a second end. Corresponding linear actuators are arranged on the thigh support and the shank support, the space on the thigh support and the shank support is fully utilized, the inertia of the leg structure is reduced, the response speed of the leg structure is fast when the leg structure performs corresponding actions, and the dynamic stability of the humanoid robot is improved.

Description

TECHNICAL FIELD

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

[0002] At present, a humanoid robot is a robot aiming at imitating the appearance and behavior of human beings, and such a robot usually integrates advanced technologies in multiple fields such as mechanics, electronics, computer science, material science, sensor technology and control theory. In order to complete various complex and diversified tasks like a human being, a humanoid robot needs to have flexible motion capability, and in order to achieve high motion capability, a structure platform similar to or exceeding the motion capability of a human being needs to be designed first, a suitable joint driving mode needs to be selected, and sufficient power needs to be provided to ensure that the robot can cope with various complex working conditions.

[0003] The leg structure of a humanoid robot includes a hip joint, a thigh, a knee joint, a shank, an ankle joint and a foot. In order to realize the bending of a joint, a driving component of the joint is generally installed at the position of the corresponding joint, which leads to the increase of the inertia of the leg structure, and more energy is needed to accelerate or decelerate when the leg performs a motion, which may affect the overall performance of the robot, such as slow response speed and poor dynamic stability. SUMMARY

[0004] Therefore, the present application provides a leg structure and a humanoid robot to solve the problem that the installation of a driving component of a joint at the position of the corresponding joint leads to the increase of the inertia of the leg structure and affects the overall performance of the robot.

[0005] In a first aspect, the present application provides a leg structure, comprising: a thigh support; a motor template adapted to be assembled and connected with a robot main body; a hip joint assembly installed on the thigh support; the hip joint assembly comprising: a rotary mounting bracket assembled and connected with the motor template, the motor template driving the thigh support to perform a rotary motion through the rotary mounting bracket; a hip linear actuator, a first end of which is connected with the thigh support and a second end of which is connected with the hip joint assembly, so as to drive the thigh support to perform a pitch motion and a roll motion through the motion of the hip joint assembly; a shank support connected with the lower part of the thigh support through a knee joint assembly; a knee joint linear actuator arranged on the thigh support, a fixed end of the knee joint linear actuator being rotationally connected with the upper part of the thigh support, and a driving end of the knee joint linear actuator being connected with the knee joint assembly, so as to drive at least one of the shank support and the thigh support to perform a pitch motion; a foot support connected with the lower part of the shank support through an ankle joint assembly; and an ankle linear actuator, a first end of which is rotationally connected with the shank support and a second end of which is rotationally connected with the foot support, so as to drive at least one of the foot support and the shank support to perform a pitch motion and a roll motion.

[0006] Beneficial effects: The hip linear actuator and the knee linear actuator are arranged on the thigh support, and the ankle linear actuator is arranged on the shank support, so that the space on the thigh support and the shank support is fully utilized, the inertia of the leg structure is reduced, the energy required when the leg structure performs corresponding actions is less, the response speed is fast, and the dynamic stability of the humanoid robot is improved. Moreover, the motor template driving the thigh support to rotate is arranged on the robot body, the rotation angle of the motor template when driving the thigh support to rotate relative to the robot body can be larger, the motor template does not need to be arranged on the thigh support, the mass of the thigh structure is reduced, the overall mass of the leg is lighter, the inertia of the thigh support when rotating is small, which is beneficial to adjusting the posture of the robot during movement.

[0007] In an alternative embodiment, the swivel mounting frame is adapted to rotate around the A-axis when driven; the hip joint assembly further comprises: a hip cross shaft having a hip first rotation shaft adapted to rotate around the B-axis and a hip second rotation shaft adapted to rotate around the C-axis; wherein the B-axis is perpendicular to the C-axis.

[0008] Beneficial effects: By adopting the hip linear actuator to drive the hip joint assembly to move, the thigh support can be driven to rotate around the B-axis and / or the C-axis, without the need to arrange independent driving members for each degree of freedom, so as to realize the action combination of multi-degree of freedom rotation, reduce the number of driving members, and reduce the structural complexity.

[0009] In an alternative embodiment, the hip joint assembly further comprises a linkage mechanism, the linkage mechanism comprising: a hip first linkage, a first end of which is in rotational connection with the hip first linkage mounting shaft of the swivel mounting frame; a hip second linkage, a first end of which is in rotational connection with the hip second linkage mounting shaft of the thigh support; a linkage assembly shaft, a second end of the hip first linkage and a second end of the hip second linkage are both in rotational connection with the linkage assembly shaft; a second end of the hip linear actuator is also in rotational connection with the linkage assembly shaft; the hip linear actuator is extended and retracted to drive the linkage assembly shaft to move.

[0010] Beneficial effects: Because the second end of the hip linear actuator is rotationally connected with the link assembly shaft, when the hip linear actuator is elongated or shortened, the link assembly shaft can be moved, and because the second end of the hip first link is rotationally connected with the link assembly shaft, the action of the hip linear actuator can be continuously transmitted to the hip first link, and then transmitted to the rotary mounting frame by the hip first link. Because the rotary mounting frame is provided with the hip first pivot mounting seat, and the hip first pivot is rotationally connected with the hip first pivot mounting seat, the rotary mounting frame can rotate around the hip first pivot, that is, the rotary mounting frame can rotate around the B axis. Similarly, when the hip linear actuator is elongated or shortened, the link assembly shaft can be moved, and because the second end of the hip second link is rotationally connected with the link assembly shaft, the action of the hip linear actuator can be continuously transmitted to the hip second link, and the hip second link can restrict the movement track of the second end of the hip linear actuator relative to the thigh support. When the rotary mounting frame rotates around the hip first pivot, because the hip second link and the hip first link are both connected with the link assembly shaft, that is, when the thigh support remains relatively fixed, the rotary mounting frame rotates around the hip first pivot, and when the robot main body remains relatively fixed, the thigh support can also rotate around the hip first pivot.

[0011] In an optional embodiment, the number of hip linear actuators is two, and the two hip linear actuators are respectively arranged on the two sides of the thigh support along the B axis direction; the number of link mechanisms is two groups, and each group of link mechanisms is connected with one hip linear actuator; the two hip linear actuators are synchronously elongated or shortened to drive the two groups of link mechanisms to move in the same direction, and then drive the thigh support to rotate around the B axis or drive the rotary mounting frame to rotate around the B axis; the two hip linear actuators are elongated or shortened in opposite directions to drive the two groups of link mechanisms to move in opposite directions, and then drive the thigh support to rotate around the C axis or drive the rotary mounting frame to rotate around the C axis.

[0012] Beneficial effects: By elongating or shortening the two hip linear actuators in opposite directions, the two groups of link mechanisms can be respectively driven to move in opposite directions, that is, the hip second link of one group of link mechanisms rotates counterclockwise around the hip second link mounting shaft of the thigh support, and the hip first link of the group of link mechanisms rotates counterclockwise around the hip first link mounting shaft of the rotary mounting frame; and the hip second link of the other group of link mechanisms rotates clockwise around the hip second link mounting shaft of the thigh support, and the hip first link of the group of link mechanisms rotates clockwise around the hip first link mounting shaft of the rotary mounting frame.

[0013] In an alternative embodiment, the knee joint assembly comprises: a knee joint shaft connecting the lower part of the thigh support and the upper part of the lower leg support; a knee joint linkage assembly, the articulation points of which are articulated with the lower part of the thigh support, the upper part of the lower leg support and the driving end of the knee joint linear actuator, forming a polygon, and under the driving of the driving end of the knee joint linear actuator, the axis of the knee joint shaft can move from the outside of the polygon to the inside of the polygon.

[0014] Beneficial effects: The knee joint linear actuator is arranged on the front side of the thigh support, making full use of the space on the front side of the thigh, reducing the inertia of the lower leg support, and requiring less energy when the lower leg support performs the pitching action, so as to improve the dynamic stability of the humanoid robot. Moreover, the knee joint linear actuator drives the swing of the lower leg support relative to the thigh support through the knee joint linkage assembly, which can reduce the output requirement of the knee joint linear actuator within a certain joint motion range while meeting the joint motion speed, and increase the length of the force arm of the knee joint linear actuator to drive the lower leg support, so as to reduce the output force of the knee joint linear actuator. The power is transmitted through the knee joint linkage assembly, so that the transmission is more stable, and the trajectory and speed of the lower leg support can be accurately controlled.

[0015] In an alternative embodiment, the swing angle of the lower leg support is 0-135°.

[0016] Beneficial effects: The maximum swing angle of the lower leg support is 135°, which is very close to the maximum swing angle of the human lower leg, and is more convenient for the robot to perform running, walking, jumping and other actions.

[0017] In an alternative embodiment, the knee joint linkage assembly comprises a knee joint first linkage and a knee joint second linkage, one end of the knee joint first linkage and one end of the knee joint second linkage are connected to the driving end of the knee joint linear actuator through a knee joint first articulation shaft, the other end of the knee joint first linkage is connected to the lower part of the thigh support through a knee joint second articulation shaft, and the other end of the knee joint second linkage is connected to the upper part of the lower leg support through a knee joint third articulation shaft, and the polygon is a triangle.

[0018] Beneficial effects: The knee joint linkage assembly, the thigh support and the lower leg support form a planar four-bar linkage mechanism, which is simple in structure, easy to design and manufacture, can adjust the swing angle of the lower leg support by adjusting the length of the two linkages as needed, and can also maintain high stability and withstand high load to meet the high load demand of the robot.

[0019] In an alternative embodiment, the ankle joint assembly comprises: a rotary cross shaft having a first ankle rotation shaft adapted to rotate around the M axis and a second ankle rotation shaft adapted to rotate around the N axis.

[0020] Beneficial effects: by adopting the ankle linear actuator to drive the ankle joint assembly to move, at least one of the foot support and the lower leg support can rotate around the M axis and / or the N axis, without setting independent driving members for each degree of freedom rotation, so as to realize the action combination of multi-degree of freedom rotation, reduce the number of driving members, and reduce the structural complexity.

[0021] In an optional embodiment, the number of ankle linear actuators is two, and the two ankle linear actuators are arranged on the two sides of the lower leg support along the N axis direction; the two ankle linear actuators have a first action state of opposite extension and contraction, and a second action state of synchronous extension and contraction; in the first action state, the lower leg support and / or the foot support are adapted to rotate around the M axis; in the second action state, the lower leg support and / or the foot support are adapted to rotate around the N axis.

[0022] Beneficial effects: the two ankle linear actuators have a first action state of opposite extension and contraction, by opposite extension and contraction of the two ankle linear actuators on the two sides, the two sides of the push rod mounting shaft can be driven to move in opposite directions, so that in the first action state, the lower leg support rotates around the M axis, or the foot support rotates around the M axis, or the lower leg support and the foot support rotate around the M axis at the same time. The two ankle linear actuators also have a second action state of synchronous extension and contraction, by synchronous extension and contraction of the two ankle linear actuators on the two sides, the two sides of the push rod mounting shaft can be driven to move in the same direction, so that in the second action state, the lower leg support rotates around the N axis, or the foot support rotates around the N axis, or the lower leg support and the foot support rotate around the N axis at the same time.

[0023] In a second aspect, the present application also provides a humanoid robot, comprising the above-mentioned leg structure. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments or prior art technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0025] Figure 1 It is a perspective view of a leg structure of an embodiment of the present application in an upright state;

[0026] Figure 2 It is a perspective view of a leg structure of an embodiment of the present application in an upright state; Figure 1 It is a schematic view of cooperation of the thigh support with the hip joint assembly and the hip linear actuator shown in the figure;

[0027] Figure 3 It is a schematic view of cooperation of the thigh support with the hip joint assembly and the hip linear actuator shown in the figure; Figure 2 It is an exploded schematic view of cooperation of the thigh support with the hip joint assembly and the hip linear actuator shown in the figure;

[0028] Figure 4 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 3

[0029] Figure 5 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 3

[0030] Figure 6 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 1

[0031] Figure 7 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 6

[0032] Figure 8 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 7

[0033] Figure 9 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 8

[0034] Figure 10 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 1

[0035] Figure 11 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 1

[0036] Figure 12 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 1

[0037] Figure 13 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 1

[0038] Figure 14 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 13

[0039] Figure 15 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 1

[0040] Figure 16 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 15

[0041] Figure 17 Fig. 1 1 shows a side view of the leg support with the hip joint assembly and the hip linear actuator in an assembled state; Figure 15

[0042] ​​​​​​​​​​​​​​Figure 18 Fig. 1 is a perspective view of a leg structure according to the present application; Figure 1 Fig. 2 is a front view of the leg structure shown in Fig. 1 in a squatting position;

[0043] Figure 19 Fig. 3 is a side view of the leg structure shown in Fig. 1; Figure 18 Fig. 4 is a partial enlarged view of the leg structure shown in Fig. 1;

[0044] Figure 20 Fig. 5 is a schematic view of a lower leg support, a foot support, an ankle linear actuator and an ankle joint assembly according to the present application; Figure 19 Fig. 6 is an exploded schematic view of the lower leg support, the foot support, the ankle linear actuator and the ankle joint assembly shown in Fig. 5;

[0045] Figure 21 Fig. 7 is a sectional view of the lower leg support, the foot support, the ankle linear actuator and the ankle joint assembly shown in Fig. 5; Figure 1 Fig. 8 is an exploded schematic view of the foot support shown in Fig. 5;

[0046] Figure 22 Fig. 9 is a sectional view of the foot support shown in Fig. 5; Figure 21 Fig. 10 is an exploded schematic view of a buffer and a sensor according to the present application;

[0047] Figure 23 Fig. 11 is a sectional view of the buffer and the sensor shown in Fig. 10; Figure 21 Fig. 12 is a schematic view of a foot support according to the present application;

[0048] Figure 24 Fig. 13 is an exploded schematic view of the foot support shown in Fig. 12; Figure 21 Fig. 14 is a sectional view of the foot support shown in Fig. 12;

[0049] Figure 25 Fig. 15 is an exploded schematic view of a buffer and a sensor according to the present application; Figure 24 Fig. 16 is a sectional view of the buffer and the sensor shown in Fig. 15;

[0050] BRIEF DESCRIPTION OF THE DRAWINGS

[0051] 101 thigh support; 1011 hip second link mounting shaft; 1012 hip second pivot mounting seat; 1013 hip actuator mounting shaft; 1014 lower hinge seat; 10141 accommodating groove; 1015 thigh rear lower plate; 1016 actuator connecting lug; 1017 knee joint shaft mounting head;

[0052] 102 lower leg support; 1021 ankle second pivot mounting seat; 1022 ankle actuator mounting shaft; 1025 avoiding recess; 1026 limiting portion; 1027 knee joint shaft mounting seat; 1028 link connecting lug;

[0053] 103 foot support; 1031 ankle first pivot mounting seat; 1032 push rod mounting shaft; 1033 support plate; 1034 foot surface portion; 1035 foot bottom portion; 1036 buffer; 10361 sensor mounting groove; 1037 wear-resistant portion; 1038 sensor; 1039 accommodating space; 10310 clearance hole; 10311 arch portion;

[0054] 104. motor template;

[0055] 2. hip assembly; 201. swivel mount; 2011. hip first pivot mount; 2012. hip first link mount; 202. hip cross shaft; 2021. hip first pivot; 2022. hip second pivot; 203. hip first link; 2031. hip first link fixed spherical hinge mount; 2032. hip first link movable spherical hinge mount; 204. hip second link; 2041. hip second link fixed shaft mount; 205. link assembly shaft;

[0056] 3. knee assembly; 301. knee shaft; 302. knee first link; 303. knee second link; 304. knee first hinge shaft; 305. knee second hinge shaft; 306. knee third hinge shaft;

[0057] 4. ankle assembly; 401. swivel cross shaft; 4011. ankle first pivot; 4012. ankle second pivot; 4013. first pivot mount pin; 402. push rod spherical hinge mount;

[0058] 501. hip linear actuator; 5011. actuator spherical hinge mount; 5012. hip actuator push rod; 5013. hip push rod mount shaft;

[0059] 502. knee linear actuator; 5021. connector; 5022. knee push rod;

[0060] 503. ankle linear actuator; 5031. actuator body; 5032. ankle actuator push rod; 5033. ankle push rod mount shaft. DETAILED DESCRIPTION

[0061] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, any other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0062] The embodiments of the present application are described below with reference to the drawings. Figures 1 to 25

[0063] ​According to the embodiment of the present application, in one aspect, a leg structure is provided, comprising: a thigh support 101, a motor template 104, a hip joint assembly 2, a hip linear actuator 501, a shank support 102, a knee joint linear actuator 502, a foot support 103, and an ankle linear actuator 503.

[0064] In particular, the motor template 104 is adapted to be assembled with the robot body.

[0065] The hip joint assembly 2 is mounted on the thigh support 101; the hip joint assembly 2 comprises: a swivel mounting bracket 201 assembled with the motor template 104, and the motor template 104 drives the thigh support 101 to perform a rotating motion through the swivel mounting bracket 201.

[0066] The first end of the hip linear actuator 501 is connected with the thigh support 101, and the second end is connected with the hip joint assembly 2, so as to drive at least one of the thigh support 101 and the thigh support 101 to perform a pitching motion and a yawing motion through the motion of the hip joint assembly 2.

[0067] The shank support 102 is connected with the lower part of the thigh support 101 through the knee joint assembly 3;

[0068] The knee joint linear actuator 502 is arranged on the thigh support 101, the fixed end of the knee joint linear actuator 502 is rotatably connected with the upper part of the thigh support 101, and the driving end of the knee joint linear actuator 502 is connected with the knee joint assembly 3, so as to drive the shank support 102 to perform a pitching motion.

[0069] The foot support 103 is connected with the lower part of the shank support 102 through the ankle joint assembly 4;

[0070] The first end of the ankle linear actuator 503 is rotatably connected with the shank support 102, and the second end is rotatably connected with the foot support 103, so as to drive at least one of the foot support 103 and the shank support 102 to perform a pitching motion and a yawing motion.

[0071] By using the leg structure of the embodiment, the hip linear actuator 501 and the knee joint linear actuator 502 are arranged on the thigh support, and the ankle linear actuator is arranged on the shank support, so that the space on the thigh support and the shank support is fully utilized, the inertia of the leg structure is reduced, the energy required when the leg structure performs corresponding actions is less, the response speed is fast, and the dynamic stability of the humanoid robot is improved. In addition, the motor template 104 driving the thigh support to rotate is arranged on the robot body, the rotating angle of the motor template when driving the thigh support to rotate relative to the robot body can be larger, the motor template does not need to be arranged on the thigh support, the mass of the thigh structure is reduced, the overall mass of the leg is lighter, the inertia of the thigh support when rotating is small, which is beneficial to adjusting the posture of the robot during movement.

[0072] Further, the swivel mounting 201 is adapted to rotate around the A-axis when driven; the hip joint assembly 2 further comprises a hip cross shaft 202 having a hip first rotating shaft 2021 adapted to rotate around the B-axis and a hip second rotating shaft 2022 adapted to rotate around the C-axis; wherein the B-axis is perpendicular to the C-axis. The hip linear actuator 501 drives the hip joint assembly 2 to move, so as to drive the thigh support 101 to rotate around the B-axis and / or the C-axis.

[0073] In this embodiment, the thigh support 101 is similar to the femur of the human body and serves to support the force, and the hip joint assembly 2 is mounted on the thigh support 101 and can drive the thigh support 101 to move in multiple degrees of freedom through cooperation of the hip joint assembly 2 and the hip linear actuator 501.

[0074] In some embodiments, the A-axis is perpendicular to the B-axis, and as a deformation, the A-axis can also be not perpendicular to the B-axis.

[0075] The leg structure in this embodiment serves as a part of the robot body, and in order to realize connection of the leg structure and the robot body, the swivel mounting 201 is arranged in this embodiment to directly or indirectly assemble and connect the leg structure and the robot body. Since the swivel mounting 201 is connected to the robot body, at this time, the movement of the leg structure relative to the robot body, especially the movement of the thigh support 101 relative to the robot body, is equivalent to the movement of the thigh support 101 relative to the swivel mounting 201.

[0076] Specifically in this embodiment, the thigh support 101 can rotate around the B-axis and around the C-axis relative to the swivel mounting 201.

[0077] Since the hip joint assembly 2 comprises the hip cross shaft 202, the hip cross shaft 202 has the hip first rotating shaft 2021 adapted to rotate around the B-axis and the hip second rotating shaft 2022 adapted to rotate around the C-axis.

[0078] When the thigh support 101 rotates around the B-axis, the thigh support 101 can rotate relative to the robot body with the B-axis as the axis. For example, when the B-axis is parallel to the left-right direction of the human body, the thigh support 101 rotates around the B-axis to realize the action of lifting the leg when the robot body remains relatively fixed, and the robot body rotates around the B-axis to realize the action of bending the waist when the thigh support 101 remains relatively fixed.

[0079] When the thigh support 101 rotates around the C-axis, the thigh support 101 can rotate relative to the robot body with the C-axis as the axis. For example, when the C-axis is parallel to the front-back direction of the human body, the thigh support 101 rotates around the C-axis to realize the action of lifting the leg sideways when the robot body remains relatively fixed, and the robot body rotates around the C-axis to realize the action of turning the body sideways when the thigh support 101 remains relatively fixed.

[0080] In some embodiments, in combination with Figure 1 As shown, the leg structure further comprises: a motor template 104, the motor template 104 is assembled with the rotary mounting frame 201, and the motor template 104 is suitable for driving the rotary mounting frame 201 to rotate around the A-axis. When the rotary mounting frame 201 rotates around the A-axis, it is equivalent to that the thigh support 101 rotates around the A-axis relative to the robot body. For example, when the A-axis is parallel to the height direction of the human body, the rotation of the thigh support 101 around the A-axis can realize the action of turning around in place when the robot body remains relatively fixed; and when the thigh support 101 remains relatively fixed, the rotation of the robot body around the A-axis can realize the action of turning around the upper body.

[0081] In order to realize the above-mentioned actions, the hip linear actuator 501 is adopted as the action driving mechanism in the embodiment, the first end of the hip linear actuator 501 is rotationally connected with the thigh support 101, so as to ensure the position of the hip linear actuator 501 fixed and facilitate the force acting on the hip joint assembly 2. The second end of the hip linear actuator 501 is connected with the hip joint assembly 2, and by driving the hip joint assembly 2, the thigh support 101 can be driven to rotate around the B-axis, or around the C-axis, or simultaneously around the B-axis and the C-axis.

[0082] The leg structure provided by the embodiment of the present application can drive the thigh support 101 to rotate around the B-axis and / or the C-axis by adopting the hip linear actuator 501 to drive the hip joint assembly 2 to move, without needing to set an independent driving member for each degree of freedom rotation, so as to realize the action combination of multi-degree of freedom rotation, reduce the number of driving members, and reduce the structural complexity.

[0083] In the embodiment, the specific structural form of the hip linear actuator 501 can be a pneumatic cylinder or an electric push rod.

[0084] In some embodiments, in combination with Figure 3 As shown, the hip joint assembly 2 further comprises a linkage mechanism, and the linkage mechanism comprises:

[0085] a hip first linkage 203, the first end of the hip first linkage 203 is rotationally connected with a hip first linkage mounting shaft 2012 of the rotary mounting frame 201;

[0086] a hip second linkage 204, the first end of the hip second linkage 204 is rotationally connected with a hip second linkage mounting shaft 1011 of the thigh support 101;

[0087] a linkage assembly shaft 205, the second end of the hip first linkage 203 and the second end of the hip second linkage 204 are both rotationally connected with the linkage assembly shaft 205; and the second end of the hip linear actuator 501 is also rotationally connected with the linkage assembly shaft 205.

[0088] The hip linear actuator 501 is telescopic to drive the movement of the link assembly shaft 205.

[0089] The hip linear actuator 501 comprises an actuator body and a hip actuator push rod 5012 telescopic relative to the actuator body, and the hip actuator push rod 5012 is provided with a hip push rod mounting shaft seat 5013 at the end thereof to connect the second end of the hip linear actuator 501 with the link assembly shaft 205.

[0090] The swivel mounting frame 201 is provided with a hip first link mounting shaft 2012, and the first end of the hip first link 203 is hinged to the hip first link mounting shaft 2012 to enable the hip first link 203 to rotate relative to the hip first link mounting shaft 2012.

[0091] In some embodiments, the swivel mounting frame 201 is provided with a hip first pivot mounting seat 2011, and the hip first pivot 2021 is pivotally connected to the hip first pivot mounting seat 2011.

[0092] Since the second end of the hip linear actuator 501 is pivotally connected to the link assembly shaft 205, when the hip linear actuator 501 is extended or shortened, the link assembly shaft 205 can be driven to move, and since the second end of the hip first link 203 is pivotally connected to the link assembly shaft 205, the movement of the hip linear actuator 501 can be continuously transmitted to the hip first link 203, and then transmitted to the swivel mounting frame 201 by the hip first link 203. Since the swivel mounting frame 201 is provided with the hip first pivot mounting seat 2011, and the hip first pivot 2021 is pivotally connected to the hip first pivot mounting seat 2011, the swivel mounting frame 201 can be rotated around the hip first pivot 2021, i.e., the swivel mounting frame 201 can be rotated around the B-axis.

[0093] Meanwhile, the hip first link 203 functions to constrain the movement trajectory of the second end of the hip linear actuator 501 relative to the swivel mounting frame 201.

[0094] The thigh support 101 is provided with a hip second link mounting shaft 1011, and the first end of the hip second link 204 is hinged to the hip second link mounting shaft 1011 to enable the hip second link 204 to rotate relative to the hip second link mounting shaft 1011.

[0095] Similarly, when the hip linear actuator 501 is extended or retracted, the link assembly shaft 205 can be driven to move, and due to the second end of the hip second link 204 being rotationally connected to the link assembly shaft 205, the movement of the hip linear actuator 501 can be continuously transmitted to the hip second link 204, and the hip second link 204 can constrain the second end of the hip linear actuator 501 to move along a certain trajectory relative to the thigh support 101. When the swivel mount 201 rotates around the hip first rotation shaft 2021, due to the hip second link 204 being connected to the hip first link 203 together on the link assembly shaft 205, that is, when the thigh support 101 remains relatively fixed, the swivel mount 201 rotates around the hip first rotation shaft 2021, and when the robot body remains relatively fixed, the thigh support 101 can also rotate around the hip first rotation shaft 2021.

[0096] The first end of the hip second link 204 can be hingedly connected to the hip second link mounting shaft 1011 through the hip second link fixing shaft seat 2041.

[0097] In some embodiments, in combination with Figure 3 As shown, the number of hip linear actuators 501 is two, and the two hip linear actuators 501 are respectively arranged on the two sides of the thigh support 101 along the B-axis direction.

[0098] The number of link mechanisms is two groups, and each group of link mechanisms is connected to one hip linear actuator 501.

[0099] The two hip linear actuators 501 on the two sides are synchronously extended and retracted to drive the two groups of link mechanisms to move in the same direction, thereby driving the thigh support 101 to rotate around the B-axis or driving the swivel mount 201 to rotate around the B-axis.

[0100] The two hip linear actuators 501 on the two sides are extended and retracted in opposite directions to drive the two groups of link mechanisms to move in opposite directions, thereby driving the thigh support 101 to rotate around the C-axis.

[0101] By extending and retracting the two hip linear actuators 501 on the two sides in opposite directions, the two groups of link mechanisms can be respectively driven to move in opposite directions, that is, the hip second link 204 of one group of link mechanisms rotates counterclockwise around the hip second link mounting shaft 1011 of the thigh support 101, and the hip first link 203 of the group of link mechanisms rotates counterclockwise around the hip first link mounting shaft 2012 of the swivel mount 201; and the hip second link 204 of the other group of link mechanisms rotates clockwise around the hip second link mounting shaft 1011 of the thigh support 101, and the hip first link 203 of the group of link mechanisms rotates clockwise around the hip first link mounting shaft 2012 of the swivel mount 201.

[0102] In some embodiments, the thigh support 101 is provided with a hip second pivot mounting seat 1012, and the hip second pivot 2022 is rotationally connected with the hip second pivot mounting seat 1012.

[0103] That is, by stretching and shrinking the two hip linear actuators 501 in opposite directions, the thigh support 101 can rotate around the C-axis when the robot body remains relatively fixed, and the swivel mounting frame 201 can also rotate around the C-axis when the thigh support 101 remains relatively fixed.

[0104] In some embodiments, as shown in Figure 5 , Figure 15 , Figure 16 , the first end of the hip first connecting rod 203 is rotationally connected with the hip first connecting rod mounting shaft 2012 via a hip first connecting rod fixed spherical hinge seat 2031, and the second end of the hip first connecting rod 203 is rotationally connected with the connecting rod mounting shaft 205 via a hip first connecting rod movable spherical hinge seat 2032.

[0105] By adopting the connection form of the spherical hinge, the free movement demand of the hip first connecting rod 203 in the three-dimensional plane can be met, and when the two hip linear actuators 501 stretch and shrink in opposite directions, the thigh support 101 can rotate around the C-axis when the robot body remains relatively fixed, and the swivel mounting frame 201 can also rotate around the C-axis when the thigh support 101 remains relatively fixed, avoiding interference of the hip first connecting rod 203 and meeting the multi-degree-of-freedom movement demand.

[0106] In some embodiments, as shown in Figure 3 , the thigh support 101 is provided with a hip actuator mounting shaft 1013, and the first end of the hip linear actuator 501 is rotationally connected with the hip actuator mounting shaft 1013 via an actuator spherical hinge seat 5011.

[0107] When the two hip linear actuators 501 stretch and shrink in opposite directions, the hip linear actuators 501 will tilt along the B-axis towards the direction of approaching or moving away from the thigh support 101, and by adopting the connection form of the spherical hinge, the demand that the position where the first end of the hip linear actuator 501 is connected with the hip actuator mounting shaft 1013 is angularly inclined can be met, avoiding interference and meeting the multi-degree-of-freedom movement demand.

[0108] In some embodiments, as shown in Figure 3 , the hip first pivot 2021 is fixedly connected with the hip second pivot 2022, and there is a height difference between the hip first pivot 2021 and the hip second pivot 2022 along the axis direction perpendicular to the B-axis and the C-axis.

[0109] It should be noted that the direction perpendicular to the B-axis and the C-axis refers to a virtual axis perpendicular to the B-axis and the C-axis. In the direction of the virtual axis, the first hip rotation axis 2021 and the second hip rotation axis 2022 have a height difference.

[0110] By making the first hip rotation axis 2021 and the second hip rotation axis 2022 have a height difference, the rotation of the B-axis and the C-axis can be located in different planes, avoiding interference with each other, and expanding the free movement range of the leg structure of the embodiment.

[0111] In one embodiment, the knee joint assembly 3 comprises: a knee joint shaft 301 connecting the lower part of the thigh support 101 and the upper part of the lower leg support 102; and a knee joint linkage assembly, the hinge point of which is hinged with the lower part of the thigh support 101, the upper part of the lower leg support 102, and the driving end of the knee joint linear actuator 502 to form a polygon, and under the driving of the driving end of the knee joint linear actuator 502, the axis of the knee joint shaft 301 can move from the outside of the polygon to the inside of the polygon.

[0112] The knee joint linear actuator 502 is arranged on the front side of the thigh support 101, making full use of the space on the front side of the thigh, reducing the inertia of the lower leg support 102, and requiring less energy when the lower leg support 102 performs the pitch action, so as to improve the dynamic stability of the humanoid robot. Moreover, the knee joint linear actuator 502 drives the swing of the lower leg support 102 relative to the thigh support 101 through the knee joint linkage assembly, which can reduce the output requirement of the knee joint linear actuator 502 within a certain joint motion range while meeting the joint motion speed, and at the same time, increases the length of the force arm of the knee joint linear actuator 502 to drive the lower leg support 102, so as to reduce the output force of the knee joint linear actuator 502. By transmitting power through the knee joint linkage assembly, the transmission is more stable, and the trajectory and speed of the lower leg support 102 can be accurately controlled.

[0113] Further, under the driving of the driving end of the knee joint linear actuator 502, the shaft center of the knee joint shaft 301 can be moved from the outside of the polygon to the inside of the polygon, realizing a larger swing angle of the lower leg support 102. The larger swing angle allows the robot to have more gait options when walking, can more naturally imitate human gait, including stride, stride, side step and other actions, and enhances gait flexibility; can make larger range of swing actions, so that the robot can walk on different terrains, including going up and down stairs, crossing obstacles and other complex environments, improving the motion ability and adaptability; when keeping balance, the larger swing angle of the lower leg support 102 can make the robot better adjust the center of gravity position, especially on uneven ground or when making a sharp turn, increasing stability. For robots used in social, educational, entertainment and other fields, a larger swing angle can make their actions more lively and natural, enhancing the interactive experience with human users.

[0114] In one embodiment, as shown in Figure 7 and Figure 19 The rear side of the upper part of the lower leg support 102 has an inwardly recessed avoidance recess 1025, which is used to avoid the rear side of the lower part of the thigh support 101, which has an inwardly recessed accommodation recess. The avoidance recess 1025 of the lower leg support 102 can avoid the rear side of the lower part of the thigh support 101, so that the swing angle of the lower leg support 102 relative to the thigh support 101 is larger, more in line with the swing angle of the human lower leg, enhancing the motion ability of the robot, improving the flexibility of the robot when moving, and improving the stability of the robot when moving. The accommodation recess can avoid the lower leg support 102 or other components on the lower leg support 102, such as the ankle linear actuator on the lower leg support 102. The accommodation recess and the avoidance recess 1025 are arranged to realize large-angle swing of the lower leg support 102, enhance gait flexibility, improve motion ability, and enhance overall stability.

[0115] Further, the avoidance recess 1025 is an arc shape that arches inwardly to the inside of the lower leg support 102, which can ensure the structural strength of the lower leg support 102 and also enhance the aesthetic appearance.

[0116] In one embodiment, as shown in Figure 8 and Figure 10As shown in FIG. 1, the lower part of the thigh support 101 has an adjacent lower hinge seat 1014 and a thigh rear lower plate 1015, the lower hinge seat 1014 is hinged with the knee joint linkage assembly, and the rear side of the lower hinge seat 1014 and the thigh rear lower plate 1015 form a let-in recess. The arrangement of the lower hinge seat 1014 facilitates the hinge connection with the knee joint linkage assembly, and improves the reliability of the connection between the knee joint linkage assembly and the thigh support 101. The let-in recess formed by the lower hinge seat 1014 and the thigh rear lower plate 1015 ensures the structural strength of the lower part of the thigh support 101, and further improves the stability of the leg structure.

[0117] Further, the rear side of the lower hinge seat 1014 is curved in an arc shape outwardly, and the thigh rear lower plate 1015 is a straight plate, which is simple in structure and easy to manufacture, thereby reducing the manufacturing difficulty.

[0118] It can be understood that, in another embodiment, the thigh rear lower plate 1015 can be an arc plate curved inwardly into the thigh support 101 or an arc plate curved outwardly from the thigh support 101.

[0119] In one embodiment, as shown in FIGS. 1 and 2, Figure 6 and Figure 10 the front side of the lower hinge seat 1014 has a receiving groove 10141 for accommodating part of the knee joint linkage assembly, which can move in the receiving groove 10141 under the drive of the knee joint linear actuator 502. The receiving groove 10141 can avoid the interference between the knee joint linkage assembly and the thigh support 101 when the knee joint linkage assembly moves, and ensure the normal movement of the knee joint linkage assembly.

[0120] In one embodiment, as shown in FIGS. 1 and 2, Figure 7 and Figure 19 the rear side of the upper part of the calf support 102 further has a limiting portion 1026 cooperating with the let-in recess to limit the maximum swing angle of the calf support 102. By limiting the maximum swing angle of the calf support 102, the knee joint linear actuator 502 and the knee joint linkage assembly can be prevented from being damaged due to the excessive swing angle of the calf support 102.

[0121] Further, the limiting portion 1026 is a limiting protrusion protruding outwardly, which can simulate the muscle distribution of the human calf, so as to make the leg structure of the robot more stable, and the limiting protrusion can play an important supporting role when the robot stands and walks, and can help the robot to maintain balance better.

[0122] Specifically, the limiting protrusion is curved in an arc shape outwardly, which can simulate the calf of the human calf, and has a more human-like appearance.

[0123] In one embodiment, as shown in FIGS. 1 and 2,Figure 6 and Figure 19 As shown, the swing angle of the lower leg support 102 is 0-135°, and the maximum swing angle of the lower leg support 102 is 135°. The maximum swing angle of the lower leg support 102 is very close to the maximum swing angle of a human lower leg, which makes it easier for the robot to perform actions such as running, walking, and jumping.

[0124] In one embodiment, such as Figures 9 to 10 As shown, the knee joint linkage assembly includes a first knee joint link 302 and a second knee joint link 303. One end of the first knee joint link 302 and one end of the second knee joint link 303 are connected to the drive end of the knee joint linear actuator 502 via a first knee joint hinge shaft 304. The other end of the first knee joint link 302 is connected to the lower part of the thigh support 101 via a second knee joint hinge shaft 305. The other end of the second knee joint link 303 is connected to the upper part of the calf support 102 via a third knee joint hinge shaft 306. The polygon is triangular.

[0125] Furthermore, the hinge points of one end of the first knee joint link 302, one end of the second knee joint link 303 and the drive end of the knee joint linear actuator 502, the hinge point of the other end of the first knee joint link 302 and the lower part of the thigh support 101, the hinge point of the other end of the second knee joint link 303 and the upper part of the lower leg support 102, and the hinge points of the thigh support 101 and the lower leg support 102 form a quadrilateral. The knee joint link assembly, the thigh support 101 and the lower leg support 102 form a planar four-bar linkage mechanism. The structure is simple, easy to design and manufacture, and the swing angle of the lower leg support 102 can be adjusted by adjusting the length of the two links as needed. It can also maintain high stability, withstand high loads, and meet the high load requirements of the robot.

[0126] It should be noted that for triangles, please refer to [link / reference]. Figure 9 and Figure 20 The dashed triangle in the image.

[0127] Furthermore, both the first link 302 and the second link 303 of the knee joint are straight rods, which are easier to process and manufacture, and have lower costs.

[0128] In one embodiment, such as Figure 10 As shown, the upper part of the thigh support 101 has an actuator connecting ear 1016, and the fixed end of the knee joint linear actuator 502 has a connector head 5021. The actuator connecting ear 1016 and the connector head 5021 are connected through an actuator connecting shaft to realize the swing of the knee joint linear actuator 502 relative to the thigh support 101.

[0129] Furthermore, such as Figure 10 and Figure 11As shown in the drawings, the upper part of the lower leg support 102 is provided with a knee shaft mounting seat 1027, and the lower part of the upper leg support 101 is provided with a knee shaft mounting head 1017, the knee shaft mounting head 1017 is mounted on the knee shaft mounting seat 1027 through a knee shaft 301, and the swing of the lower leg support 102 relative to the upper leg support 101 is realized.

[0130] Specifically, as shown in the drawings, Figure 10 and Figure 11 the front side of the knee shaft mounting seat 1027 is fixed with a connecting rod connecting lug 1028, the other end of the knee joint second connecting rod 303 is connected with the connecting rod connecting lug 1028 through a knee joint third hinge shaft 306, and the swing of the knee joint second connecting rod 303 relative to the lower leg support 102 is realized.

[0131] Further, the front side of the knee shaft mounting seat 1027 is curved in an arc shape arching outwardly to the outside of the lower leg support 102. It can be understood that the shape of the front side of the knee shaft mounting seat is not limited to this, and can be designed according to specific conditions.

[0132] In one embodiment, as shown in the drawings, Figure 6 and Figure 19 the knee joint linear actuator 502 includes a knee motor, a knee push rod 5022, etc., under the driving of the knee motor, the knee push rod 5022 can be pushed out or retracted, thereby realizing the pitching action of the lower leg support 102.

[0133] It should be noted that the knee joint linear actuator 502 is a conventional structure in the prior art, which will not be described in detail here.

[0134] The movement process of the lower leg support 102 of the leg structure will be described below in combination with Figure 6 and Figure 19

[0135] Under the driving of the knee motor, the knee push rod 5022 extends out and generates a pushing force on one end of the knee joint first connecting rod 302 and the knee joint second connecting rod 303, the knee joint first connecting rod 302 rotates around the knee joint second hinge shaft 305, and the knee joint first connecting rod 302 rotates around the knee joint third hinge shaft 306, thereby realizing the pitching movement of the lower leg support 102.

[0136] In one embodiment, the ankle joint assembly 4 is movably connected between the lower leg support 102 and the foot support 103; the ankle joint assembly 4 includes: a rotary cross shaft 401 having an ankle first rotation shaft 4011 adapted to rotate around an M axis and an ankle second rotation shaft 4012 adapted to rotate around an N axis; an ankle linear actuator 503 is adapted to drive at least one of the foot support 103 and the lower leg support 102 to rotate around the M axis and / or the N axis.​

[0137] In the embodiment, the calf support 102 is similar to the tibia of the human body and serves to support the force, and the foot support 103 is similar to the foot bone of the human body and is convenient for standing support; the calf support 102 and the foot support 103 are connected through the ankle joint assembly 4, so that the calf support 102 and the foot support 103 can move relative to each other, and the calf support 102 and the foot support 103 of the embodiment can realize relative movement of multiple degrees of freedom.

[0138] The ankle joint assembly 4 includes a rotary cross shaft 401, the rotary cross shaft 401 has a first ankle rotating shaft 4011 and a second ankle rotating shaft 4012, and the first ankle rotating shaft 4011 and the second ankle rotating shaft 4012 are fixedly connected. The rotary cross shaft 401 is in a fixed state, and the first ankle rotating shaft 4011 and the second ankle rotating shaft 4012 of the rotary cross shaft 401 are respectively rotationally connected with the foot support 103 and the calf support 102, so that at least one of the foot support 103 and the calf support 102 can rotate around the M axis, or rotate around the N axis, or rotate around both the M axis and the N axis.

[0139] The first end of the ankle linear actuator 503 is rotationally connected with the calf support 102, and the second end of the ankle linear actuator 503 is rotationally connected with the foot support 103.

[0140] In the embodiment, the specific structure of the ankle linear actuator 503 can be a gas cylinder or an electric push rod.

[0141] In some embodiments, the M axis and the N axis are arranged perpendicularly. As a variation, the M axis and the N axis can also be arranged at an angle.

[0142] In some embodiments, in combination with the foot support 103 and the calf support 102, the ankle joint assembly 4 can be arranged as shown in FIGS. 5A and 5B. Figure 21 、 Figure 22 As shown in FIGS. 5A and 5B, the ankle linear actuator 503 includes an actuator body 5031 and an ankle actuator push rod 5032 that is telescopic relative to the actuator body 5031; through the telescopic movement of the ankle linear actuator 503, at least one of the foot support 103 and the calf support 102 can be driven to move, so that at least one of the foot support 103 and the calf support 102 rotates around the M axis and / or the N axis.

[0143] For example, when the M axis is parallel to the front-back direction of the human body, when the foot support 103 remains relatively fixed, the opposite telescopic movement of the ankle linear actuator 503 can drive the calf support 102 to rotate around the M axis, realizing the action of the side leg; and when the calf support 102 remains relatively fixed, the opposite telescopic movement of the ankle linear actuator 503 can drive the foot support 103 to rotate around the M axis, realizing the action of the wrist of the foot moving left and right, and further making the foot support 103 swing left and right. It should be noted that left and right here refer to the positional relationship when the human body is taken as the reference.

[0144] For example, when the N-axis is parallel to the left-right direction of the human body, when the foot support 103 remains relatively fixed, the same direction extension of the ankle linear actuator 503 can drive the lower leg support 102 to rotate around the N-axis, realizing the action of the lower leg squatting; when the lower leg support 102 remains relatively fixed, the same direction extension of the ankle linear actuator 503 can drive the foot support 103 to rotate around the N-axis, realizing the action of the ankle moving up and down, and further making the foot support 103 swing up and down. It should be noted that the above action is in the form of action when the lower leg support 102 is in a vertical state, if the lower leg support 102 is in an inclined state, the foot support 103 rotates around the N-axis, realizing the action of the toe position approaching or moving away from the lower leg support 102.

[0145] The mechanical leg structure provided by the embodiment of the present application can make at least one of the foot support 103 and the lower leg support 102 rotate around the M-axis and / or the N-axis by driving the ankle joint assembly 4 to move through the ankle linear actuator 503, without setting independent driving members for each degree of freedom rotation, thereby realizing the action combination of multi-degree of freedom rotation, reducing the number of driving members, and reducing the structural complexity.

[0146] In some embodiments, in combination with Figure 22 As shown, the number of ankle linear actuators 503 is two, and the two ankle linear actuators 503 are respectively arranged on the two sides of the lower leg support 102 along the N-axis direction.

[0147] The two ankle linear actuators 503 have a first action state of opposite direction extension and a second action state of synchronous extension; in the first action state, the lower leg support 102 and / or the foot support 103 are adapted to rotate around the M-axis; in the second action state, the lower leg support 102 and / or the foot support 103 are adapted to rotate around the N-axis.

[0148] The two ankle linear actuators 503 have a first action state of opposite direction extension, by opposite direction extension of the two ankle linear actuators 503 on the two sides, the two sides of the push rod mounting shaft 1032 can be respectively driven to move in opposite directions, thereby in the first action state, the lower leg support 102 is rotated around the M-axis, or the foot support 103 is rotated around the M-axis, or the lower leg support 102 and the foot support 103 are simultaneously rotated around the M-axis.

[0149] The two ankle linear actuators 503 also have a second action state of synchronous extension, by synchronous extension of the two ankle linear actuators 503 on the two sides, the two sides of the push rod mounting shaft 1032 can be respectively driven to move in the same direction, thereby in the second action state, the lower leg support 102 is rotated around the N-axis, or the foot support 103 is rotated around the N-axis, or the lower leg support 102 and the foot support 103 are simultaneously rotated around the N-axis.

[0150] In some embodiments, in combination Figure 22 As shown in FIG. 1, the foot support 103 is provided with an ankle first pivot mounting seat 1031, and the ankle first pivot 4011 is rotationally connected with the ankle first pivot mounting seat 1031.

[0151] The axis direction of the ankle first pivot mounting seat 1031 coincides with the M-axis.

[0152] The first end of the lower leg support 102 is provided with an ankle second pivot mounting seat 1021, and the ankle second pivot 4012 is rotationally connected with the ankle second pivot mounting seat 1021.

[0153] The axis direction of the ankle second pivot mounting seat 1021 coincides with the N-axis.

[0154] The ankle first pivot mounting seat 1031 has two or more support portions spaced along the M-axis direction, each support portion is provided with an assembly hole, and the ankle first pivot 4011 is rotationally connected with the assembly hole of the ankle first pivot mounting seat 1031.

[0155] The first end of the lower leg support 102 is provided with an ankle second pivot mounting seat 1021, and the ankle second pivot mounting seat 1021 has two or more support portions spaced along the N-axis direction, each support portion is provided with an assembly hole, and the ankle second pivot 4012 is rotationally connected with the assembly hole of the ankle second pivot mounting seat 1021.

[0156] In addition, the second end of the lower leg support 102 is adapted to be connected with other structures, which can be the thigh support 101.

[0157] In the embodiment, the ankle first pivot 4011 is located relatively below the ankle second pivot 4012 in the height direction, that is, the ankle first pivot 4011 is arranged away from the ankle second pivot mounting seat 1021 relative to the ankle second pivot 4012, so that the ankle second pivot mounting seat 1021 can be connected with the ankle second pivot 4012 in priority, and interference of the ankle first pivot 4011 when rotating around the ankle second pivot 4012 is avoided, thereby increasing the range of motion.

[0158] In some embodiments, in combination Figure 21 、 Figure 22 As shown in FIG. 1, the ankle linear actuator 503 includes an actuator body 5031, an ankle actuator push rod 5032 which is telescopic relative to the actuator body 5031, and an ankle push rod mounting shaft seat 5033 at the end of the ankle actuator push rod 5032.

[0159] The foot support 103 is also provided with a push rod mounting shaft 1032, and the ankle push rod mounting shaft seat 5033 is rotationally connected with the push rod mounting shaft 1032.

[0160] An ankle push rod mounting seat 5033, located at the end of the ankle actuator push rod 5032, is adapted to be sleeved on the push rod mounting shaft 1032 to realize the rotational connection between the ankle push rod mounting seat 5033 and the push rod mounting shaft 1032.

[0161] In this embodiment, the axial direction of the push rod mounting shaft 1032 is parallel to the N-axis, so that when the ankle linear actuator 503 pushes the push rod mounting shaft 1032 to move, the forces on both sides can be balanced, which makes it easier for the foot support 103 to rotate around the M-axis or around the N-axis.

[0162] In some embodiments, combined with Figure 21 , Figure 22 As shown, the actuator body 5031 is rotatably connected to the ankle actuator mounting shaft 1022 provided on the lower leg bracket 102.

[0163] Ankle push rod mounting shaft 5033 and push rod mounting shaft 1032 are rotatably connected via push rod ball joint 402.

[0164] When the ankle linear actuators 503 on both sides extend and retract in opposite directions, the ankle linear actuators 503 will tilt along the N-axis toward the lower leg support 102 or away from it. By adopting a ball joint connection, the requirement for the ankle linear actuators 503 and the push rod mounting shaft 1032 to tilt at an angle can be met, avoiding interference and satisfying the requirements for multi-degree-of-freedom movement.

[0165] Alternatively, the axis of the ankle actuator mounting shaft 1022 is parallel to the N-axis, and the actuator body 5031 and the ankle actuator mounting shaft 1022 are also connected by a ball joint. This can meet the requirement that the position where the ankle linear actuator 503 is connected to the ankle actuator mounting shaft 1022 is tilted at an angle, avoid interference, and meet the requirements of multi-degree-of-freedom movement.

[0166] In some embodiments, combined with Figure 23 As shown, the push rod mounting shaft 1032 is located at the heel of the foot support 103, and the ankle first rotating shaft mounting seat 1031 is located at the middle of the foot of the foot support 103.

[0167] In some embodiments, the foot support 103 is further provided with a support plate 1033 at the heel position, and a push rod mounting shaft 1032 is provided on the side of the support plate 1033 away from the sole of the foot; the foot support 103 is recessed at the mid-foot position to form a receiving space 1039, and the ankle first rotating shaft mounting seat 1031 is provided in the receiving space 1039; the push rod mounting shaft 1032 is provided higher than the ankle first rotating shaft mounting seat 1031.

[0168] By setting the push rod mounting shaft 1032 higher than the ankle first rotating shaft mounting seat 1031, the rotation range of the foot support 103 can be larger when the ankle linear actuator 503 acts on the push rod mounting shaft 1032, the range of free movement is increased, and interference is avoided.

[0169] Meanwhile, by recessing the accommodation space 1039 in the foot support 103 at the middle foot position, and setting the ankle first rotating shaft mounting seat 1031 in the accommodation space 1039, the space utilization of the foot support 103 can be improved, the ground clearance of the ankle first rotating shaft mounting seat 1031 is closer, and the stability is higher.

[0170] In some embodiments, as shown in Figure 22 , Figure 23 As shown in FIG. 11, the ankle first rotating shaft 4011 is mounted in the ankle first rotating shaft mounting seat 1031 via the first rotating shaft mounting pin 4013; the support plate 1033 is formed with a clearance hole 10310 in the M-axis direction, and the first rotating shaft mounting pin 4013 is adapted to pass through the clearance hole 10310 and be fixed with the ankle first rotating shaft mounting seat 1031.

[0171] Since the ankle first rotating shaft mounting seat 1031 is set in the accommodation space 1039, in order to simplify the assembly of the ankle first rotating shaft 4011 and the ankle first rotating shaft mounting seat 1031, the first rotating shaft mounting pin 4013 is adopted, the first rotating shaft mounting pin 4013 is adapted to pass through the clearance hole 10310 and be fixed with the ankle first rotating shaft mounting seat 1031, so that bilateral fixation is not required, the assembly efficiency is improved, and the installation difficulty is reduced.

[0172] In some embodiments, as shown in Figure 24 , Figure 25 As shown in FIG. 11, the foot support 103 is sequentially provided with a foot surface part 1034, a foot bottom part 1035, a buffer part 1036, and a wear-resistant part 1037 from top to bottom; the foot support 103 further includes a sensor 1038, which is arranged in one of the foot bottom part 1035, the buffer part 1036, or the wear-resistant part 1037; the sensor 1038 includes a pressure sensor.

[0173] The buffer part 1036 can be made of rubber or foam material, so as to play a buffering role and reduce the impact force from the foot bottom.

[0174] In this embodiment, the sensor 1038 is arranged at the bottom of the buffer part 1036, the bottom of the buffer part 1036 is provided with a sensor mounting groove 10361, and the sensor 1038 is mounted in the sensor mounting groove 10361, so as to monitor the pressure value when the sensor 1038 is subjected to pressure.

[0175] Additionally, the number of sensors 1038 can be multiple.

[0176] In some other embodiments, the bottom of the foot support 103 is concave to form an arch 10311, so that the foot support 103 more realistically simulates the foot features of a human body, buffers the shock, and makes the stress distribution on the sole more uniform.

[0177] According to an embodiment of the present application, in another aspect, there is also provided a humanoid robot, comprising: a robot body; and a leg structure as described above mounted to the robot body.

[0178] Further, the leg structure comprises: a thigh support 101, a lower leg support 102 arranged below the thigh support 101, and a foot support 103 arranged below the lower leg support 102.

[0179] Since the robot comprises the leg structure, it has the same effects as the leg structure, which will not be described here again.

[0180] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes are intended to fall within the scope of the appended claims.

Claims

1. A leg structure, characterized by, The application relates to a robot, which comprises: a thigh support (101); a motor template (104) adapted to be assembled with a robot body; a hip joint assembly (2) installed on the thigh support (101); the hip joint assembly (2) comprises: a rotary mounting frame (201) assembled with the motor template (104), and the motor template (104) drives the thigh support (101) to rotate through the rotary mounting frame (201); a hip linear actuator (501) connected with the thigh support (101) at a first end and connected with the hip joint assembly (2) at a second end, so as to drive the thigh support (101) to perform pitching and yawing through the hip joint assembly (2); a lower leg support (102) connected with the lower part of the thigh support (101) through a knee joint assembly (3); a knee joint linear actuator (502) arranged on the thigh support (101), the fixed end of the knee joint linear actuator (502) is rotationally connected with the upper part of the thigh support (101), and the driving end of the knee joint linear actuator (502) is connected with the knee joint assembly (3) to drive at least one of the lower leg support (102) and the thigh support (101) to perform pitching; a foot support (103) connected with the lower part of the lower leg support (102) through an ankle joint assembly (4); an ankle linear actuator (503) rotationally connected with the lower leg support (102) at a first end and rotationally connected with the foot support (103) at a second end to drive at least one of the foot support (103) and the lower leg support (102) to perform pitching and yawing.

2. The leg structure of claim 1, wherein The rotary mounting frame (201) is adapted to rotate around a first axis when being driven; The hip joint assembly (2) further comprises: a hip cross shaft (202) having a hip first rotating shaft (2021) adapted to rotate around a second axis and a hip second rotating shaft (2022) adapted to rotate around a third axis; The second axis is perpendicular to the third axis.

3. The leg structure of claim 2, wherein The hip joint assembly (2) further comprises a linkage mechanism, which comprises: a hip first linkage (203) rotationally connected with a hip first linkage mounting shaft (2012) of the rotary mounting frame (201) at a first end; a hip second linkage (204) rotationally connected with a hip second linkage mounting shaft (1011) of the thigh support (101) at a first end; a linkage assembly shaft (205), the second end of the hip first linkage (203) and the second end of the hip second linkage (204) are both rotationally connected with the linkage assembly shaft (205); the second end of the hip linear actuator (501) is also rotationally connected with the linkage assembly shaft (205); The hip linear actuator (501) is telescopic to drive the linkage assembly shaft (205) to move.

4. The leg structure of claim 3, wherein The number of the hip linear actuators (501) is two, and the two hip linear actuators (501) are respectively arranged on the two sides of the thigh support (101) along the direction of the second axis. The number of the connecting rod mechanisms is two groups, each group of the connecting rod mechanisms is connected with one of the hip linear actuators (501); The hip linear actuators (501) on both sides are synchronously extended and contracted to drive the two groups of the connecting rod mechanisms to move in the same direction, thereby driving the thigh support (101) to rotate around the second axis or driving the rotary mounting frame (201) to rotate around the second axis; The hip linear actuators (501) on both sides are extended and contracted in opposite directions to drive the two groups of the connecting rod mechanisms to move in opposite directions, thereby driving the thigh support (101) to rotate around the third axis or driving the rotary mounting frame (201) to rotate around the third axis.

5. The leg structure according to any one of claims 1 to 4, characterized in that, The knee joint assembly (3) comprises: A knee joint shaft (301) connecting a lower part of the thigh support (101) and an upper part of the lower leg support (102); A knee joint connecting rod assembly, a polygon is formed by a hinge point of the knee joint connecting rod assembly which is hingedly connected with the lower part of the thigh support (101), the upper part of the lower leg support (102) and a driving end of the knee joint linear actuator (502), and an axis of the knee joint shaft (301) can be moved from outside of the polygon to inside of the polygon under driving of the driving end of the knee joint linear actuator (502).

6. The leg structure of claim 5, wherein, An oscillation angle of the lower leg support (102) is 0-135°.

7. The leg structure of claim 5, wherein The knee joint connecting rod assembly comprises a knee joint first connecting rod (302) and a knee joint second connecting rod (303), one end of the knee joint first connecting rod (302) and one end of the knee joint second connecting rod (303) are connected with the driving end of the knee joint linear actuator (502) through a knee joint first hinge shaft (304), the other end of the knee joint first connecting rod (302) is connected with the lower part of the thigh support (101) through a knee joint second hinge shaft (305), the other end of the knee joint second connecting rod (303) is connected with the upper part of the lower leg support (102) through a knee joint third hinge shaft (306), and the polygon is a triangle.

8. The leg structure according to any one of claims 1 to 4, characterized in that, The ankle joint assembly (4) comprises a rotary cross shaft (401) having an ankle first rotary shaft (4011) adapted to rotate around a fourth axis and an ankle second rotary shaft (4012) adapted to rotate around a fifth axis.

9. The leg structure of claim 8, wherein, The number of the ankle linear actuators (503) is two, and the two ankle linear actuators (503) are respectively arranged on both sides of the lower leg support (102) along the fifth axis direction; The two ankle linear actuators (503) have a first action state of opposite extension and contraction and a second action state of synchronous extension and contraction; In the first action state, the lower leg support (102) and / or the foot support (103) are adapted to rotate around the fourth axis; In the second action state, the lower leg support (102) and / or the foot support (103) are adapted to rotate around the fifth axis.

10. A humanoid robot, characterized by, The leg structure of any one of claims 1 to 9. The leg structure of any one of claims 1 to 9.

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