Robot lower limb mechanical structure and robot

Abstract

The robot lower limb mechanical structure comprises a hip skeleton, and hip joint mechanisms, thigh skeletons, shank skeletons and foot mechanisms which are symmetrically arranged at the two ends of the hip skeleton and are sequentially arranged from top to bottom; the upper end of the hip joint mechanism is movably connected with the hip skeleton through a first motor assembly, the lower end of the hip joint mechanism is movably connected with the upper end of the thigh skeleton through a second motor assembly, and the lower end of the thigh skeleton is movably connected with the upper end of the shank skeleton through a third motor assembly. The lower end of the shank skeleton is movably connected with the foot mechanism through a fourth motor assembly; the first motor assembly, the second motor assembly, the third motor assembly and the fourth motor assembly are controlled by drivers integrated in all the motor assemblies to axially rotate so as to be in linkage with all the connected joints to adjust the posture of the body, and the robot has the advantages of being high in joint flexibility and light and handy in structure.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot lower limb mechanical structure and a robot. Background Art

[0002] A robot is a mechanical structure that needs to simulate humans to complete various complex movements. The flexibility of its structure is an important factor in determining whether the robot can smoothly cooperate with the algorithm to complete complex movements. Among them, the robot's lower limb structure is the core link for the robot to achieve stepping, turning, and heading control. It needs to have the characteristics of flexible swinging of each joint and a light structure.

[0003] The lower limbs of existing robots, such as patent number CN210555244U, discloses an under-actuated hydraulic biped robot lower limb mechanism, which uses under-actuated elastic joints, has good movement stability and continuity, and can link various joints to drive the forward and backward movement of the mechanical structure. However, the structure has too many associated structures, the overall structure is too heavy, and the swing range of the joints is limited by the hydraulic cylinder, making it difficult to cooperate to complete large-scale output movements.

[0004] In summary, there is an urgent need for a robot lower limb mechanical structure with flexible joints, unrestricted swing, and lightweight structure. Summary of the invention

[0005] The purpose of the present invention is to provide a robot lower limb mechanical structure with the characteristics of high flexibility and light structure.

[0006] To achieve the above object, the present invention provides the following technical solutions: A robot lower limb mechanical structure provided by the present invention comprises a hip skeleton, and a hip joint mechanism, a thigh skeleton, a calf skeleton and a foot mechanism which are symmetrically arranged at both ends of the hip skeleton and arranged in sequence from top to bottom; the upper end of the hip joint mechanism is movably connected to the hip skeleton through a first motor assembly, the lower end of the hip joint mechanism is movably connected to the upper end of the thigh skeleton through a second motor assembly, the lower end of the thigh skeleton is movably connected to the upper end of the calf skeleton through a third motor assembly, and the lower end of the calf skeleton is movably connected to the foot mechanism through a fourth motor assembly; the first motor assembly, the second motor assembly, the third motor assembly and the fourth motor assembly can be axially rotated respectively through the control of the drivers integrated in the motor assemblies, so as to adjust the body posture of the main body by linkage with the connected joints.

[0007] Preferably, the first motor assembly, the third motor assembly and the fourth motor assembly are respectively arranged to rotate longitudinally; and the second motor assembly is arranged to rotate transversely.

[0008] Preferably, the thigh frame includes a linkage arm and an adapter, the linkage arm is movably connected to the lower end of the hip joint mechanism, the adapter is movably connected to the upper end of the calf frame, the linkage arm and the adapter are movably connected via a fifth motor assembly, and the rotation of the fifth motor assembly is controlled to adjust the steering direction of the body.

[0009] Preferably, the first motor assembly, the second motor assembly, the third motor assembly, the fourth motor assembly and the fifth motor assembly include a motor, a reducer, an encoder, a driver and a brake disc. The motor is connected to the reducer through a coupling, the encoder is connected to the output shaft of the reducer through a coupling, the encoder is connected to the driver through a signal line, the driver is electrically connected to the motor, and the brake disc is connected to the motor through a coupling.

[0010] Preferably, a sixth motor assembly is also provided at the upper end of the hip skeleton, which is used to cooperate with the robot upper limb mechanical structure to link the robot upper limb mechanical structure to adjust the direction.

[0011] Preferably, the thigh frame includes a first joint portion at both ends for connecting with the hip joint mechanism and the calf frame, and the calf frame includes a second joint portion for connecting with the foot mechanism, both of which adopt a streamlined structure that is approximately "L".

[0012] Preferably, the middle parts of the thigh frame and the calf frame are designed to be cylindrical.

[0013] Preferably, the joints of the hip frame, hip joint mechanism, thigh frame, calf frame and foot mechanism are provided with mounting holes, the mounting holes are used to set screws for connection, and the mounting holes are provided with waterproof plugs.

[0014] The present invention also discloses a robot, the structure of which includes the robot lower limb mechanical structure as described above.

[0015] In summary, the beneficial effects of the present invention are: Through the design of the hip joint mechanism, thigh skeleton, calf skeleton and foot mechanism arranged in sequence from top to bottom; each joint segment is movably connected through a motor assembly, which is respectively fixed at the driving end and non-driving end of the corresponding motor assembly, and then controlled by the driver integrated in each motor assembly to perform axial rotation. There is no excessive load structure, so that the overall structure achieves the lightest effect. Compared with the linkage of traditional hydraulic cylinders, the connection of the motor assembly can make the opening and closing angles of each joint reach the maximum control range, so that the robot has higher flexibility.

[0016] The motor assembly includes a motor, a reducer, an encoder, a driver and a brake disc. The high-reduction ratio reducer converts the high-speed rotation of the motor into a low-speed, high-torque output to ensure that each joint can run smoothly under the control of the driver while providing stable bearing capacity. The encoder measures the angle and speed of the reducer output shaft to ensure the precision control of the driver. The brake disc can quickly stop the rotation of the motor when needed to facilitate braking in different situations.

[0017] The beneficial effects of the remaining additional technical features of the present invention will be described in the specific implementation section of this specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a structural diagram of the mechanical structure of the robot lower limbs of the present invention; Figure 2 It is a schematic diagram of the structure of the hip joint mechanism, the thigh frame, and the calf frame in an embodiment of the present invention; Figure 3 is a schematic diagram of the structure of the hip joint mechanism and the thigh skeleton in the embodiment of the present invention; The following are the descriptions of the reference numerals: 1. Hip skeleton; 2. Hip joint mechanism; 3. Thigh skeleton; 4. Calf skeleton; 5. Foot mechanism; 6. First motor assembly; 7. Second motor assembly; 8. Third motor assembly; 9. Fourth motor assembly; 10. Mounting hole; 101. sixth motor assembly; 102. fixing portion; 301, linkage arm; 302, adapter; 303, fifth motor assembly; 304, first joint portion; 401. Second joining portion. DETAILED DESCRIPTION

[0020] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0022] In the present invention, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or communicable with each other; it can be directly connected, or indirectly connected through an intermediate medium, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Embodiment

[0023] Combined Figure 1 As shown, a robotic lower limb mechanical structure provided by the present invention includes a hip skeleton 1, and two sets of hip joint mechanisms 2, thigh skeletons 3, calf skeletons 4, and foot mechanisms 5 that are symmetrically arranged at both ends of the hip skeleton 1 and are arranged in sequence from top to bottom.

[0024] The upper end of the hip joint mechanism 2 is movably connected to the hip skeleton 1 through a first motor assembly 6. In this embodiment, the hip skeleton 1 has an approximate "冖" - shaped structure, and the two sets of hip joint mechanisms 2 are respectively arranged inside the fixed parts 102 extending on both sides of the hip skeleton 1 to prevent direct damage to the hip joint mechanisms 2 when collisions occur during movement.

[0025] The non - driving end of the first motor assembly 6 is fixedly installed in the installation groove at the upper end of the hip joint mechanism 2, and the driving end of the first motor assembly 6 is fixedly connected to the inner side of the fixed part 102 of the hip skeleton 1. The first motor assembly 6 is used to drive the hip joint mechanism 2 to move longitudinally relative to the hip skeleton 1, simulating the movement mode of the human hip.

[0026] The non - driving end of the second motor assembly 7 is fixedly installed in the installation groove at the lower end of the hip joint mechanism 2, and the driving end of the second motor assembly 7 is movably connected to the upper end of the thigh skeleton 3. The second motor assembly 7 can drive the thigh skeleton 3 to swing laterally at the lower end of the hip joint mechanism 2 to simulate the movement mode of the human thigh.

[0027] The lower end of the thigh frame 3 is movably connected to the upper end of the calf frame 4 through the third motor assembly 8. The non-driving end of the third motor assembly 8 is fixedly installed on the upper end of the calf frame 4, and the driving end of the third motor assembly 8 is fixedly connected to the lower end of the thigh frame 3. The third motor assembly 8 can drive the upper end of the calf frame 4 to move longitudinally at the lower end of the thigh frame 3 to simulate the movement of the human calf.

[0028] The lower end of the calf frame 4 is movably connected to the foot mechanism 5 through the fourth motor assembly 9; the non-driving end of the fourth motor assembly 9 is fixedly installed in the mounting groove of the foot mechanism 5, and the driving end of the fourth motor assembly 9 is movably connected to the lower end of the calf frame 4. The foot mechanism 5 can be driven to move longitudinally at the lower end of the calf frame 4 through the fourth motor assembly 9 to simulate the movement of the ankle.

[0029] Furthermore, the thigh skeleton 3 includes a linkage arm 301 located at the upper part and an adapter 302 located at the lower part. The linkage arm 301 is movably connected to the lower end of the hip joint mechanism 2 through the second motor assembly 7, and the adapter 302 is movably connected to the upper end of the calf skeleton 4 through the third motor assembly 8. The linkage arm 301 and the adapter 302 are movably connected through the fifth motor assembly 303. In this embodiment, the non-driving end of the fifth motor assembly 303 is fixedly installed in the linkage arm 301, and the driving end of the fifth motor assembly 303 is fixedly connected to the adapter 302. Through the axial rotation of the fifth motor assembly 303, the torso below the adapter 302 can be controlled to rotate to adjust the moving direction of the main body, and the torso below the adapter 302 can also be used as a support to rotate the main body to adjust the direction.

[0030] Among them, the motor components of the first motor component 6, the second motor component 7, the third motor component 8, the fourth motor component 9, and the fifth motor component 303 all include motors, reducers, encoders, drivers, and brake discs. The motor components are connected to a storage power source or an external power source through a cable to provide power, which is not limited here. Among them, the motor provides power, and the motor is connected to the reducer through a coupling so as to convert the high-speed rotation of the motor into a low-speed and high-torque output of the reducer; the encoder is connected to the output shaft of the reducer through a coupling, and the encoder is used to measure the angle and speed of the output shaft of the reducer so as to control the speed and position of the motor; the encoder is connected to the driver through a signal line, and the driver reads the encoder signal and controls the speed and position of the motor; the driver is electrically connected to the motor through a cable, and the speed, position, and torque of the motor can be controlled by the driver; the brake disc is connected to the motor through a coupling, and the rotation of the motor can be stopped in time when necessary to ensure the safety and precise control of the structure, thereby realizing that the structure can be flexibly controlled while maintaining the characteristics of lightness and adjusting the body posture of the main body.

[0031] Furthermore, a sixth motor assembly 101 is fixedly installed on the top of the hip skeleton 1, which is used to cooperate with the matching robot upper limb mechanical structure to be installed above the robot lower limb mechanical structure of the present invention. The driver integrated in the sixth motor assembly 101 controls the robot upper limb mechanical structure to perform axial rotation and adjust the direction of the robot upper limb. The sixth motor assembly 101 is consistent with the above-mentioned motor assembly structure and will not be repeated here.

[0032] Furthermore, the thigh frame 3 includes a first joint 304 at both ends for splicing with the hip joint mechanism 2 and the calf frame 4, and the calf frame 4 includes a second joint 401 for splicing with the foot mechanism 5. The first joint 304 and the second joint 401 both adopt a streamlined structure similar to the letter "L", which is conducive to improving the waterproof and dustproof properties of the surface of the mechanical structure. Among them, the middle part of the thigh frame 3 and the calf frame 4 adopts a cylindrical design with a smooth surface to reduce the air resistance of the mechanical structure during movement and improve the flexibility of the joints.

[0033] Furthermore, the driving end and the non-driving end of the motor assembly of the present embodiment are screwed together with the hip skeleton 1, the hip joint mechanism 2, the thigh skeleton 3, the calf skeleton 4, and the foot mechanism 5. The above-mentioned joints are provided with mounting holes 10 at the joints with the motor assembly. The mounting holes 10 are used to set screws for connection. The screws pass through the mounting holes 10 and are screwed together with the driving end or the non-driving end of the motor assembly at the corresponding position. The mounting holes 10 are provided with waterproof plugs (not shown). Example

[0034] In one embodiment, the present application provides a robot (without drawings), the robot comprising the above robot lower limb mechanical structure. The robot lower limb mechanical structure is arranged under the robot body and is used to simulate actions such as walking and moving.

[0035] It should be noted that the above-mentioned robot can be any robot that exists now or will be developed in the future, such as a humanoid robot, and this application does not limit it.

[0036] For the relevant description of the mechanical structure of the robot lower limb, please refer to the above embodiment, which will not be repeated here. The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A robot lower limb mechanical structure, characterized in that: It includes a hip skeleton, and hip joint mechanisms, thigh skeletons, calf skeletons, and foot mechanisms that are symmetrically arranged at both ends of the hip skeleton and are arranged successively from top to bottom; the upper end of the hip joint mechanism is movably connected to the hip skeleton through a first motor assembly, the lower end of the hip joint mechanism is movably connected to the upper end of the thigh skeleton through a second motor assembly, the lower end of the thigh skeleton is movably connected to the upper end of the calf skeleton through a third motor assembly, and the lower end of the calf skeleton is movably connected to the foot mechanism through a fourth motor assembly; the first motor assembly, the second motor assembly, the third motor assembly, and the fourth motor assembly can be axially rotated respectively through the drivers integrated in each motor assembly to联动 the body postures of the connected joints.

2. The robot lower limb mechanical structure according to claim 1, characterized in that: The first motor assembly, the third motor assembly, and the fourth motor assembly are respectively arranged for longitudinal rotation; the second motor assembly is arranged for transverse rotation.

3. The robot lower limb mechanical structure according to claim 2, characterized in that: The thigh skeleton includes a linkage arm and a转接件 (it should be "adapter" in English), the linkage arm is movably connected to the lower end of the hip joint mechanism, the adapter is movably connected to the upper end of the calf skeleton, and the linkage arm and the adapter are movably connected through a fifth motor assembly to control the rotation of the fifth motor assembly to adjust the turning of the body.

4. The robot lower limb mechanical structure according to claim 3, characterized in that: The first motor assembly, the second motor assembly, the third motor assembly, the fourth motor assembly, and the fifth motor assembly, each motor assembly includes a motor, a reducer, an encoder, a driver, and a brake disc. The motor is connected to the reducer through a coupling, the encoder is connected to the output shaft of the reducer through a coupling, the encoder is connected to the driver through a signal line, the driver is electrically connected to the motor, and the brake disc is connected to the motor through a coupling.

5. The robot lower limb mechanical structure according to claim 4, characterized in that: The upper end of the hip skeleton is also provided with a sixth motor assembly for cooperating and connecting with the robot's upper limb mechanical structure to联动 the robot's upper limb mechanical structure to adjust the direction.

6. The robot lower limb mechanical structure according to claim 1, characterized in that: The hip skeleton has an approximate "冖" - shaped structure, and the hip joint mechanisms are respectively arranged inside the fixed parts extending on both sides of the hip skeleton.

7. The robot lower limb mechanical structure according to claim 1, characterized in that: The thigh skeleton includes a first joint part at both ends for splicing with the hip joint mechanism and the calf skeleton, and the calf skeleton includes a second joint part for splicing with the foot mechanism, both adopting an approximate "L" - shaped streamline structure.

8. The robot lower limb mechanical structure according to claim 7, characterized in that: The middle parts of the thigh skeleton and the calf skeleton are designed in a cylindrical shape.

9. The robot lower limb mechanical structure according to claim 1, characterized in that: The splicing parts of the hip skeleton, hip joint mechanism, thigh skeleton, calf skeleton, and foot mechanism are provided with mounting holes for setting screws for connection, and waterproof plugs are arranged in the mounting holes.

10. A robot, characterized in that: It includes the robot's lower limb mechanical structure according to any one of claims 1 to 9.

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