A bionic femur and a humanoid robot

Abstract

The present application discloses a bionic femur and a humanoid robot, relating to the technical field of bionic robots. The bionic femur includes a first beam body. One end of the first beam body is provided with a first docking structure for connecting to the knee joint, and the other end is provided with a second docking structure for connecting to a drive source. The outer surface of the first beam body has multiple continuous arc surfaces that bulge outwards. From the first docking structure to the second docking structure, the curvature values of the multiple arc surfaces gradually increase. By setting different arc segments on the outer surface of the first beam body to simulate the natural curvature of the human femur, it helps to better absorb and disperse the received impact force or load, reduce the direct impact on the bionic femur, effectively extend the service life, and reduce the probability of fatigue damage under high-intensity dynamic response.

Description

Technical Field

[0001] This application relates to the technical field of bionic robots, and particularly to a bionic femur and a humanoid robot. Background Art

[0002] In humanoid robots that need to simulate human walking and movement, especially in the fields of service robots, rescue robots, and exploration robots that need to walk on complex terrains, etc., the overall walking stability and handling ability of humanoid robots on complex or uneven ground have limitations, resulting in limited activity performance of humanoid robots and affecting the overall performance and operation efficiency of the robots. Among them, the bionic femur of a humanoid robot is an important structural support, and the quality of the bionic femur design has a greater impact on the stability and lifespan of the performance of the humanoid robot. Currently, the design of the femur of humanoid robots faces many challenges in pursuing strength and reducing weight. Although the bionic femur of humanoid robots has been designed for lightweight, the design is not perfect, and there are still problems of fatigue damage under high-intensity dynamic responses. Summary of the Invention

[0003] This application aims to solve one of the above technical problems in the prior art. To this end, an embodiment of this application provides a bionic femur.

[0004] An embodiment of this application also provides a humanoid robot.

[0005] According to an embodiment of the first aspect of this application, there is provided a bionic femur, including a first beam body. One end of the first beam body is provided with a first docking structure for connecting to a knee joint, and the other end is provided with a second docking structure for connecting to a driving source. The outer surface of the first beam body has multiple continuous arc surfaces that bulge outwards. From the first docking structure to the second docking structure, the curvature values of the multiple arc surfaces gradually increase.

[0006] The above bionic femur has at least the following beneficial effects: When the bionic femur of this application is used in a humanoid robot, the first docking structure of the first beam body is used for docking connection to the knee joint, and the second docking structure is used for installation of the driving source. By providing multiple continuous arc surfaces on the outer surface of the first beam body, the arc surfaces are set to bulge outwards from the first beam body, and from the first docking structure to the second docking structure, the curvature of the multiple arc surfaces gradually increases. By setting different arc segments, it simulates the natural curvature of the human femur, which helps to better absorb and disperse the received impact force or load, reduce the direct impact on the bionic femur, effectively extend the service life, and reduce the probability of fatigue damage under high-intensity dynamic responses.

[0007] According to the bionic femur described in the first aspect embodiment of the present application, the central axis of the first docking structure and the central axis of the second docking structure are in the same reference plane. The first beam body includes a first support side and a second support side, with a hollow between the first support side and the second support side, and the first support side and the second support side are distributed on both sides of the reference plane.

[0008] According to the bionic femur described in the first aspect embodiment of the present application, a support structure is provided between the first support side and the second support side, and the support structure divides the hollow cavity between the first support side and the second support side into at least two parts.

[0009] According to the bionic femur described in the first aspect embodiment of the present application, the support structure includes a first support member and a second support member. Both ends of the first support member or both ends of the second support member are respectively connected to the first support side and the second support side, and one end of the first support member intersects with one end of the second support member.

[0010] According to the bionic femur described in the first aspect embodiment of the present application, the included angle A between the first support member and the second support member is set to 50° to 60°.

[0011] According to the bionic femur described in the first aspect embodiment of the present application, the bionic femur includes a second beam body. A part of the second beam body is connected to the first beam body, and the part of the second beam body on the extension line of the central axis of the second docking structure has a third docking structure, and the third docking structure cooperates with the second docking structure to complete the fixation of the drive source.

[0012] According to the bionic femur described in the first aspect embodiment of the present application, the end of the second beam body having the third docking structure first extends outwardly and then extends in a direction parallel to the first beam body to reach the extension line of the central axis of the second docking structure. The included angle C between the outwardly inclined part of the second beam body and the first beam body is set to 40° to 60°.

[0013] According to the bionic femur described in the first aspect embodiment of the present application, the second beam body includes a third support side and a fourth support side. The third support side and the fourth support side approach and close to each other to form the third docking structure, and the part between the third support side and the fourth support side is hollow.

[0014] According to the bionic femur described in the first aspect embodiment of the present application, the included angle B between the third support side and the fourth support side is set to 60° to 90°.

[0015] According to the second aspect embodiment of the present application, a humanoid robot is provided, including the above-mentioned bionic femur.

[0016] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present application will be further described below in conjunction with the drawings and embodiments;

[0018] Figure 1 is the axon view of the bionic femur in the embodiment of the present application Figure 1 ;

[0019] Figure 2 is the axon view of the bionic femur in the embodiment of the present application;

[0020] Figure 3 is the front view of the bionic femur in the embodiment of the present application;

[0021] Figure 4 is the rear view of the bionic femur in the embodiment of the present application;

[0022] Figure 5 is the top view of the bionic femur in the embodiment of the present application.

[0023] Reference numerals: first beam body 110, first support member 111, second support member 112, first support side 113, second support side 114, second beam body 120, third support side 121, fourth support side 122, second docking structure 130, first rotor hole 131, third docking structure 140, second rotor hole 141, first arc plate 151, shaft hole 152, avoidance notch 153, mounting groove 154. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] This part will describe in detail the specific embodiments of the present application. The preferred embodiments of the present application are shown in the drawings. The role of the drawings is to supplement the description of the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present application, but it cannot be understood as a limitation on the protection scope of the present application.

[0025] In the description of the present application, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0026] In the description of the present application, the meaning of "several" is one or more, the meaning of "multiple" is more than two, and understandings such as "greater than", "less than", "exceeding", etc. do not include the present number, and understandings such as "above", "below", "within", etc. include the present number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0027] In the description of the present application, unless otherwise clearly defined, words such as "arrangement", "installation", "connection", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present application in combination with the specific content of the technical solution.

[0028] In existing humanoid robots, lightweight designs have been carried out on various parts. Especially for the femur part, the femur part is the main force-bearing and supporting structure. After the existing femur has been lightweight designed, it is prone to fatigue damage problems under high-intensity dynamic responses. Generally, there are mainly the following situations for fatigue damage problems:

[0029] Generation and propagation of microcracks: In the high-stress areas of the femur, especially in the bending and connecting parts, repeated loads may cause the generation of cracks at the microscopic level. Over time and with the continuous action of cyclic loads, these microcracks may gradually expand.

[0030] Fracture: The ultimate manifestation of fatigue damage is fracture. When the crack expands to a certain extent, the femur will no longer be able to withstand the applied load, resulting in sudden fracture.

[0031] Deformation: In some cases, the femur may not break immediately, but long-term cyclic loads may cause the material to undergo plastic deformation, thereby affecting the walking stability and accuracy of the robot.

[0032] Loosening of the connection part: The connection parts of the femur with other components, such as joints and bearings, may become loose due to long-term vibration and cyclic loads, affecting the stability and motion coordination of the robot.

[0033] Degradation of material properties: Under the long-term action of cyclic loads, the inherent properties of the femur material may degrade, such as a decrease in elastic modulus and a decrease in yield strength. These property degradations may ultimately also lead to the failure of the structure.

[0034] To solve the existing problems, the embodiments of the present application provide a newly designed bionic femur, referring to Figures 1 to 5, the bionic femur includes a first beam body 110. One end of the first beam body 110 is provided with a first docking structure for connecting to the knee joint, and the other end is provided with a second docking structure 130 for connecting to the drive source. The outer surface of the first beam body 110 has multiple continuous arc surfaces that bulge outward. From the first docking structure to the second docking structure 130, the curvature values of the multiple arc surfaces gradually increase.

[0035] In some embodiments, the curvature range of the arc surface is: 0.001 - 0.004.

[0036] By setting different arc segments to simulate the natural curvature of the human femur, it helps to better absorb and disperse the impact force or load received, reduce the direct impact on the bionic femur, effectively extend the service life, and reduce the probability of fatigue damage under high-intensity dynamic response.

[0037] From Figures 1 to 4 it can be seen that the bionic femur of this application presents a shape with smaller ends and a larger middle. By reasonably setting arc segments in the middle area, the first beam body 110 can bear a stronger load. At the same time, under high-intensity use conditions, the load or impact force can be effectively dispersed and evenly distributed, avoiding large stress concentration in local areas.

[0038] In some examples, the central axis of the first docking structure and the central axis of the second docking structure 130 are in the same reference plane. The first beam body 110 includes a first support side 113 and a second support side 114. There is a hollow between the first support side 113 and the second support side 114, and the first support side 113 and the second support side 114 are distributed on both sides of the reference plane.

[0039] In some specific embodiments, the first docking structure includes a shaft hole 152 for positioning and connecting to the knee joint, and the central axis of the shaft hole 152 is the central axis of the first docking structure; the drive source is a joint motor, the rotor of the joint motor is installed on the second docking structure 130, and the second docking structure 130 is provided with a first rotor hole 131 for installing the rotor, and the central axis of the first rotor hole 131 is the central axis of the second docking structure 130.

[0040] Since the central axes of the first docking structure and the second docking structure 130 are in the same reference plane, according to the operation mode of the robot, the directions of the load and impact force mainly act on both sides of the reference plane. Therefore, in this application, the first beam body 110 is configured to include a first support side 113 and a second support side 114, the parts other than the first support side 113 and the second support side 114 are removed, and there is a hollow between the first support side 113 and the second support side 114, and the first support side 113 and the second support side 114 are distributed on both sides of the reference plane. The first support side 113 and the second support side 114 are used as the main force-bearing structures. On the one hand, it can reduce the weight of the first beam body 110 to the greatest extent; on the other hand, since both the first support side 113 and the second support side 114 are multi-segment continuous arc surfaces, imitating the muscle bending form of the human running posture, it helps to better absorb and disperse the impact force of the ground and reduce the direct impact on the joints.

[0041] In an embodiment shown in this application, the central axes of the shaft hole 152 and the first rotor hole 131 are parallel.

[0042] In some embodiments shown in this application, the second docking structure 130 is a ring for installing a joint motor, the first rotor hole 131 is at the center of the ring, the first support side 113 extends to be connected to one side surface of the ring, and the second support side 114 extends to be connected to the other side surface of the ring.

[0043] In some embodiments shown, the first docking structure includes two symmetrically arranged first arc-shaped plates 151. There is an installation groove 154 for the knee joint to enter between the two first arc-shaped plates 151, and shaft holes 152 are provided on both first arc-shaped plates 151.

[0044] Furthermore, the first support side 113 extends to be connected to one side surface of the first docking structure, and the second support side 114 extends to be connected to the other side surface of the second docking structure 130. An avoidance notch 153 is provided at the bottom position of the installation groove 154, and avoidance notches 153 are provided on both the first support side 113 and the second support side 114, and the shape of the avoidance notch 153 is optimized to reduce the influence on the strength of the bionic femur structure.

[0045] After the knee joint is installed in the installation groove 154, it is positioned through the shaft hole 152. A part of the knee joint is in the avoidance groove, and the avoidance notch 153 is in a semi-surrounding state to limit both sides of the knee joint, which is beneficial to increasing the local structural strength of the first docking structure.

[0046] In some embodiments, since there is a hollow between the first support side 113 and the second support side 114, it is easy to cause insufficient anti-bending and rigidity. As a further improvement, a support structure is provided between the first support side 113 and the second support side 114, and the support structure divides the hollow cavity between the first support side 113 and the second support side 114 into at least two parts. The anti-bending and anti-torsion performance of the first beam body 110 is strengthened by the support structure.

[0047] Specifically, the support structure includes a first support member 111 and a second support member 112. Both ends of the first support member 111 or both ends of the second support member 112 are respectively connected to the first support side 113 and the second support side 114, and one end of the first support member 111 intersects with one end of the second support member 112.

[0048] As Figure 3 shown, both ends of the first support member 111 are respectively connected to the inner sides of the first support side 113 and the second support side 114, and both ends of the second support member 112 are respectively connected to the inner sides of the first support side 113 and the second support side 114. In one embodiment, if the first support member 111 is between the second support member 112 and the first docking structure, the first support member 111 inclines towards the first docking structure, and the second support member 112 inclines towards the second docking structure 130; if the second support member 112 is between the first support member 111 and the first docking structure, the second support member 112 inclines towards the first docking structure, and the first support member 111 inclines towards the second docking structure 130.

[0049] Among them, one end of the first support member 111 and one end of the second support member 112 can intersect at the inner side of the same arc surface of the first support side 113, and one end of the first support member 111 and one end of the second support member 112 can also intersect at the inner side of the same arc surface of the second support side 114, that is, the first support member 111 and the second support member 112 are in the same plane.

[0050] The first support member 111 and the second support member 112 divide the hollow cavity between the first support side 113 and the second support side 114 into three parts. Specifically, the first support member 111 and the second support member 112 intersect at the end connected to the first support side 113. The first support member 111, the second support member 112, and a part of the second support side 114 enclose a cavity similar to a triangle. A cavity similar to a triangle is also formed between the first support member 111 and the parts of the first support side 113 and the second support side 114 close to the first docking structure. A cavity similar to a triangle is also formed between the second support member 112 and the parts of the first support side 113 and the second support side 114 close to the second docking structure 130. Dividing the hollow cavity into three cavities similar to triangles can stably support the inner sides of the first support side 113 and the second support side 114 through the stability of the triangle. It can greatly enhance the bending and torsional resistance of the bionic femur.

[0051] In some embodiments, the included angle A between the first support member 111 and the second support member 112 is set to 50° to 60°. When the included angle A is within this range, through force analysis, the structural stability of the bionic femur is better.

[0052] In some embodiments, the first support member 111 and the second support member 112 can be cylinders. The middle part of the first support member 111 can be recessed away from the second support member 112, and the middle part of the second support member 112 can also be recessed away from the middle part of the first support member 111. When the first support member 111 or the second support member 112 is in a slightly bent state, the structural stability is better.

[0053] In some embodiments, the bionic femur includes a second beam body 120. A part of the second beam body 120 is connected to the first beam body 110. The part of the second beam body 120 on the extension line of the central axis of the second docking structure 130 has a third docking structure 140. The third docking structure 140 cooperates with the second docking structure 130 to complete the fixation of the drive source. Using the first beam body 110 and the second beam body 120 can effectively fix the drive source, and can also improve the structural strength of the bionic femur and reduce the risk of fatigue damage caused by the first beam body 110 alone.

[0054] In some specific embodiments, the third docking structure 140 includes a second rotor hole 141 for rotor installation. When the joint motor is installed on the ring, one end of the rotor is fixed to the first rotor hole 131, and the other end of the rotor is fixed to the second rotor hole 141. The third docking structure 140 cooperates with the second docking structure 130 to complete the fixation of the drive source. The addition of the second beam body 120 can also reduce the load received by the first beam body 110 and disperse the impact received.

[0055] In some specific embodiments, one end of the second beam body 120 having the third docking structure 140 first extends obliquely outward and then extends in a direction parallel to the first beam body 110 to a position on the extension line of the central axis of the second docking structure 130. The included angle C between the obliquely outward portion of the second beam body 120 and the first beam body 110 is set to 40° to 60°.

[0056] As Figure 4 and Figure 5 shown, when viewed from the top-down direction, from the end close to the first beam body 110 to the end close to the third docking structure 140, the width of the obliquely outward portion a of the second beam body 120 gradually becomes smaller. The above design can reduce the weight of the entire bionic femur and also provide sufficient rigidity and structural strength.

[0057] In some embodiments, the width of the portion b of the second beam body 120 parallel to the first beam body 110 is consistent everywhere.

[0058] In some specific embodiments, the second beam body 120 includes a third support side 121 and a fourth support side 122. The third support side 121 and the fourth support side 122 approach and close to each other to form the third docking structure 140. The portion between the third support side 121 and the fourth support side 122 is hollowed out to reduce the weight of the entire bionic femur while providing sufficient structural rigidity, achieving a lightweight design.

[0059] In some embodiments shown in the present application, the third support side 121 is connected to the first support side 113 of the first beam body 110. The portion where the third support side 121 is connected to the first support side 113 also has multiple arc surfaces with different curvatures to enhance the structural strength of the entire bionic femur.

[0060] The fourth support side 122 is connected to the second support side 114 of the first beam body 110. The portion where the fourth support side 122 is connected to the second support side 114 also has multiple arc surfaces with different curvatures to enhance the structural strength of the entire bionic femur.

[0061] In some embodiments, one end of the third support side 121 that is not connected to the first support side 113 extends obliquely toward the fourth support side 122, and one end of the fourth support side 122 that is not connected to the second support side 114 extends obliquely toward the third support side 121. Then, one end of the third support side 121 and one end of the fourth support side 122 meet on the extension line of the central axis of the second docking structure 130 to form the third docking structure 140. The overall structural design is ingenious, achieving lightweight while also having sufficient structural rigidity.

[0062] In some embodiments, the included angle B between the third support side 121 and the fourth support side 122 is set to 60° - 90°. When the included angle B is within this range, the structure of the second beam body 120 can be made stable, and the weight of the second beam body 120 can be further reduced.

[0063] In the embodiments of the present application, the bionic femur is manufactured by an integral molding technique, which can be die casting or 3D printing. This enables the manufactured bionic femur to have sufficient structural strength and also reduces the manufacturing cost.

[0064] In the embodiments of the present application, both the first beam body 110 and the second beam body 120 are made of aluminum alloy.

[0065] In some specific embodiments of the present application, the thicknesses of the first support side 113, the second support side 114, the third support side 121, and the fourth support side 122 are controlled within 6 - 15 mm to meet the requirements of structural strength and lightweight.

[0066] The bionic femur of the present application adopts a double-beam structure and is combined with a multi-arc surface design to mimic the natural curvature of the human femur, which helps to better absorb and disperse the impact force from the ground and reduce the direct impact on the joints.

[0067] In addition, the first support member 111 and the second support member 112 of the first beam body 110, in cooperation with the arrangement of the third support side 121 and the fourth support side 122 of the second beam body 120, enhance the local stiffness of the bionic femur. Especially when bearing bending and torsional moments, the anti-deformation ability of the bionic femur is improved.

[0068] The embodiments of the present application further provide a humanoid robot, which includes the above-mentioned bionic femur. By using the above-mentioned bionic femur, in a complex environment, the humanoid robot can better adapt to uneven ground, variable load conditions, and possible impacts and collisions. This greatly improves the environmental adaptability and service life of the humanoid robot.

[0069] The above has described the embodiments of the present application in detail with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art in the technical field, various changes can be made without departing from the purpose of the present application.

Claims

1. A bionic femur, characterized in that: The invention comprises a first beam body, wherein a first docking structure is arranged at one end of the first beam body, and the first docking structure is used for connecting a knee joint, and a second docking structure is arranged at the other end of the first beam body, and the second docking structure is used for connecting a driving source, and the outer surface of the first beam body has a plurality of continuous arc surfaces, and the arc surfaces are convex outward, and the curvature values ​​of the plurality of arc surfaces gradually increase from the first docking structure to the second docking structure; a second beam body, a portion of which is connected to the first beam body, a portion of which on an extension line of a central axis of the second docking structure has a third docking structure, and the third docking structure cooperates with the second docking structure to complete the fixing of the driving source; Among them, the end of the second beam body having the third docking structure first extends outwardly in an inclined manner and then extends in a direction parallel to the first beam body to the extension line of the central axis of the second docking structure. From a top view, the width of the outward inclined portion a of the second beam body gradually decreases from the end close to the first beam body to the end close to the third docking structure.

2. The bionic femur according to claim 1, characterized in that: The central axis of the first docking structure and the central axis of the second docking structure are in the same reference plane, the first beam body includes a first supporting side and a second supporting side, the first supporting side and the second supporting side are hollowed out, and the first supporting side and the second supporting side are distributed on both sides of the reference plane.

3. The bionic femur according to claim 2, characterized in that: A supporting structure is disposed between the first supporting side and the second supporting side, and the supporting structure divides the hollow cavity between the first supporting side and the second supporting side into at least two parts.

4. The bionic femur according to claim 3, characterized in that: The support structure includes a first support member and a second support member, two ends of the first support member or two ends of the second support member are respectively connected to the first support side and the second support side, and one end of the first support member intersects with one end of the second support member.

5. The bionic femur according to claim 4, characterized in that: The included angle A between the first support member and the second support member is set to 50° to 60°.

6. The bionic femur according to claim 1, characterized in that: An included angle C between the outwardly inclined portion of the second beam and the first beam is set to 40° to 60°.

7. The bionic femur according to claim 6, characterized in that: The second beam body includes a third supporting side and a fourth supporting side. The third supporting side and the fourth supporting side are closed towards each other to form the third docking structure. A portion between the third supporting side and the fourth supporting side is hollowed out.

8. The bionic femur according to claim 7, characterized in that: An included angle B between the third supporting side and the fourth supporting side is set to 60° to 90°.

9. A humanoid robot, characterized in that: The bionic femur comprises any one of claims 1 to 8.

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