Robot leg structure and humanoid robot

Abstract

The invention discloses a robot leg structure and a humanoid robot. The robot leg structure comprises a hip joint assembly, thighs and shank assemblies, and the hip joint assembly is used for being connected to the lower portion of the trunk of the humanoid robot; the thigh part comprises a first thigh web and a second thigh web which are oppositely arranged in the Y direction, the first thigh web and the second thigh web are detachably connected into a whole, and a mounting cavity is defined between the first thigh web and the second thigh web; the hip joint assembly is rotationally connected into the mounting cavity along the lower end of the Z direction; the upper end of the shank assembly is rotationally connected to the end, deviating from the hip joint assembly, in the mounting cavity in the Y direction. A first driving assembly is arranged in the mounting cavity and used for driving the shank assembly to rotate in the Y direction. The walking stability of the humanoid robot is improved on the premise of meeting the movement flexibility of the humanoid robot.

Description

Technical Field

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

[0002] Humanoid robots are popular in the market because they can simulate human body movements very well. The bipedal walking movement mode of humanoid robots, which is similar to that of humans, is more passable than other driving modes such as wheels or belts. Therefore, how to make the lower limb structure design of humanoid robots more suitable for human legs is of great significance.

[0003] Any single leg of a humanoid robot should include a thigh, a calf, a foot, and corresponding joint modules or actuators such as push rods. The joint modules or connecting rods cooperate with each other to drive the thigh, calf, and foot to rotate or swing, completing walking movements similar to human movements. In order to improve the flexibility of movement, humanoid robots in the prior art have abandoned the stability of the leg structure, especially setting the cross-section of the thigh to be smaller. The thigh, as the supporting body of the humanoid robot, is easily deformed due to insufficient rigidity under long-term workload, causing the humanoid robot to walk unsteadily. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that the thigh of a humanoid robot is easily deformed due to insufficient rigidity under long-term working load, resulting in unstable walking of the humanoid robot, thereby providing a robot leg structure and a humanoid robot.

[0005] In a first aspect, the present invention provides a robot leg structure, which is connected to the lower part of the torso of a humanoid robot, and the robot leg structure comprises:

[0006] A hip joint assembly for connecting to a lower torso of the humanoid robot;

[0007] The thigh part comprises a first thigh ventral plate and a second thigh ventral plate which are arranged opposite to each other along the Y direction, wherein the first thigh ventral plate and the second thigh ventral plate are detachably connected to form an integral body, and a mounting cavity is formed between the first thigh ventral plate and the second thigh ventral plate; the lower end of the hip joint assembly along the Z direction is rotatably connected to the mounting cavity;

[0008] A calf assembly, the upper end of which is rotatably connected to an end of the mounting cavity away from the hip joint assembly in the Y direction;

[0009] The first driving assembly is arranged in the installation cavity and is used for driving the calf assembly to rotate around the Y direction.

[0010] A robot leg structure according to the present invention has at least the following technical effects:

[0011] By configuring the thigh to be a first thigh ventral plate and a second thigh ventral plate that are detachably connected as one body, on the one hand, the cross-section of the thigh perpendicular to the Z direction is increased, thereby greatly enhancing the overall impact resistance and bending resistance of the thigh, fully ensuring the rigidity and strength performance of the structure, ensuring that the thigh is not easily deformed even when bearing the workload for a long time, and improving the walking stability of the humanoid robot equipped with the robot leg structure while meeting the movement flexibility of the robot; on the other hand, the installation cavity surrounded by the first thigh ventral plate and the second thigh ventral plate can cover and protect the rotating connection between the thigh and the hip joint assembly, the rotating connection between the thigh and the calf assembly, and the first drive assembly; and the first thigh ventral plate and the second thigh ventral plate can also be disassembled to expose the internal components for maintenance or overhaul.

[0012] In an optional embodiment, the first driving assembly includes:

[0013] A knee joint motor is arranged at the upper end of the thigh along the Y direction;

[0014] A first flange, arranged at the output end of the knee joint motor;

[0015] A knee joint connecting rod, the upper end of which is hinged to the eccentric position of the first flange, and the lower end of which is hinged to the upper end of the calf assembly;

[0016] The hinge point between the knee joint link and the first flange, the pivot point of the first flange, the hinge point between the knee joint link and the calf assembly, and the pivot point of the calf assembly form an antiparallelogram structure.

[0017] In an optional embodiment, the thigh part is configured as a metal part; a mounting hole is formed through the side wall of the first thigh ventral plate along the Y direction, the knee joint motor is arranged in the mounting hole, and at least part of the knee joint motor extends outside the first thigh ventral plate.

[0018] In an optional embodiment, a first connecting platform is convexly provided on the outer peripheral surface of the first flange, and the knee joint connecting rod is hinged to the first connecting platform; a first arc-shaped guide groove is provided at a position of the first thigh ventral plate corresponding to the first connecting platform, and the first connecting platform is rotatably connected to the first arc-shaped guide groove, and first soft rubber pads are respectively provided on the two end walls of the first arc-shaped guide groove along the circumference of the first flange.

[0019] In an optional embodiment, the hip joint assembly includes a first support seat and a second support seat arranged at intervals along the X direction, the first support seat and the second support seat are used to connect to the lower part of the torso of the humanoid robot; a roll axis motor is arranged along the X direction on the side of the first support seat away from the second support seat, and a second flange is arranged at the output end of the roll axis motor, and the second flange is connected to a first mounting seat, the first mounting seat is arranged between the first support seat and the second support seat, and the end of the first mounting seat away from the second flange along the X direction is rotatably connected to the second support seat through a first bearing; a yaw axis motor is arranged on the first mounting seat along the Z direction. A third flange is provided at the output end of the yaw-axis motor, and the third flange is rotatably connected to the first mounting seat through a second bearing. A second mounting seat is provided at the lower end of the third flange, and a third mounting seat and a fourth mounting seat are respectively provided on both sides of the second mounting seat along the Y direction, and the third mounting seat is rotatably connected to the side of the first thigh web away from the second thigh web; a pitch-axis motor is arranged at the upper end in the mounting cavity along the Y direction, and a fourth flange is connected to the output end of the pitch-axis motor, and the fourth flange is rotatably connected to the second thigh web around the Y direction; the end face of the fourth flange away from the pitch-axis motor is fixedly connected to the fourth mounting seat.

[0020] In an optional embodiment, a first assembly hole is formed through the side wall of the first thigh ventral plate along the Y direction, and the third mounting seat is connected to the first assembly hole by rotating around the Y direction through a third bearing;

[0021] And / or, a second assembly hole is formed through the side wall of the second thigh web along the Y direction, and the fourth flange is connected to the second assembly hole by a fourth bearing so as to be rotatable around the Y direction.

[0022] In an optional embodiment, a second connecting platform is convexly provided on the outer circumferential surface of the second flange, a second arc guide groove is provided at a position of the first support seat corresponding to the second connecting platform, the second connecting platform is rotatably connected to the second arc guide groove, and second soft rubber pads are respectively provided at both end walls of the second arc guide groove along the circumference of the second flange;

[0023] And / or, a third arc guide groove is concavely provided on the outer circumferential surface of the first mounting seat; a third connecting platform is convexly provided at a position corresponding to the third arc guide groove on the upper end of the second mounting seat facing the third flange, the third connecting platform is rotatably connected to the third arc guide groove, and third soft rubber pads are respectively provided on both end walls of the third connecting platform along the circumference of the third flange;

[0024] And / or, a fourth connecting platform is convexly provided on the outer peripheral surface of the fourth flange, a fourth arc-shaped guide groove is provided at the position of the second thigh belly plate corresponding to the fourth connecting platform, the fourth connecting platform is rotatably connected to the fourth arc-shaped guide groove, and fourth soft rubber pads are respectively provided on the two end walls of the fourth arc-shaped guide groove along the circumference of the fourth flange.

[0025] In an optional embodiment, the calf assembly includes a calf rib, and a mounting portion is provided at one end of the calf rib toward the thigh along the Z direction, and the mounting portion is rotatably connected to the side walls of the first thigh rib and the second thigh rib at both ends along the Y direction; a connecting piece is provided at one end of the calf rib away from the thigh along the Z direction, and the connecting piece is rotatably connected to a foot through a cross joint bearing, and the foot is driven by the second driving assembly to rotate around the X direction and around the Y direction.

[0026] In an optional embodiment, the cross-section of the calf web perpendicular to the Z direction is set to a U shape, the calf web is set to a metal web, the second drive assembly includes a first motor and a second motor, the first motor and the second motor are both arranged in the U-shaped groove of the calf web parallel to the X direction, the first motor is located directly above the second motor, the output end of the first motor is provided with a fifth flange, the eccentric point of the fifth flange is hinged with a first connecting rod, and the other end of the first connecting rod facing away from the fifth flange is hinged to the foot; the output end of the second motor is provided with a sixth flange, the eccentric point of the sixth flange is hinged with a second connecting rod, and the other end of the second connecting rod facing away from the sixth flange is hinged to the foot; the first connecting rod and the second connecting rod are located on the side of the calf web facing away from the first motor along the X direction, and are arranged relatively along the Y direction.

[0027] In a second aspect, the present invention further provides a humanoid robot, comprising the robot leg structure provided in the first aspect.

[0028] A humanoid robot according to the present invention has at least the following technical effects:

[0029] By configuring the thigh to be a first thigh ventral plate and a second thigh ventral plate that are detachably connected as one body, on the one hand, the cross-section of the thigh perpendicular to the Z direction is increased, thereby greatly enhancing the overall impact resistance and bending resistance of the thigh, fully ensuring the rigidity and strength performance of the structure, ensuring that the thigh is not easily deformed even when bearing the workload for a long time, and improving the walking stability of the humanoid robot while satisfying the movement flexibility of the humanoid robot; on the other hand, the installation cavity surrounded by the first thigh ventral plate and the second thigh ventral plate can cover and protect the rotating connection between the thigh and the hip joint assembly, the rotating connection between the thigh and the calf assembly, and the first drive assembly; and the first thigh ventral plate and the second thigh ventral plate can also be disassembled to expose the internal components for maintenance or overhaul.

[0030] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 is a schematic diagram of a three-dimensional structure of a robot leg structure of this embodiment;

[0033] Figure 2 for Figure 1 The enlarged schematic diagram of point A in the middle;

[0034] Figure 3 for Figure 1 Schematic diagram of the decomposition structure;

[0035] Figure 4 for Figure 3 Schematic diagram of some structures in ;

[0036] Figure 5 for Figure 3 Another part of the structural diagram in FIG.

[0037] Figure 6 is a three-dimensional schematic diagram of a partial structure of a robot leg structure of this embodiment;

[0038] Figure 7 for Figure 6 The enlarged schematic diagram of point B in the middle;

[0039] Figure 8This is a schematic diagram of a front view of a partial structure of a robot leg structure of this embodiment;

[0040] Fig. 9 is a schematic structural diagram of a calf belly plate in a robot leg structure of this embodiment;

[0041] Fig.10 It is a schematic diagram of the partial structure of this embodiment;

[0042] Fig.11 This is an exploded schematic diagram of another part of the structure of this embodiment;

[0043] Fig.12 This is an enlarged schematic diagram of part of the structure of this embodiment.

[0044] Fig.13 This is a schematic structural diagram of a cross joint bearing in a robot leg structure of this embodiment.

[0045] Description of reference numerals:

[0046] 100-thigh part, 110-first thigh ventral plate, 111-mounting hole, 112-first arc-shaped guide groove, 113-first soft rubber pad, 114-first assembly hole, 115-threaded hole, 120-second thigh ventral plate, 121-second assembly hole, 122-fourth soft rubber pad, 123-countersunk through hole;

[0047] 210 - knee joint motor, 220 - first flange, 221 - first connecting platform, 230 - knee joint connecting rod;

[0048] 310-first support seat, 311-second arc guide groove, 312-second soft rubber pad, 320-second support seat, 330-roll shaft motor, 341-second flange, 3411-second connecting platform, 350-yaw shaft motor, 351-first mounting seat, 3511-third arc guide groove, 352-first bearing, 353-third flange, 354-second bearing, 360-pitch shaft motor, 361-second mounting seat, 3611-third connecting platform, 3612-third soft rubber pad, 362-third mounting seat, 363-fourth mounting seat, 364-fourth flange, 3641-fourth connecting platform, 365-third bearing, 366-fourth bearing;

[0049] 400-calf belly plate, 410-mounting portion, 411-connecting cavity, 420-connecting piece, 421-second connecting ear, 422-second mounting through hole, 430-cross joint bearing, 431-connecting portion, 432-first mounting axis, 433-second mounting axis, 440-first limiting platform, 441-fifth soft rubber pad, 450-second limiting platform, 451-sixth soft rubber pad;

[0050] 500 - foot, 510 - connecting shaft, 520 - first connecting ear, 521 - first mounting through hole;

[0051] 610 - first motor, 620 - second motor, 630 - fifth flange, 631 - fifth connecting platform, 640 - first connecting rod, 650 - sixth flange, 651 - sixth connecting platform, 660 - second connecting rod. DETAILED DESCRIPTION

[0052] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0054] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0056] Combine the following Figures 1 to 13 , describing an embodiment of the present invention.

[0057] According to a first aspect of an embodiment of the present invention, there is provided a robot leg structure, which is used to be connected to the lower part of the torso of a humanoid robot; the robot leg structure includes a hip joint assembly, a thigh 100 and a calf assembly, the hip joint assembly is used to be connected to the lower part of the torso of the humanoid robot; the thigh 100 includes a first thigh ventral plate 110 and a second thigh ventral plate 120 that are relatively arranged along the Y direction, the first thigh ventral plate 110 and the second thigh ventral plate 120 are detachably connected as a whole, and a mounting cavity is surrounded by the first thigh ventral plate 110 and the second thigh ventral plate 120; the lower end of the hip joint assembly along the Z direction is rotatably connected to the mounting cavity; the upper end of the calf assembly is rotatably connected to the end of the mounting cavity away from the hip joint assembly around the Y direction; a first drive assembly is arranged in the mounting cavity, and the first drive assembly is used to drive the calf assembly to rotate around the Y direction. It can be understood that the X direction, Y direction and Z direction mentioned in the text refer to Figure 1 The X, Y and Z directions.

[0058] The robot leg structure of the present embodiment arranges the thigh 100 into a first thigh rib 110 and a second thigh rib 120 which are detachably connected as one body. On the one hand, the cross section of the thigh 100 perpendicular to the Z direction is increased, so that the overall impact resistance and bending resistance of the thigh 100 are greatly enhanced, the rigidity and strength performance of the structure are fully guaranteed, and the thigh 100 is not easily deformed even when subjected to the working load for a long time, so as to improve the walking stability of the humanoid robot equipped with the robot leg structure of the present embodiment while meeting the movement flexibility. On the other hand, the installation cavity surrounded by the first thigh rib 110 and the second thigh rib 120 can cover and protect the rotating connection between the thigh 100 and the hip joint assembly, the rotating connection between the thigh 100 and the calf assembly, and the first drive assembly. In addition, the first thigh rib 110 and the second thigh rib 120 can be disassembled to expose the internal components for maintenance or overhaul.

[0059] It should be noted that the installation cavity surrounded by the first thigh web 110 and the second thigh web 120 is used for concentrated hidden internal installation of some internal components, which has a high degree of integration and is conducive to improving the overall stability of the humanoid robot equipped with the robot leg structure of this embodiment.

[0060] Here, the detachable connection structure of the first thigh rib plate 110 and the second thigh rib plate 120 is described in detail. Figure 3As shown, in some embodiments, the end surface of the first thigh web 110 facing the second thigh web 120 is provided with a plurality of threaded holes 115 at intervals around the Y direction, and the second thigh web 120 is provided with countersunk through holes 123 at positions corresponding to the threaded holes 115; when the first thigh web 110 and the second thigh web 120 are assembled into one, the fastening screws are passed through the countersunk through holes 123 and screwed into the corresponding threaded holes 115. In another alternative embodiment, the end surface of the second thigh web 120 facing the first thigh web 110 is provided with a plurality of threaded holes 115 at intervals around the Y direction, and the first thigh web 110 is provided with countersunk through holes 123 at positions corresponding to the threaded holes 115; when the first thigh web 110 and the second thigh web 120 are assembled into one, the fastening screws are passed through the countersunk through holes 123 and screwed into the corresponding threaded holes 115.

[0061] like Figure 1 , Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, in some embodiments, the first drive component includes a knee joint motor 210, a first flange 220 and a knee joint connecting rod 230, the knee joint motor 210 is arranged at the upper end of the thigh 100 along the Y direction; the first flange 220 is arranged at the output end of the knee joint motor 210, the upper end of the knee joint connecting rod 230 is hinged to the eccentric point of the first flange 220, and the lower end is hinged to the upper end of the calf assembly; the hinge point of the knee joint connecting rod 230 and the first flange 220, the pivot point of the first flange 220, the hinge point of the knee joint connecting rod 230 and the calf assembly, and the pivot point of the calf assembly form an antiparallelogram structure.

[0062] The robot leg structure of the present embodiment forms an antiparallelogram structure by forming the hinge point of the knee joint link 230 and the first flange 220, the pivot point of the first flange 220, the hinge point of the knee joint link 230 and the calf assembly, and the pivot point of the calf assembly, so that the direction of rotation of the output end of the knee joint motor 210 is opposite to the rotation direction of the calf assembly relative to the thigh 100, that is, when the first flange 220 rotates counterclockwise around the Y direction, the calf assembly rotates clockwise around the Y direction, and the knee joint link 230 is hinged at the eccentric part of the first flange 220, so that the knee joint link 230 can drive the calf web 400 to move around the Y direction in a large angle range by moving in a small angle range. When the machine equipped with the present embodiment is satisfied The movement angle range of the knee joint connecting rod 230 is reduced on the basis of the larger angle range movement requirement of the knee joint of the humanoid robot with the robot leg structure, so that the humanoid robot equipped with the robot leg structure of this embodiment has a more ideal humanoid effect; the knee joint motor 210 is also arranged at the upper end of the side wall of the thigh 100, so that the center of gravity of the robot leg structure of this embodiment is moved upward, the driving rotational inertia of the knee joint motor 210 is reduced, and the heat generation is reduced; and the knee joint motor 210 drives the calf assembly to rotate around the Y direction through the first flange 220 and the knee joint connecting rod 230, which effectively reduces the torque directly applied to the knee joint motor 210 by the calf assembly, and improves the stability and service life of the knee joint motor 210.

[0063] It should be noted that, because the knee joint connecting rod 230 only needs to move in a relatively small angle range to drive the calf assembly to move in a relatively large angle range relative to the thigh 100, a relatively small installation cavity is required to both cover and protect the first drive assembly, thereby helping to enhance the overall impact resistance and bending resistance of the thigh 100, fully ensuring the stiffness and strength performance of the structure, and helping to ensure that the thigh 100 is not easily deformed even when subjected to the workload for a long time.

[0064] like Figure 1 and Figure 3As shown, specifically, the thigh part 100 is set as a metal part; the side wall of the first thigh rib 110 is penetrated with a mounting hole 111 along the Y direction, the knee joint motor 210 is set in the mounting hole 111, and at least part of the knee joint motor 210 extends outside the first thigh rib 110. By installing the knee joint motor 210 in contact with the surrounding wall of the mounting hole 111, the heat generated by the knee joint motor 210 can be quickly transferred to the first thigh rib 110 and the second thigh rib 120 made of metal. Relying on the large cross-section of the first thigh rib 110 and the second thigh rib 120 connected as one, it can fully exchange heat with the air naturally, and the heat dissipation capacity is greatly enhanced; and because the knee joint motor 210 is set at the upper end of the side wall of the first thigh rib 110 to reduce the driving rotational inertia of the knee joint motor 210 and at least part of the knee joint motor 210 extends outside the first thigh rib 110 for natural wind heat dissipation, it can meet the heat dissipation requirements of the knee joint motor 210 without the need for additional heat dissipation equipment.

[0065] like Figure 6 and Figure 7 As shown, specifically, the outer peripheral surface of the first flange 220 is convexly provided with a first connecting platform 221, and the knee joint connecting rod 230 is hinged to the first connecting platform 221; the first thigh ventral plate 110 is provided with a first arc guide groove 112 at a position corresponding to the first connecting platform 221, and the first connecting platform 221 is rotatably connected to the first arc guide groove 112, and the first arc guide groove 112 is provided with a first soft rubber pad 113 at both end walls along the circumference of the first flange 220. In this way, no matter the first connecting platform 221 rotates clockwise around the Y direction to the extreme angle position or rotates counterclockwise around the Y direction to the extreme position, it contacts the first soft rubber pad 113 for soft limit, and has good buffering performance, which greatly improves the safety of the movement operation of the humanoid robot equipped with the robot leg structure of this embodiment. By hingedly connecting the knee joint link 230 to the first connecting platform 221, the distance between the hinge point of the knee joint link 230 and the first flange 220 and the rotation axis point of the first flange 220 is increased, which is more conducive to enabling the knee joint link 230 to move within a small angle range to drive the calf assembly to move within a large angle range around the Y direction.

[0066] like Figure 1 , Figure 3 , Fig.10 and Fig.11As shown, in some embodiments, the hip joint assembly includes a first support seat 310 and a second support seat 320 arranged at intervals along the X direction, and the first support seat 310 and the second support seat 320 are used to be connected to the lower part of the torso of the humanoid robot; a roll axis motor 330 is arranged along the X direction on the side of the first support seat 310 away from the second support seat 320, and the output end of the roll axis motor 330 is provided with a second flange 341, and the second flange 341 is connected to a first mounting seat 351, and the first mounting seat 351 is arranged between the first support seat 310 and the second support seat 320, and the end of the first mounting seat 351 away from the second flange 341 along the X direction is rotatably connected to the second support seat 320 through a first bearing 352; a yaw axis motor 350 is arranged on the first mounting seat 351 along the Z direction, and the yaw axis motor 350 is arranged on the first mounting seat 351. A third flange 353 is provided at the output end of the aw-axis motor 350, and the third flange 353 is rotatably connected to the first mounting seat 351 through a second bearing 354. A second mounting seat 361 is provided at the lower end of the third flange 353, and a third mounting seat 362 and a fourth mounting seat 363 are respectively provided on both sides of the second mounting seat 361 along the Y direction, and the third mounting seat 362 is rotatably connected to the side of the first thigh web 110 away from the second thigh web 120; a pitch-axis motor 360 is arranged at the upper end of the mounting cavity along the Y direction, and a fourth flange 364 is connected to the output end of the pitch-axis motor 360, and the fourth flange 364 is rotatably connected to the second thigh web 120 around the Y direction; the end face of the fourth flange 364 away from the pitch-axis motor 360 is fixedly connected to the fourth mounting seat 363.

[0067] The robot leg structure of this embodiment is achieved by rotatably connecting the end of the first mounting seat 351 away from the second flange 341 to the second support seat 320 through the first bearing 352, and the second flange 341 is rotatably connected to the first support seat 310, so that the first mounting seat 351 is supported on both opposite sides along the X direction, rather than being in a state of unilateral suspension. This can enable the first mounting seat 351 to bear torque in a structural manner similar to "double-sided support", thereby improving the rigidity of the first mounting seat 351 in bearing torque, and improving the stability of the roll axis motor 330 driving the thigh 100 to rotate around the X direction; and enable the yaw axis motor 350 to bear torque in a structural manner similar to "double-sided support", thereby improving the rigidity of the yaw axis motor 350 in bearing torque, ensuring the relative position between the various rotation axes of the hip joint, thereby improving the reliability of the hip joint assembly, and ensuring the reliability of the humanoid robot equipped with the robot leg structure of this embodiment. At the same time, the third flange 353 is rotatably connected to the first mounting seat 351 through the second bearing 354. The second bearing 354 will bear the force from the thigh 100, thereby reducing the force on the yaw-axis motor 350 and improving the stability of the yaw-axis motor 350 driving the thigh 100 to yaw around the Z direction; and it is connected to the thigh 100 through two third mounting seats 362 and fourth mounting seats 363 arranged at intervals along the Y direction, so that the thigh 100 is supported on both sides of the Y direction instead of being in a state of unilateral suspension, so that the thigh 100 bears the torque in a structural manner similar to "bilateral support", improves the stiffness of the thigh 100 in bearing the torque, and ensures that the thigh 100 is not easily deformed even if it bears the workload for a long time, thereby achieving the improvement of its walking stability on the basis of meeting the movement flexibility of the humanoid robot equipped with the robot leg structure of this embodiment. The pitch axis motor 360 is hidden and fixed in the installation cavity, and the fourth flange 364 connected to the output end of the pitch axis motor 360 is rotatably connected to the second thigh web 120 and fixed to the fourth mounting seat 363, so that the third mounting seat 362 and the fourth mounting seat 363 are both rotatably connected to the two sides of the thigh 100 around the Y direction, thereby improving the stability of the pitch axis motor 360 driving the thigh 100 to perform pitching motion around the Y direction.

[0068] like Fig.11 As shown, specifically, the side wall of the first thigh ventral plate 110 is penetrated with a first assembly hole 114 along the Y direction, and the third mounting seat 362 is connected to the first assembly hole 114 by rotating around the Y direction through the third bearing 365. It can ensure that the third mounting seat 362 can rotate flexibly around the Y direction relative to the thigh 100, which is conducive to improving the stability of the pitch axis motor 360 driving the thigh 100 to perform pitching motion around the Y direction.

[0069] like Figure 3 and Fig.10As shown, specifically, the side wall of the second thigh web 120 is penetrated by a second assembly hole 121 along the Y direction, and the fourth flange 364 is connected to the second assembly hole 121 by a fourth bearing 366 for rotation around the Y direction; it can ensure that the fourth flange 364 can flexibly rotate around the Y direction relative to the thigh 100, which is beneficial to improving the stability of the pitch-axis motor 360 driving the thigh 100 to perform pitch motion around the Y direction.

[0070] like Fig.10 As shown, specifically, the outer circumferential surface of the second flange 341 is convexly provided with a second connecting platform 3411, the first support seat 310 is provided with a second arc guide groove 311 at a position corresponding to the second connecting platform 3411, the second connecting platform 3411 is rotatably connected to the second arc guide groove 311, and the second arc guide groove 311 is provided with second soft rubber pads 312 at both end walls along the circumference of the second flange 341. In this way, no matter the second flange 341 rotates clockwise around the X direction to the extreme angle position or rotates counterclockwise around the X direction to the extreme position, the second connecting platform 3411 contacts the second soft rubber pad 312 for soft limit, and has good buffering performance, which greatly improves the safety of the movement operation of the humanoid robot equipped with the robot leg structure of this embodiment.

[0071] like Fig.10 and Fig.11 As shown, specifically, the outer peripheral surface of the first mounting seat 351 is concavely provided with a third arc guide groove 3511; the second mounting seat 361 is convexly provided with a third connecting platform 3611 at a position corresponding to the third arc guide groove 3511 facing the upper end of the third flange 353, and the third connecting platform 3611 is rotatably connected to the third arc guide groove 3511, and the third connecting platform 3611 is respectively provided with third soft rubber pads 3612 at both end walls along the circumference of the third flange 353. In this way, no matter the third flange 353 drives the second mounting seat 361 to rotate clockwise around the Z direction to the extreme angle position or rotate counterclockwise around the Z direction to the extreme position, the third connecting platform 3611 is in contact with the third soft rubber pad 3612 for soft limit, and has good buffering performance, which greatly improves the safety of the movement operation of the humanoid robot equipped with the robot leg structure of this embodiment.

[0072] like Fig.12As shown, specifically, the outer peripheral surface of the fourth flange 364 is convexly provided with a fourth connecting platform 3641, the second thigh ventral plate 120 is provided with a fourth arc guide groove at a position corresponding to the fourth connecting platform 3641, the fourth connecting platform 3641 is rotatably connected to the fourth arc guide groove, and the fourth arc guide groove is respectively provided with fourth soft rubber pads 122 at both end walls along the circumference of the fourth flange 364. In this way, no matter the fourth flange 364 rotates clockwise around the Y direction to the extreme angle position or rotates counterclockwise around the Y direction to the extreme position, the fourth connecting platform 3641 contacts the fourth soft rubber pad 122 for soft limit, and has good buffering performance, which greatly improves the safety of the movement operation of the humanoid robot equipped with the robot leg structure of this embodiment.

[0073] like Figures 1 to 4 As shown, in some embodiments, the calf assembly includes a calf rib 400, and a mounting portion 410 is provided at one end of the calf rib 400 along the Z direction toward the thigh 100, and the two ends of the mounting portion 410 along the Y direction are rotatably connected to the side walls of the first thigh rib 110 and the second thigh rib 120 respectively; the knee joint connecting rod 230 is hinged to the mounting portion 410; the calf rib 400 is provided with a connecting member 420 at one end away from the thigh 100 along the Z direction, and the connecting member 420 is rotatably connected to the foot 500 through a cross joint bearing 430, and the foot 500 is driven by the second driving assembly to rotate around the X direction and around the Y direction. By driving the foot 500 to rotate relative to the calf rib 400 around the X direction and around the Y direction through the second driving component, the movement flexibility of the humanoid robot equipped with the robot leg structure of the present embodiment is improved, so that the humanoid robot equipped with the robot leg structure of the present embodiment has a more ideal humanoid effect; and by rotating the two ends of the mounting portion 410 to be connected to the side walls of the first thigh rib 110 and the second thigh rib 120 respectively, the calf rib 400 is supported in a structural manner similar to "double-sided support", thereby improving the stiffness of the calf rib 400 in bearing torque, ensuring that the calf rib 400 is not easily deformed even when bearing the working load for a long time.

[0074] like Figures 6 to 9 As shown, specifically, a connecting cavity 411 is provided at the upper end of the mounting portion 410, and one end of the knee joint link 230 facing away from the first flange 220 is hinged in the connecting cavity 411; so that the mounting cavity forms an anti-parallelogram structure to cover and protect the hinge point between the knee joint link 230 and the first flange 220, the pivot point of the first flange 220, the hinge point between the knee joint link 230 and the calf rib 400, and the pivot point of the calf rib 400, which is beneficial to improve the structural strength.

[0075] like Figures 1 to 3 as well as Figure 5 , Figure 6 and Figure 8 As shown, specifically, the cross-section of the calf rib plate 400 perpendicular to the Z direction is set to a U-shape, the calf rib plate 400 is set to a metal rib plate, the second drive assembly includes a first motor 610 and a second motor 620, the first motor 610 and the second motor 620 are both set in parallel to the X direction in the U-shaped groove of the calf rib plate 400, the first motor 610 is located directly above the second motor 620, the output end of the first motor 610 is provided with a fifth flange 630, and the eccentric part of the fifth flange 630 is hinged with a first Connecting rod 640, the other end of the first connecting rod 640 away from the fifth flange 630 is hinged to the foot 500; the output end of the second motor 620 is provided with a sixth flange 650, and the second connecting rod 660 is hinged at the eccentric point of the sixth flange 650, and the other end of the second connecting rod 660 away from the sixth flange 650 is hinged to the foot 500; the first connecting rod 640 and the second connecting rod 660 are located on the side of the calf belly plate 400 away from the first motor 610 along the X direction, and are arranged opposite to each other along the Y direction.

[0076] The U-shaped calf rib 400 in the robot leg structure of the present embodiment has a larger cross-section, which greatly enhances the overall impact resistance and bending resistance of the calf rib 400, fully guarantees the rigidity and strength performance of the structure, and ensures that the calf rib 400 is not easily deformed even when bearing the workload for a long time, thereby improving the walking stability of the humanoid robot while meeting the movement flexibility of the humanoid robot equipped with the robot leg structure of the present embodiment; and the U-shaped calf rib 400 covers and protects the first motor 610 and the second motor 620; at the same time, because the first connecting rod 640 and the fifth flange The hinge point of the fifth flange 630, the pivot point of the fifth flange 630, the hinge point of the first connecting rod 640 and the foot 500, and the rotation connection point of the foot 500 and the calf rib 400 form a parallelogram structure, and the hinge point of the second connecting rod 660 and the sixth flange 650, the pivot point of the sixth flange 650, the hinge point of the second connecting rod 660 and the foot 500, and the rotation connection point of the foot 500 and the calf rib 400 form a parallelogram structure, and the two parallelogram structures are arranged relatively along the Y direction about the axis of the first motor 610 and the axis of the second motor 620 along the Z direction. When the first motor 610 and the second motor 620 move in the same direction, the foot 500 can be driven to rotate around the X direction; when the first motor 610 and the second motor 620 move in opposite directions, the foot 500 can be driven to rotate around the Y direction, so that the foot 500 can be controlled by the first motor 610 and the second motor 620 to flexibly move around the X direction and the Y direction to achieve anthropomorphism; at the same time, the first connecting rod 640 and the second connecting rod 660 and the first motor 610 and the second motor 620 are respectively arranged on both sides of the calf belly plate 400 along the X direction, and the first motor 610 and the second motor 620 are hidden and contact-mounted The U-shaped groove of the calf belly plate 400 can not only make the robot leg structure of this embodiment more compact, but also can quickly transfer the heat generated by the first motor 610 and the second motor 620 to the metal calf belly plate 400. Relying on the large cross-section of the calf belly plate 400, it can fully exchange heat with the air naturally, and the heat dissipation capacity is greatly enhanced. And because the U-shaped groove of the calf belly plate 400 is not closed, the first motor 610 and the second motor 620 can also perform natural wind heat dissipation, so the heat dissipation requirements of the first motor 610 and the second motor 620 are met without the need for additional heat dissipation equipment.

[0077] like Figure 5 and Figure 8As shown, specifically, the foot 500 is provided with a connecting shaft 510 along the Y direction, and the symmetric axis of the connecting shaft 510 about the Z direction, the rotating shaft point of the first motor 610 and the rotating shaft point of the second motor 620 are located on the same straight line along the Z direction; the first connecting rod 640 and the second connecting rod 660 are respectively hinged at both ends of the connecting shaft 510. The hinge point between the first connecting rod 640 and the foot 500 and the hinge point between the second connecting rod 660 and the foot 500 are assembled on the same component through the connecting shaft 510, so as to smoothly drive the foot 500 to rotate around the X direction and the Y direction.

[0078] like Figure 5 , Fig. 9 and Fig.13 As shown, specifically, two first connecting ears 520 are relatively spaced apart at the upper end of the foot 500 along the X direction, and the two first connecting ears 520 are penetrated with a first mounting through hole 521 along the X direction; the connecting member 420 includes two second connecting ears 421 spaced apart along the X direction, and the two second connecting ears 421 are penetrated with a second mounting through hole 422 along the X direction; the cross joint bearing 430 includes a connecting portion 431, and a first mounting shaft 432 is respectively provided on both sides of the connecting portion 431 along the X direction, and the axes of the two first mounting shafts 432 are located on the same straight line; a second mounting shaft 433 is respectively provided on both sides of the connecting portion 431 along the Y direction, and the axes of the two second mounting shafts 433 are located on the same straight line; during assembly, the two first mounting shafts 432 are respectively rotatably connected in the two first mounting through holes 521, and the two second mounting shafts 433 are respectively rotatably connected in the two second mounting through holes 422, so as to realize the connection of the foot 500 to the calf belly plate 400 around the X and Y directions.

[0079] like Figure 2 As shown, in some embodiments, the outer peripheral surface of the fifth flange 630 is convexly provided with a fifth connecting platform 631, and the first connecting rod 640 is hinged to the fifth connecting platform 631; the end surface of the calf ventral plate 400 away from the first motor 610 along the X direction is convexly provided with a first limiting platform 440, and the first limiting platform 440 is provided with a first avoidance arc groove for avoiding the fifth flange 630, and the first avoidance arc groove is respectively provided with a fifth soft rubber pad 441 at both end walls along the circumference of the fifth flange 630. In this way, no matter the fifth connecting platform 631 rotates clockwise around the X direction to the extreme angle position or rotates counterclockwise around the X direction to the extreme position, it contacts with the fifth soft rubber pad 441 for soft limiting, and has good buffering performance, which greatly improves the safety of the movement operation of the humanoid robot equipped with the robot leg structure of this embodiment.

[0080] Specifically, the outer peripheral surface of the sixth flange 650 is convexly provided with a sixth connecting platform 651, and the second connecting rod 660 is hinged to the sixth connecting platform 651; the end surface of the calf ventral plate 400 away from the second motor 620 along the X direction is convexly provided with a second limiting platform 450, and the second limiting platform 450 is provided with a second avoidance arc groove for avoiding the sixth flange 650, and the second avoidance arc groove is respectively provided with a sixth soft rubber pad 451 at both end walls along the circumference of the sixth flange 650. In this way, no matter the sixth connecting platform 651 rotates clockwise around the X direction to the extreme angle position or rotates counterclockwise around the X direction to the extreme position, it contacts with the sixth soft rubber pad 451 for soft limiting, and has good buffering performance, which greatly improves the safety of the movement operation of the humanoid robot equipped with the robot leg structure of this embodiment.

[0081] In the second aspect, the present invention also provides a humanoid robot, including the robot leg structure provided in the first aspect. The humanoid robot of this embodiment is configured to have a first thigh rib 110 and a second thigh rib 120 that are detachably connected to form an integral body. On the one hand, the cross section of the thigh 100 perpendicular to the Z direction is increased, so that the overall impact resistance and bending resistance of the thigh 100 are greatly enhanced, the rigidity and strength performance of the structure are fully guaranteed, and the thigh 100 is not easily deformed even if it is subjected to a long-term workload, so as to improve the walking stability of the humanoid robot of this embodiment while meeting the movement flexibility of the humanoid robot; on the other hand, the installation cavity surrounded by the first thigh rib 110 and the second thigh rib 120 can cover and protect the rotating connection between the thigh 100 and the hip joint assembly, the rotating connection between the thigh 100 and the calf assembly, and the first drive assembly; and the first thigh rib 110 and the second thigh rib 120 can also be disassembled to expose the internal components for maintenance or overhaul.

[0082] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A robot leg structure, used to connect to the lower part of the torso of a humanoid robot, characterized in that: The robot leg structure comprises: A hip joint assembly for connecting to a lower torso of the humanoid robot; The thigh part (100) comprises a first thigh ventral plate (110) and a second thigh ventral plate (120) which are arranged opposite to each other along the Y direction, wherein the first thigh ventral plate (110) and the second thigh ventral plate (120) are detachably connected to form an integral body, and a mounting cavity is formed between the first thigh ventral plate (110) and the second thigh ventral plate (120); the lower end of the hip joint assembly along the Z direction is rotatably connected to the mounting cavity; A calf assembly, the upper end of which is rotatably connected to an end of the mounting cavity away from the hip joint assembly in the Y direction; The first driving assembly is arranged in the installation cavity and is used for driving the calf assembly to rotate around the Y direction.

2. A robot leg structure according to claim 1, characterized in that: The first driving assembly comprises: A knee joint motor (210) is arranged at the upper end of the thigh (100) along the Y direction; A first flange (220) is arranged at the output end of the knee joint motor (210); A knee joint connecting rod (230), the upper end of which is hinged to the eccentric position of the first flange (220), and the lower end of which is hinged to the upper end of the calf assembly; The hinge point between the knee joint connecting rod (230) and the first flange (220), the pivot point of the first flange (220), the hinge point between the knee joint connecting rod (230) and the calf component, and the pivot point of the calf component form an antiparallelogram structure.

3. A robot leg structure according to claim 2, characterized in that: The thigh part (100) is configured as a metal part; a mounting hole (111) is formed through the side wall of the first thigh ventral plate (110) along the Y direction; the knee joint motor (210) is disposed in the mounting hole (111), and at least a portion of the knee joint motor (210) extends outside the first thigh ventral plate (110).

4. A robot leg structure according to claim 2, characterized in that: A first connecting platform (221) is convexly provided on the outer peripheral surface of the first flange (220), and the knee joint connecting rod (230) is hinged to the first connecting platform (221); a first arc-shaped guide groove (112) is provided at a position of the first thigh ventral plate (110) corresponding to the first connecting platform (221), and the first connecting platform (221) is rotatably connected to the first arc-shaped guide groove (112), and first soft rubber pads (113) are respectively provided on the two end walls of the first arc-shaped guide groove (112) along the circumference of the first flange (220).

5. A robot leg structure according to any one of claims 1 to 4, characterized in that: The hip joint assembly comprises a first support seat (310) and a second support seat (320) arranged at intervals along the X direction, wherein the first support seat (310) and the second support seat (320) are used to be connected to the lower part of the trunk of the humanoid robot; a roll axis motor (330) is arranged along the X direction on the side of the first support seat (310) away from the second support seat (320), and a second flange (341) is arranged at the output end of the roll axis motor (330), and the second flange (341) is connected to a first mounting seat (351), and the first mounting seat (351) is arranged between the first support seat (310) and the second support seat (320), and one end of the first mounting seat (351) away from the second flange (341) along the X direction is rotatably connected to the second support seat (320) through a first bearing (352); a yaw axis motor (350) is arranged on the first mounting seat (351) along the Z direction, and the yaw axis motor (350) is arranged on the first mounting seat (351) along the Z direction. A third flange (353) is provided at the output end of the mounting cavity (50), the third flange (353) is rotatably connected to the first mounting seat (351) through a second bearing (354), a second mounting seat (361) is provided at the lower end of the third flange (353), a third mounting seat (362) and a fourth mounting seat (363) are respectively provided on both sides of the second mounting seat (361) along the Y direction, the third mounting seat (362) is rotatably connected to the side of the first thigh rib (110) away from the second thigh rib (120); a pitch axis motor (360) is arranged at the upper end of the mounting cavity along the Y direction, the output end of the pitch axis motor (360) is connected to the fourth flange (364), the fourth flange (364) is rotatably connected to the second thigh rib (120) around the Y direction; the end surface of the fourth flange (364) away from the pitch axis motor (360) is fixedly connected to the fourth mounting seat (363).

6. A robot leg structure according to claim 5, characterized in that: A first assembly hole (114) is formed through the side wall of the first thigh ventral plate (110) along the Y direction, and the third mounting seat (362) is connected to the first assembly hole (114) by a third bearing (365) so as to rotate around the Y direction; And / or, a second assembly hole (121) is formed through the side wall of the second thigh ventral plate (120) along the Y direction, and the fourth flange (364) is connected to the second assembly hole (121) by a fourth bearing (366) so as to rotate around the Y direction.

7. The robot leg structure according to claim 5, characterized in that: A second connecting platform (3411) is convexly provided on the outer circumferential surface of the second flange (341); a second arc-shaped guide groove (311) is provided on the first support seat (310) at a position corresponding to the second connecting platform (3411); the second connecting platform (3411) is rotatably connected to the second arc-shaped guide groove (311); and second soft rubber pads (312) are respectively provided on both end walls of the second arc-shaped guide groove (311) along the circumference of the second flange (341); And / or, a third arc-shaped guide groove (3511) is concavely provided on the outer circumferential surface of the first mounting seat (351); a third connecting platform (3611) is convexly provided on the second mounting seat (361) at a position corresponding to the third arc-shaped guide groove (3511) facing the upper end of the third flange (353), the third connecting platform (3611) is rotatably connected to the third arc-shaped guide groove (3511), and third soft rubber pads (3612) are respectively provided on the two end walls of the third connecting platform (3611) along the circumference of the third flange (353); And / or, a fourth connecting platform (3641) is convexly provided on the outer peripheral surface of the fourth flange (364), a fourth arc guide groove is provided on the second thigh ventral plate (120) at a position corresponding to the fourth connecting platform (3641), the fourth connecting platform (3641) is rotatably connected to the fourth arc guide groove, and fourth soft rubber pads (122) are respectively provided on the two end walls of the fourth arc guide groove along the circumference of the fourth flange (364).

8. A robot leg structure according to any one of claims 1 to 4, characterized in that: The calf assembly comprises a calf rib plate (400), one end of the calf rib plate (400) facing the thigh (100) along the Z direction is provided with a mounting portion (410), and the two ends of the mounting portion (410) along the Y direction are rotatably connected to the side walls of the first thigh rib plate (110) and the second thigh rib plate (120) respectively; one end of the calf rib plate (400) facing away from the thigh (100) along the Z direction is provided with a connecting piece (420), and the connecting piece (420) is rotatably connected to a foot (500) via a cross joint bearing (430), and the foot (500) is driven by a second driving assembly to rotate around the X direction and around the Y direction.

9. A robot leg structure according to claim 8, characterized in that: The cross section of the calf rib plate (400) perpendicular to the Z direction is set to be U-shaped, and the calf rib plate (400) is set to be a metal rib plate. The second drive component includes a first motor (610) and a second motor (620). The first motor (610) and the second motor (620) are both arranged in the U-shaped groove of the calf rib plate (400) parallel to the X direction. The first motor (610) is located directly above the second motor (620). The output end of the first motor (610) is provided with a fifth flange (630), and the eccentric part of the fifth flange (630) is hinged with a first connecting rod (640). ), the other end of the first connecting rod (640) away from the fifth flange (630) is hinged to the foot (500); the output end of the second motor (620) is provided with a sixth flange (650), the eccentric part of the sixth flange (650) is hinged with a second connecting rod (660), and the other end of the second connecting rod (660) away from the sixth flange (650) is hinged to the foot (500); the first connecting rod (640) and the second connecting rod (660) are located on the side of the calf ventral plate (400) away from the first motor (610) along the X direction, and are arranged opposite to each other along the Y direction.

10. A humanoid robot, characterized in that: A robot leg structure comprising any one of claims 1 to 9.

Images