A leg and foot device of a biped robot

Abstract

The present application provides a leg and foot device of a bipedal robot, and relates to the field of robot technology. The leg and foot device of a bipedal robot provided in the present application includes a hip connecting plate; a hip joint driving module, which is fixed to the hip connecting plate; a foot module, which can move relative to the hip connecting plate under the drive of the hip joint driving module; a leg module, including at least two groups of leg connecting rod mechanisms, and each leg connecting rod mechanism includes a thigh frame, a knee joint, a calf frame and an energy storage and release elastic component. The present application improves the buffering capacity of the leg and foot device through the energy storage and release elastic component, and stores energy when the leg and foot device is in a squatting posture, so that when the leg and foot device performs explosive movements, the energy storage and release elastic component and the hip joint driving module work together to exert force to the ground, thereby providing greater driving force for explosive movements, thereby improving explosive ability.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a leg and foot device of a bipedal robot. Background Art

[0002] Bipedal robots can simulate human movement, replace human work in dangerous and extreme environments, improve work efficiency, and ensure human safety. With the development of robotics technology, higher and higher requirements are placed on the environmental adaptability of bipedal robots. In complex outdoor environments, facing huge obstacles and rugged terrain, robots need to have high burst movement capabilities to achieve the ability to cross large obstacles. At the same time, robots need to have a certain degree of adaptive ability to rugged terrain to achieve stable walking and complete work tasks in complex outdoor environments.

[0003] At present, robots have made breakthrough progress in terms of stepping, walking, going up and down stairs, and going up and down slopes. However, robots' high-burst movement capabilities such as running and jumping still need to be further improved. Due to the limitations of robot motor performance, traditional bipedal robots are difficult to achieve high-burst movements.

[0004] In order to improve the high-burst movement ability of robots, many scholars have designed bionic leg structures based on the leg structures of animals with strong movement ability, such as cats and ostriches, to improve the leg response ability of robots by shifting inertia upward, and to improve the buffering ability of robot movement by introducing springs and other structures. However, this structure usually has multiple joint couplings, and each joint in series is equipped with a drive device. The control of the robot's feet and legs is achieved through multi-stage drive, resulting in a complex structure, which increases the difficulty of accurate posture control during high-burst movement of the robot and limits the robot's movement ability.

[0005] Secondly, the adaptability of the foot structure to uneven ground is also a key point in the research of robot technology. Good ground adaptability can reduce the difficulty of robot motion control and improve the robot's motion performance. The current solutions for foot adaptation to terrain mainly include the introduction of passive freedom and active adaptation. Robots with passive freedom of feet can adapt to rugged terrain, but their stability is weak after landing, which increases the difficulty of robot motion control. Active adaptive feet improve the stability of motion, but the structure is heavy and the response time is slow, which reduces the robot's motion ability. Summary of the invention

[0006] Based on this, the present application provides a leg and foot device for a bipedal robot, which can reduce the complexity of the structure and improve the dynamic response and explosiveness.

[0007] The present application provides a biped robot leg and foot device, comprising:

[0008] Hip plate;

[0009] A hip joint drive module, fixed to the hip connection plate;

[0010] A foot module, which is driven by the hip joint drive module and can move relative to the hip connection plate;

[0011] The leg module comprises at least two sets of leg link mechanisms which are symmetrically arranged and parallel, one end of each leg link mechanism is connected to the hip joint drive module, and the other end is connected to the foot module, and each leg link mechanism comprises:

[0012] A thigh frame, one end of which is connected to the hip joint drive module;

[0013] The knee joint is connected to the other end of the thigh frame;

[0014] A calf frame, one end of which is connected to the thigh frame through a knee joint and the other end is connected to the foot module;

[0015] The energy storage and release elastic component has one end connected to the thigh frame and the other end connected to the calf frame.

[0016] Optionally, one end of the calf frame extends outward through the knee joint, and the energy storage and release elastic component is respectively connected to the end of the calf frame extending outward and the thigh frame, and a triangular structure is formed between the energy storage and release elastic component and the calf frame and the thigh frame.

[0017] Optionally, the foot module includes:

[0018] Ankle joint, connected to the leg linkage;

[0019] The chain-type adaptive foot mechanism is connected to the leg linkage mechanism through the ankle joint and can adaptively deform according to the shape of the ground.

[0020] Optionally, the ankle joint includes:

[0021] An ankle joint spindle, rotatably disposed at the other end of the calf frame;

[0022] a forefoot support frame connected to the ankle joint spindle and the chain-type adaptive foot mechanism;

[0023] The rear foot support frame is connected with the ankle joint main axis and the chain-type adaptive foot mechanism, and a triangle structure is formed between the front foot support frame, the rear foot support frame and the chain-type adaptive foot mechanism.

[0024] Optionally, the chain-type adaptive foot mechanism comprises:

[0025] A plurality of foot sole plates are connected in series, and two adjacent foot sole plates are hinged.

[0026] Optionally, the chain-type adaptive foot mechanism further comprises:

[0027] The toe is pivotally connected to the distal plantar plate;

[0028] An elastic member connected to the toe portion and the sole plate.

[0029] Optionally, the ankle joint further includes a brake mechanism, which is sleeved on the main axis of the ankle joint, and the brake mechanism includes:

[0030] Brake linkage;

[0031] A first holding link, rotatably connected to one end of the brake link;

[0032] The second clamping link is rotatably connected to the other end of the brake link, and at least one end of the first clamping link and at least one end of the second clamping link are bent toward each other;

[0033] A first transfer link, rotatably connected to the first clamping link;

[0034] The second transfer link has one end rotationally connected to the second clamping link and the other end rotationally connected to the first transfer link. The connection between the second transfer link and the first transfer link is recessed toward the side close to the brake link and is hinged to the front foot support frame.

[0035] Optionally, the hip joint drive module includes:

[0036] A driver bracket fixed to the hip connection plate;

[0037] A driver, mounted on the driver bracket and connected to the leg module, so as to drive the foot module to move through the leg module;

[0038] The anti-wear part is arranged between the leg module and the driver bracket to reduce the wear caused by friction between the leg module and the driver bracket.

[0039] Optionally, the knee joint includes:

[0040] The knee joint bearing seats are fixed to the thigh frame and the calf frame respectively;

[0041] The knee joint bearing is installed between the thigh frame and the calf frame through the knee joint bearing seat.

[0042] Optionally, the energy storage and release elastic component includes:

[0043] A plurality of spring frame bearing seats are respectively fixed to the thigh frame and the calf frame;

[0044] A spring frame is connected to a plurality of spring frame bearing seats and is respectively fixed to the thigh frame and the calf frame through the plurality of spring frame bearing seats, and the spring frame is provided with a connecting hole;

[0045] A spring frame bearing is disposed between the spring frame and a plurality of spring frame bearing seats;

[0046] One end of the spring is connected to a spring frame fixed to the thigh frame through a connecting hole, and the other end is connected to a spring frame fixed to the calf frame through a connecting hole.

[0047] Optionally, the leg module includes two sets of leg linkage mechanisms, the hip joint drive module includes a first hip joint drive module and a second hip joint drive module, and the first hip joint drive module and the second hip joint drive module are respectively connected to the two sets of leg linkage mechanisms to drive the leg linkage mechanisms to move, thereby jointly driving the foot module to move.

[0048] Optionally, the position of the ankle joint has the following relationship with the angle of the motor in the first hip joint driving module and the angle of the motor in the second hip joint driving module:

[0049]

[0050] The axis in the direction of the connection between the first hip joint driving module and the second hip joint driving module is the X axis. is the angle of the motor in the first hip joint drive module, the line between the first hip joint drive module and the ankle joint is denoted as S1, and the line between the second hip joint drive module and the ankle joint is denoted as S2. is the angle between S1 and the thigh frame, is the angle between S1 and the X-axis, is the angle of the motor in the second hip joint drive module, is the angle between S2 and the thigh frame, is the angle between S2 and the X-axis.

[0051] The leg and foot device of a bipedal robot provided in the present application realizes the primary driving and control of the foot module position by the hip joint driving module through the multi-link structure formed by the leg linkage mechanism in the leg module, thereby reducing the difficulty of posture adjustment and control of the leg and foot device and the complexity of the structure, and improving the dynamic response capability.

[0052] The buffering capacity of the leg-foot device is improved by the energy storage and release elastic component, and energy is stored when the leg-foot device is in a squatting posture. When the leg-foot device performs explosive movements, the energy storage and release elastic component and the hip joint drive module work together to exert force to the ground, thereby providing greater driving force for explosive movements and improving explosive ability.

[0053] In addition, at least two groups of leg-link mechanisms are parallel to each other, and the parallel leg-link mechanisms store energy simultaneously when the leg-foot device is in a squatting posture, and jointly apply the stored energy to the same foot module during explosive movements, thereby further increasing the explosive power of the leg-foot device and improving the effect of explosive movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without exceeding the scope of protection required by the present application.

[0055] Figure 1 It is a schematic diagram of the structure of the leg and foot device provided by the present application;

[0056] Figure 2 It is a structural schematic diagram of the leg connecting rod mechanism in the leg-foot device provided by the present application;

[0057] Figure 3 is a schematic diagram of the leg-foot device provided by the present application in a squatting posture;

[0058] Figure 4 It is a schematic diagram of the structure of the mid-foot module of the leg-foot device provided by the present application;

[0059] Figure 5 It is a schematic exploded view of the structure of the midfoot module of the leg-foot device provided by the present application;

[0060] Figure 6 It is a schematic diagram of the foot module of the leg-foot device provided by the present application being adaptively deformed with obstacles;

[0061] Figure 7 is a schematic diagram of the leg-foot device provided by the present application in the walking process;

[0062] Figure 8 It is a structural schematic diagram of the brake mechanism in the leg-foot device provided by the present application;

[0063] Fig. 9 It is a schematic diagram of the structure of the hip joint drive module in the leg-foot device provided in the present application;

[0064] Fig.10 It is a schematic diagram of the structure of the knee joint in the leg-foot device provided by the present application;

[0065] Fig.11 It is a schematic diagram of the structure of the energy storage and release elastic component in the leg and foot device provided by the present application;

[0066] Fig.12 is a kinematic diagram of the leg-foot device provided by the present application;

[0067] Fig.13 It is a schematic diagram of the leg and foot device provided in the present application storing and releasing energy through the energy storage and release elastic components.

[0068] Explanation of reference numerals: 1. hip connecting plate; 2. hip joint driving module; 21. driver bracket; 22. driver; 23. anti-wear part; 3. foot module; 31. ankle joint; 311. ankle joint main axis; 312. front foot support frame; 313. rear foot support frame; 314. brake mechanism; 3141. brake connecting rod; 3142. first clamping connecting rod; 3143. second clamping connecting rod; 3144. first transmission connecting rod; 3145. first Two transmission links; 32. Chain-type adaptive foot mechanism; 321. Plantar plate; 322. Toe; 4. Leg module; 41. Leg linkage mechanism; 411. Thigh frame; 412. Knee joint; 4121. Knee joint bearing seat; 4122. Knee joint bearing; 413. Calf frame; 414. Energy storage and release elastic component; 4141. Spring frame bearing seat; 4142. Spring frame; 4143. Spring frame bearing; 4144. Spring. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0070] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are 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 corresponding orientation, be constructed and operated in a corresponding orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0071] In the description of this application, 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, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0072] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0073] refer to Figure 1 and Figure 2 The leg-foot device of a biped robot provided in the present application includes a hip connecting plate 1, a hip joint driving module 2, a foot module 3 and a leg module 4. Among them, the hip joint driving module 2 is fixed to the hip connecting plate 1. The foot module 3 can move relative to the hip connecting plate 1 under the drive of the hip joint driving module 2. The leg module 4 includes at least two groups of leg connecting rod mechanisms 41 that are symmetrically arranged and parallel, one end of each leg connecting rod mechanism 41 is connected to the hip joint driving module 2, and the other end is connected to the foot model 3, and each leg connecting rod mechanism 41 includes a thigh frame 411, a knee joint 412, a calf frame 413 and an energy storage and release elastic component 414. One end of the thigh frame 411 is connected to the hip joint driving module 2. The knee joint 412 is connected to the other end of the thigh frame 411. One end of the calf frame 413 is connected to the thigh frame 411 through the knee joint 412, and the other end is connected to the foot module 3. One end of the energy storage and release elastic component 414 is connected to the thigh frame 411 , and the other end is connected to the calf frame 413 .

[0074] The hip joint drive module 2 at the hip connecting plate 1 realizes the primary drive and control of the foot module 3 through the multi-link structure formed by the leg connecting rod mechanism 41 in the leg module 4, which reduces the difficulty of posture adjustment and control of the leg and foot device and the complexity of the structure, and improves the dynamic response capability.

[0075] The buffering capacity of the leg-foot device is improved by the energy storage and release elastic component 414, and energy is stored when the leg-foot device is in a squatting posture, so that when the leg-foot device performs explosive movements, the energy storage and release elastic component 414 and the hip joint drive module 2 work together to exert force on the ground, thereby providing greater driving force for explosive movements and improving explosive ability.

[0076] In addition, at least two groups of leg-link mechanisms 41 are parallel to each other, and the parallel leg-link mechanisms 41 store energy simultaneously when the leg-foot device is in a squatting posture, and jointly apply the stored energy to the same foot module 3 during explosive movements, thereby further increasing the explosive power of the leg-foot device and improving the effect of explosive movements.

[0077] By moving the hip joint drive module 2 upward to the hip connecting plate 1, the inertia of the leg module 4 is reduced, thereby improving the dynamic response capability of the leg-foot structure.

[0078] Here, parallel means that at least two groups of leg link mechanisms 41 perform actions simultaneously under the drive of the hip joint driving module 2 .

[0079] refer to Figure 3 As an optional embodiment, one end of the calf frame 413 extends outward through the knee joint 412, and the energy storage and release elastic component 414 is respectively connected to the end of the calf frame 413 extending outward and the thigh frame 411, and a triangular structure is formed between the energy storage and release elastic component 414 and the calf frame 413 and the thigh frame 411.

[0080] When the leg-foot device is in a squatting posture, the calf frame 413 and the thigh frame 411 rotate relative to each other with the knee joint 412 as the axis under the drive of the hip joint drive module 2, so that the end of the calf frame 413 extending outward rotates along the end away from the thigh frame 411, and the energy storage and release elastic component 414 stretches to achieve energy storage. When the leg-foot device performs explosive movements, the hip joint drive module 2 drives the calf frame 413 and the thigh frame 411 to rotate, and the end of the calf frame 413 extending outward approaches the thigh frame 411, and the energy storage and release elastic component 414 rebounds, thereby enhancing the explosive performance.

[0081] refer to Figure 4 As an optional embodiment, the foot module 3 includes an ankle joint 31 and a chain-type adaptive foot mechanism 32. The ankle joint 31 is connected to the leg link mechanism 41; the chain-type adaptive foot mechanism 32 is connected to the leg link mechanism 41 through the ankle joint 31 and can be adaptively deformed according to the shape of the ground. The chain-type adaptive foot mechanism 32 can rotate relative to the leg link mechanism 41 through the ankle joint 31.

[0082] refer to Figure 5As an optional embodiment, the ankle joint 31 includes an ankle joint main shaft 311, a forefoot support frame 312 and a rear foot support frame 313. The ankle joint main shaft 311 is rotatably arranged at the other end of the calf frame 413. The forefoot support frame 312 is connected to the ankle joint main shaft 311 and the chain-type adaptive foot mechanism 32. The rear foot support frame 313 is connected to the ankle joint main shaft 311 and the chain-type adaptive foot mechanism 32, and a triangular structure is formed between the forefoot support frame 312, the rear foot support frame 313 and the chain-type adaptive foot mechanism 32.

[0083] In some embodiments, the ankle joint main shaft 311 is installed on the calf frame 413 through an ankle joint bearing seat and a fixing flange, and an ankle joint bearing is arranged between the ankle joint main shaft 311 and the ankle joint bearing seat.

[0084] refer to Figure 6 and Figure 7 As an optional implementation, the chain-type adaptive foot mechanism 32 includes a plurality of foot sole plates 321 connected in series, and two adjacent foot sole plates 321 are hinged.

[0085] The adaptability of the leg and foot structure to rough terrain is improved by using a plurality of foot sole plates 321 connected in series, and two adjacent foot sole plates 321 are hinged via a rotating shaft.

[0086] As an optional embodiment, the chain-type adaptive foot mechanism 32 further includes a toe portion 322 and an elastic member, wherein the toe portion 322 is rotatably connected to the endmost sole plate 321, and the elastic member is connected to the toe portion 322 and the sole plate 321.

[0087] The walking direction of the leg and foot device is set as the front, and the direction opposite to the walking direction is recorded as the rear. The toe portion 322 is usually arranged at the front end of the frontmost sole plate 321. Figure 7 As shown, during the walking process of the leg-foot device, the two legs in the leg module 4 of the leg-foot device are in a supporting state and a swinging state in turn. In the late supporting state, the heel of the foot module 3 is lifted and tilted, and the toe 322 supports the ground in the late supporting state, so that the area of ​​the foot module 3 in contact with the ground in the late supporting phase is increased, thereby improving the movement ability and stability of the leg-foot device during movement.

[0088] refer to Figure 8As an optional embodiment, the ankle joint 31 further includes a brake mechanism 314, which is sleeved on the ankle joint main shaft 311. The brake mechanism 314 includes a brake link 3141, a first clamping link 3142, a second clamping link 3143, a first transfer link 3144, and a second transfer link 3145. The first clamping link 3142 is rotatably connected to one end of the brake link 3141. The second clamping link 3143 is rotatably connected to the other end of the brake link 3141, and at least one end of the first clamping link 3142 and at least one end of the second clamping link 3143 are bent toward each other. The first transfer link 3144 is rotatably connected to the first clamping link 3142. One end of the second transfer link 3145 is rotationally connected to the second clamping link 3143, and the other end of the second transfer link 3145 is rotationally connected to the first transfer link 3144. The connection between the second transfer link 3145 and the first transfer link 3144 is recessed toward the side close to the brake link 3141 and is hinged to the forefoot support frame 312.

[0089] The brake link 3141, the first clamping link 3142, the second clamping link 3143, the first transfer link 3144, and the second transfer link 3145 are connected in series to form a closed five-link structure, and the front foot support frame 312 is hinged at the connection between the second transfer link 3145 and the first transfer link 3144. When the foot module 3 contacts the ground, the support force from the ground on the sole of the foot module 3 will be transmitted to the connection between the second transfer link 3145 and the first transfer link 3144 through the front foot support frame 312, and the following is formed: Figure 8 The thrust F in the direction of the brake link 3141 is shown.

[0090] Under the action of the thrust F, the closed five-link structure will be compressed inward, and the connection between the second transmission link 3145 and the first transmission link 3144 will be further recessed toward the side close to the brake link 3141, and the first clamping link 3142 and the second clamping link 3143 will rotate toward each other until the first clamping link 3142 and the second clamping link 3143 clamp the ankle joint main axis 311. At this time, the foot module 3 will no longer rotate along the ankle joint main axis 311, thereby providing stable support and improving the stability of the leg-foot device during movement.

[0091] refer to Fig. 9 As an optional embodiment, the hip joint driving module 2 includes a driver bracket 21, a driver 22 and an anti-wear member 23. The driver bracket 21 is fixed to the hip connecting plate 1. The driver 22 is mounted on the driver bracket 21 and connected to the leg module 4 to drive the foot module 3 to move through the leg module 4. The anti-wear member 23 is arranged between the leg module 4 and the driver bracket 21 to reduce the wear caused by friction between the leg module 4 and the driver bracket 21.

[0092] The driver 22 is fixed to the hip connecting plate 1 through the driver bracket 21, and the driver bracket 21 may include a front bracket and a rear bracket, which are respectively located at two ends of the driver 22. The rotor of the driver 22 is connected to the leg module 4 to drive the leg module 4 to rotate, thereby driving the movement of the foot module 3.

[0093] In some embodiments, the anti-wear member 23 is a motor rotor connection flange, a driving bearing seat is fixed on the surface of the leg module 4, and a driving bearing is arranged between the driver bracket 21 and the motor bearing seat, so as to realize the driving leg module 4 of the hip joint driving module 2 to rotate. Among them, the driving bearing can be a deep groove ball bearing.

[0094] refer to Fig.10 As an optional embodiment, the knee joint 412 includes a knee joint bearing seat 4121 and a knee joint bearing 4122. The knee joint bearing seat 4121 is respectively fixed to the thigh frame 411 and the calf frame 413. The knee joint bearing 4122 is installed between the thigh frame 411 and the calf frame 413 through the knee joint bearing seat 4121 to achieve relative rotation between the thigh frame 411 and the calf frame 413.

[0095] refer to Fig.11 As an optional embodiment, the energy storage and release elastic component 414 includes a plurality of spring frame bearing seats 4141, a spring frame 4142, a spring frame bearing 4143 and a spring 4144. Among them, the plurality of spring frame bearing seats 4141 are respectively fixed to the thigh frame 411 and the calf frame 413. The spring frame 4142 is connected to the plurality of spring frame bearing seats 4141, and is respectively fixed to the thigh frame 411 and the calf frame 413 through the plurality of spring frame bearing seats 4141, and the spring frame 4142 is provided with a connecting hole. The spring frame bearing 4143 is arranged between the spring frame 4142 and the plurality of spring frame bearing seats 4141. One end of the spring 4144 is connected to the spring frame 4142 fixed to the thigh frame 411 through the connecting hole, and the other end is connected to the spring frame 4142 fixed to the calf frame 413 through the connecting hole.

[0096] During the flexion and extension of the knee joint 412 caused by switching between a squatting posture and an explosive movement posture of the leg-foot device, the energy stored and released by the spring 4144 during the stretching, compression, and rebound processes can be changed and controlled by modifying the length or elastic modulus of the spring 4144.

[0097] refer to Figure 1 , Figure 4As an optional embodiment, the leg module 4 includes two groups of leg linkage mechanisms 41, and the hip joint driving module 2 includes a first hip joint driving module and a second hip joint driving module. The first hip joint driving module and the second hip joint driving module are respectively connected to the two groups of leg linkage mechanisms 41 to drive the leg linkage mechanisms 41 to move, thereby jointly driving the foot module 3 to move.

[0098] refer to Fig.12 As an optional implementation, the coordinate position (x, y) of the ankle joint 31 is determined by two first hip joint drive modules and a second hip joint drive module fixed on the hip connection plate 1, thereby determining the position of the foot module. The origin position of the base coordinate system is recorded as (0, 0), and the coordinate position of the first hip joint drive module is recorded as (- , 0), the coordinate position of the second hip joint driving module is recorded as ( , 0), the distance between the ankle joint 31 and the origin of the base coordinate system is recorded as S, and the distances between the ankle joint 31 and the first hip joint driving module and the second hip joint driving module are recorded as and , then

[0099] ,

[0100] Will and The angles between the thigh frame 411 and the thigh frame 411 are respectively recorded as , , and the axial distance from the first hip joint drive module to the knee joint 412 of the thigh frame 411 is recorded as The axial distance of the calf frame 413 from the knee joint 412 to the ankle joint 31 is recorded as , according to the relevant knowledge of trigonometric functions, we have

[0101] ,

[0102] Will and The angles between the first hip joint drive module and the second hip joint drive module in the direction of the X axis are recorded as , , according to the relevant knowledge of trigonometric functions, we have

[0103] ,

[0104] Finally, the position of the ankle joint 31 in the foot module 3 and the angle of the motor in the first hip joint drive module and the angle of the motor in the second hip joint drive module have the following relationship:

[0105] ,

[0106] The axis in the direction of the connection between the first hip joint driving module and the second hip joint driving module is the X axis. is the angle of the motor in the first hip joint driving module, the line connecting the first hip joint driving module and the ankle joint 31 is denoted as S1, and the line connecting the second hip joint driving module and the ankle joint 31 is denoted as S2, is the angle between S1 and the thigh frame 411, is the angle between S1 and the X-axis, is the angle of the motor in the second hip joint drive module, is the angle between S2 and the thigh frame 411, is the angle between S2 and the X-axis.

[0107] like Fig.13 As shown, during the movement of the leg-foot device, taking one of the leg modules 4 as an example, the angle of the knee joint 412 is recorded as , according to the relevant knowledge of trigonometric functions, we have

[0108]

[0109] The axial distance from the spring frame 4142 fixed to the thigh frame 411 to the knee joint 412 is recorded as The axial distance of the calf frame 413 from the knee joint 412 to the spring frame 4142 fixed to the calf frame 413 is recorded as , the supplementary angle of the knee joint 412 is recorded as According to the relevant knowledge of trigonometric functions, the actual length S of the spring 4144 in the energy storage and release elastic component 414 is s It can be calculated by the relevant knowledge of trigonometric functions

[0110] ,

[0111] According to Hooke's law, the elastic constant of spring 4144 is k , originally long , at this time the elastic force of spring 4144 F for

[0112] ,

[0113] The angle between the calf frame 413 and the center of the spring 4144 is recorded as , according to the relevant knowledge of trigonometric functions, we have

[0114] ,

[0115] The elastic force F of the spring 4144 is decomposed in a direction perpendicular to the calf frame 413 to obtain the decomposed force Ft for

[0116] ,

[0117] In a flexion and extension movement of the knee joint 412, the initial angle and the final angle of the supplementary angle of the knee joint 412 are recorded as and , the energy E stored and released by spring 4144 can be obtained by integration

[0118] ,

[0119] On the one hand, energy E can be stored when the leg-foot device touches the ground, and the spring 4144 can play a buffering role; on the other hand, it can be released when the leg-foot device pushes the ground, thereby improving the explosive power and sports performance of the leg-foot device during movement.

[0120] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the ideas of the present application, the specific implementation methods and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as a limitation on the present application.

Claims

1. A leg and foot device of a biped robot, characterized in that: include: Hip plate; A hip joint driving module, fixed to the hip connection plate; A foot module, which is movable relative to the hip connecting plate under the drive of the hip joint driving module; The leg module comprises at least two sets of leg link mechanisms symmetrically arranged and in parallel, one end of each leg link mechanism is connected to the hip joint drive module, and the other end is connected to the foot module, and each leg link mechanism comprises: A thigh frame, one end of which is connected to the hip joint drive module; a knee joint connected to the other end of the thigh frame; A calf frame, one end of which is connected to the thigh frame through the knee joint and the other end of which is connected to the foot module; An energy storage and release elastic component, one end of which is connected to the thigh frame, and the other end of which is connected to the calf frame; Wherein, the foot module includes an ankle joint, and the ankle joint is connected to the leg linkage mechanism; The foot module further comprises a chain-type adaptive foot mechanism, which is connected to the leg link mechanism via the ankle joint and can be adaptively deformed according to the shape of the ground; The ankle joint comprises an ankle joint spindle, and the ankle joint spindle is rotatably disposed at the other end of the calf frame; The ankle joint also includes a forefoot support frame, and the forefoot support frame is connected to the ankle joint spindle and the chain-type adaptive foot mechanism; The ankle joint also includes a brake mechanism, which is sleeved on the ankle joint main axis, and the brake mechanism includes: Brake linkage; A first clamping link, rotatably connected to one end of the brake link; A second clamping link is rotatably connected to the other end of the brake link, and at least one end of the first clamping link and at least one end of the second clamping link are bent toward each other; A first transfer link, rotatably connected to the first clamping link; A second transfer link has one end rotationally connected to the second clamping link and the other end rotationally connected to the first transfer link. The connection between the second transfer link and the first transfer link is recessed toward the side close to the brake link and is hinged to the forefoot support frame.

2. The leg-foot device according to claim 1, characterized in that: The one end of the calf frame extends outward through the knee joint, and the energy storage and release elastic component is respectively connected to the one end of the calf frame extending outward and the thigh frame, and a triangular structure is formed between the energy storage and release elastic component and the calf frame and the thigh frame.

3. The leg-foot device according to claim 1, characterized in that: The ankle joint also includes: The rear foot support frame is connected to the ankle joint main axis and the chain-type adaptive foot mechanism, and a triangle structure is formed between the forefoot support frame, the rear foot support frame and the chain-type adaptive foot mechanism.

4. The leg-foot device according to claim 1, characterized in that: The chain-type adaptive foot mechanism comprises: A plurality of foot sole plates are connected in series, and two adjacent foot sole plates are hinged.

5. The leg-foot device according to claim 4, characterized in that: The chain-type adaptive foot mechanism also includes: A toe portion, rotatably connected to the plantar plate at the end; An elastic member is connected to the toe portion and the sole plate.

6. The leg-foot device according to claim 1, characterized in that: The hip joint driving module comprises: A driver bracket, fixed to the hip connecting plate; A driver, mounted on the driver bracket and connected to the leg module, so as to drive the foot module to move through the leg module; An anti-wear member is disposed between the leg module and the driver bracket to reduce the wear caused by friction between the leg module and the driver bracket.

7. The leg-foot device according to claim 1, characterized in that: The knee joint comprises: A knee joint bearing seat, fixed to the thigh frame and the calf frame respectively; A knee joint bearing is installed between the thigh frame and the calf frame through the knee joint bearing seat.

8. The leg-foot device according to claim 1, characterized in that: The leg module includes two groups of leg linkage mechanisms, and the hip joint drive module includes a first hip joint drive module and a second hip joint drive module. The first hip joint drive module and the second hip joint drive module are respectively connected to the two groups of leg linkage mechanisms to drive the leg linkage mechanisms to move, thereby jointly driving the foot module to move.

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