A humanoid robot lower limb structure and robot

Abstract

The present invention relates to a lower limb structure of a humanoid robot and the robot, wherein the lower limb structure comprises: a hip unit, a thigh unit, a calf unit, and a foot unit; the hip unit comprises: a hip seat, a first joint structure, a thigh swing drive, a thigh rotation drive, and a thigh side swing drive; the first joint structure comprises: a first movable seat, a second movable seat; the thigh swing drive is installed on the inner side of the hip seat, and its output shaft is connected to the first movable seat; the thigh rotation drive is fixedly connected to the second movable seat, and its output shaft is connected to the upper end of the thigh unit; the thigh side swing drive is fixedly connected to the first movable seat, and its output shaft is connected to the second movable seat; the axial direction of the shaft of the thigh swing drive is parallel to the first direction; the axial direction of the shaft of the thigh side swing drive is perpendicular to the first direction; the axial direction of the shaft of the thigh rotation drive is perpendicular to the first direction and the axial direction of the shaft of the thigh side swing drive.

Description

Technical Field

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

[0002] The rapid development of artificial intelligence technology and the birth of new sensors have promoted the research of embodied intelligence. As a typical representative in the field of embodied intelligence, humanoid robots have become one of the hot research topics in recent years. Humanoid robots integrate advanced technologies such as artificial intelligence, high-end manufacturing, and new materials. The structural design of the body has an important impact on the movement ability and cerebellum control of humanoid robots. A Chinese patent (publication number CN118289111A) discloses a lower limb structure of a humanoid robot. In this lower limb structure, the knee joint drive motor is assembled on the thigh body component, and the rod-shaped structure drives the calf body component to swing back and forth relative to the thigh body component. However, the assembly position of the knee joint drive motor of the above scheme is at the knee joint. Since the knee joint has technical requirements such as high load and high burst, the mass of the knee joint drive motor is large, which is not conducive to the stability of the center of gravity position of the humanoid robot during movement. It can be seen that the current humanoid robot leg power structure design and layout have the disadvantages of being unreasonable and compact. Summary of the invention

[0003] The purpose of the present invention is to provide a humanoid robot lower limb structure and the robot.

[0004] To achieve the above-mentioned invention object, the present invention provides a humanoid robot lower limb structure, comprising: a hip unit, a thigh unit movably connected to the hip unit, a calf unit movably connected to the thigh unit, and a foot unit movably connected to the calf unit;

[0005] The hip unit comprises: a hip seat, a first joint structure connected to the hip seat, a thigh swing drive, a thigh rotation drive and a thigh side swing drive;

[0006] Along the first direction of the hip unit, the first joint structures are respectively arranged on the outer sides of the opposite ends of the hip seat;

[0007] The first joint structure comprises: a first movable seat rotatably connected to the hip seat body, and a second movable seat rotatably connected to the first movable seat;

[0008] The thigh swing drive is installed on the inner side of the hip seat, and its output shaft is connected to the first movable seat;

[0009] The thigh rotation drive is fixedly connected to the second movable seat, and its output shaft is connected to the upper end of the thigh unit;

[0010] The thigh side swing drive is fixedly connected to the first movable seat, and its output shaft is connected to the second movable seat;

[0011] The axial direction of the rotating shaft of the thigh swing drive is parallel to the first direction;

[0012] The axial direction of the rotating shaft of the thigh side swing drive is perpendicular to the first direction;

[0013] The axial direction of the rotating shaft for driving the thigh rotation is respectively arranged perpendicular to the first direction and the axial direction of the rotating shaft for driving the thigh side swing.

[0014] According to one aspect of the present invention, the hip seat body comprises: a first bearing plate, a first connecting plate and a first fixing plate;

[0015] The first connecting plate is arranged on the lower side of the first carrying plate;

[0016] Along the first direction of the hip unit, two first connecting plates are arranged opposite to each other and spaced apart;

[0017] Two first fixing plates are provided opposite to and spaced apart from each other in a direction perpendicular to the first direction, wherein in the first direction, opposite ends of the first fixing plates are respectively fixedly connected to the first connecting plates;

[0018] The first movable seat is rotatably connected to the first connecting plate;

[0019] The thigh swing drive is fixed on the first connecting plate.

[0020] According to one aspect of the present invention, the first movable seat comprises: a first rotating support plate, a second rotating support plate, and a first seat body rotating shaft;

[0021] The second rotating support plates are respectively arranged at two opposite ends of the first rotating support plate along the length direction of the first rotating support plate;

[0022] Along the thickness direction of the first rotation support plate, one end of the first rotation support plate is connected to the first rotation support plate, and the other end is extended in a direction away from the first rotation support plate;

[0023] Along the thickness direction of the first rotation support plate, the first seat body rotation axis is arranged on a side of the first rotation support plate facing the hip seat body.

[0024] According to one aspect of the present invention, the second movable seat comprises: a driving fixed seat, a third rotating support plate, and a second seat body rotating shaft;

[0025] The third rotation support plate is respectively arranged on opposite sides of the driving fixed seat; wherein one end of the third rotation support plate is connected to the driving fixed seat, and the other end extends in a direction away from the driving fixed seat;

[0026] The second seat body rotating shaft is fixedly connected to a side of the third rotating support plate away from the driving fixed seat;

[0027] In the length direction of the third rotating support plate, the second seat body rotating shaft and the driving fixed seat are arranged in a staggered manner;

[0028] The second seat body rotation shaft is rotatably connected to the second rotation support plate.

[0029] According to one aspect of the present invention, the thigh unit comprises: a thigh bracket, a calf swing drive and a second joint structure connected to the thigh bracket, and a first connecting rod assembly for connecting the calf swing drive and the second joint structure;

[0030] Along the length direction of the thigh support, the calf swing drive is arranged at the upper end of the thigh support, and the second joint structure is arranged at the lower end of the thigh support.

[0031] According to one aspect of the present invention, the first connecting rod assembly includes: a first transmission member, a first connecting rod, and a second transmission member;

[0032] The first transmission member is provided with an input shaft mounting position and a first transmission shaft mounting position;

[0033] The input shaft installation position and the first transmission shaft installation position are arranged in a staggered manner;

[0034] The first connecting rod comprises: a first rod body portion, a first sleeve portion and a second sleeve portion respectively arranged at opposite ends of the first rod body portion, a first transmission shaft rotatably connected to the first sleeve portion, and a second transmission shaft rotatably connected to the second sleeve portion;

[0035] The second transmission member is provided with an output shaft mounting position and a second transmission shaft mounting position;

[0036] The output shaft installation position and the second transmission shaft installation position are arranged in a staggered manner;

[0037] The input shaft mounting position is connected to the rotating shaft of the calf swing drive, and the first transmission shaft mounting position is connected to the first transmission shaft;

[0038] The output shaft mounting position is connected to the second joint structure, and the second transmission shaft mounting position is connected to the second transmission shaft;

[0039] The input shaft mounting position and the output shaft mounting position are distributed on opposite sides of the first connecting rod.

[0040] According to one aspect of the present invention, the second joint structure comprises: a joint shaft body, a lower leg swing bearing sleeved on the joint shaft body;

[0041] The joint shaft body is coaxially arranged with the output shaft mounting position of the second transmission member, and the joint shaft body passes through the output shaft mounting position;

[0042] The calf swing bearing is arranged adjacent to the second transmission member.

[0043] According to one aspect of the present invention, the calf unit comprises: a calf body, a first foot drive, a first foot link assembly, a second foot drive and a second foot link assembly;

[0044] Along the length direction of the calf body, a calf rotation connection position, a first drive installation position and a second drive installation position are sequentially arranged on the calf body;

[0045] The calf rotation connection position is connected to the calf swing bearing;

[0046] The second transmission member is connected to the calf body;

[0047] The first foot drive is embedded in the first drive installation position;

[0048] The second foot drive is embedded in the second drive mounting position;

[0049] The output shaft of the first foot drive and the output shaft of the second foot drive are arranged in opposite directions;

[0050] The first foot link assembly includes: a first swing output member, a first foot link and a first foot connection seat;

[0051] One end of the first swing output member is connected to the output shaft of the first foot drive, and the other end is connected to the upper end of the first foot connecting rod based on a fisheye bearing;

[0052] The lower end of the first foot connecting rod is connected to the first foot connecting seat based on a fisheye bearing;

[0053] The second foot connecting rod assembly includes: a second swing output member, a second foot connecting rod and a second foot connecting seat;

[0054] One end of the second swing output member is connected to the output shaft of the second foot drive, and the other end is connected to the upper end of the second foot connecting rod based on a fisheye bearing;

[0055] The lower end of the second foot connecting rod is connected to the second foot connecting seat based on a fisheye bearing.

[0056] According to one aspect of the present invention, the foot unit comprises: a foot plate structure, a foot sole structure arranged at the bottom of the foot plate structure, a bearing seat arranged at the upper side of the foot plate structure, and a cross shaft rotatably connected to the bearing seat;

[0057] Along the length direction of the foot plate structure, two bearing seats are arranged at equal intervals;

[0058] The cross axis comprises: a first axis body and a second axis body which are perpendicular to each other;

[0059] The opposite ends of the first shaft are rotatably connected to the bearing seat;

[0060] The bottom of the calf body is rotatably connected to two opposite ends of the second shaft;

[0061] Along the width direction of the foot plate structure, the first foot connection seat and the second foot connection seat are arranged side by side;

[0062] Along the length direction of the foot plate structure, the first foot connection seat and the second foot connection seat are respectively arranged adjacent to the rear end of the foot plate structure.

[0063] In order to achieve the above-mentioned purpose of the invention, the present invention provides a robot, whose waist is provided with any of the humanoid robot lower limb structures described above.

[0064] According to one solution of the present invention, the mass distribution of the lower limb structure of the humanoid robot of the present invention is excellent and can fully meet the stability of the center of gravity position during the movement of the humanoid robot.

[0065] According to one solution of the present invention, the leg power structure used in the lower limb structure of the humanoid robot of the present invention has a compact design and a reasonable layout, and can meet various posture and movement requirements.

[0066] According to one solution of the present invention, the present invention can realize the overall swinging effect under the drive of the thigh swinging drive by adopting the first joint structure to realize the integration of the thigh rotation drive, the thigh side swing drive and the thigh unit, thereby effectively ensuring the walking stability of the present invention. In addition, by integrating the thigh rotation drive and the thigh side swing drive on the first joint structure, the rotation angle and the side swing angle can be flexibly adjusted during the swinging of the thigh unit, which is more beneficial to improving the stability of the present invention during walking.

[0067] According to one solution of the present invention, the thigh swing drive can be arranged in the hip seat body to effectively improve the space utilization of the present invention and make the overall structure of the present invention more compact.

[0068] According to one solution of the present invention, the present invention further provides a reinforcement structure to effectively strengthen the lateral structural strength of the hip seat 11, thereby making the hip unit of the present invention more stable during exercise and making the operation of the entire device more reliable.

[0069] According to one solution of the present invention, the structure of the calf unit of the present invention is simple and the parts are lightweight, which is more beneficial to ensuring the stable operation of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 is a perspective view schematically showing the lower limb structure of a humanoid robot according to an embodiment of the present invention;

[0071] Figure 2 is a diagram schematically showing a connection structure of a hip unit and a thigh unit according to an embodiment of the present invention;

[0072] Figure 3 is an exploded view schematically showing a thigh unit according to one embodiment of the present invention;

[0073] Figure 4 is a structural diagram schematically showing a reinforcement structure according to an embodiment of the present invention;

[0074] Figure 5 is a perspective view schematically showing a calf unit and a foot unit according to an embodiment of the present invention;

[0075] Figure 6 1 is a rear perspective view schematically showing a calf unit and a foot unit according to an embodiment of the present invention. DETAILED DESCRIPTION

[0076] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0077] When describing the embodiments of the present invention, the orientation or positional relationship expressed by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or positional relationship shown in the relevant drawings and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0078] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments cannot be described one by one here, but the embodiments of the present invention are not therefore limited to the following embodiments.

[0079] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, a humanoid robot lower limb structure of the present invention includes: a hip unit 1, a thigh unit 2 movably connected to the hip unit 1, a calf unit 3 movably connected to the thigh unit 2, and a foot unit 4 movably connected to the calf unit 3; in this embodiment, the hip unit 1 is the main connecting structure of the entire humanoid robot lower limb structure to achieve reliable installation of the lower structure. Among them, the hip unit 1 includes: a hip seat 11, a first joint structure 12 connected to the hip seat 11, a thigh swing drive 13, a thigh rotation drive 14 and a thigh side swing drive 15; in this embodiment, along the first direction of the hip unit 1 (such as the length direction), the first joint structure 12 is respectively arranged on the outside of the opposite ends of the hip seat 11; wherein the first joint structure 12 is symmetrical at the opposite ends of the hip seat 11.

[0080] In this embodiment, the first joint structure 12 includes: a first movable seat 121 rotatably connected to the hip seat 11, and a second movable seat 122 rotatably connected to the first movable seat 121; wherein, the thigh swing drive 13 is installed on the inner side of the hip seat 11, and its output shaft is connected to the first movable seat 121; the thigh swing drive 13 is provided to realize the swing drive of the first movable seat 121, so as to drive the swing of the installed thigh unit 2. Further, the thigh rotation drive 14 is fixedly connected to the second movable seat 122, and its output shaft is connected to the upper end of the thigh unit 2; wherein, the thigh unit 2 realizes circumferential rotation under the action of the thigh rotation drive 14. Further, the thigh side swing drive 15 is fixedly connected to the first movable seat 121, and its output shaft is connected to the second movable seat 122; the thigh side swing drive 15 can realize the side swing control of the thigh unit 2 by driving the second movable seat 122 to rotate.

[0081] In this embodiment, the rotation axis of the thigh swing drive 13 is parallel to the first direction; the rotation axis of the thigh side swing drive 15 is perpendicular to the first direction; the rotation axis of the thigh rotation drive 14 is perpendicular to the first direction and the rotation axis of the thigh side swing drive 15. Through the above settings, based on the three-axis installation of the thigh swing drive 13, the thigh side swing drive 15 and the thigh rotation drive 14, flexible control of the thigh unit 2 in a three-dimensional direction can be achieved.

[0082] Through the above-mentioned arrangement, the present invention can realize the overall swinging effect under the drive of the thigh swing drive 13 by adopting the first joint structure 12 to realize the integration of the thigh rotation drive 14, the thigh side swing drive 15 and the thigh unit 2, and can more accurately approach the real leg walking posture, thereby effectively ensuring the walking stability of the present invention. Furthermore, by integrating the thigh rotation drive 14 and the thigh side swing drive 15 on the first joint structure 12, it can be achieved that while the thigh unit 2 is close to the real swinging posture, the thigh rotation drive 14 and the thigh side swing drive 15 can realize flexible and accurate adjustment of the leg posture (rotation angle and side swing angle) inside the first joint structure 12, which can effectively avoid the influence on the thigh swing drive 13, achieve walking stability, and effectively reduce the difficulty of posture control.

[0083] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the hip seat body 11 includes: a first bearing plate 111, a first connecting plate 112 and a first fixing plate 113; wherein, the first bearing plate 111 can be set as a rectangular plate body, and the first connecting plate 112 is set on the lower side of the first bearing plate 111; in the present embodiment, along the first direction of the hip unit 1, two first connecting plates 112 are arranged oppositely and spaced apart; wherein, the first bearing plate 111 and the first connecting plate 112 adopt threaded connectors to achieve mutual fixation; specifically, the first connecting plate 112 is connected to the first bearing plate 111 at right angles to each other, wherein the first connecting plate 112 is abutted against the first bearing plate 111 by the end portion so as to achieve the threaded connector passing through the first bearing plate 111 and being fixed to the end portion of the first connecting plate 112.

[0084] Furthermore, along the direction perpendicular to the first direction (i.e., the width direction of the first bearing plate 111), two first fixing plates 113 are arranged opposite to each other and spaced apart, wherein, in the first direction, the opposite ends of the first fixing plate 113 are respectively fixedly connected to the first connecting plate 112; specifically, the end of the first fixing plate 113 is arranged to abut against the side of the first connecting plate 112, and is fixed based on a threaded connector. In this embodiment, the first fixing plate 113 is respectively perpendicular to the first bearing plate 111 and the first connecting plate 112, so that a hollow rectangular space is enclosed between them. Thus, the thigh swing drive 13 can be conveniently arranged inside to effectively improve the space utilization of the present invention, making the overall structure of the present invention more compact.

[0085] Furthermore, the first movable seat 121 is rotatably connected to the first connecting plate 112; wherein, an opening is provided on the first connecting plate 112, and a bearing is embedded in the opening, thereby realizing the rotatable installation of the first movable seat 121. In this embodiment, in order to realize the stable installation of the bearing on the first connecting plate 112, a corresponding bearing end cover can be matched and provided, thereby, based on the fixing of the bearing end cover and the first connecting plate 112, the bearing can be reliably restricted on the first connecting plate 112, thereby achieving reliable and stable installation.

[0086] Furthermore, to facilitate the swing drive of the first movable seat 121, the thigh swing drive 13 can be fixed on the first connecting plate 112, wherein the thigh swing drive 13 is based on a threaded connector to achieve fixed installation with the first connecting plate 112, thereby achieving reliable docking between the rotating shaft of the thigh swing drive 13 and the first movable seat 121.

[0087] Combination Figure 3 and Figure 4As shown, according to an embodiment of the present invention, a reinforcement structure 13a is further provided between two opposite thigh swing drives 13, wherein the reinforcement structure 13a is provided at a position of the thigh swing drive 13 away from the first bearing plate 111, so as to realize reinforcement between the two thigh swing drives 13, so as to achieve combination with the hip seat 11 to enhance the overall structural stability of the hip unit 1. In this embodiment, the reinforcement structure 13a includes: an arc-shaped connecting plate 13a1 and a pull rod 13a2; wherein, two arc-shaped connecting plates 13a1 are provided in parallel and at intervals, so as to respectively realize fixation with the housing of the thigh swing drive 13, and a plurality of pull rods 13a2 are provided at intervals along the length direction of the arc-shaped connecting plate 13a1, and then, the frame structure is formed by the way that the arc-shaped connecting plate 13a1 and the pull rod 13a2 are fixedly connected to each other, which not only effectively reduces its own mass, but also can fully achieve the effect of structural reinforcement. In this embodiment, the pull rod 13a2 and the arc-shaped connecting plate 13a1 are fixed by threaded connection, and specifically, a threaded connector can be used or a thread can be directly provided on the end of the pull rod 13a2 to achieve a fixed connection between them. Among them, when the pull rod 13a2 and the arc-shaped connecting plate 13a1 are connected by a threaded connector, the pull rod 13a2 and the arc-shaped connecting plate 13a1 can be fixed by a threaded connector after being engaged and fixed, so as to effectively ensure the structural reliability of the entire reinforcement structure 13a. In this embodiment, the arc-shaped connecting plate 13a1 can be fixed to the thigh swing drive 13 by a threaded connector to facilitate its installation.

[0088] In this embodiment, the length of the arc connecting plate 13a1 can be set to be a semicircle length of the thigh swing drive 13 or less than the semicircle length of the thigh swing drive 13 according to actual needs, thereby achieving flexible setting of the support position to achieve a reliable and stable support effect.

[0089] Combination Figure 1 , Figure 2 and Figure 3As shown, according to an embodiment of the present invention, the first movable seat 121 includes: a first rotating support plate 1211, a second rotating support plate 1212, and a first seat body rotation axis; wherein the first rotating support plate 1211 is a long strip structure, and further, along the length direction of the first rotating support plate 1211, the second rotating support plate 1212 is respectively arranged at the opposite ends of the first rotating support plate 1211; further, the two second rotating support plates 1212 are arranged parallel to each other, so that an installation space for the second movable seat 122 is enclosed between the first rotating support plate 1211 and the second rotating support plate 1212. In this embodiment, along the thickness direction of the first rotating support plate 1211, one end of the first rotating support plate 1211 is connected to the first rotating support plate 1211, and the other end is extended in a direction away from the first rotating support plate 1211; in addition, along the thickness direction of the first rotating support plate 1211, the first seat body rotation axis is arranged on the side of the first rotating support plate 1211 facing the hip seat body 11. In this embodiment, the first rotation support plate 1211 may be configured as an axisymmetric structure, and thus the first seat body rotation axis may be configured at a central position of the first rotation support plate 1211 .

[0090] In this embodiment, a mounting hole is provided on the second rotation support plate 1212 away from the first rotation support plate 1211, so that a rotation bearing can be installed in the mounting hole to realize the rotational installation of the second movable seat 122. Furthermore, to facilitate the fixation of the rotation bearing, a matching bearing end cover can be further installed on the second rotation support plate 1212, so that the bearing can be fixed in a limited position through the connection between the end cover and the second rotation support plate 1212.

[0091] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the second movable seat 122 includes: a driving fixed seat 1221, a third rotating support plate 1222, and a second seat body rotating shaft; in this embodiment, the third rotating support plate 1222 is respectively arranged on the opposite sides of the driving fixed seat 1221; wherein, one end of the third rotating support plate 1222 is connected to the driving fixed seat 1221, and the other end extends in a direction away from the driving fixed seat 1221; thereby, the second movable seat 122 is a concave structure, so as to conveniently accommodate and install the thigh rotation drive 14.

[0092] Furthermore, the second seat body shaft is fixedly connected to a side of the third rotation support plate 1222 away from the driving fixed seat 1221 ; in this embodiment, in the length direction of the third rotation support plate 1222 , the second seat body shaft and the driving fixed seat 1221 are staggered.

[0093] Furthermore, the second seat body shaft is rotatably connected to the second rotating support plate 1212; specifically, the second seat body shaft is installed with a bearing provided on the second rotating support plate 1212 to achieve corresponding rotational installation. In addition, the second movable seat 122 can also be restricted based on two relative second rotating support plates 1212.

[0094] Furthermore, when the thigh side swing drive 15 is connected to the first movable seat 121, it can be fixed to a second rotating support plate 1212 on the first movable seat 121. Specifically, the thigh side swing drive 15 and the second rotating support plate 1212 are fixed by threaded connectors, so that the rotating shaft of the thigh side swing drive 15 is connected to the second seat body rotating shaft on the second movable seat 122 to achieve corresponding rotational drive. In this embodiment, in order to achieve stable installation of the thigh side swing drive 15, the size of the corresponding installation position of the second rotating support plate 1212 can be enlarged, so as to achieve the arrangement of a preset number of threaded connectors.

[0095] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the thigh unit 2 includes: a thigh support 21, a calf swing drive 22 and a second joint structure 23 connected to the thigh support 21, and a first connecting rod assembly 24 for connecting the calf swing drive 22 and the second joint structure 23; wherein, along the length direction of the thigh support 21, the calf swing drive 22 is arranged at the upper end of the thigh support 21, and the second joint structure 23 is arranged at the lower end of the thigh support 21. In this embodiment, the thigh support 21 includes: a first support plate 211 and a second support plate 212 arranged opposite to each other, an upper end connecting plate 213 and a plurality of connecting side plates 214; wherein, the outer edges of the first support plate 211 and the second support plate 212 are arranged in a consistent manner, wherein a first hollow circular hole structure 211a is arranged at a position close to the upper end of the first support plate 211, and the calf swing drive 22 is fixed to the outer side of the first support plate 211 based on a threaded connector corresponding to the first hollow circular hole structure 211a.

[0096] In this embodiment, the upper connecting plate 213 is arranged between the first bracket plate 211 and the second bracket plate 212, and is fixed by a threaded connector, wherein the upper connecting plate 213 is arranged at the upper ends of the first bracket plate 211 and the second bracket plate 212, so as to achieve fixation with the rotating shaft of the thigh rotation drive 14, thereby achieving the installation of the thigh unit 2 and the hip unit 1.

[0097] In this embodiment, the connecting side plate 214 is arranged between the first support plate 211 and the second support plate 212 and is fixed by means of threaded connectors, whereby a plurality of connecting side plates 214 are fixed in sequence along the edges of the first support plate 211 and the second support plate 212 to realize the formation of the thigh support 21.

[0098] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the first connecting rod assembly 24 is installed in the thigh support 21; wherein, the first connecting rod assembly 24 includes: a first transmission member 241, a first connecting rod 242, and a second transmission member 243; wherein, the first transmission member 241 as a whole is a plate-like structure with a certain length, and an input shaft mounting position 241a and a first transmission shaft mounting position 241b are provided on the first transmission member 241; wherein, the input shaft mounting position 241a and the first transmission shaft mounting position 241b are staggered so that the input shaft mounting position 241a and the first transmission shaft mounting position 241b are arranged in sequence in the length direction of the first transmission member 241.

[0099] Further, the first connecting rod 242 includes: a first rod body portion 242a, a first sleeve portion 242b and a second sleeve portion 242c respectively arranged at opposite ends of the first rod body portion 242a, a first transmission shaft rotatably connected to the first sleeve portion 242b, and a second transmission shaft rotatably connected to the second sleeve portion 242c; in this embodiment, a sliding bearing or a rolling bearing may be arranged between the first transmission shaft and the first sleeve portion 242b to achieve relative rotation of the first transmission shaft and the first sleeve portion 242b, wherein, to ensure the reliability of the rotation connection, a gasket may be arranged at the opposite ends of the first transmission shaft to achieve the effect of axial limiting. Correspondingly, a sliding bearing or a rolling bearing may be arranged between the second transmission shaft and the second sleeve portion 242c to achieve relative rotation of the second transmission shaft and the second sleeve portion 242c; wherein, to ensure the reliability of the rotation connection, a gasket may be arranged at the opposite ends of the second transmission shaft to achieve the effect of axial limiting.

[0100] Furthermore, the second transmission member 243 as a whole is a plate-like structure with a certain length, and an output shaft mounting position 243a and a second transmission shaft mounting position 243b are arranged on the second transmission member 243; wherein, the output shaft mounting position 243a and the second transmission shaft mounting position 243b are staggered so that the output shaft mounting position 243a and the second transmission shaft mounting position 243b are arranged in sequence in the length direction of the second transmission member 243.

[0101] In this embodiment, the input shaft mounting position 241a is connected to the rotating shaft of the calf swing drive 22, wherein a threaded connector is used to fix the input shaft mounting position 241a to the rotating shaft of the calf swing drive 22; correspondingly, the first transmission shaft mounting position 241b is connected to the first transmission shaft, wherein a threaded connector is used to fix the first transmission shaft mounting position 241b to the first transmission shaft. The length of the first transmission member 241 is smaller than the radial dimension of the first hollow circular hole structure 211a, so that the plate-shaped first transmission member 241 can be installed in the first hollow circular hole structure 211a, so as to achieve the integration of the structure on the first bracket plate 211, which greatly reduces the space occupied by the transmission structure.

[0102] In this embodiment, the output shaft mounting position 243a is connected to the second joint structure 23, and the second transmission shaft mounting position 243b is connected to the second transmission shaft; wherein a threaded connector is used to fix the second transmission shaft mounting position 243b to the second transmission shaft.

[0103] In this embodiment, the input shaft mounting position 241a and the output shaft mounting position 243a are distributed on opposite sides of the first connecting rod 242; wherein, the input shaft mounting position 241a faces the rear side of the first connecting rod 242 (i.e., the rear side in the direction of travel), and the output shaft mounting position 243a faces the front side of the first connecting rod 242 (i.e., the front side in the direction of travel); thus, by respectively arranging the input shaft mounting position 241a and the output shaft mounting position 243a on opposite sides of the first connecting rod 242, the first connecting rod 242 can present a certain inclination angle, so that the rotation angle of the first transmission member 241 can be more easily transmitted to the second transmission member 243, so as to avoid dead points in the transmission process, thereby effectively ensuring the stability of the use of the present invention. In addition, by distributing the input shaft mounting position 241a and the output shaft mounting position 243a on opposite sides of the first connecting rod 242, the second transmission shaft mounting position 243b can be directed forward in the direction of travel, so that it is closer to the actual traveling mode, and it is easier to achieve sensitive retraction and extension and accurate control of the posture of the calf unit 3 by optimizing the design of the size parameters of the first transmission member 241 and the second transmission member 243.

[0104] In this embodiment, the lower end of the first bracket plate 211 is provided with a second hollow circular hole structure 211b, and the lower end of the second bracket plate 212 is provided with a third hollow circular hole structure 212a; wherein, the second hollow circular hole structure 211b and the third hollow circular hole structure 212a are coaxially arranged; further, bearings can be respectively arranged in the second hollow circular hole structure 211b and the third hollow circular hole structure 212a to realize the rotation support of the second joint structure 23. In this embodiment, in order to ensure the reliable fixation of the bearings, bearing end caps can be arranged at the positions corresponding to the second hollow circular hole structure 211b and the third hollow circular hole structure 212a to realize the reliable restriction of the corresponding bearings.

[0105] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to an embodiment of the present invention, the second joint structure 23 includes: a joint shaft body 231, and a calf swing bearing 232 sleeved on the joint shaft body 231; wherein the joint shaft body 231 is coaxially arranged with the output shaft mounting position 243a of the second transmission member 243, and the joint shaft body 231 passes through the output shaft mounting position 243a. In this embodiment, the output shaft mounting position 243a can be rotatably connected to the joint shaft body 231, and the output shaft mounting position 243a and the joint shaft body 231 can also be arranged with a gap to facilitate the connection between the second transmission member 243 and the calf unit 3.

[0106] In this embodiment, the calf swing bearing 232 is arranged adjacent to the second transmission member 243, so that the position where the second transmission member 243 drives the calf unit 3 can be closer to the calf swing bearing 232, thereby facilitating the force transmission position and the rotation support position to be closer, which is more beneficial to ensuring the smooth swing of the calf unit 3.

[0107] In this embodiment, two second transmission members 243 may be arranged at intervals, so that the two second transmission members 243 are connected to the opposite ends of the second transmission shaft, thereby ensuring that the first connecting rod 242 drives the calf unit 3 stably, which is more beneficial.

[0108] Furthermore, through the two second transmission members 243, two calf swing bearings 232 can be arranged between the two second transmission members 243 to achieve uniform distribution of support positions, so as to improve the stability of the rotation support.

[0109] Combination Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6As shown, according to an embodiment of the present invention, the calf unit 3 includes: a calf body 31, a first foot drive 32, a first foot connecting rod assembly 33, a second foot drive 34 and a second foot connecting rod assembly 35; wherein, the calf body 31 as a whole is a plate-like structure with a certain length, thereby, along the length direction of the calf body 31, a calf rotation connection position 311, a first drive mounting position 312 and a second drive mounting position 313 are sequentially arranged on the calf body 31; wherein, the calf rotation connection position 311 is interconnected with the calf swing bearing 232; correspondingly, the second transmission member 243 is connected to the side of the calf body 31 by a threaded connection member; wherein, if the second transmission member 243 is set to two, the two second transmission members 243 are respectively connected on the opposite sides of the calf body 31, so as to realize a reliable connection to the calf body 31 and a stable restriction on the calf swing bearing 232.

[0110] In this embodiment, the first foot drive 32 is embedded in the first drive installation position 312; the second foot drive 34 is embedded in the second drive installation position 313; wherein the output shaft of the first foot drive 32 and the second foot drive 34 are arranged in opposite directions. Through the above arrangement, by embedding the first foot drive 32 and the second foot drive 34 into the calf body 31 along the height direction, most of the mass of the entire calf unit 3 can be concentrated in the vertical direction of the calf body 31, which is more beneficial to ensuring the structural stability of the calf unit 3, thereby making it easier and more accurate to control the swing accuracy of the calf unit 3 to achieve a stable travel effect.

[0111] In this embodiment, the first foot link assembly 33 includes: a first swing output member 331, a first foot link 332 and a first foot connection seat 333; wherein the first swing output member 331 is a long strip structure, and further, one end of the first swing output member 331 is connected to the output shaft of the first foot drive 32, and the other end is connected to the upper end of the first foot link 332 based on a fisheye bearing; in this embodiment, the first swing output member 331 adopts a threaded connector to achieve connection with the output shaft of the first foot drive 32. Further, the lower end of the first foot link 332 is connected to the first foot connection seat 333 based on a fisheye bearing. Through the above arrangement, the flexible movement of the first foot link assembly 33 can be achieved through the structure provided, and the movement of the first foot drive 32 can be output to the foot unit 4 more accurately.

[0112] In this embodiment, the second foot link assembly 35 includes: a second swing output member 351, a second foot link 352 and a second foot connection seat 353; wherein the second swing output member 351 is a long strip structure, and further, one end of the second swing output member 351 is connected to the output shaft of the second foot drive 34, and the other end is connected to the upper end of the second foot link 352 based on a fisheye bearing; in this embodiment, the second swing output member 351 adopts a threaded connector to achieve connection with the output shaft of the second foot drive 34. Further, the lower end of the second foot link 352 is connected to the second foot connection seat 353 based on a fisheye bearing. Through the above arrangement, the flexible movement of the second foot link assembly 35 can be achieved through the structure provided, and the movement of the second foot drive 34 can be output to the foot unit 4 more accurately.

[0113] Combination Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, according to an embodiment of the present invention, the foot unit 4 includes: a foot plate structure 41, a foot sole structure 42 arranged at the bottom of the foot plate structure 41, a bearing seat 43 arranged on the upper side of the foot plate structure 41, and a cross shaft 44 rotatably connected to the bearing seat 43; wherein the foot plate structure 41 is a plate-shaped structure with a certain length, and two bearing seats 43 are arranged at equal intervals along the length direction of the foot plate structure 41. Further, the cross shaft 44 includes: a first shaft body and a second shaft body perpendicular to each other; wherein the opposite ends of the first shaft body are rotatably connected to the bearing seat 43; and the bottom of the calf body 31 is rotatably connected to the opposite ends of the second shaft body. In this embodiment, the opposite sides of the bottom of the calf body 31 can be respectively provided with connecting splints 31a, thereby, the rotatable connection with the opposite ends of the second shaft body can be realized based on the connecting splints 31a. In this embodiment, in order to reduce the friction force at the rotation connection position, a bearing (such as a sliding bearing or a rolling bearing) can be provided at the connection position.

[0114] Furthermore, along the width direction of the foot plate structure 41, the first foot connection seat 333 and the second foot connection seat 353 are arranged side by side; in addition, along the length direction of the foot plate structure 41, the first foot connection seat 333 and the second foot connection seat 353 are respectively arranged adjacent to the rear end of the foot plate structure 41. Through the above arrangement, the stability and reliability of the traveling process can be achieved by flexibly controlling the posture of the rear end of the foot plate structure 41.

[0115] Combination Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6As shown, according to one embodiment of the present invention, a hollow structure may be optionally provided on the hip unit 1 , and specifically, a hollow structure may be optionally provided on the first fixing plate 113 .

[0116] Combination Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, a hollow structure can be optionally set on the thigh unit 2. Specifically, the hollow structure can be optionally set on the first support plate 211, the second support plate 212, the connecting side plate 214, and the first fixing plate 113 respectively.

[0117] Combination Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, a hollow structure can be optionally provided on the calf unit 3. Specifically, a hollow structure can be optionally provided on the calf body 31, the first swing output member 331, the first foot connecting rod 332, the second swing output member 351, and the second foot connecting rod 352, respectively.

[0118] Combination Figure 1 and Figure 2 As shown, according to one embodiment of the present invention, a waist rotating motor can also be arranged in the middle position on the upper side of the first supporting plate 111 to achieve the angle change between the lower limb structure of the entire humanoid robot and the structure to be installed above, thereby effectively improving the travel flexibility of the present invention.

[0119] like Figure 1 As shown, according to one embodiment of the present invention, the present invention provides a robot, whose waist is provided with the humanoid robot lower limb structure as mentioned above.

[0120] The above contents are merely examples of specific solutions of the present invention. For devices and structures not described in detail therein, it should be understood that they can be implemented by adopting general devices and general methods available in the art.

[0121] The above is only one solution of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A humanoid robot lower limb structure, characterized in that: include: A hip unit (1), a thigh unit (2) movably connected to the hip unit (1), a calf unit (3) movably connected to the thigh unit (2), and a foot unit (4) movably connected to the calf unit (3); The hip unit (1) comprises: a hip seat (11), a first joint structure (12) connected to the hip seat (11), a thigh swing drive (13), a thigh rotation drive (14) and a thigh side swing drive (15); Along a first direction of the hip unit (1), the first joint structure (12) is respectively arranged on the outer sides of two opposite ends of the hip seat (11); The first joint structure (12) comprises: a first movable seat (121) rotatably connected to the hip seat body (11), and a second movable seat (122) rotatably connected to the first movable seat (121); The thigh swing drive (13) is installed on the inner side of the hip seat (11), and its output shaft is connected to the first movable seat (121); The thigh rotation drive (14) is fixedly connected to the second movable seat (122), and its output shaft is connected to the upper end of the thigh unit (2); The thigh side swing drive (15) is fixedly connected to the first movable seat (121), and its output shaft is connected to the second movable seat (122); The axial direction of the rotating shaft of the thigh swing drive (13) is parallel to the first direction; The axial direction of the rotating shaft of the thigh side swing drive (15) is perpendicular to the first direction; The axial direction of the rotating shaft of the thigh rotation drive (14) is respectively arranged perpendicular to the first direction and the axial direction of the rotating shaft of the thigh side swing drive (15); A reinforcement structure (13a) is provided between the two opposite thigh swing drives (13); The reinforcement structure (13a) comprises: an arc-shaped connecting plate (13a1) and a pull rod (13a2); Two arc-shaped connecting plates (13a1) are arranged in parallel and at intervals, so as to be fixed to the housings of the two opposite thigh swing drives (13) respectively; Along the length direction of the arc-shaped connecting plate (13a1), a plurality of pull rods (13a2) are arranged at intervals.

2. The humanoid robot lower limb structure according to claim 1, characterized in that: The hip seat (11) comprises: a first bearing plate (111), a first connecting plate (112) and a first fixing plate (113); The first connecting plate (112) is arranged on the lower side of the first carrying plate (111); Along a first direction of the hip unit (1), two first connecting plates (112) are arranged opposite to each other and at intervals; Along a direction perpendicular to the first direction, two first fixing plates (113) are arranged opposite to each other and spaced apart, wherein in the first direction, opposite ends of the first fixing plates (113) are respectively fixedly connected to the first connecting plates (112); The first movable seat (121) is rotatably connected to the first connecting plate (112); The thigh swing drive (13) is fixed on the first connecting plate (112).

3. The humanoid robot lower limb structure according to claim 2, characterized in that: The first movable seat (121) comprises: a first rotating support plate (1211), a second rotating support plate (1212), and a first seat body rotating shaft; Along the length direction of the first rotating support plate (1211), the second rotating support plates (1212) are respectively arranged at two opposite ends of the first rotating support plate (1211); Along the thickness direction of the first rotating support plate (1211), one end of the second rotating support plate (1212) is connected to the first rotating support plate (1211), and the other end is extended in a direction away from the first rotating support plate (1211); Along the thickness direction of the first rotation support plate (1211), the first seat body rotation axis is arranged on a side of the first rotation support plate (1211) facing the hip seat body (11).

4. The humanoid robot lower limb structure according to claim 3, characterized in that: The second movable seat (122) comprises: a driving fixed seat (1221), a third rotating support plate (1222), and a second seat body rotating shaft; The third rotation support plate (1222) is respectively arranged on two opposite sides of the driving fixed seat (1221); wherein one end of the third rotation support plate (1222) is connected to the driving fixed seat (1221), and the other end extends in a direction away from the driving fixed seat (1221); The second seat body rotation shaft is fixedly connected to a side of the third rotation support plate (1222) away from the driving fixed seat (1221); In the length direction of the third rotating support plate (1222), the second seat body rotating shaft and the driving fixed seat (1221) are arranged in a staggered manner; The second seat body rotation shaft is rotationally connected to the second rotation support plate (1212).

5. The humanoid robot lower limb structure according to claim 4, characterized in that: The thigh unit (2) comprises: a thigh support (21), a calf swing drive (22) and a second joint structure (23) connected to the thigh support (21), and a first connecting rod assembly (24) for connecting the calf swing drive (22) and the second joint structure (23); Along the length direction of the thigh support (21), the calf swing drive (22) is arranged at the upper end of the thigh support (21), and the second joint structure (23) is arranged at the lower end of the thigh support (21).

6. The humanoid robot lower limb structure according to claim 5, characterized in that: The first connecting rod assembly (24) comprises: a first transmission member (241), a first connecting rod (242), and a second transmission member (243); The first transmission member (241) is provided with an input shaft installation position (241a) and a first transmission shaft installation position (241b); The input shaft installation position (241a) and the first transmission shaft installation position (241b) are arranged in a staggered manner; The first connecting rod (242) comprises: a first rod body portion (242a), a first sleeve portion (242b) and a second sleeve portion (242c) respectively arranged at opposite ends of the first rod body portion (242a), a first transmission shaft rotatably connected to the first sleeve portion (242b), and a second transmission shaft rotatably connected to the second sleeve portion (242c); The second transmission member (243) is provided with an output shaft installation position (243a) and a second transmission shaft installation position (243b); The output shaft installation position (243a) and the second transmission shaft installation position (243b) are arranged in a staggered manner; The input shaft mounting position (241a) is connected to the rotating shaft of the calf swing drive (22), and the first transmission shaft mounting position (241b) is connected to the first transmission shaft; The output shaft mounting position (243a) is connected to the second joint structure (23), and the second transmission shaft mounting position (243b) is connected to the second transmission shaft; The input shaft installation position (241a) and the output shaft installation position (243a) are distributed on opposite sides of the first connecting rod (242).

7. The humanoid robot lower limb structure according to claim 6, characterized in that: The second joint structure (23) comprises: a joint shaft body (231), and a calf swing bearing (232) sleeved on the joint shaft body (231); The joint shaft body (231) is coaxially arranged with the output shaft installation position (243a) of the second transmission member (243), and the joint shaft body (231) passes through the output shaft installation position (243a); The calf swing bearing (232) is arranged adjacent to the second transmission member (243).

8. The humanoid robot lower limb structure according to claim 7, characterized in that: The calf unit (3) comprises: a calf body (31), a first foot drive (32), a first foot connecting rod assembly (33), a second foot drive (34) and a second foot connecting rod assembly (35); Along the length direction of the calf body (31), a calf rotation connection position (311), a first drive installation position (312) and a second drive installation position (313) are sequentially arranged on the calf body (31); The calf rotation connection position (311) and the calf swing bearing (232) are connected to each other; The second transmission member (243) is connected to the calf body (31); The first foot drive (32) is embedded in the first drive installation position (312); The second foot drive (34) is embedded in the second drive mounting position (313); The output shaft of the first foot drive (32) and the second foot drive (34) are arranged in opposite directions; The first foot connecting rod assembly (33) comprises: a first swing output member (331), a first foot connecting rod (332) and a first foot connecting seat (333); One end of the first swing output member (331) is connected to the output shaft of the first foot drive (32), and the other end is connected to the upper end of the first foot connecting rod (332) based on a fisheye bearing; The lower end of the first foot connecting rod (332) is connected to the first foot connecting seat (333) based on a fisheye bearing; The second foot connecting rod assembly (35) comprises: a second swing output member (351), a second foot connecting rod (352) and a second foot connecting seat (353); One end of the second swing output member (351) is connected to the output shaft of the second foot drive (34), and the other end is connected to the upper end of the second foot connecting rod (352) based on a fisheye bearing; The lower end of the second foot connecting rod (352) is connected to the second foot connecting seat (353) based on a fisheye bearing.

9. The humanoid robot lower limb structure according to claim 8, characterized in that: The foot unit (4) comprises: a foot plate structure (41), a foot sole structure (42) arranged at the bottom of the foot plate structure (41), a bearing seat (43) arranged on the upper side of the foot plate structure (41), and a cross shaft (44) rotatably connected to the bearing seat (43); Along the length direction of the foot plate structure (41), two bearing seats (43) are arranged at equal intervals; The cross axis (44) comprises: a first axis body and a second axis body that are perpendicular to each other; The opposite ends of the first shaft are rotatably connected to the bearing seat (43); The bottom of the calf body (31) is rotatably connected to two opposite ends of the second shaft; Along the width direction of the foot plate structure (41), the first foot connection seat (333) and the second foot connection seat (353) are arranged side by side; Along the length direction of the foot plate structure (41), the first foot connection seat (333) and the second foot connection seat (353) are respectively arranged adjacent to the rear end of the foot plate structure (41).

10. A robot, characterized in that: The waist portion is provided with a humanoid robot lower limb structure as described in any one of claims 1 to 9.

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