Lower limb device and humanoid robot

Abstract

The lower limb device is used for the humanoid robot and comprises a hip joint assembly, a thigh assembly, a first matching ring and a second matching ring, the hip joint assembly comprises a pitching driving part, a transverse rolling driving part, a yaw driving part and a first matching part, the pitching driving part is rotationally connected with the transverse rolling driving part, the transverse rolling driving part is rotationally connected with the yaw driving part, and the first matching part is rotationally connected with the thigh assembly. The first matching part is connected with the yaw driving part, the thigh assembly comprises a second matching part, one of the second matching part and the first matching part is provided with a protrusion, the other one of the second matching part and the first matching part is provided with a groove, and the protrusion is matched with the groove so that the second matching part and the first matching part can be relatively fixed in the circumferential direction of the yaw driving part. The first matching ring and the second matching ring are arranged on the periphery of the second matching piece and the periphery of the first matching piece in a sleeving mode correspondingly, the first matching ring and the second matching ring are detachably connected, so that the second matching piece and the first matching piece are fixedly connected in the axial direction of the yaw driving piece, and the convenience degree of disassembly and assembly of the hip joint assembly and the thigh assembly is improved.

Description

Technical Field

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

[0002] Humanoid robots can highly imitate human actions and have good mobility when facing complex terrain. Therefore, in recent years, the research and development of humanoid robots has received more and more attention. During the disassembly process of humanoid robots, the disassembly of the hip joint assembly and the thigh assembly is particularly important for the disassembly and assembly of the robot. In the prior art, the hip joint assembly is connected and fixed to the thigh assembly by bolts and other connectors, and the disassembly and assembly process is cumbersome and inconvenient. Summary of the invention

[0003] The purpose of the present invention is to provide a lower limb device and a humanoid robot to solve the problem of difficulty in disassembling and assembling a hip joint component and a thigh component.

[0004] To achieve the purpose of the present invention, the present invention provides the following technical solutions: In the first aspect, the present invention provides a lower limb device for a humanoid robot, comprising: a hip joint assembly, including a pitch drive member, a roll drive member, a yaw drive member and a first matching member, the pitch drive member being rotationally connected to the roll drive member, the pitch drive member being used to drive the roll drive member to rotate around a first axis, the first axis and the plane formed by the front-to-back direction and the left-to-right direction of the humanoid robot having an inclined angle, the roll drive member being rotationally connected to the yaw drive member, the roll drive member being used to drive the yaw drive member to rotate around a second axis, the first matching member being connected to the output end of the yaw drive member, and the yaw drive member being used to drive the The first fitting part rotates around a third axis, and the first axis, the second axis and the third axis intersect each other; the thigh component includes a second fitting part, one of the second fitting part and the first fitting part is provided with a protrusion, and the other is provided with a groove, and the protrusion cooperates with the groove to make the second fitting part and the first fitting part relatively fixed in the circumferential direction of the third axis; the first fitting ring and the second fitting ring are respectively sleeved on different positions of the outer circumference of the second fitting part and the first fitting part, and the first fitting ring and the second fitting ring are detachably connected to connect and fix the second fitting part and the first fitting part in the axial direction of the third axis.

[0005] The lower limb device of the embodiment of the present application is provided with a first mating piece of the hip joint component to cooperate with a second mating piece of the thigh component, and then a first mating ring and a second mating ring are provided to be respectively sleeved on the second mating piece and the first mating piece, and the first mating ring and the second mating ring are detachably connected. During installation, the first mating piece and the second mating piece can be matched first, and then the first mating ring and the second mating ring are respectively sleeved on the second mating piece and the first mating piece. During disassembly, the first mating ring and the second mating ring are disassembled, and then the first mating piece and the second mating piece are separated, thereby improving the convenience of disassembly and assembly of the hip joint component and the thigh component.

[0006] In one embodiment, the protrusion includes a first protrusion and a second protrusion, and the groove includes a first groove and a second groove; the first mating piece includes a first plate and a plurality of the first protrusions, the first plate is annular, and the plurality of the first protrusions are arranged on the first plate at circumferential intervals along the third axis, and the space between two adjacent first protrusions forms the first groove; the second mating piece includes a second plate and a plurality of the second protrusions, the second plate is annular, and the plurality of the second protrusions are arranged on the second plate at circumferential intervals along the third axis, and the space between two adjacent second protrusions forms the second groove; the first plate and the second plate are arranged opposite to each other, the first protrusion cooperates with the second groove, the second protrusion cooperates with the first groove, and the first mating ring and the second mating ring are simultaneously clamped with the first plate and the second plate.

[0007] In this way, by setting the first protrusion to cooperate with the second groove and the second protrusion to cooperate with the first groove, the stability of the connection between the first mating piece and the second mating piece is improved, and the first mating ring and the second mating ring are simultaneously clamped with the first plate and the second plate, thereby improving the stability of the first mating ring and the second mating ring in limiting the first plate and the second plate.

[0008] In one embodiment, the first mating part also includes a first connecting tube, which is connected to the first plate in the axial direction of the third axis, and the first plate protrudes from the outer circumferential surface of the first connecting tube in the circumferential direction of the third axis; the second mating part also includes a second connecting tube, which is connected to the second plate in the axial direction of the third axis, and the second plate protrudes from the outer circumferential surface of the second connecting tube in the circumferential direction of the third axis, and the inner circumferential walls of the first mating ring and the second mating ring are provided with a receiving groove, and the first plate and the second plate are accommodated in the receiving groove.

[0009] In this way, the first plate is arranged to protrude from the outer circumferential surface of the first connecting tube in the circumferential direction of the third axis, and the second plate is arranged to protrude from the outer circumferential surface of the second connecting tube in the circumferential direction of the third axis, so that the first plate and the second plate are easier to cooperate with the first mating ring and the second mating ring, and the inner circumferential walls of the first mating ring and the second mating ring are provided with accommodating grooves, and the first plate and the second plate are accommodated in the accommodating grooves, thereby improving the stability of the limiting of the first plate and the second plate.

[0010] In one embodiment, the surface of the first plate facing away from the second plate has a first obtuse angle with the outer circumferential surface of the first connecting tube, and the surface of the second plate facing away from the first plate has a second obtuse angle with the outer circumferential surface of the second connecting tube. In the cross section of the first mating ring, the inner wall of the accommodating groove forms a "V" shape and includes a first wall and a second wall opposite to each other, the first wall is in close contact with the surface of the first plate facing away from the second plate, and the second wall is in close contact with the surface of the second plate facing away from the first plate.

[0011] In this way, the surface of the first plate facing away from the second plate is arranged to have a first obtuse angle with the outer peripheral surface of the first connecting tube, and the surface of the second plate facing away from the first plate is arranged to have a second obtuse angle with the outer peripheral surface of the second connecting tube, so that the first matching ring and the second matching ring are easier to be disassembled and assembled on the first plate and the second plate, and the first wall is tightly attached to the surface of the first plate facing away from the second plate, and the second wall is tightly attached to the surface of the second plate facing away from the first plate, thereby improving the stability of the limitation of the first plate and the second plate.

[0012] In one embodiment, a mounting hole penetrating the first plate is formed on the bottom wall of at least a portion of the first grooves, and the diameter of the mounting hole is smaller than the distance between two adjacent first protrusions.

[0013] Thus, a mounting hole penetrating the first plate is provided on the bottom wall of at least part of the first groove, and the diameter of the mounting hole is smaller than the distance between two adjacent first protrusions, thereby improving the convenience of disassembling and assembling the connector of the first plate from the mounting hole.

[0014] In one embodiment, the first groove has a first opening and a second opening which are arranged opposite to each other in the radial direction of the third axis, the second opening is closer to the outer edge of the first plate than the first opening, and the size of the second opening is larger than the size of the first opening.

[0015] In this way, the first groove is provided with a first opening and a second opening which are arranged relatively to each other. The second opening is closer to the outer edge of the first plate than the first opening. The size of the second opening is larger than the size of the first opening, so that the second protrusion can gradually extend from the second opening to the first opening, thereby facilitating the connection and separation between the second protrusion and the first groove.

[0016] In one embodiment, the second mating piece also includes a third plate, which is connected to one end of the second connecting tube away from the second plate, and the third plate protrudes from the outer circumferential surface of the second connecting tube in the circumferential direction of the third axis. The second plate, the second connecting tube and the third plate are combined to form a receiving groove, and the thigh assembly also includes a thigh shell, and the end of the thigh shell is received in the receiving groove so that the third plate and the thigh shell are clamped in the axial direction of the third axis.

[0017] In this way, the third plate is arranged to protrude from the outer circumferential surface of the second connecting tube in the circumferential direction of the third axis, and the second plate, the second connecting tube and the third plate are combined to form a receiving groove, so that the end of the thigh shell is received in the receiving groove, so that the third plate and the thigh shell are clamped in the axial direction of the third axis, thereby improving the stability of the connection between the third plate and the thigh shell.

[0018] In one embodiment, the second matching member further includes a connecting rib, which is ring-shaped and connected to one end of the plurality of second protrusions away from an edge of the second plate.

[0019] In this way, the connection rib is provided to connect the ends of the plurality of second protrusions away from the edge of the second plate, thereby strengthening the connection between the plurality of second protrusions and improving the strength of the second protrusions.

[0020] In one embodiment, a plurality of the first protrusions are arranged at equal intervals in the circumferential direction of the first plate, and a plurality of the second protrusions are arranged at equal intervals in the circumferential direction of the second plate.

[0021] In this way, the plurality of first protrusions are arranged at equal intervals in the circumferential direction of the first plate, and the plurality of second protrusions are arranged at equal intervals in the circumferential direction of the second plate, so that each first protrusion and each second protrusion are subjected to more uniform force when being engaged.

[0022] In one embodiment, the first plate encloses a first hole, the second plate encloses a second hole, and the first hole corresponds to the second hole in the axial direction of the third axis.

[0023] In this way, the first hole and the second hole are arranged to correspond to each other in the axial direction of the yaw drive component, thereby improving the convenience of routing wires from the first hole and the second hole or arranging other accessories.

[0024] In one embodiment, a plurality of first limiting grooves are provided on the first mating piece, and the plurality of first limiting grooves are arranged at intervals. A plurality of first limiting protrusions are provided on the first mating ring and the second mating ring, and each of the first limiting protrusions is matched with a first limiting groove in a one-to-one correspondence; and / or a plurality of second limiting grooves are provided on the second mating piece, and the plurality of second limiting grooves are arranged at intervals. A plurality of second limiting protrusions are provided on the first mating ring and the second mating ring, and each of the second limiting protrusions is matched with a second limiting groove in a one-to-one correspondence.

[0025] In this way, a first limiting protrusion is provided to cooperate with the first limiting groove; and / or a second limiting protrusion is provided to cooperate with the second limiting groove, so that the first matching ring and the second matching ring are both tightly connected to the first matching piece, avoiding the first matching ring and the second matching ring from sliding or rotating on the first matching piece, thereby improving the stability of the connection; and / or the first matching ring and the second matching ring are both tightly connected to the second matching piece, avoiding the first matching ring and the second matching ring from sliding or rotating on the second matching piece, thereby improving the stability of the connection.

[0026] In a second aspect, the present application also provides a humanoid robot, comprising a lower limb device as described in any one of the various embodiments of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is a schematic structural diagram of a partial lower limb device according to an embodiment; Figure 2 is an exploded view of a partial lower limb device of an embodiment; Figure 3 is a schematic structural diagram of a first matching member of an embodiment; Figure 4 It is a schematic structural diagram of a first mating ring of an embodiment.

[0029] Description of reference numerals: 10-lower limb device, 11-hip joint assembly, 111-pitch drive member, 112-roll drive member, 113-yaw drive member, 114-first matching member, 1141-first connecting tube, 1142-first plate, 1143-first groove, 1144-first protrusion, 1145-first groove, 1146-mounting hole, 1147-first hole, 12-thigh assembly, 121-second matching member, 1211-second plate, 1212-second connecting tube, 1213 -third plate, 1214-accommodating groove, 1215-second protrusion, 1216-second groove, 1217-second groove, 1218-second hole, 1219-connecting rib, 122-thigh shell, 20-first matching ring, 201-first arc-shaped plate, 202-connecting plate, 203-second arc-shaped plate, 204-accommodating groove, 2041-first wall, 2042-second wall, 21-second matching ring, L1-first axis, L2-second axis, L3-third axis. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0032] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the present invention includes any and all combinations of one or more of the related listed items.

[0033] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0034] The present application embodiment provides a lower limb device 10 for a humanoid robot, please refer to Figure 1 and Figure 2 , including a hip joint component 11, a thigh component 12, a first matching ring 20 and a second matching ring 21.

[0035] The hip joint assembly 11 includes a pitch drive component 111, a roll drive component 112, a yaw drive component 113 and a first matching component 114. The pitch drive component 111 is rotationally connected to the roll drive component 112. The pitch drive component 111 is used to drive the roll drive component 112 to rotate around a first axis L1. The first axis L1 and the plane formed by the front-to-back direction and the left-to-right direction of the humanoid robot have an inclined angle. The roll drive component 112 is rotationally connected to the yaw drive component 113. The roll drive component 112 is used to drive the yaw drive component 113 to rotate around a second axis L2. The first matching component 114 is connected to the output end of the yaw drive component 113. The yaw drive component 113 is used to drive the first matching component 114 to rotate around a third axis L3. The first axis L1, the second axis L2 and the third axis L3 intersect with each other. Optionally, the hip joint assembly 11 also includes a first bracket and a second bracket, the first bracket is fixedly connected to the rotor of the pitch drive component 111 and the stator of the roll drive component 112, the second bracket is fixedly connected to the rotor of the roll drive component 112 and the stator of the yaw drive component 113, and the roll drive component 112 drives the second bracket to rotate around the second axis L2.

[0036] The thigh component 12 includes a second fitting part 121, one of the second fitting part 121 and the first fitting part 114 is provided with a protrusion, and the other is provided with a groove, and the protrusion cooperates with the groove to make the second fitting part 121 and the first fitting part 114 relatively fixed in the circumferential direction of the third axis L3.

[0037] The first mating ring 20 and the second mating ring 21 are respectively sleeved on different positions of the outer circumference of the second mating piece 121 and the first mating piece 114. The first mating ring 20 and the second mating ring 21 are detachably connected to connect and fix the second mating piece 121 and the first mating piece 114 in the axial direction of the third axis L3.

[0038] Optionally, the lower limb device 10 also includes a hip joint shell, which encloses a first receiving cavity, and the first receiving cavity receives the hip joint assembly 11. The outer surface of the hip joint shell is a smooth curved surface, and the hip joint shell and the thigh shell 122 of the humanoid robot are smoothly connected, so that the humanoid robot has a better humanoid effect.

[0039] The lower limb device 10 of the embodiment of the present application is provided with a first mating piece 114 of the hip joint component 11 to cooperate with the second mating piece 121 of the thigh component 12, and then, a first mating ring 20 and a second mating ring 21 are provided to be respectively sleeved on the second mating piece 121 and the first mating piece 114, and the first mating ring 20 and the second mating ring 21 are detachably connected. During installation, the first mating piece 114 and the second mating piece 121 can be matched first, and then, the first mating ring 20 and the second mating ring 21 are respectively sleeved on the second mating piece 121 and the first mating piece 114. During disassembly, the first mating ring 20 and the second mating ring 21 are disassembled, and then, the first mating piece 114 and the second mating piece 121 are separated, thereby improving the convenience of disassembly and assembly of the hip joint component 11 and the thigh component 12.

[0040] In one embodiment, please refer to Figure 1 and Figure 2 The protrusions include a first protrusion 1144 and a second protrusion 1215, and the grooves include a first groove 1143 and a second groove 1217; the first matching piece 114 includes a first plate 1142 and a plurality of first protrusions 1144, the first plate 1142 is annular, and the plurality of first protrusions 1144 are arranged on the first plate 1142 at intervals along the circumferential direction of the third axis L3, and the space between two adjacent first protrusions 1144 forms a first groove 1143; the second matching piece 121 includes a second plate 1211 and a plurality of second protrusions 1144. 215, the second plate 1211 is annular, and a plurality of second protrusions 1215 are arranged on the second plate 1211 at circumferential intervals along the third axis L3, and the space between two adjacent second protrusions 1215 forms a second groove 1217; the first plate 1142 and the second plate 1211 are arranged opposite to each other, the first protrusion 1144 cooperates with the second groove 1217, the second protrusion 1215 cooperates with the first groove 1143, and the first cooperating ring 20 and the second cooperating ring 21 are clamped with the first plate 1142 and the second plate 1211 at the same time.

[0041] Optionally, a first groove 1145 is provided on the first protrusion 1144, which reduces the weight of the first protrusion 1144 and the weight of the thigh component 12, and the first groove 1145 facilitates the first protrusion 1144 to cancel the fit and avoid too tight fit.

[0042] Optionally, a second groove 1216 is provided on the second protrusion 1215, which reduces the weight of the second protrusion 1215 and the weight of the thigh component 12, and the second groove 1216 facilitates the second protrusion 1215 to cancel the fit and avoid too tight fit.

[0043] Optionally, the first plate 1142 is polished, and the polishing method may be fluid polishing, mechanical polishing, ultrasonic polishing, chemical polishing, electrolytic polishing, etc. Polishing the first plate 1142 improves the smoothness of the first plate 1142 and avoids scratching the first mating ring 20 and the second mating ring 21. Optionally, the first plate 1142 is chemically polished, and the specific process is to use an oxidant solution to oxidize the surface of the first plate 1142 under certain conditions, so that the surface of the first plate 1142 is gradually flattened to avoid scratching the first mating ring 20 and the second mating ring 21. Using chemical polishing to treat the first plate 1142 can protect the thin wall of the first plate 1142, avoid affecting the material stiffness, and make the first plate 1142 smooth and glossy. This type of polishing is simple to operate and has high processing efficiency.

[0044] Optionally, the second plate 1211 is polished, and the polishing method may be fluid polishing, mechanical polishing, ultrasonic polishing, chemical polishing, electrolytic polishing, etc. Polishing the second plate 1211 improves the smoothness of the second plate 1211 and avoids scratching the first mating ring 20 and the second mating ring 21. Optionally, the second plate 1211 is chemically polished, and the specific process is to use an oxidant solution to oxidize the surface of the second plate 1211 under certain conditions, so that the surface of the second plate 1211 is gradually flattened to avoid scratching the first mating ring 20 and the second mating ring 21. Using chemical polishing to treat the second plate 1211 can protect the thin wall of the second plate 1211, avoid affecting the material stiffness, and make the second plate 1211 smooth and glossy. This type of polishing is simple to operate and has high processing efficiency.

[0045] For example, the outer diameter of the second plate 1211 is smaller than the outer diameter of the first mating ring 20 and the second mating ring 21 after being connected, so that the first mating ring 20 and the second mating ring 21 can be easily disassembled after being clamped on the second plate 1211 .

[0046] Optionally, the first protrusion 1144 may be a polygonal protrusion, a circular protrusion, an elliptical protrusion, an irregular protrusion, etc. Optionally, the first protrusion 1144 may be, but is not limited to, a quadrilateral protrusion, a pentagonal protrusion, a hexagonal protrusion, an octagonal protrusion, a circular protrusion, an elliptical protrusion, etc.

[0047] Optionally, the second protrusion 1215 may be a polygonal protrusion, a circular protrusion, an elliptical protrusion, an irregular protrusion, etc. Optionally, the second protrusion 1215 may be, but is not limited to, a quadrilateral protrusion, a pentagonal protrusion, a hexagonal protrusion, an octagonal protrusion, a circular protrusion, an elliptical protrusion, etc.

[0048] Optionally, the first groove 1143 may be a polygonal groove, a circular groove, an elliptical groove, an irregular groove, etc. Optionally, the first groove 1143 may be, but not limited to, a quadrilateral groove, a pentagonal groove, a hexagonal groove, an octagonal groove, a circular groove, an elliptical groove, etc. Optionally, the second groove 1217 may be, but not limited to, a quadrilateral groove, a pentagonal groove, a hexagonal groove, an octagonal groove, a circular groove, an elliptical groove, etc. Optionally, the second groove 1217 may be, but not limited to, a quadrilateral groove, a pentagonal groove, a hexagonal groove, an octagonal groove, a circular groove, an elliptical groove, etc.

[0049] For example, the first plate 1142 abuts against the inner wall surface of the edge of the first matching ring 20 and the inner wall surface of the edge of the second matching ring 21 .

[0050] For example, the outer diameter of the first plate 1142 is smaller than the outer diameter of the first mating ring 20 and the second mating ring 21 after being connected, so that the first mating ring 20 and the second mating ring 21 can be easily disassembled after being clamped on the first plate 1142 .

[0051] In this way, by setting the first protrusion 1144 to cooperate with the second groove 1217 and the second protrusion 1215 to cooperate with the first groove 1143, the stability of the connection between the first mating piece 114 and the second mating piece 121 is improved, and the first mating ring 20 and the second mating ring 21 are simultaneously engaged with the first plate 1142 and the second plate 1211, thereby improving the stability of the first mating ring 20 and the second mating ring 21 in limiting the first plate 1142 and the second plate 1211.

[0052] In one embodiment, please refer to Figure 1 and Figure 2 The first matching piece 114 also includes a first connecting tube 1141, which is connected to the first plate 1142 in the axial direction of the third axis L3, and the first plate 1142 protrudes from the outer circumferential surface of the first connecting tube 1141 in the circumferential direction of the third axis L3; the second matching piece 121 also includes a second connecting tube 1212, which is connected to the second plate 1211 in the axial direction of the third axis L3, and the second plate 1211 protrudes from the outer circumferential surface of the second connecting tube 1212 in the circumferential direction of the third axis L3, and the inner circumferential wall of the first matching ring 20 and the second matching ring 21 is provided with a receiving groove 204, and the first plate 1142 and the second plate 1211 are accommodated in the receiving groove 204.

[0053] For example, the first plate 1142 protrudes from the outer circumference of the first connecting tube 1141 by a first preset distance in the circumferential direction of the third axis L3, and the second plate 1211 protrudes from the outer circumferential surface of the second connecting tube 1212 by a second preset distance in the circumferential direction of the third axis L3. The depth of the accommodating groove 204 is set according to needs and is not limited here.

[0054] In this way, the first plate 1142 is arranged to protrude from the outer circumferential surface of the first connecting tube 1141 in the circumferential direction of the third axis L3, and the second plate 1211 is arranged to protrude from the outer circumferential surface of the second connecting tube 1212 in the circumferential direction of the third axis L3, so that the first plate 1142 and the second plate 1211 are easier to cooperate with the first matching ring 20 and the second matching ring 21, and the inner circumferential walls of the first matching ring 20 and the second matching ring 21 are provided with a receiving groove 204, and the first plate 1142 and the second plate 1211 are accommodated in the receiving groove 204, thereby improving the stability of the limiting of the first plate 1142 and the second plate 1211.

[0055] In one embodiment, please refer to Figure 1 and Figure 2 The surface of the first plate 1142 facing away from the second plate 1211 has a first obtuse angle with the outer peripheral surface of the first connecting tube 1141, and the surface of the second plate 1211 facing away from the first plate 1142 has a second obtuse angle with the outer peripheral surface of the second connecting tube 1212. In the cross section of the first mating ring 20, the inner wall of the accommodating groove 204 forms a "V" shape and includes a first wall 2041 and a second wall 2042 opposite to each other. The first wall 2041 is in close contact with the surface of the first plate 1142 facing away from the second plate 1211, and the second wall 2042 is in close contact with the surface of the second plate 1211 facing away from the first plate 1142.

[0056] For example, during installation, since the surface of the first plate 1142 facing away from the second plate 1211 has a first obtuse angle with the outer circumference of the first connecting tube 1141, and the surface of the second plate 1211 facing away from the first plate 1142 has a second obtuse angle with the outer circumference of the second connecting tube 1212, it is easier for the first matching ring 20 and the second matching ring 21 to be inserted from the edges of the first plate 1142 and the second plate 1211. During disassembly, since the surface of the first plate 1142 facing away from the second plate 1211 has a first obtuse angle with the outer circumference of the first connecting tube 1141, and the surface of the second plate 1211 facing away from the first plate 1142 has a second obtuse angle with the outer circumference of the second connecting tube 1212, it is easier for the first matching ring 20 and the second matching ring 21 to be removed.

[0057] In this way, the surface of the first plate 1142 facing away from the second plate 1211 is arranged to have a first obtuse angle with the outer peripheral surface of the first connecting tube 1141, and the surface of the second plate 1211 facing away from the first plate 1142 is arranged to have a second obtuse angle with the outer peripheral surface of the second connecting tube 1212, so that the first matching ring 20 and the second matching ring 21 are easier to be disassembled and assembled on the first plate 1142 and the second plate 1211, so that the first wall 2041 is in close contact with the surface of the first plate 1142 facing away from the second plate 1211, and the second wall 2042 is in close contact with the surface of the second plate 1211 facing away from the first plate 1142, thereby improving the stability of the limiting of the first plate 1142 and the second plate 1211.

[0058] In one embodiment, please refer to Figure 1 , Figure 2 and Figure 3 A mounting hole 1146 penetrating the first plate 1142 is formed on at least a portion of the bottom wall of the first groove 1143 , and the diameter of the mounting hole 1146 is smaller than the distance between two adjacent first protrusions 1144 .

[0059] Optionally, mounting screws of the first plate 1142 may be inserted through the mounting holes 1146 .

[0060] Optionally, the mounting hole 1146 may be a polygonal hole, a circular hole, an elliptical hole, an irregular hole, etc. Optionally, the mounting hole 1146 may be, but is not limited to, a quadrilateral hole, a pentagonal hole, a hexagonal hole, an octagonal hole, a circular hole, an elliptical hole, etc.

[0061] In this way, a mounting hole 1146 penetrating the first plate 1142 is provided on the bottom wall of at least a portion of the first groove 1143, and the diameter of the mounting hole 1146 is smaller than the distance between two adjacent first protrusions 1144, thereby improving the convenience of disassembling and assembling the connecting parts of the first plate 1142 from the mounting hole 1146.

[0062] In one embodiment, please refer to Figure 1 and Figure 2 The first groove 1143 has a first opening and a second opening which are relatively arranged in the radial direction of the third axis L3. The second opening is closer to the outer edge of the first plate 1142 than the first opening, and the size of the second opening is larger than the size of the first opening.

[0063] In this way, the first groove 1143 is provided with a first opening and a second opening which are relatively arranged. The second opening is closer to the outer edge of the first plate 1142 than the first opening. The size of the second opening is larger than the size of the first opening, so that the second protrusion 1215 can gradually extend from the second opening to the first opening, thereby facilitating the connection and separation between the second protrusion 1215 and the first groove 1143.

[0064] In one embodiment, please refer to Figure 1 and Figure 2 The second fitting part 121 also includes a third plate 1213, and the third plate 1213 is connected to one end of the second connecting tube 1212 away from the second plate 1211. The third plate 1213 protrudes from the outer peripheral surface of the second connecting tube 1212 in the circumferential direction of the third axis L3. The second plate 1211, the second connecting tube 1212 and the third plate 1213 are surrounded to form a receiving groove. The thigh component 12 also includes a thigh shell 122, and the end of the thigh shell 122 is accommodated in the receiving groove so that the third plate 1213 is clamped with the thigh shell 122 in the axial direction of the third axis L3.

[0065] Optionally, the second plate 1211 , the second connecting tube 1212 , the third plate 1213 and the thigh shell 122 are an integrated structure, which improves the strength of the connection between the second plate 1211 , the second connecting tube 1212 and the third plate 1213 .

[0066] For example, the third board 1213 may be composed of multiple sub-boards, or may be a single board.

[0067] Optionally, the third plate 1213 is polished, and the polishing method may be fluid polishing, mechanical polishing, ultrasonic polishing, chemical polishing, electrolytic polishing, etc. Polishing the third plate 1213 improves the smoothness of the third plate 1213 and avoids scratching the first mating ring 20 and the second mating ring 21. Optionally, chemical polishing is used to treat the third plate 1213, which can protect the thin wall of the third plate 1213 and avoid affecting the material rigidity, so that the third plate 1213 is smooth and glossy. This type of polishing is simple to operate and has high processing efficiency.

[0068] In this way, the third plate 1213 is arranged to protrude from the outer circumferential surface of the second connecting tube 1212 in the circumferential direction of the third axis L3, and the second plate 1211, the second connecting tube 1212 and the third plate 1213 are enclosed to form a receiving groove, so that the end of the thigh shell 122 is accommodated in the receiving groove, so that the third plate 1213 and the thigh shell 122 are clamped in the axial direction of the third axis L3, thereby improving the stability of the connection between the third plate 1213 and the thigh shell 122.

[0069] In one embodiment, please refer to Figure 1 and Figure 2 The second matching piece 121 also includes a connecting rib 1219 , which is annular and connected to one end of the plurality of second protrusions 1215 away from the edge of the second plate 1211 .

[0070] Optionally, the connecting rib 1219 and the second plate 1211 are an integrated structure, which improves the strength of the connecting rib 1219 .

[0071] In this way, the connection rib 1219 is provided to be connected to one end of the plurality of second protrusions 1215 away from the edge of the second plate 1211 , thereby strengthening the connection between the plurality of second protrusions 1215 and improving the strength of the second protrusions 1215 .

[0072] In one embodiment, the plurality of first protrusions 1144 are arranged at equal intervals in the circumferential direction of the first plate 1142 , and the plurality of second protrusions 1215 are arranged at equal intervals in the circumferential direction of the second plate 1211 .

[0073] For example, the plurality of first protrusions 1144 are arranged at intervals of a first preset angle on the circumference of the first plate 1142, and the plurality of second protrusions 1215 are arranged at intervals of a second preset angle on the circumference of the second plate 1211. Optionally, the plurality of first protrusions 1144 are arranged at intervals of 30 degrees on the circumference of the first plate 1142, and the plurality of second protrusions 1215 are arranged at intervals of 30 degrees on the circumference of the second plate 1211.

[0074] In this way, multiple first protrusions 1144 are arranged at equal intervals in the circumferential direction of the first plate 1142, and multiple second protrusions 1215 are arranged at equal intervals in the circumferential direction of the second plate 1211, so that each first protrusion 1144 and each second protrusion 1215 are subjected to more uniform force when clamped.

[0075] In one embodiment, the first plate 1142 encloses a first hole 1147, and the second plate 1211 encloses a second hole 1218, and the first hole 1147 corresponds to the second hole 1218 in the axial direction of the third axis L3.

[0076] For example, the first hole 1147 can be used for routing or allowing parts to pass through, and the second hole 1218 can be used for routing or allowing parts to pass through.

[0077] Optionally, the first hole 1147 may be a polygonal hole, a circular hole, an elliptical hole, an irregular hole, etc. Optionally, the first hole 1147 may be, but not limited to, a quadrilateral hole, a pentagonal hole, a hexagonal hole, an octagonal hole, a circular hole, an elliptical hole, etc. Optionally, the second hole 1218 may be, but not limited to, a quadrilateral hole, a pentagonal hole, a hexagonal hole, an octagonal hole, a circular hole, an elliptical hole, etc. Optionally, the second hole 1218 may be, but not limited to, a quadrilateral hole, a pentagonal hole, a hexagonal hole, an octagonal hole, a circular hole, an elliptical hole, etc.

[0078] In this way, the first hole 1147 and the second hole 1218 are arranged to correspond to each other in the axial direction of the yaw drive component 113 , which improves the convenience of routing the first hole 1147 and the second hole 1218 or arranging other accessories.

[0079] Optional, please refer to Figure 1 , Figure 2 and Figure 4The first matching ring 20 includes a first curved plate 201, a connecting plate 202, and a second curved plate 203. One end of the connecting plate 202 is connected to the first curved plate 201, and the other end is connected to the second curved plate 203. The first curved plate 201 and the second curved plate 203 are spaced apart and opposite to each other in the axial direction of the yaw drive member 113. The first curved plate 201 is provided with a first wall 2041. The edges of the first curved plate 201 and the first plate 1142 are at the yaw drive member 113. Axially abutting, a second wall 2042 is provided on the second arc plate 203, the second arc plate 203 abuts against the edge of the second plate 1211 in the axial direction of the yaw drive member 113, the connecting plate 202 abuts against the edge of the first plate 1142 and the edge of the second plate 1211, the first arc plate 201, the connecting plate 202 and the second arc plate 203 are enclosed to form a receiving groove 204, and the receiving groove 204 accommodates the edge of the first plate 1142 and the edge of the second plate 1211.

[0080] For example, the first arc plate 201 is provided with a plurality of first weight-reducing holes, and the plurality of first weight-reducing holes are arranged at intervals in the circumferential direction of the first arc plate 201. Optionally, the plurality of first weight-reducing holes are arranged at equal intervals in the circumferential direction of the first arc plate 201.

[0081] For example, the second arc plate 203 is provided with a plurality of second weight-reducing holes, and the plurality of second weight-reducing holes are arranged at intervals in the circumferential direction of the second arc plate 203. Optionally, the plurality of second weight-reducing holes are arranged at equal intervals in the circumferential direction of the second arc plate 203.

[0082] In this way, the first matching ring 20 is provided to include a first arc plate 201, a connecting plate 202 and a second arc plate 203. The first arc plate 201 abuts against the edge of the first plate 1142 in the axial direction of the yaw drive member 113, the second arc plate 203 abuts against the edge of the second plate 1211 in the axial direction of the yaw drive member 113, the connecting plate 202 abuts against the edge of the first plate 1142 and the edge of the second plate 1211, thereby improving the stability of limiting the first plate 1142 and the second plate 1211. The first arc plate 201, the connecting plate 202 and the second arc plate 203 are combined to form a receiving groove 204, which accommodates the edge of the first plate 1142 and the edge of the second plate 1211, thereby further improving the stability of limiting the first plate 1142 and the second plate 1211.

[0083] In one embodiment, a plurality of first limiting grooves are provided on the first mating piece 114, and the plurality of first limiting grooves are arranged at intervals, and a plurality of first limiting protrusions are provided on the first mating ring 20 and the second mating ring 21, and each first limiting protrusion is matched with a first limiting groove in a one-to-one correspondence; and / or a plurality of second limiting grooves are provided on the second mating piece 121, and the plurality of second limiting grooves are arranged at intervals, and a plurality of second limiting protrusions are provided on the first mating ring 20 and the second mating ring 21, and each second limiting protrusion is matched with a second limiting groove in a one-to-one correspondence.

[0084] Optionally, a plurality of first limiting protrusions are disposed on the wall surface of the first wall 2041. Optionally, a plurality of second limiting protrusions are disposed on the wall surface of the second wall 2042.

[0085] Optionally, a plurality of first limiting grooves are arranged at equal intervals, a plurality of first limiting protrusions are arranged at equal intervals, and each first limiting protrusion cooperates with a first limiting groove in a one-to-one correspondence.

[0086] Optionally, a plurality of second limiting protrusions are arranged at equal intervals, a plurality of second limiting grooves are arranged at equal intervals, and each second limiting protrusion is matched with a second limiting groove in a one-to-one correspondence.

[0087] Optionally, a first limiting groove is provided on the surface of the first plate 1142 facing away from the second plate 1211, and a first limiting protrusion is provided on the inner wall surface of the accommodating groove 204 in the direction of the third axis L3, and the first limiting protrusion cooperates with the first limiting groove; and / or, a second limiting groove is provided on the surface of the second plate 1211 facing away from the first plate 1142, and a second limiting protrusion is provided on the inner wall surface of the accommodating groove 204 in the direction of the third axis L3, and the second limiting protrusion cooperates with the second limiting groove.

[0088] Optionally, a plurality of first limiting protrusions are provided on the first mating piece 114, and the plurality of first limiting protrusions are arranged at intervals, and a plurality of first limiting grooves are provided on the first mating ring 20 and the second mating ring 21, and each first limiting protrusion is matched with a first limiting groove in a one-to-one correspondence; and / or, a plurality of second limiting protrusions are provided on the second mating piece 121, and the plurality of second limiting protrusions are arranged at intervals, and a plurality of second limiting grooves are provided on the first mating ring 20 and the second mating ring 21, and the plurality of second limiting grooves are arranged at intervals, and each second limiting protrusion is matched with a second limiting groove in a one-to-one correspondence.

[0089] In this way, a first limiting protrusion is provided to cooperate with the first limiting groove; and / or, a second limiting protrusion is provided to cooperate with the second limiting groove, so that the first matching ring 20 and the second matching ring 21 are both tightly connected to the first matching piece 114, avoiding the first matching ring 20 and the second matching ring 21 from sliding or rotating on the first matching piece 114, thereby improving the stability of the connection; and / or, the first matching ring 20 and the second matching ring 21 are both tightly connected to the second matching piece 121, avoiding the first matching ring 20 and the second matching ring 21 from sliding or rotating on the second matching piece 121, thereby improving the stability of the connection.

[0090] The embodiment of the present application also provides a humanoid robot, comprising the lower limb device 10 as described above.

[0091] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship of the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0092] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A lower limb device (10), characterized in that: For humanoid robots, including: A hip joint assembly (11) comprises a pitch drive component (111), a roll drive component (112), a yaw drive component (113) and a first matching component (114), wherein the pitch drive component (111) is rotatably connected to the roll drive component (112), the pitch drive component (111) is used to drive the roll drive component (112) to rotate around a first axis (L1), the first axis (L1) and a plane formed by a front-to-back direction and a left-to-right direction of the humanoid robot have an inclined angle, and the roll drive component (113) is used to rotate around a first axis (L1) and a plane formed by a front-to-back direction and a left-to-right direction of the humanoid robot. The first matching component (114) is connected to the output end of the yaw driving component (113), and the yaw driving component (113) is used to drive the first matching component (114) to rotate around a third axis (L3). The first axis (L1), the second axis (L2), and the third axis (L3) intersect each other. A thigh component (12) comprises a second matching piece (121), wherein one of the second matching piece (121) and the first matching piece (114) is provided with a protrusion, and the other is provided with a groove, and the protrusion cooperates with the groove so that the second matching piece (121) and the first matching piece (114) are relatively fixed in the circumferential direction of the third axis (L3); The first matching ring (20) and the second matching ring (21) are respectively sleeved on different positions of the outer circumference of the second matching piece (121) and the first matching piece (114); the first matching ring (20) and the second matching ring (21) are detachably connected to connect and fix the second matching piece (121) and the first matching piece (114) in the axial direction of the third axis (L3).

2. The lower limb device (10) according to claim 1, characterized in that: The protrusions include a first protrusion (1144) and a second protrusion (1215), and the grooves include a first groove (1143) and a second groove (1217); The first matching member (114) comprises a first plate (1142) and a plurality of first protrusions (1144); the first plate (1142) is annular; the plurality of first protrusions (1144) are arranged on the first plate (1142) at intervals along the circumferential direction of the third axis (L3); and the space between two adjacent first protrusions (1144) forms the first groove (1143); The second matching member (121) comprises a second plate (1211) and a plurality of second protrusions (1215); the second plate (1211) is annular; the plurality of second protrusions (1215) are arranged on the second plate (1211) at intervals along the circumferential direction of the third axis (L3); and the space between two adjacent second protrusions (1215) forms the second groove (1217); The first plate (1142) and the second plate (1211) are arranged opposite to each other, the first protrusion (1144) cooperates with the second groove (1217), the second protrusion (1215) cooperates with the first groove (1143), and the first matching ring (20) and the second matching ring (21) are simultaneously clamped with the first plate (1142) and the second plate (1211).

3. The lower limb device (10) according to claim 2, characterized in that: The first matching component (114) further comprises a first connecting tube (1141), wherein the first connecting tube (1141) is connected to the first plate (1142) in the axial direction of the third axis (L3), and the first plate (1142) protrudes from the outer peripheral surface of the first connecting tube (1141) in the circumferential direction of the third axis (L3); the second matching component (121) further comprises a second connecting tube (1212), wherein the second connecting tube (1212) is connected to the second plate (1211) in the axial direction of the third axis (L3), and the second plate (1211) protrudes from the outer peripheral surface of the second connecting tube (1212) in the circumferential direction of the third axis (L3); the inner peripheral walls of the first matching ring (20) and the second matching ring (21) are provided with a receiving groove (204), and the first plate (1142) and the second plate (1211) are accommodated in the receiving groove (204).

4. The lower limb device (10) according to claim 3, characterized in that: The surface of the first plate (1142) facing away from the second plate (1211) has a first obtuse angle with the outer peripheral surface of the first connecting tube (1141), and the surface of the second plate (1211) facing away from the first plate (1142) has a second obtuse angle with the outer peripheral surface of the second connecting tube (1212). In the cross section of the first matching ring (20), the inner wall of the accommodating groove (204) forms a "V" shape and includes a first wall (2041) and a second wall (2042) opposite to each other. The first wall (2041) is in close contact with the surface of the first plate (1142) facing away from the second plate (1211), and the second wall (2042) is in close contact with the surface of the second plate (1211) facing away from the first plate (1142).

5. The lower limb device (10) according to claim 2, characterized in that: A mounting hole (1146) penetrating the first plate (1142) is provided on the bottom wall of at least part of the first groove (1143), and the diameter of the mounting hole (1146) is smaller than the distance between two adjacent first protrusions (1144).

6. The lower limb device (10) according to claim 2, characterized in that: The first groove (1143) has a first opening and a second opening which are arranged opposite to each other in the radial direction along the third axis (L3), the second opening being closer to the outer edge of the first plate (1142) than the first opening, and the size of the second opening being larger than the size of the first opening.

7. The lower limb device (10) according to claim 3, characterized in that: The second matching piece (121) further comprises a third plate (1213), the third plate (1213) being connected to one end of the second connecting tube (1212) away from the second plate (1211), the third plate (1213) protruding from the outer peripheral surface of the second connecting tube (1212) in the circumferential direction of the third axis (L3), the second plate (1211), the second connecting tube (1212) and the third plate (1213) forming a receiving groove (1214), and the thigh component (12) further comprises a thigh shell (122), an end of the thigh shell (122) being received in the receiving groove (1214), so that the third plate (1213) is clamped with the thigh shell (122) in the axial direction of the third axis (L3).

8. The lower limb device (10) according to claim 2, characterized in that: The second matching piece (121) further comprises a connecting rib (1219), wherein the connecting rib (1219) is ring-shaped and connected to one end of the plurality of second protrusions (1215) away from an edge of the second plate (1211).

9. The lower limb device (10) according to claim 2, characterized in that: A plurality of the first protrusions (1144) are arranged at equal intervals in the circumferential direction of the first plate (1142), and a plurality of the second protrusions (1215) are arranged at equal intervals in the circumferential direction of the second plate (1211).

10. The lower limb device (10) according to claim 2, characterized in that: The first plate (1142) encloses a first hole (1147), and the second plate (1211) encloses a second hole (1218), and the first hole (1147) and the second hole (1218) correspond to each other in the axial direction of the third axis (L3).

11. The lower limb device (10) according to claim 1, characterized in that: The first mating piece (114) is provided with a plurality of first limiting grooves, the plurality of first limiting grooves are arranged at intervals, the first mating ring (20) and the second mating ring (21) are provided with a plurality of first limiting protrusions, each of the first limiting protrusions is matched with a first limiting groove in a one-to-one correspondence; and / or the second mating piece (121) is provided with a plurality of second limiting grooves, the plurality of second limiting grooves are arranged at intervals, the first mating ring (20) and the second mating ring (21) are provided with a plurality of second limiting protrusions, each of the second limiting protrusions is matched with a second limiting groove in a one-to-one correspondence.

12. A humanoid robot, characterized in that: Comprising a lower limb device (10) as claimed in any one of claims 1 to 11.

Images