Robot lower limb mechanism and bionic robot

Abstract

The invention discloses a robot lower limb mechanism and a bionic robot. The robot lower limb mechanism comprises a hip joint support, a leg assembly and a first driving assembly, the leg assembly comprises a thigh support and a shank support, one end of the leg support is rotationally connected to the hip joint support, the other end of the leg support is rotationally connected to the shank support, and the first driving assembly comprises a first telescopic driving part and a second telescopic driving part; one end of the first telescopic driving piece is rotationally connected to the thigh support, the other end is rotationally connected to the hip joint support, one end of the second telescopic driving piece is rotationally connected to the shank support, and the other end is rotationally connected to the hip joint support. The second driving assembly of the robot lower limb mechanism is simple in structure, the overall weight of the driving structure can be effectively reduced, and the driving efficiency of the leg assembly is higher.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and more specifically, to a robot lower limb mechanism and a bionic robot. Background Art

[0002] In the related technologies, bionic robots are an important branch of robotics technology, and the design and driving method of their lower limbs are one of the key factors. At present, the lower limbs of robots using electric drive joints have the problem of low energy density, resulting in poor load-bearing capacity. Therefore, hydraulic drive has been widely used in lower limb design due to its powerful force output and precise control. However, the overall structure of the drive system of the existing bionic robot lower limb mechanism is relatively complex and heavy, which affects the driving efficiency.

[0003] Therefore, it is necessary to provide a new technical solution to solve the above technical problems. Summary of the invention

[0004] An object of the present invention is to provide a new technical solution for the lower limb mechanism of a robot.

[0005] According to a first aspect of the present invention, a robot lower limb mechanism is provided. The robot lower limb mechanism comprises: a hip joint support, a leg assembly and a first drive assembly; the leg assembly comprises a thigh support and a calf support, one end of the leg support is rotatably connected to the hip joint support, and the other end is rotatably connected to the calf support; the first drive assembly comprises a first telescopic drive member and a second telescopic drive member, one end of the first telescopic drive member is rotatably connected to the thigh support, and the other end is rotatably connected to the hip joint support, and one end of the second telescopic drive member is rotatably connected to the calf support, and the other end is rotatably connected to the hip joint support.

[0006] Optionally, the hip joint support is provided with a first rotating shaft, the thigh support is connected to the first rotating shaft, and the second telescopic driving member is rotationally connected to the first rotating shaft.

[0007] Optionally, the hip joint support is further provided with a second rotating shaft, and the first telescopic driving member is rotatably connected to the second rotating shaft.

[0008] Optionally, the first telescopic driving member is connected to the middle portion of the second rotating shaft, and the second telescopic driving member is connected to the middle portion of the first rotating shaft.

[0009] Optionally, the hip joint support is provided with a first avoidance groove, one end of the first telescopic driving member is arranged in the first avoidance groove, and the second rotating shaft is passed through one end of the first telescopic driving member.

[0010] Optionally, a third rotating shaft is provided at one end of the thigh support away from the hip joint support, one end of the first telescopic driving member away from the second rotating shaft is rotatably connected to the third rotating shaft, and the calf support is connected to the third rotating shaft.

[0011] Optionally, the robot lower limb mechanism also includes a first angle detection device, which is used to detect the rotation angle of the thigh support.

[0012] Optionally, the robot lower limb mechanism further includes a second drive assembly and a pelvic support, wherein the second drive assembly is mounted on the pelvic support, and the second drive assembly can drive the hip joint support to rotate.

[0013] Optionally, the second driving assembly includes a first motor, the first motor is mounted on the pelvic support, and the output shaft of the first motor is connected to the hip joint support.

[0014] Optionally, the first motor is rotatably mounted on the pelvic support, and the second driving assembly further includes a second motor, which is located on one side of the first motor in the radial direction and can drive the first motor to rotate.

[0015] Optionally, the output shaft of the first motor is arranged perpendicular to the output shaft of the second motor.

[0016] Optionally, the robot lower limb mechanism further includes a foot, and the calf support is rotatably connected to the foot at one end away from the thigh support.

[0017] Optionally, the calf support is connected to the foot via a universal joint.

[0018] Optionally, the first drive assembly further comprises a third telescopic drive member, one end of the third telescopic drive member being rotatably connected to the calf support, and the other end of the third telescopic drive member being rotatably connected to the foot.

[0019] Optionally, the calf support is connected to the foot via a universal joint, and two third telescopic driving members are provided, and the two third telescopic driving members are located on both sides of the universal joint.

[0020] Optionally, the foot is provided with a fifth rotating shaft, one end of the third telescopic driving member is connected to a joint bearing, and the joint bearing is sleeved on the fifth rotating shaft.

[0021] Optionally, the first telescopic driving member and / or the second telescopic driving member is a hydraulic cylinder.

[0022] According to a second aspect of the present invention, a bionic robot is provided, which comprises the robot lower limb mechanism of the above embodiment.

[0023] One technical effect of the present application is that the robot lower limb mechanism includes a hip joint support, a leg assembly and a first drive assembly, and the bending and extension of the leg assembly are achieved by the second drive assembly driving the thigh support and the calf support to rotate. The second drive assembly of the robot lower limb mechanism of the present application has a simple structure, which can effectively reduce the overall weight of the drive structure, making the leg assembly more efficient.

[0024] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0026] Figure 1 It is a schematic diagram of the structure of the robot lower limb mechanism of an embodiment of the present application.

[0027] Figure 2 It is a structural schematic diagram of the robot lower limb mechanism from another perspective of an embodiment of the present application.

[0028] Figure 3 It is a side view of the robot lower limb mechanism of an embodiment of the present application.

[0029] Figure 4 It is a schematic diagram of the structural decomposition of the second drive component of an embodiment of the present application.

[0030] Figure 5 It is a side view of the robot lower limb mechanism of an embodiment of the present application.

[0031] Reference numerals:

[0032] 1. Second driving assembly; 11. First motor; 111. Rotating frame; 12. Second motor; 121. Second output shaft;

[0033] 2. Hip joint support; 21. First rotating shaft; 22. Second rotating shaft; 23. First avoidance groove; 24. Second avoidance groove;

[0034] 3. Leg assembly; 31. Thigh support; 311. Third rotating shaft; 32. Calf support; 321. Fourth rotating shaft;

[0035] 4. First drive assembly; 41. First telescopic drive member; 42. Second telescopic drive member; 43. Third telescopic drive member; 431. Joint bearing;

[0036] 5. Foot; 51. Fifth axis;

[0037] 6. First angle detection device; 7. Pelvic support; 71. First mounting portion; 72. Second mounting portion; 8. Universal joint; 9. Second angle detection device. DETAILED DESCRIPTION

[0038] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0039] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0040] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0041] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0042] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0043] According to an embodiment of the first aspect of the present application, a robot lower limb mechanism is provided. Figures 1 to 5 The robot lower limb mechanism includes: a hip joint support 2, a leg assembly 3 and a first drive assembly 4; the leg assembly 3 includes a thigh support 31 and a calf support 32, one end of the leg support is rotatably connected to the hip joint support 2, and the other end is rotatably connected to the calf support 32; the first drive assembly 4 includes a first telescopic drive member 41 and a second telescopic drive member 42, one end of the first telescopic drive member 41 is rotatably connected to the thigh support 31, and the other end is rotatably connected to the hip joint support 2, one end of the second telescopic drive member 42 is rotatably connected to the calf support 32, and the other end is rotatably connected to the hip joint support 2.

[0044] The robot lower limb mechanism includes a hip joint support 2, a leg assembly 3 and a first drive assembly 4. The bending and extension of the leg assembly 3 are achieved by the second drive assembly 1 driving the thigh support 31 and the calf support 32 to rotate. The second drive assembly 1 of the robot lower limb mechanism of the present application has a simple structure, which can effectively reduce the overall weight of the drive structure, making the leg assembly 3 more efficient.

[0045] In some embodiments, reference Figures 1 to 3 The first telescopic drive member 41 and the second telescopic drive member 42 are linear drive devices. One end of the thigh support 31 is rotatably connected to the hip joint support 2, one end of the first telescopic drive member 41 is rotatably connected to the thigh support 31, and the other end is rotatably connected to the hip joint support 2. The first telescopic drive member 41 can extend or contract, thereby driving the thigh support 31 to rotate around the hip joint support 2 to achieve actions such as lifting or lowering the legs.

[0046] Reference Figures 1 to 3 One end of the calf support 32 is rotatably connected to the end of the thigh support 31 away from the hip joint support 2 to form a leg structure. One end of the second telescopic driving member 42 is rotatably connected to the calf support 32, and the other end is rotatably connected to the hip joint support 2. The second telescopic driving member 42 can be extended or contracted, thereby driving the calf support 32 to rotate around one end of the thigh support 31 to achieve actions such as the calf hooking the leg or the calf extending forward.

[0047] The first telescopic driving member 41 and the second telescopic driving member 42 of the first driving assembly 4 can cooperate with each other to respectively drive the thigh support 31 and the calf support 32 to rotate, so as to realize the walking and other actions of the leg assembly 3. For example, the first telescopic driving member 41 contracts to drive the thigh support 31 to rotate upward, so as to realize the leg lifting action, and the second telescopic support extends to drive the calf support 32 to rotate forward, so as to move the center of gravity of the leg assembly 3 forward, so as to realize the walking forward action.

[0048] The leg assembly 3 is driven by the first drive assembly 4. The first drive assembly 4 of the present application has a simple structure, which makes the drive reliability higher and is easy to install. It can also effectively reduce the overall weight of the drive structure, making the driving efficiency of the leg assembly 3 higher.

[0049] In some embodiments, reference Figure 1 , the first telescopic driving member 41 can be a first hydraulic cylinder. For example, the end of the cylinder body of the first hydraulic cylinder is rotatably connected to the thigh support 31, and the end of the piston rod of the first hydraulic cylinder is rotatably connected to the hip joint support 2. The first telescopic driving member 41 of the present application adopts a hydraulic cylinder, which has a simple structure, is easy to install, and has a high driving efficiency.

[0050] And, refer to Figure 2 The second telescopic driving member 42 may be a second hydraulic cylinder. For example, the end of the cylinder body of the second hydraulic cylinder is rotatably connected to the hip joint support 2, and the end of the piston rod of the second hydraulic cylinder is rotatably connected to the calf support 32.

[0051] Of course, the first telescopic drive member 41 and the second telescopic drive member 42 may also be other linear drive mechanisms, for example, a pneumatic cylinder or an electric cylinder. The first telescopic drive member 41 and the second telescopic drive member 42 may also be different types of linear drive mechanisms. The types of the first telescopic drive member 41 and the second telescopic drive member 42 are not specifically limited here, and those skilled in the art may select according to actual conditions.

[0052] In some embodiments of the present application, reference Figures 1 to 3 The robot lower limb mechanism has two legs to form a bipedal robot. That is, it has two groups of leg components 3, each group of leg components 3 is correspondingly provided with a first driving component 4, and the two legs cooperate with each other to complete the robot's walking action.

[0053] According to some embodiments of the present application, referring to Figure 1 and Figure 2 The hip joint support 2 is provided with a first rotating shaft 21 , the thigh support 31 is connected to the first rotating shaft 21 , and the second telescopic driving member 42 is rotationally connected to the first rotating shaft 21 .

[0054] Reference Figure 2 A first rotating shaft 21 is provided on one side of the hip joint support 2, and one end of the thigh support 31 is connected to the first rotating shaft 21 and can rotate around the first rotating shaft 21. One end of the second telescopic driving member 42 is rotatably connected to the first rotating shaft 21. The hip joint support 2 is provided with a first rotating shaft 21 for connecting the thigh support 31 and the second telescopic driving member 42, so that the connection between the first driving component 4 and the leg component 3 is more compact and the structural layout is more reasonable.

[0055] Reference Figure 2 In some embodiments of the present application, the thigh support 31 includes two spaced mounting plates, which can be clamped on both sides of the hip support 2, and the second telescopic driving member 42 is located between the two mounting plates. One end of the first rotating shaft 21 can pass through the mounting plate and the hip support 2 in sequence and be connected to the other mounting plate, so that the thigh support 31 is rotatably connected to the hip support 2.

[0056] Reference Figure 2 The hip joint support 2 is provided with a second avoidance groove 24, that is, an avoidance gap, and one end of the second telescopic driving member 42 can be inserted into the avoidance gap, and the first rotating shaft 21 can be passed through the end of the second telescopic driving member 42, so that one end of the second telescopic driving member 42 can be rotatably connected to the first rotating shaft 21.

[0057] The second telescopic driving member 42 can be arranged in the middle of the two mounting plates, that is, the second telescopic driving member 42 can be located in the middle of the thigh support 31. The other end of the second telescopic driving member 42 can also be connected to the middle of the calf support 32 along the width direction, so that the second driving member can drive the calf support 32 to rotate more smoothly, improve the flexibility of the calf support 32 to rotate, and thus improve the flexibility of the leg assembly 3 to move.

[0058] In some embodiments of the present application, reference Figure 2 The robot lower limb mechanism also includes a first angle detection device 6, which is used to detect the rotation angle of the thigh support 31.

[0059] Reference Figure 2 The thigh support 31 is connected to a first angle detection device 6, and the first detection device is connected to the thigh support 31. The first angle detection device 6 can detect the rotation angle of the thigh support 31 around the first rotation axis 21 to improve the rotation accuracy of the thigh support 31. The first angle detection device 6 can be a potentiometer, or it can also be other types of angular displacement sensors, such as a variable resistance angle sensor or a magnetoresistive angle sensor. Those skilled in the art can choose according to actual conditions, and no specific limitation is made here.

[0060] In some embodiments of the present application, reference Figure 2 , the robot lower limb mechanism also includes a second angle detection device 9. The second angle detection device 9 is connected to the calf support 32, and is used to detect the rotation angle of the calf support 32 around the third rotation axis 311, that is, the rotation angle of one end of the calf support 32 around the thigh support 31, so as to improve the rotation accuracy of the calf support 32. Among them, the second angle detection device 9 can be a potentiometer, or it can also be other types of angular displacement sensors, such as a variable resistance angle sensor or a magnetoresistive angle sensor. Those skilled in the art can choose according to actual conditions, and no specific limitation is made here.

[0061] According to some embodiments of the present application, referring to Figure 1 The hip joint support 2 is also provided with a second rotating shaft 22 , and the first telescopic driving member 41 is rotationally connected to the second rotating shaft 22 .

[0062] According to some embodiments of the present application, the first rotating shaft 21 and the second rotating shaft 22 are symmetrically arranged on both sides of the hip joint support 2, and the first rotating shaft 21 and the second rotating shaft 22 can be arranged in parallel so that the first driving component 4 drives the leg component 3 to rotate more smoothly and improves flexibility.

[0063] According to some embodiments of the present application, the first telescopic driving member 41 is connected to the middle portion of the second rotating shaft 22 , and the second telescopic driving member 42 is connected to the middle portion of the first rotating shaft 21 .

[0064] Reference Figure 1 and Figure 2 The hip joint support 2 is also provided with a first avoidance groove 23, which is arranged opposite to the second avoidance groove 24. The first avoidance groove 23 is also an avoidance gap, one end of the first telescopic driving member 41 is arranged in the first avoidance groove 23, and the second rotating shaft 22 is passed through one end of the first telescopic driving member 41. That is, one end of the first telescopic driving member 41 extends into the avoidance gap, and one end of the second rotating shaft 22 can be passed through the ends of the hip joint support 2 and the first telescopic driving member 41, so that the first telescopic driving member can be rotatably connected to the second rotating shaft 22.

[0065] According to some embodiments of the present application, referring to Figure 1 A third rotating shaft 311 is provided at one end of the thigh support 31 away from the hip joint support 2, and one end of the first telescopic driving member 41 away from the second rotating shaft 22 is rotatably connected to the third rotating shaft 311, and the calf support 32 is connected to the third rotating shaft 311.

[0066] Reference Figure 1 The thigh support 31 is provided with a third rotating shaft 311 at one end away from the hip joint support 2, and one end of the calf support 32 is rotatably connected to the third rotating shaft 311. That is, the two mounting plates of the thigh support 31 can be clamped on both sides of the calf support 32, and one end of the third rotating shaft 311 can be passed through the mounting plate and the calf support 32, and connected to the mounting plate on the other side, so that one end of the calf support 32 is rotatably connected to one end of the thigh support 31.

[0067] Reference Figure 1 The end of the calf support 32 is provided with an escape notch, and the end of the first telescopic driving member 41 away from the second rotating shaft 22 can extend into the escape notch. When the third rotating shaft 311 passes through the calf support 32, it can also pass through the end of the first telescopic driving member 41, so that the first telescopic driving member 41 can be rotatably connected to the third rotating shaft 311.

[0068] The avoidance gap may be provided at the middle of the calf support 32 along the width direction, so that the first telescopic driving member 41 can be connected to the middle position of the third rotating shaft 311 .

[0069] According to some embodiments of the present application, referring to Figures 1 to 5 The robot lower limb mechanism also includes a second driving component 1 and a pelvic support 7. The second driving component 1 is installed on the pelvic support 7, and the second driving component 1 can drive the hip joint support 2 to rotate.

[0070] In some embodiments, the output end of the second driving mechanism is connected to the hip joint support 2, and can drive the hip joint support 2 to rotate, thereby driving the entire leg assembly 3 to rotate. For example, the leg assembly 3 can be driven to rotate or swing sideways.

[0071] According to some embodiments of the present application, referring to Figure 1 and Figure 4 The second driving assembly 1 includes a first motor 11, the first motor 11 is installed on the pelvic support 7, and the output shaft of the first motor 11 is connected to the hip joint support 2.

[0072] Reference Figure 1 The second driving assembly 1 includes a first motor 11, which is mounted on the pelvic support 7. The first output shaft of the first motor 11 is connected to the hip support 2, and can drive the hip support 2 to rotate, thereby driving the leg assembly 3 to rotate as a whole.

[0073] Reference Figure 1 In some embodiments of the present application, the first output shaft of the first motor 11 is vertically arranged, so that the first motor 11 can drive the leg assembly 3 to rotate with the first output shaft as the axis.

[0074] According to some embodiments of the present application, referring to Figure 1 and Figure 4 The first motor 11 is rotatably mounted on the pelvic support 7, and the second driving assembly 1 also includes a second motor 12. The second motor 12 is located on one side of the first motor 11 along the radial direction and can drive the first motor 11 to rotate.

[0075] Reference Figure 4 The first motor 11 is rotatably mounted on the pelvic support 7, and the second motor 12 is fixedly mounted on the pelvic support 7 and is located on one side of the first motor 11 in the radial direction. The second output shaft 121 of the second motor 12 is connected to the first motor 11, so that the second motor 12 can drive the first motor 11 to rotate, thereby driving the leg assembly 3 to rotate around the second output shaft 121.

[0076] Reference Figure 1 When the second motor 12 drives the first motor 11 to rotate, it can drive the leg assembly 3 to rotate around the second output shaft 121, that is, it can make the leg assembly 3 swing left and right.

[0077] According to some embodiments of the present application, the second motor 12 is located on one side of the first motor 11 , and the output shaft of the first motor 11 is perpendicularly arranged to the output shaft of the second motor 12 .

[0078] Reference Figure 4In some embodiments of the present application, the second driving assembly 1 further comprises a rotating frame 111, and the first motor 11 is mounted on the rotating frame 111. The rotating frame 111 is rotatably mounted on the pelvic support 7, and the second output shaft 121 of the second motor 12 is connected to the rotating frame 111 to drive the rotating frame 111 to rotate, thereby driving the first motor 11 to rotate around the second output shaft 121 as the axis.

[0079] Reference Figure 4 In some embodiments of the present application, the pelvic support 7 is relatively provided with a first mounting portion 71 and a second mounting portion 72. The rotating frame 111 is located between the first mounting portion 71 and the second mounting portion 72, and is rotatably connected to the first mounting portion 71 and the second mounting portion 72. The second motor 12 is fixedly mounted on an end of the first mounting portion 71 away from the first motor 11, and the second output shaft 121 can be passed through the first mounting portion 71 and connected to the rotating frame 111 to drive the rotating frame 111 to rotate. Among them, the first mounting portion 71 and the second rotating portion can be set as a mounting plate structure. The two mounting plates are respectively provided with annular protrusions facing the rotating frame 111, and the two ends of the rotating frame 111 can be respectively sleeved on the annular protrusions and can rotate relative to the annular protrusions.

[0080] Refer to Figure 5 In some embodiments of the present application, the bionic machine may be a humanoid robot. That is, the lower limb mechanism of the robot has two legs. A first mounting portion 71 and a second mounting portion 72 are respectively provided on both sides of the pelvis for mounting the second drive assembly 1 to drive the two legs to move respectively. A support plate is provided in the middle of the pelvic support 7 for mounting and supporting the upper part of the bionic robot.

[0081] According to some embodiments of the present application, referring to Figures 1 to 3 The robot lower limb mechanism also includes a foot 5, and the calf support 32 is rotatably connected to the foot 5 at one end away from the thigh support 31.

[0082] In some embodiments of the present application, one end of the calf support 32 away from the thigh support 31 is connected to the foot 5. The calf support 32 can be connected to the foot 5 through a universal joint 8. The universal joint 8 is a universal joint, which is a component that realizes variable angle power transmission. The calf support 32 and the foot 5 are connected through the universal joint 8, so that the calf support 32 can rotate relative to the foot 5, and the foot 5 can also complete the action of turning left and right.

[0083] According to some embodiments of the present application, referring to Figures 1 to 3 The first driving assembly 4 also includes a third telescopic driving member 43, one end of the third telescopic driving member 43 is rotatably connected to the calf support 32, and the other end is rotatably connected to the foot 5.

[0084] In some embodiments of the present application, one end of the third telescopic driving member 43 is rotatably connected to the calf support 32, and the other end is rotatably connected to the foot 5. Figure 1 The third telescopic driving member 43 can be connected to the heel position of the foot 5. The third telescopic driving member 43 can drive the foot 5 to rotate relative to the calf support 32 by extending or contracting.

[0085] The third telescopic driving member 43 is a linear driving mechanism and can be a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

[0086] Of course, the structure of the third telescopic driving member 43 is not limited to the above embodiment, and those skilled in the art may select it according to actual conditions.

[0087] According to some embodiments of the present application, referring to Figure 2 The calf support 32 is connected to the foot 5 via a universal joint 8 , and two third telescopic driving members 43 are provided, and the two third telescopic driving members 43 are located on both sides of the universal joint 8 .

[0088] Reference Figure 2 There are two third telescopic driving members 43, and the two third telescopic driving members 43 are arranged on both sides of the universal joint 8. The two third telescopic driving members 43 simultaneously drive the foot 5 to rotate, which can improve the stability of the rotation of the foot 5.

[0089] The two third driving members may be symmetrically arranged on both sides of the universal joint 8 .

[0090] Reference Figure 2 The foot 5 is provided with an avoidance groove, one end of the third telescopic driving member 43 is arranged in the avoidance groove, and the fifth rotating shaft 51 can pass through the joint bearing 431 at the end of the third telescopic driving member 43.

[0091] According to some embodiments of the present application, referring to Figure 2 The foot 5 is provided with a fifth rotating shaft 51 , one end of the third telescopic driving member 43 is connected with a joint bearing 431 , and the joint bearing 431 is sleeved on the fifth rotating shaft 51 .

[0092] Reference Figure 2 One end of the third telescopic driving member 43 can be rotatably connected to the fifth rotating shaft 51 of the foot 5 through the joint bearing 431. That is, one end of the third telescopic driving member 43 is connected to the outer ring of the joint bearing 431, and the inner ring of the joint bearing 431 is sleeved on the fifth rotating shaft 51.

[0093] When the extension amounts of the two third telescopic driving members 43 are the same, the foot 5 can be driven to rotate. When the extension amounts of the two third telescopic driving members 43 are different, the foot 5 can be driven to flip sideways.

[0094] In some embodiments of the present application, reference Figure 2 The calf support 32 is also provided with a fourth rotating shaft 321, and one end of the third telescopic driving member 43 is rotatably connected to the fourth rotating shaft 321. A raised connecting portion is provided in the middle portion of the calf support 32 along the width direction, and both ends of the fourth rotating shaft 321 are respectively penetrated through the connecting portion, and the third telescopic driving member 43 is respectively connected to both ends of the fourth rotating shaft 321.

[0095] In some embodiments of the present application, the rotatably connected components can be rotatably connected via rolling bearings to improve the smoothness of the rotation of each component. For example, the thigh support 31 can be connected to the first rotating shaft 21 via a rolling bearing, and the calf support 32 can be connected to the third rotating shaft 311 via a rolling bearing.

[0096] According to the second aspect of the present invention, a bionic robot is provided. The bionic robot includes the robot lower limb mechanism of the above embodiment. The robot lower limb mechanism includes: a hip joint support 2, a leg assembly 3 and a first drive assembly 4; the leg assembly 3 includes a thigh support 31 and a calf support 32, one end of the leg support is rotatably connected to the hip joint support 2, and the other end is rotatably connected to the calf support 32; the first drive assembly 4 includes a first telescopic drive member 41 and a second telescopic drive member 42, one end of the first telescopic drive member 41 is rotatably connected to the thigh support 31, and the other end is rotatably connected to the hip joint support 2, and one end of the second telescopic drive member 42 is rotatably connected to the calf support 32, and the other end is rotatably connected to the hip joint support 2.

[0097] The robot lower limb mechanism includes a hip joint support 2, a leg assembly 3 and a first drive assembly 4. The bending and extension of the leg assembly 3 are achieved by the second drive assembly 1 driving the thigh support 31 and the calf support 32 to rotate. The second drive assembly 1 of the robot lower limb mechanism of the present application has a simple structure, which can effectively reduce the overall weight of the drive structure, making the leg assembly 3 more efficient.

[0098] In some embodiments of the present application, the bionic machine may be a humanoid robot or the like.

[0099] The above embodiments focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0100] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A robot lower limb mechanism, characterized in that: include: Hip braces (2); A leg assembly (3), comprising a thigh support (31) and a calf support (32), wherein one end of the leg support is rotatably connected to the hip joint support (2), and the other end is rotatably connected to the calf support (32); The first driving assembly (4) comprises a first telescopic driving member (41) and a second telescopic driving member (42), wherein one end of the first telescopic driving member (41) is rotatably connected to the thigh support (31), and the other end is rotatably connected to the hip joint support (2), and one end of the second telescopic driving member (42) is rotatably connected to the calf support (32), and the other end is rotatably connected to the hip joint support (2).

2. The robot lower limb mechanism according to claim 1, characterized in that: The hip joint support (2) is provided with a first rotating shaft (21), the thigh support (31) is connected to the first rotating shaft (21), and the second telescopic driving member (42) is rotationally connected to the first rotating shaft (21).

3. The robot lower limb mechanism according to claim 1, characterized in that: The hip joint support (2) is provided with a second rotating shaft (22), and the first telescopic driving member (41) is rotationally connected to the second rotating shaft (22).

4. The robot lower limb mechanism according to claim 3, characterized in that: The hip joint support (2) is also provided with a first rotating shaft (21), the thigh support (31) is connected to the first rotating shaft (21), the second telescopic driving member (42) is rotationally connected to the first rotating shaft (21), and the first rotating shaft and the second rotating shaft are symmetrically arranged on both sides of the hip joint support.

5. The robot lower limb mechanism according to claim 4, characterized in that: The first telescopic driving member is connected to the middle portion of the second rotating shaft, and the second telescopic driving member is connected to the middle portion of the first rotating shaft.

6. The robot lower limb mechanism according to any one of claims 3 to 5, characterized in that: The hip joint support is provided with a first avoidance groove (23), one end of the first telescopic driving member is arranged in the first avoidance groove, and the second rotating shaft is passed through one end of the first telescopic driving member.

7. The robot lower limb mechanism according to claim 3, characterized in that: A third rotating shaft (311) is provided at one end of the thigh support (31) away from the hip joint support (2); one end of the first telescopic driving member (41) away from the second rotating shaft (22) is rotatably connected to the third rotating shaft (311); and the calf support (32) is connected to the third rotating shaft (311).

8. The robot lower limb mechanism according to claim 1, characterized in that: The robot lower limb mechanism also includes a first angle detection device (6), and the first angle detection device (6) is used to detect the rotation angle of the thigh support (31).

9. The robot lower limb mechanism according to claim 1, characterized in that: The robot lower limb mechanism further comprises a second drive component (1) and a pelvic support (7); the second drive component (1) is mounted on the pelvic support (7), and the second drive component is capable of driving the hip joint support to rotate.

10. The robot lower limb mechanism according to claim 9, characterized in that: The second driving assembly (1) comprises a first motor (11), wherein the first motor (11) is mounted on the pelvic support (7), and an output shaft of the first motor (11) is connected to the hip joint support (2).

11. The robot lower limb mechanism according to claim 10, characterized in that: The first motor (11) is rotatably mounted on the pelvic support (7), and the second drive assembly (1) further comprises a second motor (12), wherein the second motor (12) is located on one side of the first motor (11) in a radial direction and is capable of driving the first motor (11) to rotate.

12. The robot lower limb mechanism according to claim 11, characterized in that: The output shaft of the first motor (11) and the output shaft of the second motor (12) are arranged perpendicularly.

13. The robot lower limb mechanism according to claim 1, characterized in that: The robot lower limb mechanism also includes a foot (5), and one end of the calf support (32) away from the thigh support (31) is rotatably connected to the foot (5).

14. The robot lower limb mechanism according to claim 13, characterized in that: The calf support (32) is connected to the foot (5) via a universal joint (8).

15. The robot lower limb mechanism according to claim 13, characterized in that: The first driving assembly (4) further comprises a third telescopic driving member (43), one end of the third telescopic driving member (43) being rotatably connected to the calf support (32), and the other end of the third telescopic driving member (43) being rotatably connected to the foot (5).

16. The robot lower limb mechanism according to claim 15, characterized in that: The calf support (32) is connected to the foot (5) via a universal joint (8), and two third telescopic driving members (43) are provided, and the two third telescopic driving members (43) are symmetrically arranged on both sides of the universal joint (8).

17. The robot lower limb mechanism according to claim 16, characterized in that: The foot (5) is provided with a fifth rotating shaft (51), one end of the third telescopic driving member (43) is connected to a joint bearing (431), and the joint bearing (431) is sleeved on the fifth rotating shaft (51).

18. The robot lower limb mechanism according to claim 1, characterized in that: The first telescopic driving member and / or the second telescopic driving member is a hydraulic cylinder.

19. A bionic robot, characterized in that: Comprising a robot lower limb mechanism as described in any one of claims 1 to 18.

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