Leg assembly and robot

Abstract

The invention provides a leg assembly and a robot, and relates to the technical field of robots. The leg assembly comprises a hip part, a femoral joint driving part, a thigh part, a knee joint driving part and a shank part, the thigh part is provided with a femoral joint end and a thigh knee joint end, the shank part is provided with a shank knee joint end and a shank ankle joint end, the hip part is provided with a hip joint end, and the femoral joint end is connected with the hip joint end through the femoral joint driving part; the thigh knee joint end is connected with the shank knee joint end through a knee joint driving piece; the femoral joint driving part is configured to be capable of driving the thigh part to rotate relative to the hip part, and the knee joint driving part is configured to be capable of driving the shank part to rotate relative to the thigh part; when the leg assembly is in a buckling state, the thigh knee joint end and the shank knee joint end are located on the rear side, and the femoral joint end and the shank ankle joint end are located on the front side. The leg assembly provided by the invention can reduce the working space on the front side of the robot occupied by the knee joints of the leg assembly for performing leg lifting or squatting actions.

Description

Technical Field

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

[0002] The leg assembly is a representative complex component in the bipedal robot system and is the basis for the humanoid robot to complete movement. In other words, the bipedal robot basically imitates the structure of human legs. When the robot walks and works, the knee joint of the leg assembly performs leg lifting or squatting movements, which will occupy the working space in front of the bipedal robot and limit the range of movement of the bipedal robot, especially in a narrow environment. Summary of the invention

[0003] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and to provide a leg assembly and a humanoid robot. By improving the design of the robot's leg assembly, the work space occupied by the knee joint of the leg assembly when performing leg lifting or squatting actions is reduced, thereby improving the robot's flexibility and increasing the robot's range of motion.

[0004] The present invention provides the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a leg assembly, wherein the leg assembly is configured with a front side and a rear side, and the leg assembly includes a hip, a femoral joint driver, a thigh, a knee joint driver, and a calf, wherein the thigh has a femoral joint end and a thigh knee joint end, the calf has a calf knee joint end and a calf ankle joint end, the hip has a hip joint end, the femoral joint end is connected to the hip joint end through the femoral joint driver, and the thigh knee joint end is connected to the calf knee joint end through the knee joint driver;

[0006] Wherein, the femoral joint driving component is configured to be able to drive the thigh to rotate relative to the hip, and the knee joint driving component is configured to be able to drive the calf to rotate relative to the thigh; when the leg assembly is in a flexed state, the thigh knee joint end and the calf knee joint end are located on the rear side, and the femoral joint end and the calf ankle joint end are located on the front side.

[0007] In some embodiments of the first aspect, the hip joint end and the femoral joint end are hinged to form a femoral joint hinge axis, the thigh knee joint end and the calf knee joint end are hinged to form a knee joint hinge axis, and the femoral joint hinge axis and the knee joint hinge axis are arranged in parallel;

[0008] The femoral joint driving component comprises a hip joint connecting rod, an upper thigh connecting rod and a femoral joint driving part, the hip joint connecting rod and the upper thigh connecting rod are hinged at one end close to each other to form a first hinge axis, the hip joint connecting rod is hinged at one end away from the upper thigh connecting rod and the part of the hip away from the hip joint end to form a second hinge axis, the upper thigh connecting rod is hinged at one end away from the hip joint connecting rod and the part of the thigh away from the femoral joint end to form a third hinge axis, and the first hinge axis, the second hinge axis, the third hinge axis and the femoral joint hinge axis are arranged parallel to each other;

[0009] Among them, the hip, the thigh, the upper thigh link and the hip joint link constitute a four-bar linkage, the femoral joint driving unit is connected to the hip joint link and / or the upper thigh link, and the femoral joint driving unit is used to drive the hip joint link and / or the upper thigh link to rotate around the femoral joint hinge axis so that the hip joint link and / or the upper thigh link are closer to or farther away from each other.

[0010] In some embodiments of the first aspect, the knee joint driving member comprises an upper calf connecting rod, a lower thigh connecting rod and a knee joint driving part, the upper calf connecting rod and the lower thigh connecting rod are hinged near one end to each other and form a fourth hinge axis, the lower thigh connecting rod is hinged at one end away from the upper calf connecting rod and a part of the thigh away from the thigh knee joint end to form a fifth hinge axis, the upper calf connecting rod is hinged at one end away from the lower thigh connecting rod and a part of the calf away from the calf knee joint end to form a sixth hinge axis, and the fourth hinge axis, the fifth hinge axis, the sixth hinge axis and the knee joint hinge axis are arranged parallel to each other;

[0011] Among them, the calf part, the thigh part, the calf upper link, and the thigh lower link constitute a four-bar linkage mechanism, the knee joint driving unit is connected to the calf upper link and / or the thigh lower link, and the femoral joint driving unit is used to drive the calf upper link and / or the thigh lower link to rotate around the knee joint hinge axis so that the calf upper link and / or the thigh lower link are closer to or farther away from each other.

[0012] In some embodiments of the first aspect, the femoral joint driving unit is configured as a first automatic telescopic rod, the first automatic telescopic rod having a first telescopic end and a first fixed end, the first telescopic end being hinged to the hip joint connecting rod and the upper thigh connecting rod respectively, and the first fixed end being hinged to the thigh;

[0013] And / or, the knee joint driving unit is configured as a second automatic telescopic rod, the second automatic telescopic rod having a second telescopic end and a second fixed end, the second telescopic end being hinged to the lower thigh connecting rod and the upper calf connecting rod respectively, and the second fixed end being hinged to the thigh.

[0014] In some embodiments of the first aspect, the second automatic telescopic rod is located on a side of the thigh close to the front side, and the first automatic telescopic rod is located on a side of the thigh close to the back side.

[0015] In some embodiments of the first aspect, the thigh portion has a first slot body and a second slot body, the first slot body is located on a side of the thigh portion close to the rear side, the second slot body is located on a side of the thigh portion close to the front side, the first slot body is used to accommodate a portion of the first automatic telescopic rod, and the second slot body is used to accommodate a portion of the second automatic telescopic rod.

[0016] In some embodiments of the first aspect, the leg assembly further comprises:

[0017] A foot and a pair of third automatic telescopic rods, wherein the foot has an ankle joint end, the ankle joint end of the foot and the calf ankle joint end are ball-jointed, a pair of the third automatic telescopic rods are respectively arranged on both sides of the calf, the third automatic telescopic rod has a third fixed end and a third telescopic end, the third fixed end and the part of the calf away from the calf ankle joint end are hinged, and the third telescopic end and the part of the foot away from the foot ankle joint end are ball-jointed.

[0018] In some embodiments of the first aspect, the third automatic telescopic rod is located on a side of the calf portion close to the front side.

[0019] In some embodiments of the first aspect, the calf portion has a third slot, the third slot is located on a side of the calf portion close to the front side, and the third slot is used to accommodate a portion of the third automatic telescopic rod.

[0020] In a second aspect, the present application also provides a robot, comprising a leg assembly as described in any one of the above embodiments.

[0021] The embodiments of the present invention have the following advantages:

[0022] With the leg assembly provided by the present invention, in the flexed state, the thigh knee joint end and the calf knee joint end are located at the rear side, that is, the knee joint of the leg assembly is located at the rear side, reducing the occupation of the front space. This allows the robot to not occupy the front workspace when performing leg lifting or squatting, especially in a narrow environment. Obviously, through the anti-joint design, the robot is more flexible when performing leg lifting and squatting, and will not be restricted by the front space. This design allows the robot to move freely in a narrow space, improving its flexibility. In addition, in the flexed state, the thigh knee joint end and the calf knee joint end are located at the rear side, and will not block the line of sight of the front sensor. This helps to improve the robot's perception ability and navigation accuracy, making it more accurate when performing tasks. Furthermore, since the anti-joint design reduces the occupation of the front space, the robot is smoother when performing leg lifting and squatting. This design allows the robot to avoid obstacles more flexibly in complex terrain, enhancing its maneuverability.

[0023] In addition, the gait switching of the robot's leg assembly is achieved through a purely mechanical method, which consumes less energy in the switching between standing and swinging movements, is energy-saving, and has good load-bearing capacity, which is conducive to achieving long-distance walking; and the leg assembly has a small number of active joints, and the leg assembly is simple to control and has a fast dynamic response speed, which reduces the requirements for signal transmission speed and sensors.

[0024] The present invention also relates to a robot. Since the above-mentioned leg assembly has the above-mentioned technical effects, the robot including the leg assembly should have the same technical effects, which will not be repeated here.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 A structural schematic diagram of a leg assembly provided by an embodiment of the present invention from one viewing angle is shown;

[0028] Figure 2 A schematic structural diagram of a leg assembly provided by an embodiment of the present invention from another perspective is shown;

[0029] Figure 3A structural schematic diagram showing another perspective of a leg assembly provided by an embodiment of the present invention;

[0030] Figure 4 A structural schematic diagram showing another viewing angle of a leg assembly provided by an embodiment of the present invention;

[0031] Figure 5 A schematic structural diagram of a robot provided by an embodiment of the present invention is shown from one perspective.

[0032] Description of main component symbols:

[0033] 10-leg assembly; 100-hip; 110-hip joint end; 111-femoral joint articulation axis;

[0034] 200-thigh; 210-femoral joint end; 220-thigh knee joint end; 221-fifth hinge axis; 222-fourth hinge axis; 223-knee joint hinge axis; 224-sixth hinge axis; 230-second slot;

[0035] 300-knee joint drive member; 310-knee joint drive unit; 320-thigh lower connecting rod; 330-calf upper connecting rod;

[0036] 400-femoral joint drive member; 410-hip joint connecting rod; 420-thigh upper connecting rod; 430-femoral joint drive unit; 411-first articulation axis; 412-second articulation axis; 413-third articulation axis;

[0037] 500 - foot; 510 - foot ankle joint end; 600 - third automatic telescopic rod; 700 - calf; 710 - calf knee joint end; 720 - third trough; 730 - calf ankle joint end. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0040] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the template are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0043] In related technologies, with the advancement of science and technology, the research and application fields of robots are constantly expanding. Among them, the research and application of humanoid robots or bipedal robots have received particular attention and have become one of the most active research hotspots in the field of robotics.

[0044] The leg assembly 10 is a representative complex component in the bipedal robot system and is the basis for the humanoid robot to move. In other words, the bipedal robot basically imitates the structure of human legs. When the robot walks and works, the knee joint of the leg assembly 10 performs leg lifting or squatting movements, which will occupy the working space in front of the bipedal robot and limit the robot's range of motion, especially in a narrow environment.

[0045] like Figure 1As shown, in order to solve the above technical problems, the embodiment of the present application provides a leg assembly 10, the leg assembly 10 is configured with a front side and a rear side, and the leg assembly 10 includes a hip 100, a femoral joint driver 400, a thigh 200, a knee joint driver 300 and a calf 700, the thigh 200 has a femoral joint end 210 and a thigh knee joint end 220, the calf 700 has a calf knee joint end 710 and a calf ankle joint end 730, the hip 100 has a hip joint end 110, the femoral joint end 210 is connected to the hip joint end 110 through the femoral joint driver 400, and the thigh knee joint end 220 is connected to the calf knee joint end 710 through the knee joint driver 300;

[0046] Among them, the femoral joint driver 400 is configured to be able to drive the thigh 200 to rotate relative to the hip 100, and the knee joint driver 300 is configured to be able to drive the calf 700 to rotate relative to the thigh 200; when the leg assembly 10 is in a flexed state, the thigh knee joint end 220 and the calf knee joint end 710 are located on the rear side, and the femoral joint end 210 and the calf ankle joint end 730 are located on the front side.

[0047] In these embodiments, the present application aims to improve the flexibility and range of motion of the robot by improving the leg structure. In other words, by improving the design, the workspace on the front side of the bipedal robot occupied by the knee joints of the legs when performing leg lifting or squatting actions is reduced.

[0048] It should be noted that the hip 100 of the leg assembly 10 is connected to the trunk of the robot, and accordingly, the front side of the leg assembly 10 corresponds to the chest side of the robot, and the back side of the leg assembly 10 corresponds to the back side of the robot. Of course, in other embodiments, the chest side of the robot is also called the front side, and the back side of the robot is also called the back side.

[0049] The hip 100 is the part connecting the trunk and the leg, and generally allows the leg assembly 10 to perform multi-directional movements. The femoral joint driver 400 is responsible for driving the rotation of the thigh 200 relative to the hip 100.

[0050] The thigh portion 200 has two end points: a femoral joint end 210 (an end close to the hip 100 ) and a thigh knee joint end 220 (an end close to the knee).

[0051] The knee joint driving member 300 controls the rotation of the calf part 700 relative to the thigh part 200 .

[0052] The calf portion 700 also has two end points: a calf knee joint end 710 (the end close to the knee joint) and a calf ankle joint end 730 (the end close to the foot 500).

[0053] The femoral joint drive 400 connects the hip 100 and the thigh 200, so that the thigh 200 can rotate relative to the hip 100, that is, the thigh 200 can rotate forward or backward relative to the hip 100, so that the thigh 200 and the hip 100 can move closer or farther away from each other. The knee joint drive 300 connects the thigh 200 and the calf 700, so that the calf 700 can rotate relative to the thigh 200, that is, the calf 700 can rotate forward or backward relative to the thigh 200, so that the thigh 200 and the calf 700 can move closer or farther away from each other. The femoral joint drive 400 can drive the thigh 200 to rotate relative to the hip 100, and the knee joint drive 300 can drive the calf 700 to rotate relative to the thigh 200, so that the leg assembly 10 can switch between the flexed state and the extended state. Obviously, when the leg assembly 10 is in a flexed state, the thigh knee joint end 220 and the calf knee joint end 710 are located on the rear side, and the femoral joint end 210 and the calf ankle joint end 730 are located on the front side. This structure enables the leg assembly 10 to form a reverse arch structure of the leg similar to that of birds, that is, the knee joint is bent backwards.

[0054] That is, when the leg assembly 10 is in a flexed state, the thigh knee joint end 220 and the calf knee joint end 710 will face the rear side of the leg assembly 10, while the femoral joint end 210 and the calf ankle joint end 730 will be located on the front side. This ensures that when performing actions such as leg lifting or squatting, the leg structure folds backward instead of occupying space forward.

[0055] Obviously, this structure is similar to the anti-arch structure of the legs of birds, that is, the knee joint bends backwards, which reduces the front workspace occupied by the robot during leg lifting or squatting. In other words, such a design helps to reduce the robot's demand for front space during these actions. Since the knee joint bends backwards, the front space is reduced and the flexibility of the robot is improved. In addition, this design allows the robot to move more flexibly in a narrow environment and increases its range of activities. In particular, when performing complex tasks, the robot can better adapt to different working environments and improve its task execution capabilities.

[0056] In addition, the gait switching of the robot's leg assembly 10 is achieved through a purely mechanical method, which consumes less energy in the switching between standing and swinging movements, and is energy-saving and has good load-bearing capacity, which is conducive to achieving long-distance walking; and the leg assembly 10 has a small number of active joints, and the leg assembly 10 is simple to control and has a fast dynamic response speed, which reduces the requirements for signal transmission speed and sensors.

[0057] For example, in a narrow environment, the robot needs to carry goods. The robot has an improved leg assembly 10 design. By designing the knee joint to bend backward, the problem of occupying the front work space when the robot lifts its legs or squats is reduced. This design enables the robot to move more flexibly in a narrow warehouse environment, improving its efficiency and safety in carrying goods.

[0058] like Figure 1 and Figure 2 As shown, in some embodiments, the hip joint end 110 and the femoral joint end 210 are hinged to form a femoral joint hinge axis 111, the thigh knee joint end 220 and the calf knee joint end 710 are hinged to form a knee joint hinge axis 223, and the femoral joint hinge axis 111 and the knee joint hinge axis 223 are arranged in parallel;

[0059] The femoral joint driving component 400 includes a hip joint connecting rod 410, a thigh connecting rod 420 and a femoral joint driving part 430. The hip joint connecting rod 410 and the thigh connecting rod 420 are hinged at one end close to each other to form a first hinge axis 411. The end of the hip joint connecting rod 410 away from the thigh connecting rod 420 and the part of the hip 100 away from the hip joint end 110 are hinged to form a second hinge axis 412. The end of the thigh connecting rod 420 away from the hip joint connecting rod 410 and the part of the thigh 200 away from the femoral joint end 210 are hinged to form a third hinge axis 413. The first hinge axis 411, the second hinge axis 412, the third hinge axis 413 and the femoral joint hinge axis 111 are arranged parallel to each other.

[0060] Among them, the hip 100, the thigh 200, the thigh link 420 and the hip joint link 410 constitute a four-bar linkage mechanism, the femoral joint driving unit 430 is connected to the hip joint link 410 and / or the thigh link 420, and the femoral joint driving unit 430 is used to drive the hip joint link 410 and / or the thigh link 420 to rotate around the femoral joint hinge axis 111 to make the hip joint link 410 and / or the thigh link 420 approach or move away from each other.

[0061] In these embodiments, the hip joint end 110 and the femoral joint end 210 are connected by hinges to form a femoral joint hinge axis 111, that is, the thigh 200 can rotate around the femoral joint hinge axis 111 to get closer to or away from the hip 100. In the present embodiment, the femoral joint hinge axis 111 is arranged horizontally and straightly. Of course, in other embodiments, the femoral joint hinge axis 111 can also be arranged tilted, as long as the thigh 200 can be adjusted vertically.

[0062] The thigh knee joint end 220 and the calf knee joint end 710 are also connected by hinges, forming a knee joint hinge axis 223. Similarly, the calf 700 can rotate around the knee joint hinge axis 223 to get closer to or away from the thigh 200. For example, in this embodiment, the knee joint hinge axis 223 is set horizontally and straightly. Of course, in other embodiments, the knee joint hinge axis 223 can also be set tilted, as long as the calf 700 can be adjusted vertically.

[0063] The femoral joint articulation axis 111 and the knee joint articulation axis 223 are parallel, and such an arrangement enables the activities of the leg assembly 10 to occupy a smaller space.

[0064] Furthermore, the specific structure of the femoral joint driving member 400 is further defined, and the hip joint connecting rod 410 is a connecting rod component connecting the hip 100 and the thigh 200. The thigh connecting rod 420 is another connecting rod component connecting the thigh 200. The femoral joint driving part 430 is a device for driving the hip joint connecting rod 410 and the thigh connecting rod 420 to move.

[0065] The hip joint link 410 and the upper thigh link 420 are hinged at one end close to each other to form a first hinge axis 411; illustratively, the hip joint link 410 and the upper thigh link 420 are hinged through a first hinge axis, and the axis of the first hinge axis coincides with the first hinge axis 411.

[0066] The other end of the hip joint link 410 is hinged to the hip 100 to form a second hinge axis 412;

[0067] The other end of the thigh upper connecting rod 420 is hinged with the thigh part 200 to form a third hinge axis 413. These three axes and the femoral joint hinge axis 111 are all parallel to each other.

[0068] Furthermore, a four-bar linkage is formed by the hip 100, the thigh 200, the upper thigh link 420 and the hip joint link 410. The femoral joint driving unit 430 is connected to the hip joint link 410 and / or the upper thigh link 420 to drive these links to rotate around the femoral joint articulation axis 111, thereby achieving the approach or distance between the hip joint link 410 and the upper thigh link 420.

[0069] Obviously, this design enables the leg assembly 10 to cooperate with the four-bar linkage to achieve more precise leg motion control and more complex motion patterns by adjusting the positions and angles of each link, while ensuring the compactness and flexibility of the structure. In this way, the leg assembly 10 can move the knee joint part to the rear in the flexed state, reducing the occupation of the front space, thereby enhancing the robot's maneuverability in a narrow environment.

[0070] like Figure 3 and Figure 4 As shown, in some embodiments, the knee joint driving member 300 includes a shank upper connecting rod 330, a thigh lower connecting rod 320 and a knee joint driving part 310, the shank upper connecting rod 330 and the thigh lower connecting rod 320 are hinged near one end to each other and form a fourth hinge axis 222, the thigh lower connecting rod 320 is hinged at one end away from the shank upper connecting rod 330 and a part of the thigh 200 away from the thigh knee joint end 220 to form a fifth hinge axis 221, the shank upper connecting rod 330 is hinged at one end away from the thigh lower connecting rod 320 and a part of the shank 700 away from the shank knee joint end 710 to form a sixth hinge axis 224, and the fourth hinge axis 222, the fifth hinge axis 221, the sixth hinge axis 224 and the knee joint hinge axis 223 are arranged parallel to each other;

[0071] Among them, the calf part 700, the thigh part 200, the calf upper link 330, and the thigh lower link 320 constitute a four-bar linkage mechanism, the knee joint driving part 310 is connected to the calf upper link 330 and / or the thigh lower link 320, and the femoral joint driving part 430 is used to drive the calf upper link 330 and / or the thigh lower link 320 to rotate around the knee joint hinge axis 223, so that the calf upper link 330 and / or the thigh lower link 320 are close to or away from each other.

[0072] In these embodiments, the calf upper link 330 is hinged to one end of the thigh lower link 320. The thigh lower link 320 is hinged to one end of the calf upper link 330 and to the other end of the thigh portion 200. The thigh portion 200 is hinged to one end of the thigh lower link 320. The calf portion 700 is hinged to one end of the calf upper link 330.

[0073] Fourth hinge axis 222: an axis formed by hinged ends of the calf upper link 330 and the thigh lower link 320 that are close to each other, so that the calf upper link 330 and the thigh lower link 320 can rotate around the fourth hinge axis 222 to achieve the two being close to or away from each other. For example, the calf upper link 330 and the thigh lower link 320 are hinged through a second hinge axis, and the axis of the second hinge axis coincides with the second hinge axis 412.

[0074] The fifth hinge axis 221: the axis formed by hinged connection between one end of the lower thigh link 320 away from the upper calf link 330 and the thigh 200, so that the thigh 200 and the lower thigh link 320 can rotate around the fifth hinge axis 221 to achieve the two getting closer to or farther away from each other.

[0075] The sixth hinge axis 224 is an axis formed by hinge connection between one end of the calf upper link 330 away from the thigh lower link 320 and the calf part 700, so that the calf upper link 330 and the calf part 700 can rotate around the sixth hinge axis 224 to move closer to or farther away from each other.

[0076] The knee joint articulation axis 223 is an axis formed by articulating the thigh knee joint end 220 and the calf knee joint end 710. In addition, the fourth articulation axis 222, the fifth articulation axis 221, the sixth articulation axis 224 and the knee joint articulation axis 223 are arranged parallel to each other.

[0077] The knee joint driving unit 310 is connected to the calf upper link 330 and / or the thigh lower link 320 to drive the calf upper link 330 and / or the thigh lower link 320 to rotate around the knee joint hinge axis 223, so that the calf upper link 330 and / or the thigh lower link 320 are closer to or farther away from each other.

[0078] Obviously, the four-bar linkage can achieve more complex leg movements, including flexion and extension movements, while maintaining coordinated movement of various components. When the leg is bent, the thigh knee joint end 220 and the calf knee joint end 710 are located at the rear side, while the femoral joint end 210 and the calf ankle joint end 730 are located at the front side, reducing the occupation of the front space. Furthermore, the parallel arrangement of the articulated axes makes the entire leg assembly 10 more compact and reduces interference during movement.

[0079] like Figure 1 and Figure 4 As shown, in some embodiments, the femoral joint driving unit 430 is configured as a first automatic telescopic rod, the first automatic telescopic rod having a first telescopic end and a first fixed end, the first telescopic end being hinged to the hip joint connecting rod 410 and the upper thigh connecting rod 420 respectively, and the first fixed end being hinged to the thigh part 200.

[0080] In these embodiments, a specific driving mechanism is mentioned, that is, using an automatic telescopic rod to drive corresponding components in a four-bar linkage, so as to realize the movement of the leg assembly 10 .

[0081] The first fixed end is hinged to the thigh 200. The hip joint link 410 is hinged to one end of the thigh upper link 420. The first telescopic end is hinged to the hip joint link 410. The thigh upper link 420 is hinged to one end of the hip joint link 410. The first telescopic end is also hinged to the thigh upper link 420. The other end of the thigh upper link 420 is hinged to the thigh 200. The thigh 200 is hinged to one end of the thigh upper link 420. The first fixed end is hinged to the thigh 200. Exemplarily, the first hinge axis is connected to the first telescopic end.

[0082] When the first automatic telescopic rod is contracted or extended, the hip joint connecting rod 410 and the upper thigh connecting rod 420 are driven to move together. Through the extension and retraction of the first automatic telescopic rod, the hip joint connecting rod 410 and the upper thigh connecting rod 420 can be driven to rotate around the femoral joint hinge axis 111, thereby realizing the rotation of the thigh 200 relative to the hip 100, so as to drive the thigh 200 to approach or move away from the hip 100. Among them, when the first automatic telescopic rod is extended, the hip joint connecting rod 410 and the upper thigh connecting rod 420 will be pulled away, so that the thigh 200 is spread outward relative to the hip 100. When the first automatic telescopic rod is contracted, the hip joint connecting rod 410 and the upper thigh connecting rod 420 will be pulled closer, so that the thigh 200 is folded inward relative to the hip 100.

[0083] Obviously, very precise control can be achieved by using the first automatic telescopic rod, because the telescopic amount of the first automatic telescopic rod can be precisely adjusted, thereby achieving precise driving of the leg assembly 10. Compared with other complex driving devices, the automatic telescopic rod has a relatively simple structure and is easy to install and maintain. In other words, through the extension and retraction of the first automatic telescopic rod, a variety of movement modes of the leg assembly 10 can be achieved, such as leg lifting, bending, etc., which increases the flexibility of the robot. Among them, when the leg assembly 10 needs to be folded backward, the contraction of the telescopic rod can make the thigh 200 bend backward, reducing the occupation of the front space.

[0084] In particular, the first automatic telescopic rod driving method of the present invention has a relatively higher power density, provides corresponding power, and has a smaller weight, which can effectively reduce the weight and inertia of the thigh 200 and the calf 700, and effectively improve the dynamic performance of the leg assembly 10.

[0085] Exemplarily, in this embodiment, the first automatic telescopic rod is a linear steering gear. Of course, in other embodiments, the first automatic telescopic rod can also be an electric push rod, a pneumatic cylinder, a hydraulic cylinder, etc.

[0086] like Figure 1 and Figure 4 As shown, in some embodiments, the knee joint driving unit 310 is configured as a second automatic telescopic rod, the second automatic telescopic rod having a second telescopic end and a second fixed end, the second telescopic end is hinged to the lower thigh connecting rod 320 and the upper calf connecting rod 330 respectively, and the second fixed end is hinged to the thigh part 200.

[0087] In these embodiments, the specific implementation method of the knee joint driving unit 310 is further clarified, that is, using the second automatic telescopic rod to drive the corresponding components in the four-bar linkage mechanism to achieve the movement of the knee joint.

[0088] The second telescopic end of the second automatic telescopic rod is hinged to the lower thigh link 320 and the upper calf link 330. The second fixed end is hinged to the thigh 200. The lower thigh link 320 is hinged to the second telescopic end and is hinged to the thigh 200. The upper calf link 330 is hinged to the second telescopic end and is hinged to the calf 700. The thigh 200 is hinged to the lower thigh link 320 and is hinged to the second fixed end. The calf 700 is hinged to the upper calf link 330.

[0089] For example, the second telescopic end is connected to the second hinge shaft. Alternatively, in other embodiments, the second telescopic end, the lower thigh connecting rod 320 and the upper calf connecting rod 330 are hinged in pairs, which is not specifically limited here.

[0090] When the second automatic telescopic rod is extended or shortened, the lower thigh connecting rod 320 and the upper calf connecting rod 330 will be driven to move together. Through the extension and contraction of the second automatic telescopic rod, the lower thigh connecting rod 320 and the upper calf connecting rod 330 can be driven to rotate around the knee joint hinge axis 223, thereby realizing the rotation of the calf 700 relative to the thigh 200. Among them, when the second automatic telescopic rod is extended, the lower thigh connecting rod 320 and the upper calf connecting rod 330 will be pulled apart, so that the calf 700 is expanded outward relative to the thigh 200. When the second automatic telescopic rod is retracted, the lower thigh connecting rod 320 and the upper calf connecting rod 330 will be pulled together, so that the calf 700 is folded inward relative to the thigh 200.

[0091] Obviously, very accurate control can be achieved using the second automatic telescopic rod, because the telescopic amount of the second automatic telescopic rod can be accurately adjusted, thereby achieving accurate driving of the knee joint. Relative to other complicated drive devices, the second automatic telescopic rod has a simpler structure and is easy to install and maintain. Through the telescopic movement of the second automatic telescopic rod, a variety of motion modes of the knee joint can be achieved, such as bending, stretching, etc., which increases the flexibility of the robot. Similarly, when the leg assembly 10 needs to be folded backward, the contraction of the telescopic rod can cause the calf 700 to bend backward, reducing the occupation of the front space.

[0092] In particular, the second automatic telescopic rod driving method of the present invention has a relatively higher power density, provides corresponding power, and has a smaller weight, which can effectively reduce the weight and inertia of the thigh 200 and the calf 700, and effectively improve the dynamic performance of the leg assembly 10.

[0093] Exemplarily, in this embodiment, the second automatic telescopic rod is a linear steering gear. Of course, in other embodiments, the second automatic telescopic rod can also be an electric push rod, a pneumatic cylinder, a hydraulic cylinder, etc.

[0094] like Figure 1As shown, in some embodiments, the second automatic telescopic rod is located on a side of the thigh 200 close to the front side, and the first automatic telescopic rod is located on a side of the thigh 200 close to the back side.

[0095] In these embodiments, the specific positions of the first automatic telescopic rod and the second automatic telescopic rod on the thigh 200 are further clarified. That is, the second automatic telescopic rod is located on the side of the thigh 200 close to the front side. The second automatic telescopic rod has a second telescopic end and a second fixed end. The second telescopic end is hinged to the thigh lower connecting rod 320 and the calf upper connecting rod 330. The second fixed end is hinged to the thigh 200.

[0096] The first automatic telescopic rod is located at one side of the thigh 200 near the rear side. The second automatic telescopic rod has a first telescopic end and a first fixed end. The first telescopic end is hinged to the hip joint connecting rod 410 and the thigh upper connecting rod 420. The first fixed end is hinged to the thigh 200.

[0097] When the first automatic telescopic rod is extended or shortened, the hip joint connecting rod 410 and the upper thigh connecting rod 420 are driven to move together. Through the extension and contraction of the first automatic telescopic rod, the hip joint connecting rod 410 and the upper thigh connecting rod 420 can be driven to rotate around the femoral joint hinge axis 111, thereby realizing the rotation of the thigh 200 relative to the hip 100. Among them, when the first automatic telescopic rod is extended, the hip joint connecting rod 410 and the upper thigh connecting rod 420 will be pulled apart, so that the thigh 200 is expanded outward relative to the hip 100. When the first automatic telescopic rod is contracted, the hip joint connecting rod 410 and the upper thigh connecting rod 420 will be pulled closer, so that the thigh 200 is folded inward relative to the hip 100.

[0098] When the second automatic telescopic rod is extended or shortened, the lower thigh connecting rod 320 and the upper calf connecting rod 330 will be driven to move together. Through the extension and contraction of the second automatic telescopic rod, the lower thigh connecting rod 320 and the upper calf connecting rod 330 can be driven to rotate around the knee joint hinge axis 223, thereby realizing the rotation of the calf 700 relative to the thigh 200. Among them, when the second automatic telescopic rod is extended, the lower thigh connecting rod 320 and the upper calf connecting rod 330 will be pulled apart, so that the calf 700 is expanded outward relative to the thigh 200. When the second automatic telescopic rod is retracted, the lower thigh connecting rod 320 and the upper calf connecting rod 330 will be pulled together, so that the calf 700 is folded inward relative to the thigh 200.

[0099] Obviously, by placing the second automatic telescopic rod on the side of the thigh 200 close to the front side and the first automatic telescopic rod on the side of the thigh 200 close to the back side, when the leg is bent, the thigh 200 and the calf 700 can be folded back more compactly, reducing the space requirement. Furthermore, the second automatic telescopic rod and the first automatic telescopic rod located at the front and back sides respectively can reduce interference with each other and improve the reliability and stability of the system.

[0100] Furthermore, because the second automatic telescopic rod is subjected to the greatest force during the movement, it is placed at the front side to increase the lever arm of the second automatic telescopic rod relative to the knee joint (i.e., the hinge between the calf 700 and the thigh 200) when the thigh 200 moves at a large angle, thereby reducing the demand for driving force on the second automatic telescopic rod for the same action.

[0101] like Figure 1 As shown, in some embodiments, the thigh portion 200 has a first slot body and a second slot body 230, the first slot body is located on the side of the thigh portion 200 close to the rear side, and the second slot body 230 is located on the side of the thigh portion 200 close to the front side, the first slot body is used to accommodate a portion of the first automatic telescopic rod, and the second slot body 230 is used to accommodate a portion of the second automatic telescopic rod.

[0102] In these embodiments, the specific design of the thigh part 200 is further clarified. The first slot body is located on the side of the thigh part 200 close to the rear side. The second slot body 230 is located on the side of the thigh part 200 close to the front and rear sides. The first slot body is used to accommodate a part of the first automatic telescopic rod. The second slot body 230 is used to accommodate a part of the second automatic telescopic rod.

[0103] The first automatic telescopic rod is located on one side of the thigh 200 near the rear side. The first telescopic end is hinged to the hip joint connecting rod 410 and the thigh upper connecting rod 420. The first fixed end is hinged to the thigh 200. A portion of the first automatic telescopic rod is located in the first slot body to protect and hide the first telescopic rod and reduce the occupation of external space. In addition, the first automatic telescopic rod can be protected from the influence of the external environment, such as collision or other physical damage, to extend the service life of the telescopic rod.

[0104] Exemplarily, the first slot body is extended along the extension direction of the projection of the first automatic telescopic rod in the direction perpendicular to the thigh 200, and the width of the first slot body is greater than the width of the first automatic telescopic rod.

[0105] The second automatic telescopic rod is located on one side of the thigh 200 near the front side. The second telescopic end is hinged to the thigh lower connecting rod 320 and the calf upper connecting rod 330. The second fixed end is hinged to the thigh 200. A portion of the second automatic telescopic rod is located in the second slot 230 to protect and hide the telescopic rod and reduce the occupation of external space. In addition, the second automatic telescopic rod can be protected from the influence of the external environment, such as collision or other physical damage, to extend the service life of the telescopic rod.

[0106] Exemplarily, the second slot body 230 is extended along the extension direction of the projection of the second automatic telescopic rod in the direction perpendicular to the thigh 200, and the width of the second slot body 230 is greater than the width of the second automatic telescopic rod.

[0107] like Figure 1 As shown, in some embodiments, the leg assembly 10 also includes a foot 500 and a pair of third automatic telescopic rods 600, the foot 500 has a foot ankle joint end 510, the foot ankle joint end 510 and the calf ankle joint end 730 are ball-hinged, the pair of third automatic telescopic rods 600 are respectively arranged on both sides of the calf 700, the third automatic telescopic rod 600 has a third fixed end and a third telescopic end, the third fixed end and the part of the calf away from the calf ankle joint end 730 are hinged, and the third telescopic end and the part of the foot 500 away from the foot ankle joint end 510 are ball-hinged.

[0108] In these embodiments, the design of the leg assembly 10 is further expanded by introducing a foot 500 and a pair of third automatic telescopic rods 600 to achieve more complex movements of the foot 500 .

[0109] That is, the calf 700 has a pair of third automatic telescopic rods 600, which are respectively arranged on both sides of the calf 700. The third fixed end is hinged to the part of the calf away from the calf ankle end 730. The foot ankle end 510 is ball-hinged to the calf ankle end 730, allowing the foot 500 to move in multiple directions. The third telescopic end is ball-hinged to the part of the foot 500 away from the foot ankle end 510, also allowing the foot 500 to move in multiple directions.

[0110] Exemplarily, in this embodiment, the third telescopic end is hinged to the portion of the foot 500 near the front side. Of course, in other embodiments, the third telescopic end is hinged to the portion of the foot 500 near the rear side.

[0111] When the third automatic telescopic rod 600 is extended or shortened, it will drive the foot 500 to move up and down. Through the extension and retraction of the third automatic telescopic rod 600, the foot 500 can be rotated relative to the calf 700, thereby achieving the lifting, lowering and other multi-directional adjustments of the foot 500.

[0112] For example, the foot lifting action: when the two third automatic telescopic rods 600 are extended, the foot 500 will be lifted.

[0113] Lowering action: When the third automatic telescopic rod 600 is shortened, the foot 500 will be lowered.

[0114] At the same time, the foot 500 can be adjusted in multiple directions, that is, through the ball-jointed design, the foot 500 can be adjusted in multiple directions to adapt to different ground conditions and sports requirements. For example, the different telescopic lengths of the two third automatic telescopic rods 600 can achieve the eversion or inversion of the foot 500, thereby adapting to the ground and ensuring that the foot 500 is in stable contact with the ground.

[0115] like Figure 1 As shown, in some embodiments, the third automatic telescopic rod 600 is located on a side of the calf portion 700 close to the front side.

[0116] In these embodiments, the specific position arrangement of the third automatic telescopic rod 600 on the calf part 700 is further clarified.

[0117] When the third automatic telescopic rod 600 is shortened, the portion of the foot 500 near the front side is lifted. When the third automatic telescopic rod 600 is extended, the portion of the foot 500 near the front side is lowered.

[0118] Obviously, by placing the third automatic telescopic rod 600 on the side of the calf 700 close to the front side, the overall volume of the leg assembly 10 can be reduced, making the robot more compact when the legs are folded or stowed. Placing the third automatic telescopic rod 600 on the front side can reduce the possibility of it being hit by external objects, thereby protecting the telescopic rod from damage.

[0119] Furthermore, as mentioned above, because the third automatic telescopic rod 600 will be subjected to the greatest force during the movement, it is placed on the front side of the calf 700, increasing the lever arm of the third automatic telescopic rod 600 relative to the hip joint (i.e., the ball joint between the calf 700 and the foot 500) when the foot 500 moves at a large angle, thereby reducing the demand for driving force on the second automatic telescopic rod for the same action.

[0120] like Figure 1 and Figure 4 As shown, in some embodiments, the calf portion 700 has a third slot 720 , which is located on a side of the calf portion 700 close to the front side, and is used to accommodate a portion of the third automatic telescopic rod 600 .

[0121] In these embodiments, the calf part 700 has a third slot 720 for accommodating a portion of the third automatic telescopic rod 600 to protect and hide the telescopic rod. In addition, the third automatic telescopic rod 600 is located on the side of the calf part 700 close to the front side, and is partially located in the third slot 720, which can reduce the space occupied by the leg assembly 10 on the front side. This design makes the front side space more spacious when the robot performs an action, which is suitable for operation in a narrow environment.

[0122] Furthermore, the overall volume of the leg assembly 10 can be reduced, making the robot more compact when the legs are folded or stowed.

[0123] Exemplarily, the third slot body 720 is extended along the extension direction of the projection of the third automatic telescopic rod 600 in a direction perpendicular to the calf 700 , and the width of the third slot body 720 is greater than the width of the third automatic telescopic rod 600 .

[0124] like Figure 5 As shown, in some embodiments, the present application also provides a robot, which includes a leg assembly 10 as described in any of the above embodiments.

[0125] Obviously, the present application is not limited to a single leg assembly 10, but also proposes a new integrated solution, namely a robot. This robot integrates the leg assembly 10 technology described in the various embodiments above, aiming to provide users with a more intelligent, flexible and efficient automation solution.

[0126] For example, the robot is a humanoid robot. One of the design goals of a humanoid robot is to imitate the human body structure and movement ability to achieve more natural human-machine interaction and a wide range of application scenarios. As an important component of the humanoid robot, the leg assembly 10 bears the key responsibility of performing various tasks, such as grasping objects, performing fine operations, etc. Of course, in other embodiments, the robot may also be a bipedal robot, which is not specifically limited here.

[0127] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0128] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0129] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A leg assembly, characterized in that: The leg assembly is configured with a front side and a rear side, and the leg assembly includes a hip, a femoral joint drive, a thigh, a knee joint drive and a calf, the thigh having a femoral joint end and a thigh knee joint end, the calf having a calf knee joint end and a calf ankle joint end, the hip having a hip joint end, the femoral joint end being connected to the hip joint end through the femoral joint drive, and the thigh knee joint end being connected to the calf knee joint end through the knee joint drive; Wherein, the femoral joint driving component is configured to be able to drive the thigh to rotate relative to the hip, and the knee joint driving component is configured to be able to drive the calf to rotate relative to the thigh; when the leg assembly is in a flexed state, the thigh knee joint end and the calf knee joint end are located on the rear side, and the femoral joint end and the calf ankle joint end are located on the front side.

2. The leg assembly according to claim 1, characterized in that: The hip joint end and the femoral joint end are hinged to form a femoral joint hinge axis, the thigh knee joint end and the calf knee joint end are hinged to form a knee joint hinge axis, and the femoral joint hinge axis and the knee joint hinge axis are arranged in parallel; The femoral joint driving component comprises a hip joint connecting rod, an upper thigh connecting rod and a femoral joint driving part, the hip joint connecting rod and the upper thigh connecting rod are hinged at one end close to each other to form a first hinge axis, the hip joint connecting rod is hinged at one end away from the upper thigh connecting rod and the part of the hip away from the hip joint end to form a second hinge axis, the upper thigh connecting rod is hinged at one end away from the hip joint connecting rod and the part of the thigh away from the femoral joint end to form a third hinge axis, and the first hinge axis, the second hinge axis, the third hinge axis and the femoral joint hinge axis are arranged parallel to each other; Among them, the hip, the thigh, the upper thigh link and the hip joint link constitute a four-bar linkage, the femoral joint driving unit is connected to the hip joint link and / or the upper thigh link, and the femoral joint driving unit is used to drive the hip joint link and / or the upper thigh link to rotate around the femoral joint hinge axis so that the hip joint link and / or the upper thigh link are closer to or farther away from each other.

3. The leg assembly according to claim 2, characterized in that: The knee joint driving member comprises a calf upper connecting rod, a thigh lower connecting rod and a knee joint driving part, the calf upper connecting rod and the thigh lower connecting rod are hinged near one end to each other and form a fourth hinge axis, the thigh lower connecting rod is hinged at one end away from the calf upper connecting rod and a part of the thigh away from the thigh knee joint end to form a fifth hinge axis, the calf upper connecting rod is hinged at one end away from the thigh lower connecting rod and a part of the calf away from the calf knee joint end to form a sixth hinge axis, and the fourth hinge axis, the fifth hinge axis, the sixth hinge axis and the knee joint hinge axis are arranged parallel to each other; Among them, the calf part, the thigh part, the calf upper link, and the thigh lower link constitute a four-bar linkage mechanism, the knee joint driving unit is connected to the calf upper link and / or the thigh lower link, and the femoral joint driving unit is used to drive the calf upper link and / or the thigh lower link to rotate around the knee joint hinge axis so that the calf upper link and / or the thigh lower link are closer to or farther away from each other.

4. The leg assembly according to claim 3, characterized in that: The femoral joint driving part is configured as a first automatic telescopic rod, the first automatic telescopic rod having a first telescopic end and a first fixed end, the first telescopic end being hinged to the hip joint connecting rod and the upper thigh connecting rod respectively, and the first fixed end being hinged to the thigh; And / or, the knee joint driving unit is configured as a second automatic telescopic rod, the second automatic telescopic rod having a second telescopic end and a second fixed end, the second telescopic end being hinged to the lower thigh connecting rod and the upper calf connecting rod respectively, and the second fixed end being hinged to the thigh.

5. The leg assembly according to claim 4, characterized in that: The second automatic telescopic rod is located on a side of the thigh close to the front side, and the first automatic telescopic rod is located on a side of the thigh close to the back side.

6. The leg assembly according to claim 5, characterized in that: The thigh portion has a first slot body and a second slot body, the first slot body is located on the side of the thigh portion close to the rear side, the second slot body is located on the side of the thigh portion close to the front side, the first slot body is used to accommodate a part of the first automatic telescopic rod, and the second slot body is used to accommodate a part of the second automatic telescopic rod.

7. The leg assembly according to claim 1, characterized in that: The leg assembly also includes: A foot and a pair of third automatic telescopic rods, wherein the foot has an ankle joint end, the ankle joint end of the foot and the calf ankle joint end are ball-jointed, a pair of the third automatic telescopic rods are respectively arranged on both sides of the calf, the third automatic telescopic rod has a third fixed end and a third telescopic end, the third fixed end and the part of the calf away from the calf ankle joint end are hinged, and the third telescopic end and the part of the foot away from the foot ankle joint end are ball-jointed.

8. The leg assembly according to claim 7, characterized in that: The third automatic telescopic rod is located on a side of the calf portion close to the front side.

9. The leg assembly according to claim 8, characterized in that: The calf portion has a third slot body, the third slot body is located on a side of the calf portion close to the front side, and the third slot body is used to accommodate a part of the third automatic telescopic rod.

10. A robot, characterized in that: The robot comprises the leg assembly according to any one of claims 1 to 9.

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