Robot leg structure and robot

Abstract

The invention discloses a robot leg structure and a robot, and relates to the technical field of robots. The robot leg structure comprises a thigh part, a shank part rotationally connected with the thigh part, a sole part rotationally connected with the shank part, a first driving assembly arranged on the shank part and a first transmission structure arranged between the first driving assembly and the sole part, and the first transmission structure is used for transmitting power of the first driving assembly to the sole part. The foot sole part is driven to swing in the first direction relative to the shank part. According to the technical scheme, the flexibility of the robot is improved.

Description

Technical Field

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

[0002] In recent years, with the continuous development of AI technology, robotics technology has been continuously innovated. Humanoid robots have always been the focus of research because of their multiple degrees of freedom, complex control algorithms, and high requirements for environmental adaptability.

[0003] At present, the leg movements of humanoid robots are realized by arranging the joints in series and parallel, and each joint integrates a frameless torque motor with a reducer and a driver. The joint mass is large, which makes the leg mass large, and the mass of the robot's lower body large, which makes the robot slow and less flexible when walking. Summary of the invention

[0004] The main purpose of the embodiments of the present invention is to provide a robot leg structure and a robot, aiming to improve the flexibility of the robot.

[0005] To achieve the above-mentioned purpose, the robot leg structure proposed in the embodiment of the present invention includes:

[0006] Thigh;

[0007] A calf portion, rotatably connected to the thigh portion;

[0008] A sole portion, rotatably connected to the calf portion;

[0009] A first driving assembly, disposed on the calf portion, for driving the sole portion to swing relative to the calf portion along a first direction; and

[0010] The first transmission structure is disposed between the first driving assembly and the sole of the foot to transmit the power of the first driving assembly to the sole of the foot.

[0011] In one embodiment, the sole portion includes a first connecting frame rotatably connected to the calf portion; the first transmission structure includes a first crank connected to the output shaft of the first drive assembly, and a first connecting rod rotatably connected to the first crank, and the first connecting rod is also rotatably connected to the first connecting frame; a first four-bar linkage is formed between the calf portion, the first crank, the first connecting rod and the first connecting frame.

[0012] In one embodiment, the connection center point between the first crank and the first drive assembly is defined as a, the connection center point between the first crank and the first connecting rod is defined as b, the connection center point between the first connecting rod and the first connecting frame is defined as c, and the connection center point between the first connecting frame and the calf portion is defined as d; the distance between a and b is defined as L1, the distance between b and c is defined as L2, the distance between c and d is defined as L3, and the distance between d and a is defined as L4; wherein, L1=L3, and L2=L4.

[0013] In one embodiment, the sole portion also includes a foot bracket, on which is mounted a second drive assembly for driving the foot bracket to swing in a second direction relative to the calf, the first connecting frame includes a cross-connected first sub-frame and a second sub-frame, the first sub-frame being rotatably connected to the calf portion and the first connecting rod respectively, the second sub-frame being connected to the foot bracket via a bearing and connected to the output shaft of the second drive assembly.

[0014] In one embodiment, the sole portion further includes a sole plate connected to the foot support, a force sensor is provided between the sole plate and the foot support, and the force sensor is used to monitor and transmit the force acting on the sole plate.

[0015] In one embodiment, the robot leg structure also includes a third drive component arranged on the thigh, and a second transmission structure is also provided between the third drive component and the calf, and the second transmission structure is used to transmit power of the third drive component to the calf to drive the calf to swing in a first direction relative to the thigh.

[0016] In one embodiment, a support shaft is provided on the calf portion, and the second transmission structure includes a second crank rotatably connected to the output shaft of the third drive assembly, and a second connecting rod rotatably connected to the second crank, and the second connecting rod is rotatably connected to the support shaft; a second four-bar linkage is formed between the second crank, the second connecting rod, the calf portion and the thigh portion.

[0017] In one embodiment, the connection center point between the second crank and the third drive assembly is defined as h, the connection center point between the second crank and the second connecting rod is defined as i, the connection center point between the second connecting rod and the support shaft is defined as j, and the connection center point between the calf and the thigh is defined as k; the distance between h and i is defined as L5, the distance between i and j is defined as L6, the distance between j and k is defined as L7, and the distance between k and h is defined as L8; wherein, L5=L7, and L6=L8.

[0018] In one embodiment, one end of the thigh away from the calf is connected to a waist support, a first support is connected between the thigh and the waist support, a fourth drive component for driving the thigh to swing in a first direction is installed on the first support, an output shaft of the fourth drive component is connected to the thigh, and the fourth drive component is arranged opposite to the third drive component.

[0019] In one embodiment, an auxiliary bracket is installed on the side of the thigh where the third driving assembly is provided, and the auxiliary bracket is connected to the first bracket.

[0020] In one embodiment, a second bracket is connected between the first bracket and the waist bracket, and a fifth driving component for driving the thigh to rotate around a third direction is installed on the second bracket, and an output shaft of the fifth driving component is connected to the first bracket.

[0021] In one embodiment, a sixth driving component for driving the thigh to swing along the second direction is installed on the waist support, and an output shaft of the sixth driving component is connected to the second support.

[0022] The present invention also provides a robot, comprising the robot leg structure.

[0023] The technical solution of the embodiment of the present invention is to set a thigh, a calf and a sole that are connected and rotated in sequence in the leg structure of the robot, and set a first driving component on the calf for driving the sole to swing relative to the calf along a first direction, and set a first transmission structure between the first driving component and the sole, so that the first driving component drives the sole to move through the first transmission structure. In this way, compared with the structure in the prior art where the first driving component for driving the sole is set on the sole, the present invention sets the first driving component for driving the sole on the calf, so that the first driving component is moved upward, which is conducive to moving the center of gravity of the leg structure of the robot upward, effectively reducing the weight of the lower side of the leg, increasing the flexibility of the leg control, and improving the flexibility of the robot. At the same time, the center of gravity of the robot as a whole is moved upward, which is conducive to improving the balance ability and anti-interference ability of the robot, and is conducive to improving the stability and reliability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0025] Figure 1 A schematic structural diagram of an embodiment of a robot leg structure provided by the present invention;

[0026] Figure 2 for Figure 1 A cross-sectional view of an embodiment of a robot leg structure;

[0027] Figure 3 for Figure 1 A schematic structural diagram of an embodiment of a structure including a thigh portion and a second bracket;

[0028] Figure 4 for Figure 1 A structural schematic diagram of an embodiment of the second transmission structure in FIG.

[0029] Description of Figure Numbers:

[0030] 100. Thigh;

[0031] 200, calf; 210, support shaft;

[0032] 300, sole of foot; 310, first connecting frame; 320, foot support; 330, sole of foot; 340, force sensor;

[0033] 410, first drive assembly; 420, second drive assembly; 430, third drive assembly; 440, fourth drive assembly; 450, fifth drive assembly; 460, sixth drive assembly;

[0034] 510, first transmission structure; 511, first crank; 512, first connecting rod; 520, second transmission structure; 521, second crank; 522, second connecting rod;

[0035] 610, waist support; 620, second support; 630, first support; 640, auxiliary support.

[0036] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0039] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] In recent years, with the continuous development of AI technology, robotics technology has been continuously innovated. Humanoid robots have always been the focus of research because of their multiple degrees of freedom, complex control algorithms, and high requirements for environmental adaptability.

[0041] At present, the legs of humanoid robots achieve movement through various joints, and each joint integrates a frameless torque motor with a reducer and a driver. It is understandable that the joint mass is large, which makes the leg mass large, and the mass of the robot's lower body large, which will make the robot easy to lose balance when walking, affecting the robot's stability and reliability. At the same time, the low center of gravity will make the robot need a larger torque to push the body forward when walking, which will cause the walking speed to slow down and the robot's energy consumption will increase accordingly.

[0042] The invention provides a robot leg structure.

[0043] See also Figure 1In one embodiment of the present invention, the leg structure of the robot includes a thigh 100, a calf 200, a sole 300, a first drive assembly 410 and a first transmission structure 510, wherein the calf 200 and the thigh 100 are rotatably connected so that the calf 200 and the thigh 100 can rotate relative to each other. In one embodiment, the calf 200 and the thigh 100 are hinged to achieve relative rotation. Of course, in other embodiments, the calf 200 and the thigh 100 can also achieve relative rotation through a universal joint. Here, there is no restriction on the implementation method of the relative rotation between the calf 200 and the thigh 100, and similarly, there is no restriction on the specific method of the rotation connection between other structures in the present invention. The sole 300 is rotatably connected to the calf 200 so that the sole 300 and the calf 200 can rotate relative to each other. The first drive assembly 410 is provided at the calf 200, and is used to drive the sole 300 to swing relative to the calf 200 in a first direction. The first transmission structure 510 is disposed between the first driving assembly 410 and the sole portion 300 to transmit the power of the first driving assembly 410 to the sole portion 300 .

[0044] It can be understood that the first drive assembly 410 is the power source for the sole 300 to move relative to the calf 200. In one embodiment, the first drive assembly 410 is an integrated drive assembly, including a frameless torque motor and a reducer, a driver, etc., and the specific structure and model of the first drive assembly 410 are not limited here; similarly, the specific structure of other drive assemblies mentioned below is not limited. Generally, the first drive assembly 410 is usually set at the sole 300. The present invention moves the first drive assembly 410 up to the calf 200, which is conducive to the upward movement of the center of gravity of the robot leg structure, effectively reducing the weight of the lower side of the leg, increasing the flexibility of the leg control, and improving the flexibility of the robot. At the same time, the center of gravity of the robot as a whole is moved upward, which is conducive to improving the balance ability and anti-interference ability of the robot, improving the stability and reliability of the robot, and improving the walking speed of the robot and reducing the energy consumption of the robot.

[0045] For the convenience of explanation, the first direction is defined as the front-back direction of the robot, the second direction is defined as the left-right direction of the robot, and the third direction is the up-down direction of the robot. When the sole part 300 of the robot needs to swing relative to the calf part 200 in the first direction, the first driving assembly 410 works and transmits its power to the sole part 300 through the first transmission structure 510, thereby driving the sole part 300 to swing relative to the calf part 200 in the first direction, thereby realizing the front-back pitching movement of the sole part 300.

[0046] The technical solution of the present invention is to set a thigh part 100, a calf part 200 and a sole part 300 which are connected in rotation in sequence in the leg structure of the robot, and set a first driving component 410 on the calf part 200 for driving the sole part 300 to swing along a first direction relative to the calf part 200, and set a first transmission structure 510 between the first driving component 410 and the sole part 300, so that the first driving component 410 drives the sole part 300 to move through the first transmission structure 510. In this way, compared with the structure in the prior art where the first driving component 410 for driving the sole part 300 is set on the sole part 300, the present invention sets the first driving component 410 for driving the sole part 300 on the calf part 200, so that the first driving component 410 is moved upward, which is conducive to the upward movement of the center of gravity of the leg structure of the robot, effectively reducing the weight of the lower side of the leg, increasing the flexibility of leg control, and improving the flexibility of the robot. At the same time, the overall center of gravity of the robot is moved upward, which is beneficial to improving the robot's balance and anti-interference capabilities, and is beneficial to improving the robot's stability and reliability.

[0047] See also Figure 1 In an embodiment of the present invention, the sole portion 300 includes a first connecting frame 310 rotatably connected to the calf portion 200; the first transmission structure 510 includes a first crank 511 connected to the output shaft of the first drive assembly 410, and a first connecting rod 512 rotatably connected to the first crank 511, and the first connecting rod 512 is also rotatably connected to the first connecting frame 310; a first four-bar linkage is formed between the calf portion 200, the first crank 511, the first connecting rod 512 and the first connecting frame 310.

[0048] It can be understood that in the scheme shown in the figure of the present invention, a four-bar linkage is formed between the calf part 200 and the sole part 300 through the first transmission structure 510, and the power of the first drive assembly 410 is transmitted to the sole part 300 through the four-bar linkage. In one embodiment, the calf part 200 includes a calf bottom plate and two calf side plates arranged on both sides of the calf bottom plate, and a first installation space is formed between the calf bottom plate and the two calf side plates, and the first transmission structure 510 is arranged in the first installation space. The first drive assembly 410 is installed on a calf side plate, and the output shaft of the first drive assembly 410 extends into the first installation space to be transmission-connected with the first crank 511. That is, the first crank 511 is fixedly connected to the output shaft of the first drive assembly 410, so that the first crank 511 can rotate following the rotation of the output shaft of the first drive assembly 410. The other end of the first crank 511 is rotatably connected to the first connecting rod 512, and the other end of the first connecting rod 512 is rotatably connected to the first connecting frame 310, and the first connecting frame 310 is also rotatably connected to the calf 200. In one embodiment, the first connecting frame 310 includes a first sub-frame, and the two ends of the first sub-frame are respectively rotatably connected to the two calf side plates. The first sub-frame is also provided with an extension frame, and the first connecting rod 512 is rotatably connected to the first connecting frame 310 through the extension frame. In this way, a first four-bar linkage structure is formed between the calf 200, the first crank 511, the first connecting rod 512 and the first connecting frame 310, so that the power of the first driving assembly 410 is transmitted to the sole 300 through the first four-bar linkage, so that the sole 300 swings relative to the calf 200 in the first direction, that is, the front and rear pitching motion of the sole 300 is realized.

[0049] It can be understood that the calf portion 200 includes a left calf and a right calf. In one embodiment, the first drive assembly 410 is mounted on a calf side panel on one calf away from the other calf to avoid interference between the two calves.

[0050] However, the present design is not limited thereto. In other embodiments, the first transmission structure 510 may also be a transmission structure composed of a crank, a push rod, etc. In one embodiment, the first transmission structure 510 includes a crank, a first push rod, and a second push rod. The crank is fixedly connected to the output shaft of the first drive assembly 410, and the first push rod is rotatably connected to the crank, so that under the drive of the first drive assembly 410, the first push rod can swing forward and backward relative to the calf part 200, and the other end of the first push rod is connected to one end of the second push rod through a spherical hinge, and the other end of the second push rod is connected to the sole part 300 through a bidirectional rotating hinge. In this way, the power of the first drive assembly 410 can be transmitted to the sole part 300, and the first drive assembly 410 can drive the sole part 300 to swing in the forward and backward directions.

[0051] See also Figure 1 and Figure 2In an embodiment of the present invention, the connection center point between the first crank 511 and the first driving assembly 410 is defined as a, the connection center point between the first crank 511 and the first connecting rod 512 is defined as b, the connection center point between the first connecting rod 512 and the first connecting frame 310 is defined as c, and the connection center point between the first connecting frame 310 and the calf portion 200 is defined as d; the distance between a and b is defined as L1, the distance between b and c is defined as L2, the distance between c and d is defined as L3, and the distance between d and a is defined as L4; wherein, L1=L3, and L2=L4.

[0052] It can be understood that L1=L3, and L2=L4, so that the sides where L1, L2, L3 and L4 are located form a parallelogram structure, so that the power of the first drive assembly 410 is transmitted to the sole part 300 through the parallelogram four-bar structure. Specifically, the first connecting rod 512 is a two-force rod, which is subjected to the upward pulling force F1 of the first crank 511 and the downward pulling force F2 of the first connecting frame 310, and F1 and F2 are equal in magnitude and opposite in direction. The forces perpendicular to the directions of L1 and L3 are defined as T1 and T2 respectively. It can be understood that T1 and T2 are decomposed from F1 and F2 respectively. According to the principle of force decomposition, it can be deduced that T1=T2 at any time. From the torque formula M1=T1×L1, M2=T2×L3, it is further deduced that M1=M2. Therefore, through the parallelogram four-bar structure, the output torque of the first drive assembly 410 is transmitted to the sole 300 without loss, avoiding the increase of energy consumption of the robot leg structure and the increase of energy consumption of the robot. At the same time, the action point is centered during torque transmission, without eccentric load, ensuring the normal movement of the robot leg.

[0053] See also Figure 1 In an embodiment of the present invention, the sole portion 300 also includes a foot bracket 320, on which is mounted a second driving assembly 420 for driving the foot bracket 320 to swing relative to the calf along a second direction. The first connecting frame 310 includes a cross-connected first sub-frame (not shown) and a second sub-frame (not shown). The first sub-frame is rotatably connected to the calf portion 200 and the first connecting rod 512, respectively. The second sub-frame is connected to the foot bracket 320 via a bearing and is connected to the output shaft of the second driving assembly 420.

[0054] It is understandable that the second drive assembly 420 can drive the foot support 320 to swing along the second direction, thereby driving the sole part 300 to swing along the second direction, thereby increasing the movement ability of the sole part 300, so that the robot can achieve more and more complex actions, and improve the movement ability of the robot. Specifically, in the scheme shown in the figure of the present invention, the foot support 320 is in a "U" shape; the first sub-frame and the second sub-frame in the first connecting frame 310 are perpendicular to each other and are in a "cross" shape. Among them, the two ends of the first sub-frame are respectively connected to the two calf side plates of the calf part 200 for rotation, and the two ends of the second sub-frame are respectively connected to the two side walls of the foot support 320 through bearings. The second drive assembly 420 is installed on a side wall of the connecting frame, and the output shaft of the second drive assembly 420 is connected to the second sub-frame, so that the power of the second drive assembly 420 is transmitted to the second sub-frame. It is understandable that because the first sub-frame is connected to the calf part 200 for rotation, when the second drive assembly 420 is working, the output shaft of the second drive assembly 420 cannot drive the second sub-frame to rotate. Thus, when the second driving assembly 420 is working, the foot support 320 can only be driven to swing in the second direction by the rotation of the housing of the second driving assembly 420 in the reverse direction, thereby realizing the inward and outward swing of the sole 300. Thus, by setting the first connecting frame 310 in a "cross" structure to simultaneously connect the first driving assembly 410 and the second driving assembly 420, the two degrees of freedom of the sole 300, namely, the forward and backward swing and the inward and outward swing, are realized.

[0055] See also Figure 1 In an embodiment of the present invention, the sole portion 300 also includes a sole plate 330 connected to the foot support 320, and a force sensor 340 is provided between the sole plate 330 and the foot support 320, and the force sensor 340 is used to monitor and transmit the force acting on the sole plate 330.

[0056] It is understandable that when the robot walks, the sole 330 is used to contact the ground. In the present invention, the sole 330 is connected to the foot bracket 320 to realize the installation and fixation of the sole 330, and the sole 330 and the foot bracket 320 bracket are also provided with a force sensor 340. The force sensor 340 can sense the force between the sole 330 and the ground in real time, and convert the physical information into an electrical signal, transmit it to the host computer, and control it through its internal program to ensure the walking stability of the robot. It is worth noting that the electrical connection relationship between the force sensor 340 and the host computer, and the internal program belong to the prior art, which will not be repeated here. In this way, by arranging the force sensor 340, the sole 330 can sense the interaction force with the ground during walking in real time, which is conducive to improving the walking stability of the robot.

[0057] See also Figure 1In an embodiment of the present invention, the robot leg structure also includes a third drive component 430 arranged on the thigh 100, and a second transmission structure 520 is also provided between the third drive component 430 and the calf 200. The second transmission structure 520 is used to transmit the power of the third drive component 430 to the calf 200 to drive the calf 200 to swing along the first direction relative to the thigh 100.

[0058] It can be understood that the robot leg structure is provided with a third drive assembly 430 for driving the calf 200 to swing along the first direction. Generally, the third drive assembly 430 is installed on the calf 200. In the present invention, the third assembly is moved up to the thigh 100. In this way, the center of gravity of the robot leg structure is moved up, the weight of the lower side of the leg is effectively reduced, the flexibility of the leg control is increased, and the flexibility, stability and reliability of the robot are improved. When the third drive assembly 430 is working, the power of the third drive assembly 430 is transmitted to the calf 200 through the second transmission structure 520, thereby realizing the forward and backward flexion and extension movement of the calf 200 and the thigh 100.

[0059] See also Figure 1 and Figure 4 In an embodiment of the present invention, a support shaft 210 is provided on the calf portion 200, and the second transmission structure 520 includes a second crank 521 rotatably connected to the output shaft of the third drive assembly 430, and a second connecting rod 522 rotatably connected to the second crank 521, and the second connecting rod 522 is rotatably connected to the support shaft 210; a second four-bar linkage is formed between the second crank 521, the second connecting rod 522, the calf portion 200 and the thigh portion 100.

[0060] It can be understood that in the scheme shown in the figure of the present invention, a four-bar linkage is formed between the thigh 100 and the calf 200 through the second transmission structure 520, and the power of the third drive assembly 430 is transmitted to the calf 200 through the four-bar linkage. In one embodiment, a support shaft 210 is provided on the calf 200, and the support shaft 210 is located in the first installation space, and the two ends of the support shaft 210 are connected to the two calf side plates. The thigh 100 includes a thigh bottom plate and two thigh side plates arranged on both sides of the thigh bottom plate, and a second installation space is formed between the thigh bottom plate and the two thigh side plates, and a second transmission structure 520 is provided in the second installation space. The third drive assembly 430 is installed on a thigh side plate, and the output shaft of the third drive assembly 430 extends into the second installation space to be transmission-connected with the second crank 521. That is, the second crank 521 is fixedly connected to the output shaft of the third drive assembly 430, so that the second crank 521 can rotate following the rotation of the output shaft of the third drive assembly 430. The other end of the second crank 521 is rotatably connected to the second connecting rod 522, and the other end of the second connecting rod 522 is rotatably connected to the support shaft 210, that is, the second connecting rod 522 can rotate relative to the support shaft 210. It can be understood that the support shaft 210 can be fixed to the calf 200, and the support shaft 210 can also be rotatably connected to the calf 200, as long as the rotation of the second connecting rod 522 relative to the support shaft 210 can be achieved. In this way, a second four-bar linkage is formed between the second crank 521, the second connecting rod 522, the calf 200 and the thigh 100, so that the power of the third driving assembly 430 is transmitted to the calf 200 through the second four-bar linkage, thereby realizing the forward and backward flexion and extension movement of the calf 200 and the thigh 100.

[0061] See also Figure 1 and Figure 2 In an embodiment of the present invention, the connection center point between the second crank 521 and the third drive assembly 430 is defined as h, the connection center point between the second crank 521 and the second connecting rod 522 is defined as i, the connection center point between the second connecting rod 522 and the support shaft 210 is defined as j, and the connection center point between the calf 200 and the thigh 100 is defined as k; the distance between h and i is defined as L5, the distance between i and j is defined as L6, the distance between j and k is defined as L7, and the distance between k and h is defined as L8; wherein, L5=L7, and L6=L8.

[0062] It can be understood that L5=L7, and L6=L8, so that the sides where L5, L6, L7 and L8 are located form a parallelogram structure, so that the power of the third drive assembly 430 is transmitted to the calf 200 through the four-bar structure of the parallelogram. Specifically, the second connecting rod 522 is a two-force rod, which is subjected to the upward pulling force F3 of the second crank 521 and the downward pulling force F4 of the first connecting frame 310, and F3 and F4 are equal in magnitude and opposite in direction. The forces perpendicular to the directions of L5 and L7 are defined as T3 and T4, respectively. It can be understood that T3 and T4 are decomposed from F3 and F4, respectively. According to the principle of force decomposition, it can be deduced that T3=T4 at any time. From the torque formulas M3=T3×L5 and M4=T4×L7, it is further deduced that M3=M4. Therefore, through the parallelogram four-bar structure, the output torque of the third drive assembly 430 is transmitted to the calf 200 without loss, avoiding the increase of energy consumption of the robot leg structure and the increase of energy consumption of the robot. At the same time, the action point is centered during torque transmission, without eccentric load, ensuring the normal movement of the robot leg.

[0063] See also Figure 1 and Figure 3 In an embodiment of the present invention, one end of the thigh 100 away from the calf 200 is connected to the waist support 610, and a first support 630 is connected between the thigh 100 and the waist support 610. A fourth driving component 440 for driving the thigh 100 to swing along a first direction is installed on the first support 630. The output shaft of the fourth driving component 440 is connected to the thigh 100, and the fourth driving component 440 is arranged opposite to the third driving component 430.

[0064] It can be understood that one end of the thigh 100 away from the calf 200 is used to connect with the waist support 610, and a first support 630 is connected between the thigh 100 and the waist support 610. One end of the first support 630 is connected to the thigh 100, and the other end is used to connect with the waist support 610. In one embodiment, the first support 630 is connected to a thigh side plate to achieve the fixation of the first support 630. The fourth drive assembly 440 is installed on the first support 630. In one embodiment, the output shaft of the fourth drive assembly 440 is transmission-connected to the thigh side plate of the thigh 100, so that the fourth drive assembly 440 can drive the thigh 100 to swing along the first direction, thereby achieving the front and rear swing of the thigh 100 relative to the waist support 610.

[0065] Generally, the fourth driving assembly 440 for driving the thigh 100 to move is installed on the thigh 100. The present invention moves the fourth driving assembly 440 upward to the waist position, which is conducive to moving the center of gravity of the robot leg structure upward, effectively reducing the weight of the lower side of the leg, and increasing the flexibility of leg control. At the same time, the center of gravity of the entire robot is moved upward, which is conducive to improving the stability and reliability of the robot.

[0066] In one embodiment, the fourth drive assembly 440 and the third drive assembly 430 are respectively mounted on a thigh side plate, and the two are arranged opposite to each other. It can be understood that the mass of the third drive assembly 430 and the fourth drive assembly 440 are both relatively large. The third drive assembly 430 and the fourth drive assembly 440 are arranged on opposite sides of the thigh 100, and the two are arranged symmetrically, which is beneficial to the mass balance of the left and right sides of the thigh 100 and the stability of the robot movement. In one embodiment, all drive assemblies in the leg structure of the robot use drive assemblies of the same model, so that the mass of the third drive assembly 430 and the fourth drive assembly 440 are the same, thereby further improving the mass balance of the leg structure of the robot. At the same time, it is also beneficial to the assembly efficiency of the robot.

[0067] It can be understood that the fourth drive component 440 is the hip joint of the robot. In the present invention, the hip joint of the robot has three degrees of freedom to allow the thigh 100 to swing in any direction, wherein the hip Pitch joint can swing in the front-back direction, the hip Yaw joint can rotate around the up-down direction, and the hip Roll joint can swing in the left-right direction. The fourth drive component 440 is the hip Pitch joint.

[0068] See also Figure 1 and Figure 3 In the embodiment of the present invention, an auxiliary bracket 640 is installed on the side of the thigh portion 100 where the third driving assembly 430 is provided, and the auxiliary bracket 640 is connected to the first bracket 630 .

[0069] It can be understood that the thigh 100 includes two thigh side panels arranged opposite to each other, and the third driving assembly 430 and the fourth driving assembly 440 are respectively arranged on the two thigh side panels, wherein a first bracket 630 is arranged between one thigh side panel and the fourth driving assembly 440, and an auxiliary bracket 640 is arranged at the other thigh side panel to improve the force balance of the thigh 100. Specifically, one end of the auxiliary bracket 640 is connected to the first bracket 630, and the other end extends to a thigh side panel where the third driving assembly 430 is installed. In this way, the first bracket 630 and the auxiliary bracket 640 are respectively connected to the opposite sides of the thigh 100, so that the opposite sides of the thigh 100 can be supported, which is beneficial to the rigidity of the thigh 100, so that the force form of the thigh 100 is significantly improved.

[0070] In one embodiment, the first bracket 630 is in an "L"-shaped structure, and the auxiliary bracket 640 is in an "L"-shaped structure. Of course, in other embodiments, the first bracket 630 and the auxiliary bracket 640 can also be other structures, and the specific structures of the two are not limited here.

[0071] See also Figure 1 and Figure 3 In an embodiment of the present invention, a second bracket 620 is connected between the first bracket 630 and the waist bracket 610, and a fifth driving component 450 for driving the thigh 100 to rotate around a third direction is installed on the second bracket 620, and the output shaft of the fifth driving component 450 is connected to the first bracket 630.

[0072] It is understandable that in one embodiment, the robot leg structure is further provided with a fifth drive assembly 450 for driving the thigh 100 to rotate relative to the waist support 610 around a third direction. The provision of the fifth drive assembly 450 increases the movement ability of the thigh 100 and improves the robot's movement ability. At the same time, moving the fifth drive assembly 450 upward to the waist position is conducive to moving the center of gravity of the robot leg structure upward, and is conducive to moving the center of gravity of the robot as a whole upward. It is understandable that the fifth drive assembly 450 is the hip Yaw joint.

[0073] More specifically, the fifth driving assembly 450 is mounted on the second bracket 620, one end of the second bracket 620 is connected to the first bracket 630, and the other end is connected to the waist bracket 610. In this way, when the fifth driving assembly 450 is working, the fifth driving assembly 450 will drive the first bracket 630 to rotate in the up-down direction, thereby driving the thigh 100 to rotate in the up-down direction, and realizing the self-rotation of the thigh 100. In one embodiment, the second bracket 620 is a "U"-shaped structure, and the specific structure of the second bracket 620 is not limited here.

[0074] See also Figure 1 In an embodiment of the present invention, a sixth driving component 460 for driving the thigh 100 to swing along the second direction is installed on the waist support 610, and the output shaft of the sixth driving component 460 is connected to the second support 620.

[0075] It is understandable that in one embodiment, the robot leg structure is further provided with a sixth drive assembly 460 for driving the thigh 100 to swing relative to the waist support 610 along the second direction. The provision of the sixth drive assembly 460 increases the range of motion of the thigh 100 and improves the robot's action capability. At the same time, moving the sixth drive assembly 460 upward to the waist position is conducive to moving the center of gravity of the robot leg structure upward, and is conducive to moving the center of gravity of the robot as a whole upward. It is understandable that the sixth drive assembly 460 is a hip Roll joint.

[0076] More specifically, the sixth driving assembly 460 is mounted on the waist support 610, and the output shaft of the sixth driving assembly 460 is connected to the second support 620. In this way, when the sixth driving assembly 460 is working, it can drive the second support 620 to swing along the second direction, thereby driving the thigh 100 to swing along the second direction, and realizing the left and right swing of the thigh 100.

[0077] In this way, by setting the fourth driving assembly 440, the fifth driving assembly 450 and the sixth driving assembly 460, the movement of the thigh 100 in three directions can be realized. When the sixth driving assembly 460 is driven, the second bracket 620 swings along the second direction, thereby driving the fifth driving assembly 450, the first bracket 630 and the auxiliary bracket 640 connected to the second bracket 620 to swing along the second direction, thereby realizing the swing of the thigh 100 in the second direction, that is, realizing the left and right swing of the thigh 100. When the fifth driving assembly 450 is driven, the second bracket 620 rotates around the third direction, thereby driving the auxiliary bracket 640 to rotate around the third direction, thereby realizing the rotation of the thigh 100 around the third direction, that is, realizing the rotation of the thigh 100 around the up and down direction. When the fourth driving assembly 440 is driven, the thigh 100 swings along the first direction, thereby realizing the front and back swing of the thigh 100.

[0078] In this way, a first drive assembly 410, a second drive assembly 420, a third drive assembly 430, a fourth drive assembly 440, a fifth drive assembly 450 and a sixth drive assembly 460 are arranged in the leg structure of the robot, so that the leg structure of the robot has six degrees of freedom. In the present invention, the above six drive assemblies are arranged in series, and the six degrees of freedom are independently controlled and decoupled in structure. Compared with the parallel layout, the control difficulty of the robot is reduced and the control algorithm is simplified.

[0079] The present invention also proposes a robot, which includes a robot leg structure. The specific structure of the robot leg structure refers to the above-mentioned embodiments. Since the robot adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0080] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A robot leg structure, characterized in that: include: Thigh; A calf portion, rotatably connected to the thigh portion; A sole portion, rotatably connected to the calf portion; A first driving assembly, disposed on the calf portion, for driving the sole portion to swing relative to the calf portion along a first direction; and The first transmission structure is disposed between the first driving assembly and the sole of the foot to transmit the power of the first driving assembly to the sole of the foot.

2. The robot leg structure according to claim 1, characterized in that: The sole portion includes a first connecting frame rotatably connected to the calf portion; the first transmission structure includes a first crank connected to the output shaft of the first drive assembly, and a first connecting rod rotatably connected to the first crank, and the first connecting rod is also rotatably connected to the first connecting frame; a first four-bar linkage is formed between the calf portion, the first crank, the first connecting rod and the first connecting frame.

3. The robot leg structure according to claim 2, characterized in that: Define the connection center point between the first crank and the first drive assembly as a, the connection center point between the first crank and the first connecting rod as b, the connection center point between the first connecting rod and the first connecting frame as c, and the connection center point between the first connecting frame and the calf as d; define the distance between a and b as L1, the distance between b and c as L2, the distance between c and d as L3, and the distance between d and a as L4; wherein, L1=L3, and L2=L4.

4. The robot leg structure according to claim 2, characterized in that: The sole part also includes a foot bracket, on which is mounted a second driving assembly for driving the foot bracket to swing in a second direction relative to the calf, the first connecting frame includes a cross-connected first sub-frame and a second sub-frame, the first sub-frame being rotatably connected to the calf and the first connecting rod respectively, the second sub-frame being connected to the foot bracket via a bearing and connected to the output shaft of the second driving assembly.

5. The robot leg structure according to claim 4, characterized in that: The sole part also includes a sole plate connected to the foot support, and a force sensor is provided between the sole plate and the foot support. The force sensor is used to monitor and transmit the force applied to the sole plate.

6. The robot leg structure according to claim 1, characterized in that: The robot leg structure also includes a third drive component arranged on the thigh, and a second transmission structure is also provided between the third drive component and the calf. The second transmission structure is used to transmit the power of the third drive component to the calf to drive the calf to swing along a first direction relative to the thigh.

7. The robot leg structure according to claim 6, characterized in that: A support shaft is provided on the calf part, and the second transmission structure includes a second crank rotatably connected to the output shaft of the third drive component, and a second connecting rod rotatably connected to the second crank, and the second connecting rod is rotatably connected to the support shaft; a second four-bar linkage is formed between the second crank, the second connecting rod, the calf part and the thigh part.

8. The robot leg structure according to claim 7, characterized in that: Define the connection center point between the second crank and the third drive assembly as h, the connection center point between the second crank and the second connecting rod as i, the connection center point between the second connecting rod and the support shaft as j, and the connection center point between the calf and the thigh as k; define the distance between h and i as L5, the distance between i and j as L6, the distance between j and k as L7, and the distance between k and h as L8; wherein, L5=L7, and L6=L8.

9. The robot leg structure according to claim 6, characterized in that: One end of the thigh away from the calf is connected to the waist support, a first support is connected between the thigh and the waist support, a fourth drive component for driving the thigh to swing along a first direction is installed on the first support, an output shaft of the fourth drive component is connected to the thigh, and the fourth drive component is arranged opposite to the third drive component.

10. The robot leg structure according to claim 9, characterized in that: An auxiliary bracket is installed on the side of the thigh where the third driving component is arranged, and the auxiliary bracket is connected to the first bracket.

11. The robot leg structure according to claim 9, characterized in that: A second bracket is connected between the first bracket and the waist bracket, and a fifth driving component for driving the thigh to rotate around a third direction is installed on the second bracket, and an output shaft of the fifth driving component is connected to the first bracket.

12. The robot leg structure according to claim 11, characterized in that: The waist support is provided with a sixth driving assembly for driving the thigh to swing along the second direction, and the output shaft of the sixth driving assembly is connected to the second support.

13. A robot, characterized in that: Comprising the robot leg structure according to any one of claims 1 to 12.

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