Thigh structure of humanoid robot and humanoid robot

Abstract

The invention discloses a thigh structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, solves the problem that two motors of the thigh structure are both mounted at the upper ends of thighs, and adopts the technical scheme that the thigh structure mainly comprises a thigh bracket and two motors, each motor comprises a shell, a driving unit, a control unit and a transmission unit, the driving units, the control units and the transmission units are mounted in the motors, first hinge ends are formed at the bottom ends of the thigh supports, second hinge ends are formed at the top ends of the thigh supports, mounting cavities are formed in the thigh supports, the shells of the motors are strip-shaped, and the two motors are laid in the length direction of the thigh supports. The transmission units are in transmission connection with an output shaft of the driving power source and used for outputting torque, the transmission unit of one motor is fixedly connected with the shank through a first hinge end, and the transmission unit of the other motor is fixedly connected with the crotch through a second hinge end. The invention is mainly used for fully utilizing the internal space of the thigh structure and reducing the width of the top end of the thigh structure.

Description

Technical Field

[0001] The invention shows a thigh structure of a humanoid robot and the humanoid robot, belonging to the technical field of humanoid robots. Background Art

[0002] With the rapid development of artificial intelligence technology and its deep integration with the traditional robotics industry, humanoid robots have a higher degree of simulation. The leg structure of humanoid robots, as the most important supporting and moving parts of robots, has received more and more attention and research. The research on leg structure not only has great scientific significance, but also shows great potential in practical applications.

[0003] For example, the prior art CN118810959A discloses a bipedal humanoid robot, including a pelvic structure and two leg structures, a right thigh motor and a left thigh motor are provided at both ends of the pelvic structure, the output end of the right thigh motor is connected to the right leg structure, the right thigh motor drives the right thigh to swing back and forth, a right knee joint motor and a right knee joint rotating connecting rod are provided on the right thigh, the output end of the right knee joint motor is connected to one end of the right knee joint connecting rod, the other end of the right knee joint connecting rod is rotationally connected to the upper end of the right calf, the right knee joint motor drives the right calf to swing back and forth, a right calf motor and a right ankle joint are rotationally connected on the right calf, and the right calf motor drives the right ankle joint rotating connecting rod to drive the right foot to move.

[0004] In the above patent, the thigh motor and the knee joint motor are both installed at the top of the thigh, and the thigh motor and the knee joint motor are respectively located on both sides of the thigh, which will increase the width of the upper end of the thigh, so that the distance between the two thighs is too large, resulting in the two thighs being unable to be normally closed together, making the leg structure of the humanoid robot less aesthetically pleasing and may even affect the walking posture of the humanoid robot. Summary of the invention

[0005] The purpose of the present invention is to solve the problem in the prior art that the two motors of the thigh structure are installed at the upper end of the thigh. For this purpose, a thigh structure of a humanoid robot and a humanoid robot are provided. The motor is fixedly installed inside the thigh support, which can fully utilize the internal space of the thigh structure and reduce the width of the top of the thigh structure.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] The thigh structure of a humanoid robot is connected between the crotch and calf structure of the humanoid robot. The thigh structure includes a thigh support and two motors. The motor includes a shell, and a drive unit, a control unit and a transmission unit installed in the motor. The bottom end of the thigh support forms a first hinged end hinged to the calf of the humanoid robot, and the top end of the thigh support forms a second hinged end hinged to the crotch of the humanoid robot. The inner hollow of the thigh support forms an installation cavity. The shell of the motor is long and narrow. Both motors are laid along the length direction of the thigh support and fixed in the installation cavity. The transmission unit is connected to the output shaft of the driving power supply and is used to output torque. The transmission unit of one motor is fixedly connected to the calf through the first hinged end, and the transmission unit of the other motor is fixedly connected to the crotch through the second hinged end.

[0008] The beneficial effects of adopting the present invention are:

[0009] The inner hollow of the thigh bracket described in the present invention forms a mounting cavity, and the outer shell of the motor is in the shape of an elongated strip. The formation of the outer shell matches the shape of the thigh bracket, so that the motor can be fixed in the mounting cavity of the thigh bracket, making the assembly of the thigh bracket and the motor more compact, which can greatly save the overall space of the thigh structure, make the overall appearance of the thigh structure more beautiful, more in line with the human body structure, and help to improve the simulation degree of the thigh structure; in addition, in order to avoid the excessive weight of the humanoid robot, the thigh bracket usually adopts a hollow design, and the hollowing out to form a mounting cavity for installing the motor can make full use of the internal space of the thigh structure, while reducing the weight of the thigh bracket. At the same time, it can also provide a sufficient installation space for the motor, and the thigh bracket can also protect the motor, preventing the motor from protruding directly from the thigh bracket and making the motor vulnerable to external impact, which helps to reduce the possibility of motor damage; secondly, the motor is laid along the length direction of the thigh bracket, which can prevent the motor from being installed concentratedly at the upper end of the thigh bracket, avoiding the thigh structure from being too wide and causing the two thigh structures to be unable to close together normally. Installing the motor inside the thigh bracket can keep the upper end of the thigh bracket at a normal width, making the shape of the thigh structure more in line with the human body structure, so that the thigh structure has a higher aesthetics and simulation degree.

[0010] Preferably, the thigh support includes a front plate and two side plates respectively fixed on both sides of the front plate, and an installation cavity is formed between the front plate and the two side plates. With the above-mentioned technical solution, the thigh support is formed by splicing the front plate and the two side plates, so that the installation cavity has multiple openings, which facilitates the installation and removal of the motor and helps to improve the installation and replacement efficiency of the motor; in addition, the thigh support is formed only by the front plate and the two side plates, which can greatly reduce the overall weight of the thigh support, help reduce the load of the motor, and improve the endurance of the leg structure; secondly, only fixing the two side plates on both sides of the front plate can increase the volume of the installation cavity in the length direction of the front plate, thereby providing a larger installation space for the motor, so that the thigh support can be installed with a larger size of motor, so that the motor can output a larger torque to the crotch or calf structure.

[0011] Preferably, the two motors are respectively a first motor and a second motor, the first motor is fixed in the mounting cavity and close to the front plate, the transmission unit of the first motor extends to the bottom end of the thigh support, the second motor is fixed between the two side plates, the transmission unit of the second motor extends to the top end of the thigh support, and the first motor is between the front plate and the second motor. With the aforementioned technical solution, the transmission unit of the first motor extends to the bottom end of the thigh support, so that the transmission unit of the first motor can be directly connected to the calf structure, and the corresponding transmission unit of the second motor can also be directly connected to the crotch, thereby reducing the transmission mechanism between the motor and the calf structure or the crotch, helping to reduce energy loss during power transmission, and reducing mechanical wear and failure rate caused by too many transmission parts.

[0012] Preferably, the connection position between the bottom end of the side panel and the front panel is located on the upper side of the bottom end of the front panel, the first motor is fixed to the front panel, the transmission unit of the first motor is transmission-connected to the calf, and the first motor drives the calf to rotate through the transmission unit.

[0013] Preferably, a mounting hole for fixing the second motor is provided at the top of the side panel, a transmission unit of the second motor is fixedly connected to the mounting hole, an inertia disk fixedly connected to the crotch is provided at one end of the transmission unit, and the second motor controls the rotation of the inertia disk to realize relative rotation of the thigh and the crotch.

[0014] Preferably, the front plate and the two side plates are an integrated structure. The above-mentioned technical solution adopts an integrated structure to enhance the overall strength of the thigh support, thereby making the leg structure have stronger support performance, and at the same time, it can provide more powerful protection for the motor and reduce the possibility of the motor being damaged by external impact.

[0015] Preferably, the transmission unit includes a rotating shaft, the end of the rotating shaft is transmission-connected with an inertia disk, the inertia disk is used to connect to the calf or the crotch, a first bevel gear is fixed on the rotating shaft, and the end of the output shaft of the drive unit is provided with a second bevel gear meshing with the first bevel gear. The drive unit drives the inertia disk to rotate via the rotating shaft to realize the rotation of the thigh relative to the calf or the crotch. By adopting the above-mentioned technical scheme, the first bevel gear and the second bevel gear can realize vertical transmission between the transmission shaft and the output shaft, so that the transmission efficiency between the output shaft and the transmission shaft is higher, and the stable transmission of torque is ensured; in addition, the output shaft is directly meshed with the transmission shaft, which can save the connecting rod, so that the drive unit can occupy a larger space, and then the size of the drive unit can be increased, so that the motor has a higher output torque and output power; secondly, the rotating shaft directly outputs torque through the inertia disk to realize linear transmission of power, which can reduce the constraint stiffness of the transmission unit. Compared with the scheme of connecting rod transmission in the prior art, when performing simulation in the design process, the design of the present invention has a larger simulation time step, which helps to reduce the training time of the control unit, shorten the research and development time and iterative testing time. In addition, the connecting rod transmission is a nonlinear transmission, and few simulation engines can perform simulation. The invention can only provide an approximate solution during simulation, which is quite different from the real physical situation. However, the invention directly transmits the torque to the joints, which is a linear transmission. The solution during simulation is closer to the real physical situation, and the actual product motion state is closer to the state during simulation. In addition, the linear transmission method can reduce the difficulty of solving inverse kinematics and reduce the calculation overhead, which helps to directly use the control unit of simulation training for real objects. In addition, in the prior art, in order to set the connecting rod structure in the limited leg space, the size of the motor has to be reduced. However, in the invention, because the torque is directly transmitted to the joints of the leg structure, the length of the motor can be designed to be close to the length of the leg space, so that the motor has a more powerful performance, thereby outputting a larger torque, increasing the range of motion during leg movement, and improving the motion performance of the humanoid robot.

[0016] Preferably, the transmission unit further comprises a reduction mechanism, which comprises a planetary gear and a ring gear, a sun gear is provided at the end of the rotating shaft, the planetary gear meshes with the ring gear and the sun gear at the same time, the rotating shaft drives the ring gear to rotate through the planetary gear, and the inertia disc is fixedly connected to the ring gear; or, the ring gear is relatively fixed to the housing, the inertia disc is fixedly connected to the planetary gear, and the output shaft drives the inertia disc to rotate through the planetary gear. By adopting the above technical solution, the reduction mechanism can reduce the rotation speed of the rotating shaft and make the inertia disc have a larger output torque, so that the motor can stably drive the movement of the leg structure.

[0017] Preferably, the reduction mechanism further comprises a reduction box, which is fixedly connected to the housing of the motor, the gear ring is fixed to the inner wall of the reduction box, the reduction box is provided with a through hole, the inertia disc is rotatably mounted on the through hole through a bearing, the outer peripheral side of the rotating shaft is rotatably connected to a retainer, the retainer is fixedly connected to the inertia disc, the planetary gear has a rotating shaft, the two ends of the rotating shaft are respectively connected to the retainer and the inertia disc, and the inertia disc has a fastener for fixing the calf or the crotch. By adopting the above technical solution, the planetary gear is restricted between the retainer and the inertia disc, which can prevent the planetary gear from moving along the axial direction of the sun gear, ensuring that the planetary gear can maintain stable meshing with the sun gear and the gear ring.

[0018] Preferably, the housing includes a main housing and an end cap detachably mounted on one end of the main housing, the end cap being connected to one end of the main housing away from the transmission unit, and a receiving chamber for assembling the control unit is formed between the end cap and the main housing. With the aforementioned technical solution, the main housing and the end cap are detachably connected, which can facilitate the installation and disassembly of the control unit, making the maintenance and testing of the control unit simpler and more convenient; in addition, the end cap forms a receiving chamber at one end of the main housing, which can increase the distance between the control unit and the drive unit, reduce the heat generated by the drive unit entering the receiving chamber, reduce the heating rate of the control unit, and help extend the service life of the control unit; in addition, the receiving chamber is arranged at one end of the main housing, and since the housing is arranged in a long strip shape, the volume of the receiving chamber can be expanded by increasing the length of the housing, so that a larger area of ​​the control unit can be installed in the receiving chamber, so as to enhance the function of the control unit and make the leg structure have a faster running speed and stronger load capacity.

[0019] Preferably, the control unit includes a plurality of circuit boards, which are stacked in the accommodating cavity along the length direction of the shell, and a support column is provided between two adjacent circuit boards, which supports the upper circuit board so as to form a gap between two adjacent circuit boards. Using the above-mentioned technical solution, the control unit is composed of a plurality of circuit boards, and the circuit boards are stacked along the length direction of the shell. While increasing the area of ​​the circuit boards, the diameter of the control unit can also be reduced, so that the circuit boards can adapt to the shape of the motor shell, and avoid the increase in the overall volume of the motor due to the excessive diameter of the circuit boards; in addition, increasing the area of ​​the circuit boards allows the control unit to install more electronic components, so that the control unit can control the motor more accurately, and the control unit can output a larger voltage and current to the motor so that the motor has a sufficiently large output torque.

[0020] The present invention also shows a humanoid robot, including a torso, the bottom of which is movably connected to a leg structure, the leg structure including a crotch, a thigh structure, a calf structure and a foot end piece, and the thigh adopts the thigh structure of the humanoid robot as described in any one of the above items.

[0021] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below in conjunction with the accompanying drawings:

[0023] Figure 1 is a schematic structural diagram of the thigh structure of the humanoid robot of the present invention;

[0024] Figure 2 It is a schematic structural diagram of a thigh support in the thigh structure of a humanoid robot of the present invention;

[0025] Figure 3 It is a schematic diagram of the structure of the motor in the thigh structure of the humanoid robot of the present invention;

[0026] Figure 4 An exploded view of a motor in a thigh structure of a humanoid robot of the present invention;

[0027] Figure 5 An exploded view of a deceleration mechanism in the thigh structure of the humanoid robot of the present invention;

[0028] Figure 6 It is a structural schematic diagram of a control unit in the thigh structure of a humanoid robot of the present invention;

[0029] Figure 7 This is a schematic diagram of the leg structure of the humanoid robot of the present invention;

[0030] Figure 8 It is a schematic structural diagram of the left leg of the humanoid robot of the present invention.

[0031] : Illustrations: 1. Crotch; 2. Thigh structure; 21. Thigh support; 211. Front plate; 212. Side plate; 213. Mounting hole; 22. Mounting cavity; 3. Calf structure; 4. Foot end piece; 5. Motor; 5a. First motor; 5b. Second motor; 51. Housing; 511. Main housing; 512. End cover; 5121. Accommodating cavity; 513. Box; 521. Output shaft; 522. Second bevel gear; 53. Transmission unit; 531. Rotating shaft; 532. First bevel gear; 533. Inertia disk; 541. Sun gear; 542. Planetary gear; 543. Ring gear; 544. Retaining frame; 5441. Connecting column; 545. Reducer; 55. Control unit; 551. Circuit board; 552. Support column; 553. Pin. DETAILED DESCRIPTION

[0032] The technical solutions of the embodiments of the present invention are explained and described below in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the present invention.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0034] 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. Thus, a feature defined as "first" or "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 defined.

[0035] 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 it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] Embodiment 1:

[0037] like Figures 1 to 6As shown, this embodiment shows the thigh structure 2 of the humanoid robot, the thigh structure 2 is connected between the crotch 1 and the calf structure 3 of the humanoid robot, the thigh structure 2 includes a thigh support 21 and two motors 5, the motor 5 includes a shell 51, and a drive unit, a control unit 55 and a transmission unit 53 installed in the motor 5, the bottom end of the thigh support 21 forms a first hinged end hinged to the calf of the humanoid robot, the top end of the thigh support 21 forms a second hinged end hinged to the crotch 1 of the humanoid robot, the inner hollow of the thigh support 21 forms an installation cavity 22, the shell 51 of the motor 5 is long and strip-shaped, the two motors 5 are laid along the length direction of the thigh support 21 and fixed in the installation cavity 22, the transmission unit 53 is transmission-connected to the output shaft 521 of the driving power supply and is used to output torque, the transmission unit 53 of one motor 5 is fixedly connected to the calf through the first hinged end, and the transmission unit 53 of the other motor 5 is fixedly connected to the crotch 1 through the second hinged end.

[0038] The inner hollow of the thigh bracket 21 described in the present embodiment forms a mounting cavity 22, and the outer shell 51 of the motor 5 is in the shape of an elongated strip. The formation of the outer shell 51 matches the shape of the thigh bracket 21, so that the motor 5 can be fixed in the mounting cavity 22 of the thigh bracket 21, so that the assembly of the thigh bracket 21 and the motor 5 is more compact, which can greatly save the overall space of the thigh structure 2, make the overall appearance of the thigh structure 2 more beautiful, more in line with the human body structure, and help to improve the simulation degree of the thigh structure 2; in addition, in order to avoid the excessive weight of the humanoid robot, the thigh bracket 21 usually adopts a hollow design, and the hollowing out to form the mounting cavity 22 for installing the motor 5 can make full use of the internal space of the thigh structure 2, while reducing the thigh bracket 21. While reducing the weight, it can also provide a sufficient installation space for the motor 5. At the same time, the thigh bracket 21 can also protect the motor 5, preventing the motor 5 from directly protruding from the thigh bracket 21 and making the motor 5 vulnerable to external impact, which helps to reduce the possibility of damage to the motor 5; secondly, the motor 5 is laid along the length direction of the thigh bracket 21, which can prevent the motor 5 from being concentratedly installed on the upper end of the thigh bracket 21, and avoid the thigh structure 2 being too wide and causing the two thigh structures 2 to be unable to close together normally. Installing the motor 5 inside the thigh bracket 21 can keep the upper end of the thigh bracket 21 at a normal width, so that the shape of the thigh structure 2 is more in line with the human body structure, so that the thigh structure 2 has a higher aesthetics and simulation.

[0039] like Figure 1 and Figure 2As shown, the thigh support 21 described in this embodiment includes a front plate 211 and two side plates 212, the two side plates 212 are respectively fixed on both sides of the front plate 211, and the two side plates 212 are arranged in parallel, and a mounting cavity 22 is formed between the front plate 211 and the two side plates 212, wherein the mounting cavity 22 is open on the side away from the front plate 211 and the top and bottom ends of the two side plates 212, and the two motors 5 are respectively a first motor 5a and a second motor 5b, the first motor 5a is installed in the first motor 5a and fixed in the mounting cavity 22 and close to the front plate 211, the transmission unit 53 of the first motor 5a extends to the bottom end of the thigh support 21, and the second motor 5 b is fixed between the two side plates 212, the transmission unit 53 of the second motor 5b extends to the top of the thigh support 21, and the first motor 5a is between the front plate 211 and the second motor 5b; the transmission unit 53 of the first motor 5a extends to the bottom of the thigh support 21, so that the transmission unit 53 of the first motor 5a can be directly connected to the calf structure 3, and the corresponding transmission unit 53 of the second motor 5b can also be directly connected to the crotch 1, thereby reducing the transmission unit 53 between the motor 5 and the calf structure 3 or the crotch 1, which helps to reduce the energy loss in the power transmission process and reduce the mechanical wear and failure rate caused by too many transmission parts. It should be noted that the front plate 211 is the front part of the thigh structure 2, and the front side of the thigh structure 2 is the direction facing the humanoid robot.

[0040] like Figure 1 As shown, in this embodiment, the top of the side plate 212 is flush with the top of the front plate 211, and the length of the side plate 212 is less than the length of the front plate 211, that is, the connection position between the bottom end of the side plate 212 and the front plate 211 is located on the upper side of the bottom end of the front plate 211, and the transmission unit 53 of the first motor 5a extends to the bottom end of the front plate 211, and only one side of the transmission unit 53 is in contact with the front plate 211, and the other sides are exposed to the outside world, and the connection between the transmission unit 53 and the calf structure 3 is located in the plane where the side plate 212 is located, that is, the first motor 5a and the calf structure 3 will not be affected by the thigh support 21, making the connection between the thigh structure 2 and the calf structure 3 more convenient and quick; in addition, shortening the length of the side plate 212 can reduce the overall weight of the thigh support 21, and can also reduce the manufacturing cost of the thigh support 21; secondly, the transmission unit 53 of the first motor 5a extends to the bottom end of the front plate 211, which can make the front of the thigh structure 2 have a more complete shape, and the front plate 211 can also shield the first motor 5a, reducing the possibility of the motor 5 being subjected to external impact during the movement of the humanoid robot.

[0041] like Figure 1 and Figure 2As shown, in this embodiment, the top end of the side plate 212 is provided with a mounting hole 213 for fixing the second motor 5b, and the mounting hole 213 is located at the edge of the side plate 212 away from the front plate 211. The transmission unit 53 of the second motor 5b extends to the top end of the side plate 212, and the transmission unit 53 of the second motor 5b is fixed through the mounting hole 213. The transmission unit 53 is provided with an inertia disk 533, and the inertia disk 533 is fixedly connected to the crotch 1. The motor 5 drives the inertia disk 533 to rotate, thereby realizing the relative rotation of the thigh structure 2 and the crotch 1.

[0042] In order to improve the overall strength of the thigh support 21, the front plate 211 and the two side plates 212 described in this embodiment are an integrated structure. The use of an integrated structure can enhance the overall strength of the thigh support 21, thereby making the leg structure have a stronger supporting performance. At the same time, it can also provide more powerful protection for the motor 5 and reduce the possibility of the motor 5 being damaged by external impact.

[0043] like Figure 4As shown, the housing 51 in this embodiment includes a main housing 511, a box body 513 and an end cover 512. The box body 513 and the end cover 512 are respectively installed at both ends of the main housing 511. The driving unit is fixed in the main housing 511. The output shaft 521 of the driving unit extends into the box body 513. The transmission unit 53 is installed in the box body 513. The rotating shaft 531 of the transmission unit 53 is rotatably connected with the box body 513. A first bevel gear 532 is fixed on the outer peripheral side of the rotating shaft 531. A second bevel gear 522 is fixed on the end of the output shaft 521. The first bevel gear 532 and the second bevel gear 522 are meshed with each other. The inertia disk 533 is transmission-connected with one end of the rotating shaft 531. The first bevel gear 532 and the second bevel gear 522 are connected to each other, and the inertia disk 533 is outside the box body 513. The output shaft 521 drives the rotating shaft 531 to rotate through the first bevel gear 532 and the second bevel gear 522, and the rotating shaft 531 drives the inertia disk 533 to rotate to achieve the output of torque. The first bevel gear 532 and the second bevel gear 522 can realize the vertical transmission between the transmission shaft and the output shaft 521, so that the transmission efficiency between the output shaft 521 and the transmission shaft is higher, ensuring the stable transmission of torque; in addition, the output shaft 521 is directly meshed with the transmission shaft, which can save the connecting rod, so that the drive unit can occupy a larger space, and then the size of the drive unit can be increased, so that the motor 5 has a higher output torque and output output power; secondly, the rotating shaft 531 directly outputs torque through the inertia disk 533 to achieve linear transmission of power, which can reduce the constraint stiffness of the transmission unit 53. Compared with the solution of connecting rod transmission in the prior art, when performing simulation in the design process, the design of the present invention has a larger simulation time step, which helps to reduce the training time of the control unit 55, shorten the research and development time and iterative testing time. In addition, the connecting rod transmission is a nonlinear transmission, which is rarely supported by simulation engines during simulation, and the solution obtained during simulation is only an approximate solution, which is quite different from the actual physical situation. The present invention transmits torque directly to the joint part, which is a linear transmission. The solution is closer to the real physical situation, and the actual product motion state is closer to the state during simulation. In addition, the use of linear transmission can reduce the difficulty of solving inverse kinematics, reduce calculation overhead, and help to directly use the control unit 55 trained in simulation for real objects. In addition, in the prior art, in order to set the connecting rod structure in the limited leg space, the size of the motor has to be reduced. In the present invention, because the torque is directly transmitted to the joints of the leg structure, the length of the motor can be designed to be close to the length of the leg space, so that the motor has a more powerful performance, thereby outputting a larger torque, increasing the range of motion during leg movement, and improving the motion performance of the humanoid robot.

[0044] like Figure 5As shown, the transmission unit 53 described in this embodiment also includes a reduction mechanism, which includes a reduction box 545 fixed to one side of the housing 513. The reduction box 545 is provided with a sun gear 541, a planetary gear 542 and a ring gear 543. One end of the rotating shaft 531 of the transmission unit 53 is rotatably connected to the housing 513, and the other end passes through the housing 513 and extends into the reduction box 545. The sun gear 541 is fixed to the end of the rotating shaft 531 and rotates synchronously with the rotating shaft 531. The ring gear 543 is fixed to the inner wall of the reduction box 545. The planetary gear 542 is meshed with the ring gear 543 and the sun gear 541 at the same time. The outer peripheral side of the end of the rotating shaft 531 extending into the reduction box 545 is sleeved with a shaft sleeve, which is fixedly connected to the housing 513. The outer peripheral side of the shaft sleeve is rotatably connected with a retaining frame 544. A through hole is provided on the side of the reduction box 545 away from the rotating shaft 531, and the inertia disk 533 rotates with the through hole through a bearing. In cooperation, the retainer 544 is provided with a connecting column 5441 extending toward the inertia disk 533, the retainer 544 and the inertia disk 533 are fixedly connected via the connecting column 5441, the planetary gear 542 has a rotating shaft, both ends of the rotating shaft are respectively connected to the retainer 544 and the inertia disk 533, the planetary gear 542 is rotatably arranged between the retainer 544 and the inertia disk 533 via the rotating shaft, the inertia disk 533 has a fastener for connecting the leg structure; after the motor 5 is started, the rotating shaft 531 drives the sun gear 541 to rotate, the sun gear 541 and the ring gear 543 cooperate to drive the planetary gear 542 to rotate circumferentially around the sun gear 541, and the planetary gear 542 drives the inertia disk 533 to rotate during the rotation of the sun gear 541, thereby realizing the output of torque, the reduction mechanism can slow down the rotation speed of the rotating shaft, and make the inertia disk 533 have a larger output torque, so that the motor 5 can stably drive the movement of the leg structure.

[0045] In order to make the motor 5 have a more beautiful appearance, the reduction mechanism and the first bevel gear 532 described in this embodiment are respectively located at the two ends of the rotating shaft 531. The reduction mechanism and the first bevel gear 532 are distributed at the two ends of the rotating shaft 531, which can make the overall structure of the transmission unit 53 more evenly distributed, avoiding the reduction mechanism and the first bevel gear 532 being at the same end to cause the side of the motor 5 to bulge, so that the housing 51 of the motor 5 is more regular, which is conducive to the installation and fixation of the motor 5.

[0046] Of course, it is understandable that in other embodiments, the inertia disk 533 can also be fixedly connected to the ring gear 543, and the ring gear 543 is rotatably installed in the reduction box 545. The rotating shaft 531 drives the planetary gear 542 to rotate through the sun gear 541, and the planetary gear 542 drives the ring gear 543 to rotate, and the ring gear 543 drives the inertia disk 533 to rotate, thereby realizing the output of torque.

[0047] The box body 513 described in this embodiment can provide solid support and protection for the rotating shaft 531, reducing the possibility of the rotating shaft 531 being damaged by external impact; in addition, the box body 513 wraps the meshing portion of the output shaft 521 and the rotating shaft 531 to prevent debris from entering the meshing portion of the output shaft 521 and the rotating shaft 531, reducing the possibility of the output shaft 521 and the rotating shaft 531 being worn by friction with foreign objects, which helps to extend the service life of the output shaft 521 and the rotating shaft 531; secondly, in this embodiment, the box body 513 is detachably connected to the main housing 511, which can make the maintenance of the transmission unit 53 simpler and more convenient, and help to improve the maintenance efficiency of the motor 5.

[0048] like Figure 4 As shown, in this embodiment, a receiving chamber 5121 for assembling the control unit 55 is formed between the end of the main shell 511 away from the transmission unit 53 and the end cover 512. The main shell 511 and the end cover 512 are detachably connected, which can facilitate the installation and disassembly of the control unit 55, so that the maintenance and testing of the control unit 55; in addition, the end cover 512 forms a receiving chamber 5121 at one end of the main shell 511, which can increase the distance between the control unit 55 and the drive unit, reduce the heat generated by the drive unit entering the receiving chamber 5121, reduce the heating rate of the control unit 55, and help to extend the service life of the control unit 55; in addition, the receiving chamber 5121 is arranged at one end of the main shell 511. Since the shell 51 is arranged in a long strip shape, the volume of the receiving chamber 5121 can be expanded by increasing the length of the shell 51, so that the receiving chamber 5121 can be installed with a larger area of ​​the control unit 55, so as to enhance the function of the control unit 55 and make the leg structure have a faster running speed and stronger load capacity.

[0049] like Figure 6As shown, in this embodiment, the control unit 55 includes at least two circuit boards 551, and the circuit boards 551 are stacked in the accommodating cavity 5121 along the length direction of the shell 51. A support column 552 is provided between two adjacent circuit boards 551, and the support column 552 supports the upper circuit board 551 to form a gap between the two adjacent circuit boards 551. The two adjacent circuit boards 551 are electrically connected through pins 553. The control unit 55 is composed of a plurality of circuit boards 551, and the circuit boards 551 are stacked along the length direction of the shell 51. While increasing the area of ​​the circuit boards 551, the diameter of the control unit 55 can also be reduced, so that the circuit boards 551 can adapt to the shape of the motor 5 shell 51, and avoid the circuit boards 551 being too large in diameter and causing the overall volume of the motor 5 to increase; in addition, increasing the area of ​​the circuit boards 551 allows the control unit 55 to install more electronic components, so that the control unit 55 can control the motor 5 more accurately, and the control unit 55 can output a larger voltage and current to the motor 5, so that the motor 5 has a sufficiently large output torque. Of course, it is understandable that the number of circuit boards 551 may be more than two. By increasing the number of circuit boards 551 , the installation area of ​​the circuit boards 551 may be increased, thereby improving the performance of the control unit 55 .

[0050] Embodiment 2:

[0051] like Figure 7 and Figure 8 As shown, this embodiment shows a humanoid robot, including a torso, the bottom of the torso is movably connected to a leg structure, the leg structure includes a crotch 1, a thigh structure 2, a calf structure 3 and a foot end piece 4, wherein the thigh structure 2 adopts the thigh structure 2 of the humanoid robot as described in Example 1, the crotch 1 is fixedly connected to the torso, the crotch 1 is rotatably connected to two thigh structures 2, the bottom end of each thigh structure 2 is rotatably connected to a calf structure 3, the foot end piece 4 is rotatably connected to the bottom end of the calf structure 3, the inside of the thigh structure 2 forms an installation cavity 22 for installing a motor 5, and two motors 5 are fixedly connected in the installation cavity 22 of the thigh structure 2, and the inertia of one of the motors 5 The disk 533 is fixedly connected to the crotch 1. After the motor 5 is started, it drives the inertia disk 533 to rotate, thereby realizing the relative rotation of the crotch 1 and the thigh structure 2. The inertia disk 533 of another motor 5 is fixedly connected to the top of the calf structure 3. After the motor 5 is started, it drives the inertia disk 533 to rotate, thereby realizing the relative rotation of the thigh structure 2 and the calf structure 3. The interior of the corresponding calf structure 3 is also formed with an installation cavity 22 for installing the motor 5. A motor 5 is fixedly connected in the installation cavity 22 of the calf structure 3. The inertia disk 533 of the motor 5 is fixedly connected to the foot end piece 4. After the motor 5 is started, it drives the inertia disk 533 to rotate, thereby realizing the relative rotation of the calf structure 3 and the foot end piece 4.

[0052] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A thigh structure of a humanoid robot, wherein the thigh structure is connected between the crotch and the calf structure of the humanoid robot, the thigh structure comprises a thigh support and two motors, the motor comprises a housing, and a drive unit, a control unit and a transmission unit installed in the motor, the bottom end of the thigh support forms a first hinged end hinged to the calf of the humanoid robot, and the top end of the thigh support forms a second hinged end hinged to the crotch of the humanoid robot, characterized in that: The inner hollow of the thigh support forms an installation cavity, the outer shell of the motor is in the shape of an elongated strip, the two motors are laid along the length direction of the thigh support and fixed in the installation cavity, the transmission unit is connected to the output shaft of the driving power supply and is used to output torque, the transmission unit of one of the motors is fixedly connected to the calf through the first hinge end, and the transmission unit of the other motor is fixedly connected to the crotch through the second hinge end.

2. The thigh structure of the humanoid robot according to claim 1, characterized in that: The thigh support comprises a front plate and two side plates respectively fixed on both sides of the front plate, and a mounting cavity is formed between the front plate and the two side plates.

3. The thigh structure of the humanoid robot according to claim 2, characterized in that: The two motors are respectively a first motor and a second motor. The first motor is fixed in the installation cavity and close to the front plate. The transmission unit of the first motor extends to the bottom end of the thigh support. The second motor is fixed between the two side plates. The transmission unit of the second motor extends to the top end of the thigh support. The first motor is between the front plate and the second motor.

4. The thigh structure of the humanoid robot according to claim 3, characterized in that: The connection position between the bottom end of the side plate and the front plate is located on the upper side of the bottom end of the front plate. The first motor is fixed to the front plate. The transmission unit of the first motor is transmission-connected to the calf. The first motor drives the calf to rotate through the transmission unit.

5. The thigh structure of the humanoid robot according to claim 3, characterized in that: A mounting hole for fixing the second motor is provided at the top of the side panel, a transmission unit of the second motor is fixedly connected to the mounting hole, an inertia disk fixedly connected to the crotch is provided at one end of the transmission unit, and the second motor controls the rotation of the inertia disk to realize relative rotation of the thigh and the crotch.

6. The thigh structure of the humanoid robot according to claim 2, characterized in that: The front plate and the two side plates are an integrated structure.

7. The thigh structure of a humanoid robot according to claim 1, characterized in that: The transmission unit includes a rotating shaft, the end of the rotating shaft is connected to an inertia disk, the inertia disk is used to connect to the calf or the crotch, a first bevel gear is fixed on the rotating shaft, and the end of the output shaft of the driving unit is provided with a second bevel gear meshing with the first bevel gear. The driving unit drives the inertia disk to rotate through the rotating shaft to realize the rotation of the thigh relative to the calf or the crotch.

8. The thigh structure of the humanoid robot according to claim 7, characterized in that: The transmission unit also includes a reduction mechanism, which includes a planetary gear and a ring gear. A sun gear is provided at the end of the rotating shaft, and the planetary gear is meshed with the ring gear and the sun gear at the same time. The rotating shaft drives the ring gear to rotate through the planetary gear, and the inertia plate is fixedly connected to the ring gear; or, the ring gear is relatively fixed to the housing, the inertia plate is fixedly connected to the planetary gear, and the output shaft drives the inertia plate to rotate through the planetary gear.

9. The thigh structure of the humanoid robot according to claim 8, characterized in that: The reduction mechanism also includes a reduction box, which is fixedly connected to the outer shell of the motor, and the ring gear is fixed to the inner wall of the reduction box. The reduction box is provided with a through hole, and the inertia disk is rotatably installed on the through hole through a bearing. The outer peripheral side of the rotating shaft is rotatably connected to a retaining frame, and the retaining frame is fixedly connected to the inertia disk. The planetary gear has a rotating shaft, and both ends of the rotating shaft are respectively connected to the retaining frame and the inertia disk, and the inertia disk has a fastener for fixing the calf or hip.

10. The thigh structure of a humanoid robot according to claim 1, characterized in that: The housing comprises a main housing and an end cover detachably mounted on one end of the main housing. The end cover is connected to one end of the main housing away from the transmission unit. An accommodating cavity for assembling the control unit is formed between the end cover and the main housing.

11. The thigh structure of a humanoid robot according to claim 10, characterized in that: The control unit includes a plurality of circuit boards, which are stacked in the accommodating cavity along the length direction of the shell. A support column is arranged between two adjacent circuit boards, and the support column supports the upper circuit board to form a gap between the two adjacent circuit boards.

12. A humanoid robot, comprising a trunk, the bottom of which is movably connected to a leg structure, the leg structure comprising a crotch, a thigh structure, a calf structure and a foot end piece, characterized in that: The thigh adopts the thigh structure of the humanoid robot as described in any one of claims 1 to 11.

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