Compact humanoid robot leg structure and robot

Abstract

The invention discloses a compact humanoid robot leg structure and a robot, and belongs to the technical field of humanoid robots. In order to solve the problems that an existing humanoid robot leg is complex and redundant in structure, low in structure and form bionic degree and the like, the humanoid robot leg which is small in size, modularized, simple and compact in structure and high in structure bionic degree is provided, and the manufacturing difficulty, cost, size and total structure weight of the robot leg are reduced. The leg structure comprises a hip joint module, a thigh module, a knee joint module, a shank module and an ankle-sole module which are sequentially connected, and three-degree-of-freedom movement of a bionic hip joint, three-degree-of-freedom movement of a knee joint and two-degree-of-freedom movement of an ankle joint can be achieved. The method can be used for humanoid robots and biped robots.

Description

Technical Field

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

[0002] In order to make the humanoid robot obtain better dynamic characteristics, the legs of the humanoid robot need to have sufficient rigidity and strength, and the center of mass should be moved upward as much as possible to reduce the moment of inertia. Each joint also needs to have a sufficient range of motion to allow the robot to perform various actions. For highly anthropomorphic humanoid robots, it is necessary to ensure that the leg structure of the humanoid robot is compact on the basis of the above, and the volume, shape and movement are close to human legs. However, the structure of the traditional solution is usually not in line with the structure of human legs, which will destroy the perception of highly anthropomorphic humanoid robots. In addition, the traditional solution is bulky, complex in structure and difficult to manufacture, which is not conducive to the promotion and application of related technologies. For example, a modular linear drive humanoid robot leg system with six degrees of freedom disclosed in Chinese patent document CN117341859A has a complex structure, large volume, and difficult to manufacture. The use of a linear drive will also result in a small range of motion of the robot legs, and its structure cannot fully conform to the human body movement structure.

[0003] Therefore, it is necessary to design a compact humanoid robot leg structure and a humanoid robot. Summary of the invention

[0004] In order to solve at least one of the problems existing in the prior art, the present invention provides a compact humanoid robot leg structure and a robot, which adopts a reasonable layout and a rotary joint driver, so that the layout is compact, the structure conforms to the size and shape of human legs, is simple, reliable, and easy to process.

[0005] In order to achieve the purpose of the present invention, the present invention provides a compact humanoid robot leg structure, comprising a hip joint module, a thigh module, a knee joint module, a calf module and an ankle-foot module connected in sequence; The thigh module includes a thigh main structure plate, a hip joint pitch axis driving motor, a knee joint driving motor, a knee joint driving rocker arm and a knee joint connecting rod. The thigh main structure plate is hinged with a thigh simple bracket. The hip joint pitch axis driving motor and the knee joint driving motor are both arranged on the thigh main structure plate. The output shaft of the hip joint pitch axis driving motor is connected with the thigh simple bracket. One end of the knee joint driving rocker arm is connected with the output end of the knee joint driving motor. One end of the knee joint connecting rod is connected with the other end of the knee joint driving rocker arm. The knee joint driving motor drives the knee joint driving rocker arm to swing. The thigh module can perform pitch motion under the drive of the hip joint pitch axis driving motor, thereby driving the leg to swing back and forth. The knee joint module includes a ring platform, a knee joint shaft boss and a knee joint transmission rocker arm. The ring platform is detachably connected to the thigh main structure plate. A bearing is arranged in the ring platform. The boss in the knee joint shaft boss passes through the bearing and is transmission-connected to one end of the knee joint transmission rocker arm. The other end of the knee joint transmission rocker arm is connected to the other end of the knee joint connecting rod. The knee joint driving rocker arm, the knee joint connecting rod and the knee joint transmission rocker arm form an anti-parallelogram connecting rod. The calf module is connected to the knee joint module, and the calf module includes a calf structure plate, an ankle joint drive motor, a calf main bearing, an ankle joint drive rocker arm and an ankle joint drive pull rod. The calf structure plate is detachably connected to the knee joint shaft boss, the ankle joint drive motor is fixed to the calf structure plate, the top of the calf main bearing is connected to the bottom of the calf structure plate, one end of the ankle joint drive rocker arm is connected to the output end of the ankle joint drive motor, and the other end is connected to the ankle joint drive pull rod, and the end of the ankle joint drive pull rod is connected to the ankle-foot module; The ankle-sole module is hingedly connected to the calf module, and the ankle-sole module includes an ankle pitch axis shaft body, an ankle structure body, an ankle roll axis shaft body and a sole, the ankle pitch axis shaft body is arranged on the ankle structure body through the ankle roll axis shaft body, and the ankle pitch axis shaft body is connected to the bottom of the calf main bearing member; The sole of the foot is arranged at the bottom of the ankle structure, and the end of the ankle joint driving rod is connected to the ankle structure.

[0006] As a preferred technical measure, the hip joint module includes a hip joint roll axis drive motor, a hip joint yaw axis drive motor and a thigh simple bracket. The fixed end of the hip joint roll axis drive motor is used to be assembled on the humanoid robot and to drive the entire leg structure to swing left and right. The hip joint yaw axis drive motor is arranged at the output end of the hip joint roll axis drive motor to drive the leg structure to rotate circumferentially. The thigh simple bracket is arranged at the output end of the hip joint yaw axis drive motor, and the thigh main structure plate is hinged to the thigh simple bracket.

[0007] As an optimal technical measure, the output shaft axis of the hip joint roll axis drive motor intersects with the output shaft axis of the hip joint yaw axis drive motor; the hip joint yaw axis drive motor and the hip joint roll axis drive motor are connected through a hip joint base.

[0008] Preferably, the hip joint roll axis drive motor is located at the rear and can be connected to other parts of the humanoid robot such as the torso, waist, etc., to drive the entire leg structure to swing left and right.

[0009] Preferably, one end of the hip joint base is installed on the output end of the hip joint roll axis drive motor, and the other end is connected to the hip joint yaw axis drive motor. A thigh bracket is installed at the output shaft of the hip joint yaw axis drive motor, and a first bearing is provided on the thigh bracket to articulate the thigh module.

[0010] As an optimal technical measure, there are two thigh main structure plates, which are arranged opposite to each other, and the hip joint pitch axis drive motor and the knee joint drive motor are located side by side between the two thigh main structure plates.

[0011] As a preferred technical measure, a thigh reinforcement bracket is provided on the lower side of the thigh main structure plate.

[0012] As a preferred technical measure, the anti-parallelogram link is located on the left or right side of the leg structure.

[0013] As a preferred technical measure, the ring platform includes a first ring platform and a second ring platform, the first ring platform and the second ring platform are arranged opposite to each other, and the first ring platform and the second ring platform are connected to the end of the thigh main structure plate in the thigh module, and the first ring platform and the second ring platform are both provided with bearings with flanges; The knee joint shaft boss includes a left knee joint shaft boss and a right knee joint shaft boss. The bosses of the left knee joint shaft boss and the right knee joint shaft boss pass through the bearings on the first ring platform and the second ring platform respectively. The knee joint transmission rocker arm is connected to the boss on the left knee joint shaft boss or the right knee joint shaft boss.

[0014] Preferably, the bosses on the first and second ring platforms can be located on the inner side of the thigh main structure plate, and together with two symmetrical third bearings form a closed shaft space, which can perform axial and circumferential positioning of the right boss and the left boss of the knee joint shaft. As an optimal technical measure, a plurality of elliptical bosses are provided at one end of the knee joint transmission rocker arm, and a plurality of elliptical grooves are provided on the knee joint rotating shaft boss. The plurality of elliptical bosses can be interlocked with the plurality of elliptical grooves to realize the transmission connection between the knee joint transmission rocker arm and the knee joint rotating shaft boss.

[0015] As a preferred technical measure, the ankle joint drive motor includes a first ankle joint drive motor and a second ankle joint drive motor, the ankle joint drive rocker arm includes a first ankle joint drive rocker arm and a second ankle joint drive rocker arm, the ankle joint drive pull rod includes an ankle joint drive long pull rod and an ankle joint drive short pull rod, there are two calf structure plates, the two calf structure plates are arranged oppositely, the first ankle joint drive motor and the second ankle joint drive motor are arranged side by side between the two calf structure plates, and the output ends are in opposite directions, the output end of the first ankle joint drive motor, the first ankle joint drive rocker arm and the ankle joint drive long pull rod are connected in sequence, the second ankle joint drive motor, the second ankle joint drive rocker arm and the ankle joint drive short pull rod are connected in sequence, and the ends of the ankle joint drive long pull rod and the ankle joint drive short pull rod are both connected to the ankle-foot sole module. The ankle-foot sole module can be driven to pitch and roll by the rotational movement of the first ankle joint drive motor and the second ankle joint drive motor.

[0016] As a preferred technical measure, the ankle-sole module includes an ankle pitch axis, an ankle structure, an ankle roll axis and a sole, the ankle pitch axis is arranged on the ankle structure through the ankle roll axis, and the ankle pitch axis is connected to the bottom of the calf main supporting member; the sole is arranged at the bottom of the ankle structure, and the end of the ankle joint driving rod is connected to the ankle structure.

[0017] As an optimal technical measure, the ankle structure includes a posterior ankle structure and an anterior ankle structure, the posterior ankle structure is provided with a boss, the anterior ankle structure is provided with a groove, the groove and the boss match each other, and the ankle roll axis passes through the anterior ankle structure, the ankle pitch axis and the posterior ankle structure in sequence.

[0018] The present invention also provides a humanoid robot, which comprises the aforementioned humanoid robot leg structure.

[0019] Compared with the prior art, the advantages of the present invention are at least: (1) The present invention adopts a modular design. The five modules, namely the hip joint module, thigh module, knee joint module, calf module and sole module, can be disassembled and replaced separately, which greatly facilitates maintenance and modification and upgrading.

[0020] (2) The present invention can adopt a bionic configuration. The layout of the rotating joints at the hip, thigh, etc. can be close to the motion mode of human legs. The layout is compact, the motor has no external plug-in, and the space utilization rate is high. Its size and structure conform to the shape of normal human legs, and the bionic effect is good. It well meets the requirements of humanoid robot legs and meets the requirements of bionic design of highly anthropomorphic humanoid robots.

[0021] (3) Most of the parts of the present invention do not require complex machining processes, are small in size, and are easier to manufacture, which greatly reduces the cost, difficulty, and cycle of manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the overall structure of a compact humanoid robot leg structure in an embodiment of the present invention.

[0023] Figure 2 Schematic diagram of the structure of the hip joint module in an embodiment of the present invention.

[0024] Figure 3 Schematic diagram of the thigh module structure in an embodiment of the present invention.

[0025] Figure 4 1. It is an exploded view of the thigh module structure in an embodiment of the present invention.

[0026] Figure 5 Schematic diagram of the structure of the knee joint module in an embodiment of the present invention.

[0027] Figure 6 This is an exploded view of the knee joint module structure in an embodiment of the present invention.

[0028] Figure 7 It is a front view of the calf module structure in an embodiment of the present invention.

[0029] Figure 8 It is a rear view of the calf module structure in an embodiment of the present invention.

[0030] Fig. 9 Schematic diagram of the ankle-sole module structure in an embodiment of the present invention.

[0031] Fig.10 It is an exploded view of the ankle-sole module structure in an embodiment of the present invention.

[0032] Fig.11 Schematic diagram of the structure of the robot in the embodiment of the present invention.

[0033] In the figure: hip joint module 1; hip joint roll axis drive motor 1-1; hip joint base 1-2; hip joint yaw axis drive motor 1-3; thigh simple bracket 1-4.

[0034] Thigh module 2; hip joint pitch axis drive motor 2-1; thigh main structure plate 2-2; thigh bearing support 2-3; knee joint drive motor 2-4; thigh reinforcement bracket 2-5; knee joint drive rocker arm 2-6; knee joint connecting rod 2-7; second bearing 2-8.

[0035] Knee joint module 3; first ring platform 3-1; second ring platform 3-2; third bearing 3-3; right boss 3-4 of knee joint rotating shaft; left boss 3-5 of knee joint rotating shaft; knee joint transmission rocker arm 3-6; elliptical boss 3-6-1. Calf module 4; calf structural plate 4-1; first ankle joint drive motor 4-2-1; second ankle joint drive motor 4-2-2; first ankle joint drive rocker arm 4-3-1; second ankle joint drive rocker arm 4-3-2; ankle joint drive long pull rod 4-4-1; ankle joint drive short pull rod 4-4-2; calf main bearing 4-5; fourth bearing 4-6.

[0036] Ankle-sole module 5; ankle pitch axis shaft 5-1; ankle rear structure 5-2; ankle front structure 5-3; fifth bearing 5-4; ankle roll axis shaft 5-5; sole 5-6. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0039] like Figure 1-Figure 11 As shown, the present invention provides a compact humanoid robot leg structure, including a hip joint module 1 that can be assembled on a humanoid robot, a thigh module 2, a knee joint module 3, a calf module 4 and an ankle-sole module 5 that are sequentially connected in series with the hip joint module 1, forming a complete set of compact humanoid robot leg structures including six degrees of freedom, wherein the ankle-sole module 5 is hinged on the calf module 4.

[0040] refer to Figure 2 The hip joint module 1 includes a hip joint roll axis drive motor 1-1, a hip joint base 1-2, a hip joint yaw axis drive motor 1-3, a thigh bracket 1-4 and a first bearing 1-5. The fixed end of the hip joint roll axis drive motor 1-1 can be assembled on a humanoid robot, such as being connected to other parts of the humanoid robot such as a torso, a waist, etc. The hip joint roll axis drive motor 1-1 can be used to drive the entire leg structure to swing left and right. The hip joint roll axis drive motor 1-1 is located at the rear of the leg structure. One end of the hip joint base 1-2 is installed on the output end of the hip joint roll axis drive motor 1-1, and the other end of the hip joint base 1-2 is connected to the hip joint yaw axis drive motor 1-3. The output shaft axis of the hip joint roll axis drive motor 1-1 intersects with the output shaft axis of the hip joint yaw axis drive motor 1-3. The thigh bracket 1-4 is installed at the output shaft of the hip joint yaw axis drive motor 1-3 to drive the leg structure to rotate circumferentially, and the first bearing 1-5 is installed on one side of the thigh bracket 1-4. The hip joint yaw axis drive motor 1-3 is used to drive the leg to rotate around the yaw axis. The yaw axis (YAW axis) is set on the axis of the hip joint yaw axis drive motor 1-3, which can drive the leg to rotate.

[0041] The hip joint yaw axis drive motor 1-3 and the hip joint roll axis drive motor 1-1 are connected only through a hip joint base 1-2, so the space utilization rate is high.

[0042] refer to Figures 1 to 3 The thigh module 2 is assembled under the hip joint module 1, and the thigh module 2 includes a hip joint pitch axis drive motor 2-1, two thigh main structure plates 2-2, a thigh bearing support 2-3, a knee joint drive motor 2-4, a knee joint drive rocker arm 2-6 and a knee joint connecting rod 2-7. The two thigh main structure plates 2-2 are relatively located on both sides of the hip joint pitch axis drive motor 2-1. A thigh bearing support 2-3 is installed on one of the thigh main structure plates 2-2. One side of the upper end of the thigh module 2 is hingedly connected to the hip joint module 1 through the thigh bearing support 2-3 and the first bearing 1-5 in the hip joint module 1, and the other side is connected to the other side of the thigh simple bracket 1-4 through the output shaft of the hip joint pitch axis drive motor 2-1, forming a simply supported beam with high rigidity connecting the entire leg, and at the same time can drive the leg to swing back and forth. The thigh module 2 can perform pitch motion under the drive of the hip joint pitch axis drive motor 2-1, thereby driving the legs to swing back and forth; the knee joint drive motor 2-4 is arranged on the thigh main structure plate 2-2, one end of the knee joint drive rocker arm 2-6 is connected to the output shaft of the knee joint drive motor 2-4, and the other end is connected to one end of the knee joint connecting rod 2-7, and the other end of the knee joint connecting rod 2-7 is connected to the knee joint transmission rocker arm 3-6 in the knee joint module 3. The knee joint drive rocker arm 2-6, the knee joint connecting rod 2-7, and the knee joint transmission rocker arm 3-6 in the knee joint module 3 form a set of anti-parallelogram knee joint drive connecting rods, which can transmit the power generated by the knee joint drive motor 2-4 to the knee joint to drive the calf module 4 to swing back and forth.

[0043] The anti-parallelogram connecting rod of the thigh module 2 can better fit the leg layout of the humanoid robot, has good space utilization, and will not make the knee joint too bloated, thereby making the robot leg closer to the human leg shape without destroying the bionic structure of the leg.

[0044] Among them, reference Figure 4 As shown, the main structure of the thigh module 2 includes two thigh main structural plates 2-2, and the hip joint pitch axis drive motor 2-1 and the knee joint drive motor 2-4 are installed between the two thigh main structural plates 2-2, which can effectively avoid the problems of bloated structure affecting the appearance and excessively long fixed force arm caused by the drive motors hanging on both sides of the thigh.

[0045] In some embodiments of the present invention, thigh reinforcement brackets 2-5 are installed on the inner sides of the two thigh main structural plates 2-2 to increase the structural strength of the thigh module 2. At the same time, a semi-enclosed cavity can be formed on the lower side of the thigh. Sensors, motor controllers and other components required by the robot can be installed in the semi-enclosed cavity, which has a certain protective effect.

[0046] In some of the embodiments of the present invention, reference is made to Figure 4 The two ends of the knee joint connecting rod 2-7 are provided with slots, and the second bearings 2-8 are installed in the slots. The second bearings 2-8 at the two ends of the knee joint connecting rod 2-7 are respectively connected to the knee joint driving rocker arm 2-6 and the knee joint transmission rocker arm 3-6. The setting of the second bearings 2-8 can reduce the resistance in the knee joint transmission process. The two ends of the knee joint connecting rod 2-7 are respectively hinged to the knee joint driving rocker arm 2-6 and the knee joint transmission rocker arm 3-6 through the second bearings 2-8, forming an anti-parallelogram connecting rod, which can drive the right boss of the knee joint shaft through the rotation of the knee joint driving rocker arm 2-6, and then drive the knee joint module to rotate and drive the calf module to swing.

[0047] In some of the embodiments of the present invention, reference is made to Figure 3~4 The thigh module 2 is provided with a positioning platform under it for connecting with the knee joint module 3, and is positioned and fixed by a bayonet, thereby ensuring the position accuracy of the knee joint rotation axis relative to the thigh module 2.

[0048] refer to Figure 1 , Figure 5-6 The knee joint module 3 is fixed under the thigh module 2. The knee joint module 3 includes a knee joint transmission rocker arm 3-6, a knee joint shaft boss, a first ring platform 3-1 and a second ring platform 3-2 symmetrically installed with the first ring platform 3-1. The first ring platform 3-1 and the second ring platform 3-2 are provided with through holes and grooves for positioning and fixing with the thigh module 2. Specifically, the first ring platform 3-1 and the second ring platform 3-2 are detachably connected to the ends of the two thigh main structure plates 2-2 in the thigh module 2, such as by bolts and nuts. The two thigh main structure plates 2-2 of the thigh module 2 limit the axial and circumferential freedom of the ring platform. Reference Figure 6 A third bearing 3-3 with a flange is installed in the symmetrically arranged first ring platform 3-1 and the second ring platform 3-2. The knee joint shaft boss includes a left knee joint shaft boss 3-5 and a right knee joint shaft boss 3-4. The bosses on the left knee joint shaft boss 3-5 and the right knee joint shaft boss 3-4 pass through the inner rings of the left and right third bearings 3-3 respectively, and limit their axial and circumferential movement under the fixation of the first ring platform 3-1 and the second ring platform 3-2, so that they can only rotate around the knee joint axis; one end of the knee joint transmission rocker arm 3-6 passes through the third bearing 3-3 and is installed on the right knee joint shaft boss 3-4, and the other end is connected to the knee joint connecting rod 2-7.

[0049] In some embodiments of the present invention, the bosses on the first ring platform 3-1 and the second ring platform 3-2 can be located on the inner side of the thigh main structure plate 2-2, and together with two symmetrical third bearings 3-3, form a closed shaft space, which can perform axial and circumferential positioning of the right boss 3-4 and the left boss 3-5 of the knee joint shaft.

[0050] A simply supported beam hinge connection is formed by the symmetrically arranged third bearing 3-3, which has stronger connection strength and rigidity under the same volume, thereby ensuring the structural safety of the knee joint of the humanoid robot leg.

[0051] In some of the embodiments of the present invention, reference is made to Figure 6 Three quasi-elliptical bosses 3-6-1 are arranged on the knee joint transmission rocker arm 3-6, which match the quasi-elliptical grooves on the right boss 3-4 and the left boss 3-5 of the knee joint shaft for transmitting torque.

[0052] The rotation of the knee joint driving rocker arm 2-6 drives the right boss 3-4 of the knee joint shaft to work through the knee joint transmission rocker arm 3-6, thereby driving the knee joint module 3, thereby driving the calf module 4 to swing.

[0053] In some embodiments of the present invention, the knee joint transmission rocker arm 3-6 can be installed on the knee joint module 3 from the left side or from the right side to adapt to different uses and requirements.

[0054] The calf module 4 includes a calf structural plate 4-1, a first ankle joint drive motor 4-2-1, a second ankle joint drive motor 4-2-2 and a calf main bearing 4-5. Figure 1 , Figure 7-8 Two calf structural plates 4-1 are relatively arranged on the upper side of the calf module 4 so as to assemble the calf module 4 to the knee joint module 3 through the calf structural plates 4-1. Specifically, the two calf structural plates 4-1 are detachably connected to the right boss 3-4 and the left boss 3-5 of the knee joint shaft, such as by bolts and nuts, and the first ankle joint drive motor 4-2-1, the second ankle joint drive motor 4-2-2 and the calf main bearing 4-5 are connected and fixed on the calf structural plate 4-1. The first ankle joint drive motor 4-2-1 and the second ankle joint drive motor 4-2-2 are installed side by side between the two calf structural plates 4-1. There are two calf main bearings 4-5, which are symmetrically installed on the lower sides of the two calf structural plates 4-1, and the ends of the two calf main bearings 4-5 are provided with bearing holes for installing the fourth bearing 4-6, so as to further assemble the ankle pitch axis shaft 5-1 of the ankle-foot module 5.

[0055] refer to Figure 7-10The first ankle joint drive rocker arm 4-3-1 is installed on the output shaft of the first ankle joint drive motor 4-2-1, and the first ankle joint drive rocker arm 4-3-1 is connected to the ankle joint drive long pull rod 4-4-1 through a ball hinge. The second ankle joint drive rocker arm 4-3-2 is installed on the output shaft of the second ankle joint drive motor 4-2-2, and the second ankle joint drive rocker arm 4-3-2 is connected to the ankle joint drive short pull rod 4-4-2 through a ball hinge. Both ends of the ankle joint drive long pull rod 4-4-1 and the ankle joint drive short pull rod 4-4-2 are equipped with ball bearings. The bottoms of the ankle joint drive long pull rod 4-4-1 and the ankle joint drive short pull rod 4-4-2 are installed on the boss of the ankle rear structure 5-2, forming a parallel mechanism, which can drive the ankle-foot module 5 to pitch and roll through the rotation of the output shafts of the first ankle joint drive motor 4-2-1 and the second ankle joint drive motor 4-2-2.

[0056] Among them, the two pull rods, one long and one short, can enable the first ankle joint drive motor 4-2-1 and the second ankle joint drive motor 4-2-2 to be placed side by side up and down, compressing the volume so that the calf structure does not deviate from the human calf structure and is more beautiful.

[0057] refer to Figure 9-10 The ankle-sole module 5 includes an ankle pitch axis body 5-1, an ankle structure, a fifth bearing 5-4, an ankle roll axis body 5-5 and a sole 5-6. The ankle structure includes a rear ankle structure 5-2 and a front ankle structure 5-3. The boss on the rear ankle structure 5-2 matches the groove on the front ankle structure 5-3 to assist positioning and fixation; cylindrical bosses are arranged on both sides of the ankle pitch axis body 5-1, and the two cylindrical bosses can be respectively embedded in the inner circles of the two fourth bearings 4-6 of the calf module 4 and rotate around the fourth bearings 4-6; the sole 5-6 is installed at the bottom of the front ankle structure 5-3; there are two fifth bearings 5-4, which are symmetrically embedded in the ankle pitch axis body 5-1 and the fourth bearings 4-6 of the calf module 4. The axis body 5-1 is in the cylindrical groove in the center; the sole 5-6 is arranged at the bottom of the ankle structure; the ankle pitch axis body 5-1 is arranged on the ankle structure through the ankle roll axis body 5-5. Specifically, the ankle roll axis body 5-5 serves as the roll axis rotation axis of the entire ankle-sole module 5. One end of the ankle roll axis body 5-5 is threaded, which passes through the ankle front structure 5-3, the front fifth bearing 5-4, the ankle pitch axis body 5-1, the rear fifth bearing 5-4, and the ankle rear structure 5-2 in sequence, and is fixed by a nut to form a whole that can rotate around the pitch axis. At this point, the entire ankle-sole module 5 can swing up and down and left and right relative to the calf module 4.

[0058] refer to Fig.11In some embodiments of the present invention, a robot is further provided, the robot comprising the compact humanoid robot leg structure provided in the above embodiments. Further, the left and right leg structures of the robot are simultaneously mounted on a mounting frame located at the buttocks of the robot, and the upper part of the mounting frame can be used to connect other modules such as the waist and upper body of the humanoid robot.

[0059] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A compact humanoid robot leg structure, characterized in that: It includes a hip joint module, a thigh module, a knee joint module, a calf module and an ankle-foot module connected in sequence; The thigh module comprises a thigh main structure plate, a hip joint pitch axis drive motor, a knee joint drive motor, a knee joint drive rocker arm and a knee joint connecting rod, the thigh main structure plate is hinged with the hip joint module, the hip joint pitch axis drive motor and the knee joint drive motor are both arranged on the thigh main structure plate, and the output shaft of the hip joint pitch axis drive motor is connected to the thigh simple bracket, one end of the knee joint drive rocker arm is connected to the output end of the knee joint drive motor, and one end of the knee joint connecting rod is connected to the other end of the knee joint drive rocker arm; The knee joint module comprises a ring platform, a knee joint shaft boss and a knee joint transmission rocker arm, the ring platform is detachably connected to the thigh main structure plate, a bearing is arranged in the ring platform, a boss in the knee joint shaft boss passes through the bearing and is transmission-connected to one end of the knee joint transmission rocker arm, the other end of the knee joint transmission rocker arm is connected to the other end of the knee joint connecting rod, and the knee joint driving rocker arm, the knee joint connecting rod and the knee joint transmission rocker arm form an anti-parallelogram connecting rod; The calf module includes a calf structural plate, an ankle joint drive motor, a calf main bearing member, an ankle joint drive rocker arm and an ankle joint drive rod. The calf structural plate is detachably connected to the knee joint pivot boss, the ankle joint drive motor is fixed on the calf structural plate, the top of the calf main bearing member is connected to the bottom of the calf structural plate, one end of the ankle joint drive rocker arm is connected to the output end of the ankle joint drive motor, and the other end is connected to the ankle joint drive rod, and the end of the ankle joint drive rod is connected to the ankle-foot module.

2. A compact humanoid robot leg structure according to claim 1, characterized in that: The hip joint module includes a hip joint roll axis drive motor, a hip joint yaw axis drive motor and a thigh simple bracket. The fixed end of the hip joint roll axis drive motor is used to be assembled on the humanoid robot and to drive the entire leg structure to swing left and right. The hip joint yaw axis drive motor is arranged at the output end of the hip joint roll axis drive motor to drive the leg structure to rotate circumferentially. The thigh simple bracket is arranged at the output end of the hip joint yaw axis drive motor, and the thigh main structure plate is hinged to the thigh simple bracket.

3. A compact humanoid robot leg structure according to claim 2, characterized in that: The output shaft axis of the hip joint roll axis drive motor intersects with the output shaft axis of the hip joint yaw axis drive motor; the hip joint yaw axis drive motor and the hip joint roll axis drive motor are connected via a hip joint base.

4. A compact humanoid robot leg structure according to claim 1, characterized in that: The anti-parallelogram link is located on the left or right side of the leg structure.

5. A compact humanoid robot leg structure according to claim 1, characterized in that: The ring platform comprises a first ring platform and a second ring platform, the first ring platform and the second ring platform are arranged opposite to each other, and the first ring platform and the second ring platform are connected to the end of the thigh main structure plate in the thigh module, and the first ring platform and the second ring platform are both provided with bearings with flanges; The knee joint shaft boss includes a left knee joint shaft boss and a right knee joint shaft boss. The bosses of the left knee joint shaft boss and the right knee joint shaft boss pass through the bearings on the first ring platform and the second ring platform respectively. The knee joint transmission rocker arm is connected to the boss on the left knee joint shaft boss or the right knee joint shaft boss.

6. A compact humanoid robot leg structure according to claim 1, characterized in that: One end of the knee joint transmission rocker arm is provided with a plurality of elliptical bosses, and the knee joint shaft boss is provided with a plurality of elliptical grooves. The plurality of elliptical bosses can be interlocked with the plurality of elliptical grooves to realize the transmission connection between the knee joint transmission rocker arm and the knee joint shaft boss.

7. A compact humanoid robot leg structure according to claim 1, characterized in that: The ankle joint drive motor includes a first ankle joint drive motor and a second ankle joint drive motor, the ankle joint drive rocker arm includes a first ankle joint drive rocker arm and a second ankle joint drive rocker arm, the ankle joint drive pull rod includes an ankle joint drive long pull rod and an ankle joint drive short pull rod, there are two calf structure plates, the two calf structure plates are arranged opposite to each other, the first ankle joint drive motor and the second ankle joint drive motor are arranged side by side between the two calf structure plates, and the output ends are in opposite directions, the output end of the first ankle joint drive motor, the first ankle joint drive rocker arm and the ankle joint drive long pull rod are connected in sequence, the second ankle joint drive motor, the second ankle joint drive rocker arm and the ankle joint drive short pull rod are connected in sequence, and the ends of the ankle joint drive long pull rod and the ankle joint drive short pull rod are both connected to the ankle-foot module.

8. A compact humanoid robot leg structure according to any one of claims 1 to 7, characterized in that: The ankle-sole module includes an ankle pitch axis, an ankle structure, an ankle roll axis and a sole. The ankle pitch axis is arranged on the ankle structure through the ankle roll axis, and the ankle pitch axis is connected to the bottom of the calf main bearing member; the sole is arranged at the bottom of the ankle structure, and the end of the ankle joint driving rod is connected to the ankle structure.

9. A compact humanoid robot leg structure according to claim 8, characterized in that: The ankle structure includes a rear ankle structure and an anterior ankle structure. The rear ankle structure is provided with a boss, and the anterior ankle structure is provided with a groove. The groove matches the boss, and the ankle roll axis passes through the anterior ankle structure, the ankle pitch axis and the rear ankle structure in sequence.

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

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