Shank structure, mechanical leg and robot

Abstract

The invention provides a shank structure, a mechanical leg and a robot, and relates to the technical field of robots, in particular to the technical field of robot shank structures. A shank structure comprises: a shank bone rod having a first end for connecting a foot and a second end for connecting a thigh; a first containing part is arranged in the upper area, away from the first end and close to the second end, of the shank rod, and the first containing part is used for containing an ankle joint actuator. The present disclosure provides a shank structure that supports upward movement of an ankle joint actuator, thereby reducing motion inertia of the leg.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular to the field of robot calf structure technology. Background Art

[0002] At present, with the continuous development of science and technology, robots have penetrated into all areas of human survival and life. As a popular branch in the field of robotics, bionic robots are showing more and more prominent advantages in harsh environments such as emergency firefighting, disaster relief, space missions, and heavy object handling.

[0003] The most important part of a bionic robot is its movement mechanism, i.e. the leg structure of the robot. Currently, the legs of bionic robots are of wheeled, tracked and legged structures. Wheeled and tracked bionic mechanical legs cannot adapt well to complex terrain and have poor passability due to their structural characteristics, so more and more bionic robots tend to have legged movement mechanisms.

[0004] In the prior art, the leg structure of the robot includes a thigh, a calf and a foot. In order to control the movement of the ankle, an ankle joint actuator is usually set at the connection between the foot and the lower end of the calf (i.e., the ankle), and the movement of the ankle joint is controlled by the ankle joint actuator. However, in this method, since the mass of the ankle joint actuator is relatively large, the ankle joint actuator is directly set at the ankle, which makes the entire foot mass large and the overall center of mass is located below the calf, so that the motion inertia is large when the ankle is controlled, and it is difficult to control.

[0005] On the other hand, in the prior art, in order to connect the calf and the foot and fix the ankle joint actuator at the ankle, a connecting piece is usually provided at the lower end of the calf to adapt the connection between the ankle joint actuator, the calf and the foot. This further increases the mass under the calf and increases the complexity of the structure. In addition, the connecting piece is constantly rubbed during movement, which can easily cause damage to the connecting piece and lead to connection failure. Summary of the invention

[0006] The present disclosure provides a calf structure, a mechanical leg and a robot.

[0007] According to one aspect of the present disclosure, there is provided a calf structure, comprising:

[0008] A calf bone rod, a first end of which is used to connect to the foot, and a second end of which is used to connect to the thigh;

[0009] Wherein, a first accommodation portion is provided in an upper area of ​​the calf bone rod away from the first end and close to the second end, and the first accommodation portion is used for placing an ankle joint actuator.

[0010] In some examples, the calf structure further includes: an ankle joint actuator, placed in the first accommodation portion;

[0011] An ankle transmission mechanism, a first end of which is connected to the output end of the ankle actuator, and a second end of which is connected to the foot, is used to transmit the execution action of the ankle actuator to the foot to control the movement of the foot.

[0012] In some examples, the number of the ankle joint actuators is plural; the number of the ankle joint transmission mechanisms is plural.

[0013] In some examples, the ankle actuator includes:

[0014] a first ankle joint actuator and a second ankle joint actuator;

[0015] The ankle joint transmission mechanism comprises:

[0016] a first ankle joint transmission mechanism, a first end of which is connected to the output end of the first ankle joint actuator, and a second end of which is connected to the foot;

[0017] A second ankle joint transmission mechanism has a first end connected to the second ankle joint actuator and a second end connected to the foot.

[0018] In some examples, the orientation of the output end of the first ankle joint actuator is opposite to the orientation of the output end of the second ankle joint actuator;

[0019] The first ankle joint transmission mechanism extends along a first side of the tibia rod in the horizontal direction and is connected to the first side of the foot in the horizontal direction; the second ankle joint transmission mechanism extends along a second side of the tibia rod in the horizontal direction and is connected to the second side of the foot in the horizontal direction.

[0020] In some examples, the first ankle joint actuator and the second ankle joint actuator are arranged along the length direction of the calf bone rod, and the first ankle joint actuator is located on a side of the second ankle joint actuator close to the first end of the calf bone rod;

[0021] The transmission distance of the first ankle joint transmission mechanism is shorter than the transmission distance of the second ankle joint transmission mechanism.

[0022] In some examples, the first ankle joint transmission mechanism is a first connecting rod structure; the second ankle joint transmission mechanism is a second connecting rod structure;

[0023] The length of the second connecting rod structure is greater than the length of the first connecting rod structure.

[0024] In some examples, a rotating shaft connector is provided at the first end of the first link structure, a rotating portion of the rotating shaft connector is connected to an output end of the first ankle joint actuator, and a protruding connecting portion of the rotating shaft connector is connected to the first end of the first link structure;

[0025] A rotating shaft connecting member is provided at the first end of the second connecting rod structure, the rotating portion of the rotating shaft connecting member is connected to the output end of the second ankle joint actuator, and the protruding connecting portion of the rotating shaft connecting member is connected to the first end of the second connecting rod structure.

[0026] In some examples, the orientation of the output end of the first ankle joint actuator is the same as the orientation of the output end of the second ankle joint actuator;

[0027] The first ankle joint transmission mechanism extends along the first side of the tibia rod in the horizontal direction and is connected to the first side of the foot in the horizontal direction; the second ankle joint transmission mechanism extends along the first side of the tibia rod in the horizontal direction and is connected to the second side of the foot in the horizontal direction.

[0028] In some examples, the ankle joint actuator is a rotational actuator capable of forward and reverse rotation.

[0029] In some examples, the calf bone rod includes a bottom region for connecting to the foot, a top region for connecting to the thigh, and the upper region is between the top region and the bottom region;

[0030] The first receiving portion is located at a top end of the upper region.

[0031] In some examples, the calf structure further includes a foot connected to the first end of the calf bone rod, the second end of the first ankle joint transmission mechanism, and the second end of the second ankle joint transmission mechanism.

[0032] In some examples, the foot includes: a sole plate, an ankle sole plate disposed on a side of the sole plate close to the calf bone rod, an ankle joint transmission mechanism fixing structure disposed on a side of the ankle sole plate away from the sole plate, and an ankle brake mechanism disposed on a side of the sole plate close to the calf bone rod;

[0033] Wherein, the ankle joint transmission mechanism fixing structure is connected to the second end of the ankle joint transmission mechanism;

[0034] The ankle joint transmission mechanism transmits the execution action of the ankle joint actuator to the ankle braking mechanism through the ankle joint transmission mechanism fixing structure, and the ankle braking mechanism enables the ankle bottom plate to perform the execution action.

[0035] In some examples, the ankle brake mechanism includes: a rotating shaft assembly including a rotating shaft and a matching bearing, and a fixing assembly for fixing the rotating shaft assembly, wherein one side of the fixing assembly is fixed to the ankle base plate and one side is connected to the rotating shaft assembly.

[0036] In some examples, the shaft assembly is a cross universal joint shaft assembly, including: a cross center fixing member, four shafts fixed on the cross center fixing member and distributed in a cross shape, and four groups of bearings matched with the four bearings;

[0037] One side of the fixing assembly is connected to bearings corresponding to any two shafts arranged in the same direction in the cross universal joint shaft assembly, and the other side includes two supporting parts, and the two supporting parts are connected to the ankle bottom plate.

[0038] In some examples, the ankle transmission mechanism includes: a first link structure and a second link structure;

[0039] The ankle joint transmission mechanism fixing structure is a connecting rod fixing structure arranged along a second direction, and the second direction is the width direction of the foot; the first connecting rod structure and the second connecting rod structure are respectively rotatably connected to the two ends of the connecting rod fixing structure in the second direction.

[0040] In some examples, the ankle transmission mechanism fixing structure is disposed on one side of the ankle base plate close to the front end of the sole base plate, and the orthographic projection of the ankle transmission mechanism fixing structure on the sole base plate is located in the middle position in the length direction of the sole base plate.

[0041] In some examples, the rear portion of the sole base plate has an inclined portion, and a gap is formed between the rear side of the ankle base plate and the inclined portion.

[0042] According to another aspect of the present disclosure, there is provided a mechanical leg, comprising: the above-mentioned calf structure.

[0043] In some examples, further comprising: a thigh;

[0044] The thigh portion comprises: a femoral rod, a first end of the femoral rod being connected to a hip structure, and a second end of the femoral rod being connected to a second end of a calf rod of the calf structure;

[0045] The upper area of ​​the femoral rod is provided with a second accommodation portion, and the second accommodation portion is used for accommodating a knee joint actuator.

[0046] In some examples, further comprising: a knee joint actuator, a knee joint transmission mechanism, and a knee joint transmission bearing;

[0047] The knee joint actuator is placed in the second accommodation portion;

[0048] The knee joint transmission mechanism has a first end connected to the output end of the knee joint actuator and a second end connected to the knee joint transmission bearing;

[0049] The knee joint transmission bearing is arranged at the connection between the femoral rod and the calf rod;

[0050] The output execution action of the knee joint actuator is transmitted to the knee joint transmission bearing through the knee joint transmission mechanism to control the movement of the calf bone rod.

[0051] In some examples, the knee joint transmission mechanism includes: a third link and a fourth link;

[0052] The first end of the third connecting rod and the first end of the fourth connecting rod are connected to the output end of the knee joint actuator, and the second end of the third connecting rod and the second end of the fourth connecting rod are connected to the knee joint transmission bearing.

[0053] According to another aspect of the present disclosure, there is provided a robot comprising the above-mentioned calf structure and / or the above-mentioned mechanical leg.

[0054] The present disclosure provides a calf structure and a robot, which reduces the volume of the calf structure and improves the compactness of the space by setting the waist actuator in the internal accommodation space formed by the first hip joint actuator and the second hip joint actuator on both sides. In other words, the waist actuator is set inside the calf structure. On the one hand, after the position of the ankle joint actuator is moved up from the ankle, the overall center of mass of the calf structure moves up, the moment of inertia centered on the knee joint or hip joint becomes smaller, and the leg structure is more convenient to control. On the other hand, after the ankle joint actuator is moved up from the ankle, it is no longer necessary to set a connector at the lower end of the calf to adapt the connection between the ankle joint actuator, the calf and the foot, which further reduces the mass under the calf; the elimination of the connector reduces the complexity of the structure and avoids the failure of the connection caused by damage to the connector. On the third hand, the position of the ankle joint actuator is adjustable in the entire calf structure, which makes it easy to accurately control the center of mass position of the calf structure by adjusting the position of the ankle joint actuator, thereby improving the configurability of the calf structure.

[0055] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0057] Figure 1 is one of the side views of the calf link of the calf structure in the embodiment of the present disclosure;

[0058] Figure 2 is a second side view of the calf connecting rod of the calf structure in the embodiment of the present disclosure;

[0059] Figure 3 is a schematic structural diagram of an ankle joint actuator of a calf structure in an embodiment of the present disclosure;

[0060] Figure 4 is one of the side views of the lower leg structure in an embodiment of the present disclosure;

[0061] Figure 5 is a second side view of the calf structure in the embodiment of the present disclosure;

[0062] Figure 6 is a rear view of a lower leg structure in an embodiment of the present disclosure;

[0063] Figure 7 is a third side view of the calf structure in the embodiment of the present disclosure;

[0064] Figure 8 is a front view of a foot of a lower leg structure according to an embodiment of the present disclosure;

[0065] Fig. 9 is a side view of a foot of a lower leg structure in an embodiment of the present disclosure;

[0066] Fig.10 is a first cutaway view of a foot of a lower leg structure according to an embodiment of the present disclosure;

[0067] Fig.11 is a second cutaway view of a foot of a lower leg structure according to an embodiment of the present disclosure;

[0068] Fig.12 is a third cutaway view of a foot of a lower leg structure according to an embodiment of the present disclosure;

[0069] Fig.13 is one of the side views of the mechanical leg in the embodiment of the present disclosure;

[0070] Fig.14 This is the second side view of the mechanical leg in the embodiment of the present disclosure.

[0071] Description of reference numerals:

[0072] 1- calf bone rod, 11- thigh connection structure, 12- first accommodation portion a of the calf bone rod, 13- first accommodation portion b of the calf bone rod, 14- upper area of ​​the calf bone rod, 15- foot connection structure;

[0073] 2-ankle joint actuator, 21-first ankle joint actuator, 211-output end of the first ankle joint actuator, 212-rear end of the first ankle joint actuator; 22-second ankle joint actuator, 221-output end of the second ankle joint actuator, 222-rear end of the second ankle joint actuator;

[0074] 3-ankle joint transmission mechanism, 31-first ankle joint transmission mechanism, 31a-rotating shaft connecting member of the first ankle joint transmission mechanism, 32-second ankle joint transmission mechanism, 32a-rotating shaft connecting member of the second ankle joint transmission mechanism;

[0075] 4-foot; 01-sole sole, 02-ankle sole, 03-ankle joint transmission mechanism fixing structure;

[0076] Ankle brake mechanism: 04a-04d-spindle of cross universal joint shaft assembly, 04e-cross center fixing part, 04f-bearing, o4g-fixing assembly;

[0077] 5- femoral rod;

[0078] 6- Knee execution;

[0079] 7-knee joint transmission mechanism, 71-third connecting rod, 72-fourth connecting rod;

[0080] 8-knee joint transmission bearing;

[0081] 101-thigh, 102-calf structure. DETAILED DESCRIPTION

[0082] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0083] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0084] It should be noted that the block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities.

[0085] See also Figures 1 to 14 , Figure 1 is one of the side views of a shank link of an exemplary shank structure; Figure 2 is a second side view of a calf link of an exemplary calf structure; Figure 3 is a schematic structural diagram of an ankle joint actuator of an exemplary calf structure; Figure 4 is one of the side views of an exemplary lower leg structure; Figure 5 is a second side view of an exemplary lower leg structure; Figure 6 is a rear view of an exemplary lower leg structure; Figure 7 is a third side view of an exemplary lower leg structure; Figure 8 is a front view of a foot of an exemplary lower leg structure; Fig. 9 is a side view of a foot of an exemplary lower leg structure; Fig.10 is a first cutaway view of a foot of an exemplary lower leg structure; Fig.11 is a second cutaway view of a foot of an exemplary lower leg structure; Fig.12 is a third cutaway view of a foot of an exemplary lower leg structure; Fig.13 is one of the side views of an exemplary mechanical leg; Fig.14 is one of the side views of an exemplary robotic leg.

[0086] See also Figure 1 and Fig.14 , the present disclosure embodiment discloses a calf structure, including:

[0087] The first end of the calf bone rod 1 is used to connect to the foot 4, and the second end is used to connect to the thigh 101. The upper area (e.g. Figure 1 and Figure 2 A first accommodating portion is provided in the area shown in 14 in the figure, and the first accommodating portion is used to place the ankle joint actuator.

[0088] Since the calf bone rod provides a housing for moving the ankle joint actuator upward, compared with the related art in which the ankle joint actuator is set at the ankle, moving the ankle joint actuator upward can effectively increase the distance from the ground and move the center of mass upward, thereby reducing the movement inertia of the leg and being more conducive to motion control; and, in the related art, it is necessary to add multiple connectors at the ankle to achieve the connection between the calf and the foot, thigh and ankle joint actuator. In the calf structure provided by the present invention, the upper end of the calf bone rod can be connected to the thigh, and the lower end can be directly connected to the foot, and the upper area can accommodate the ankle joint actuator. There is no need to add other connectors, which is easy to install and avoids connection failure caused by damage to the connector. At the same time, the reduction of the connectors in the calf further reduces the mass of the leg, thereby further reducing the movement inertia; and reducing the inertia of the leg can reduce the inertial coupling of the leg.

[0089] For some examples, see Figure 1-Figure 7 The calf structure further includes: an ankle joint actuator 2, which is placed in a first accommodation portion (such as the accommodation portion shown in the first accommodation portion a 12 and the first accommodation portion b 13).

[0090] The ankle joint transmission mechanism 3 has a first end connected to the output end of the ankle joint actuator 2 and a second end connected to the foot 4, and is used to transmit the execution action of the ankle joint actuator to the foot to control the movement of the foot.

[0091] In this way, the ankle joint actuator 2 is moved upward. Since the ankle joint actuator 2 has a large mass, the ankle joint actuator 2 is moved upward and the execution action applied to it is transmitted to the ankle by the ankle joint transmission mechanism 3. While the ankle can be controlled, the distance from the ground is increased, thereby reducing the movement inertia of the ankle. The overall center of mass of the calf structure moves upward, the rotational inertia centered on the knee joint or hip joint becomes smaller, and the leg structure is easier to control.

[0092] The position of the ankle joint actuator 2 is adjustable in the entire calf structure, so that the center of mass position of the calf structure can be precisely controlled by adjusting the position of the ankle joint actuator, thereby improving the configurability of the calf structure.

[0093] In some examples, there are multiple ankle joint actuators 2, and accordingly, there are multiple ankle joint transmission mechanisms 3. The present disclosure does not limit the number of ankle joint actuators 2, and accordingly, in order to achieve transmission, the number of ankle joint transmission mechanisms 3 also increases in sequence.

[0094] In one possible implementation, see Figure 1-Figure 7 , the ankle joint actuator 2 includes:

[0095] The first ankle joint actuator 21 and the second ankle joint actuator 22 .

[0096] Accordingly, the ankle joint transmission mechanism 3 comprises:

[0097] The first ankle joint transmission mechanism 31 , a first end of the first ankle joint transmission mechanism 31 is connected to the output end of the first ankle joint actuator 21 , and a second end of the first ankle joint transmission mechanism 31 is connected to the foot 4 .

[0098] The second ankle joint transmission mechanism 32 , the first end of the second ankle joint transmission mechanism 32 is connected to the second ankle joint actuator 22 , and the second end of the second ankle joint transmission mechanism 32 is connected to the foot 4 .

[0099] In this way, the ankle joint is controlled by a dual actuator method to increase the flexibility of control, and the two actuators are integrated on the calf bone rod 1. The rear end 212 of the first ankle joint actuator 21 and the rear end of the second ankle joint actuator 22 can be fixedly mounted on the calf bone rod 1, thereby improving the integration of the product.

[0100] When multiple ankle joint actuators 2 are used, the position of the ankle joint actuator 2 in the entire calf structure is also adjustable, so that the center of mass position and mass distribution of the calf structure can be precisely controlled by adjusting the position of the ankle joint actuator, thereby improving the configurability of the calf structure.

[0101] Further, based on the above embodiments, see Figure 3-Figure 7 In some examples, the direction of the output end 211 of the first ankle joint actuator 21 is opposite to the direction of the output end 221 of the second ankle joint actuator 22, and the opposite means: they are arranged in opposite directions in the same direction.

[0102] The first ankle joint transmission mechanism 31 extends along the first side of the calf bone rod 1 in the horizontal direction, and is connected to the first side of the foot 4 in the horizontal direction; the second ankle joint transmission mechanism 32 extends along the second side of the calf bone rod 1 in the horizontal direction, and is connected to the second side of the foot 4 in the horizontal direction, wherein the first side can be, for example, a side of the calf structure away from the other calf structure, that is, the outside; the second side can be, for example, a side of the calf structure close to the other calf structure, that is, the inside, and of course the two can also be swapped or changed, which is not limited here. In other words, the first ankle joint actuator 21 and the second ankle joint actuator 22 are arranged one outward and the other inward, and the first ankle joint transmission mechanism 31 and the second ankle joint transmission mechanism 32 are respectively connected to the ankle position of the foot along the two sides (e.g., the inside and the outside) of the calf bone rod.

[0103] In some examples, the first ankle joint actuator 21 and the second ankle joint actuator 22 are arranged along the length direction of the calf bone rod 1, and the first ankle joint actuator 21 is located on the side of the second ankle joint actuator 22 close to the first end of the calf bone rod 1. In other words, the first ankle joint actuator 21 is located below the second ankle joint actuator 22, and the first ankle joint actuator 21 and the second ankle joint actuator 22 are parallel and staggered.

[0104] Among them, the transmission distance of the first ankle joint transmission mechanism 31 is shorter than the transmission distance of the second ankle joint transmission mechanism 32 .

[0105] By controlling the movement of the ankle with this dual ankle joint actuator connected in parallel, it is possible to achieve control in multiple degrees of freedom, making the control more flexible. For example: the first ankle joint actuator 21 and the second ankle joint actuator 22 rotate simultaneously and in the same direction, and the first ankle joint transmission mechanism 31 and the second ankle joint transmission mechanism 32 transmit force to both sides of the foot 4 at the same time, so that the foot can perform a pitching motion; the first ankle joint actuator 21 and the second ankle joint actuator 22 rotate one while the other does not, that is, the ankle joint transmission mechanism corresponding to the rotating ankle joint actuator transmits force to one side of the foot 4, so that the foot can perform a side swing motion.

[0106] In the present disclosure, the first ankle joint transmission mechanism 31 and the second ankle joint transmission mechanism 32 can adopt various forms of transmission mechanisms, such as: chain structure, flexible shaft structure, wire chain structure, connecting rod structure, etc., which are not limited here.

[0107] For some examples, see Figure 4-Figure 7 The first ankle joint transmission mechanism 31 is a first connecting rod structure; the second ankle joint transmission mechanism 32 is a second connecting rod structure.

[0108] The first ankle joint actuator 21 and the second ankle joint actuator 22 are arranged up and down, and in the embodiment where the first ankle joint actuator 21 is located at the bottom, the length of the second connecting rod structure is greater than the length of the first connecting rod structure, and the two parallel ankle joint actuators arranged up and down are adapted by using a long and a short connecting rod structure.

[0109] For some examples, see Figure 4 and Figure 5 The first end of the first connecting rod structure (i.e., the first ankle joint transmission mechanism 31) is provided with a rotating shaft connecting member 31a, the rotating part of the rotating shaft connecting member 31a is connected to the output end 211 of the first ankle joint actuator 21, and the protruding connecting part of the rotating shaft connecting member 31a is connected to the first end of the first connecting rod structure (i.e., the first ankle joint transmission mechanism 31), and accordingly, the first end of the first connecting rod structure is a bent part that matches the protruding connecting part.

[0110] The first end of the second connecting rod structure (i.e., the second ankle joint transmission mechanism 32) is provided with a rotating shaft connecting member 32a, the rotating part of the rotating shaft connecting member 32a is connected to the output end 221 of the second ankle joint actuator 22, and the protruding connecting part of the rotating shaft connecting member 32a is connected to the first end of the second connecting rod structure (i.e., the second ankle joint transmission mechanism 32), and accordingly, the first end of the second connecting rod structure is a bent part that matches the protruding connecting part.

[0111] Through the above-mentioned method, the space required for the movement of the connecting rod can be reduced; and, in the related art, an ankle joint actuator is used in conjunction with a push rod, and the push rod pushes down the rear of the sole of the foot to make the foot swing forward. In this way, the push rod is subjected to pressure, which is easy to cause damage to the push rod. In the present application, when the forward swing is performed, the first ankle joint actuator 21 and the second ankle joint actuator 22 of the first connecting rod structure rotate simultaneously and in the same direction, and the first connecting rod structure (the first ankle joint transmission mechanism 31) and the second connecting rod structure (the second ankle joint transmission mechanism 32) simultaneously pull the foot 4 from both sides of the foot 4 to make the foot swing forward. The first connecting rod structure and the second connecting rod structure are subjected to tension, so that the connecting rod is not easily damaged. In addition, the first end of the first and second connecting rod structures is a bend, which can reduce stress during transmission to avoid being broken.

[0112] In other examples, in the calf structure provided by the present disclosure, when dual actuators are provided, the transmission mechanism can also be provided on the same side. In other words, the direction of the output end 211 of the first ankle joint actuator 21 is the same as the direction of the output end 221 of the second ankle joint actuator 22.

[0113] The first ankle joint transmission mechanism 31 extends along the first side of the calf bone rod 1 in the horizontal direction and is connected to the first side of the foot 4 in the horizontal direction; the second ankle joint transmission mechanism 32 extends along the first side of the calf bone rod 1 in the horizontal direction and is connected to the second side of the foot 4 in the horizontal direction.

[0114] Among them, the first side can be, for example, the side of the calf structure away from the other calf structure, that is, the outside; the second side can be, for example, the side of the calf structure close to the other calf structure, that is, the inside. Of course, the two can also be swapped or changed, and there is no limitation here. In other words, the first ankle joint actuator 21 and the second ankle joint actuator 22 can both be set outward or inward, and the first ankle joint transmission mechanism 31 and the second ankle joint transmission mechanism 32 can also be connected to the same side of the ankle position of the foot along the same side of the calf bone rod (for example, the inside or outside). In this way, the movement control of the ankle can also be achieved, and there is no limitation here.

[0115] In some embodiments, the number of ankle joint actuators 2 may be one, and correspondingly, the number of ankle joint transmission mechanisms may be one. The motion control of the exchange may also be achieved by cooperating with one ankle joint actuator and one ankle joint transmission mechanism, which is not limited here.

[0116] In some examples, the ankle joint actuator 2 can be, for example, an actuator for rotational motion. An actuator that supports forward rotation can be used, an actuator that supports reverse rotation can be used, or an actuator that supports both forward and reverse rotation modes can be used, thereby being able to control the connecting rods on both sides to rotate in different directions or in the same direction.

[0117] For some examples, see Figure 1 and Figure 2 The calf bone rod 1 includes a bottom area for connecting the foot 4, a top area for connecting the thigh, and an upper area between the top area and the bottom area (such as the area shown in 14). The first accommodating portion can be set at any position in the upper area, for example, the first accommodating portion is located at the top of the upper area, so as to maximize the distance from the ground and reduce the motion inertia.

[0118] In some examples, the calf bone rod 1 is integrally formed, and a thigh connection structure 11 for connecting to the thigh is provided in the top area thereof, and a foot connection structure 15 for connecting to the foot is provided in the bottom area thereof. The calf bone rod 1 is integrally formed without adding other connecting parts for connecting the thigh and the calf, thereby simplifying the legs of the robot, facilitating installation, and avoiding connection failure caused by damage to the connecting parts. Of course, in some examples, the calf bone shaft 1 can also be composed of multiple separate parts, which is not limited here.

[0119] For some examples, see Figure 8-Figure 12 The calf structure also includes: a foot 4, which is connected to the first end of the calf bone rod 1, the second end of the first ankle joint transmission mechanism 31 and the second end of the second ankle joint transmission mechanism 32.

[0120] For some examples, see Figure 8-Figure 12 The foot 4 includes: a sole plate 01, an ankle sole plate 02 arranged on the side of the sole plate 01 close to the calf bone rod 1, an ankle joint transmission mechanism fixing structure 03 arranged on the side of the ankle sole plate 02 away from the sole plate 01, and an ankle braking mechanism (such as the mechanism shown in 04a-04g) arranged on the side of the sole plate 01 close to the calf bone rod 1.

[0121] Among them, the ankle transmission mechanism fixing structure 03 is connected to the second end (i.e., the lower end) of the ankle transmission mechanism 3, and the ankle transmission mechanism fixing structure 03 is used to fix the ankle transmission mechanism 3, and transmit the force of the ankle transmission mechanism 3 to the ankle base plate 02. The ankle base plate 02 covers the ankle transmission mechanism fixing structure 03, the ankle braking mechanism and other structures, and the sole base plate 01 covers the bottom surface of the ankle base plate 02.

[0122] The ankle transmission mechanism 3 transmits the execution action of the ankle actuator 2 to the ankle braking mechanism through the ankle transmission mechanism fixing structure 03. The ankle braking mechanism enables the ankle sole plate 02 to execute the action, and then drives the sole sole plate 01 to execute the action, thereby achieving control over the foot 4.

[0123] For some examples, see Figure 8-Figure 12 The ankle brake mechanism is used to drive the ankle movement through the force transmitted by the ankle joint transmission mechanism 3. The ankle brake can be achieved in a variety of ways. For example, the ankle brake mechanism includes: a rotating shaft assembly, including a rotating shaft and a matching bearing; a fixing assembly for fixing the rotating shaft assembly, one side of the fixing assembly is fixed to the ankle base plate 02, and the other side is connected to the rotating shaft assembly. The force is transmitted to the ankle joint transmission mechanism fixed structure 03 through the ankle joint transmission mechanism 3, and then transmitted to the rotating shaft assembly through the fixing assembly to achieve ankle movement, such as pitch movement or lateral swing movement.

[0124] For some examples, see Figure 8-Figure 12 , the shaft assembly is a cross universal joint shaft assembly, see Fig.10 The rotating shaft assembly includes: a cross center fixing part 04e, four rotating shafts 04a, 04b, 04c, and 04d fixed on the cross center fixing part 04e and distributed in a cross shape, and four groups of bearings 04f matched with the four bearings. The cross center fixing part 04e is installed on the ankle base plate 02 by using the above devices, and then the four rotating shafts are respectively pressed on the cross mounting positions of the cross center fixing part 04e, and the bearings 04f are installed to form a cross universal joint rotating shaft assembly.

[0125] Furthermore, one side of the fixing component 04g is connected to the bearing 04f corresponding to any two rotating shafts arranged in the same direction in the cross universal joint rotating shaft component, and the other side of the fixing component 04g includes two supporting parts, and the two supporting parts are connected to the ankle base plate 02. The first direction can be any direction, such as the horizontal direction or the vertical direction, and any two rotating shafts arranged in the same direction, such as the rotating shafts 04c and 04d, are arranged along the length direction of the sole base plate 01. Accordingly, the fixing component 04g is fixed to the bearings of the rotating shafts 04c and 04d along the length direction of the sole base plate 01, and is fixed to the ankle base plate 02 through the two supporting parts.

[0126] In some examples, the ankle transmission mechanism 3 includes: a first link structure and a second link structure.

[0127] The ankle joint transmission mechanism fixing structure 03 is a connecting rod fixing structure arranged along the second direction, and the second direction is the width direction of the foot (i.e. Fig.10 The first connecting rod structure and the second connecting rod structure are respectively rotatably connected to both ends of the connecting rod fixing structure in the second direction.

[0128] Based on the above embodiments, the control principle of the calf structure provided by the present disclosure is: when the first link structure and the second link structure are simultaneously lifted or pulled down under the braking of the first ankle joint actuator 21 and the second ankle joint actuator 22, the first link structure and the second link structure can transmit the action to the bearing 04f and the rotating shaft part of the cross universal joint rotating shaft assembly through the ankle joint transmission mechanism fixed structure 03, the ankle bottom plate 02, and the fixed component 04g, so that the ankle part performs a pitching motion; when the first link structure and the second link structure are not synchronized (for example, the first link structure and the second link structure are one moving and the other not moving, or the movement directions are inconsistent), the ankle joint transmission mechanism fixed structure 03 and the two sides connected with the first link structure and the second link structure are unevenly stressed, and the force will be transmitted to the rotating shaft part of the cross universal joint rotating shaft assembly, so that the ankle part performs a lateral swinging motion. The rotating shaft part of the cross universal joint rotating shaft assembly has a simple structure and is easy to install. In this way, it can cooperate with the link to flexibly control the movement of the foot.

[0129] In some examples, the fixed position of the ankle joint transmission mechanism 3 on the sole plate 01 (or the ankle plate 02) is not limited, and can be the front end, the rear end, or the middle position. Here, the middle position is taken as an example. Fig.12, the ankle transmission mechanism fixing structure 03 is arranged on one side of the ankle base plate 02 close to the front end of the sole base plate 01, so that the fixing point of the ankle transmission mechanism 3 on the ankle base plate 02 is the front end; in some examples, the orthographic projection of the ankle transmission mechanism fixing structure 03 on the sole base plate 01 is located in the middle position in the length direction of the sole base plate 01, in other words, the ankle transmission mechanism 3 is fixed in the middle position of the sole base plate 01. In the related art, an ankle actuator is used in conjunction with a push rod, and the push rod is fixed behind the foot, so that when the robot falls, it is easy to hit the heel and break the push rod. In the embodiment provided by the present disclosure, the ankle transmission mechanism 3 is fixed in the middle position of the sole base plate 01, which, on the one hand, increases the stability of the control, and on the other hand, can release the heel to avoid damage due to collision when falling.

[0130] For some examples, see Fig. 9 The rear part of the sole bottom plate 01 has an inclined part, and there is a gap between the rear side of the ankle bottom plate 02 and the inclined part of the sole bottom plate 01. In other words, the bottom surfaces of the sole bottom plate 01 and the ankle bottom plate 02 may not be completely in contact with each other, but they may be in contact with each other, which is not limited here.

[0131] See also Fig.13 and Fig.14 The present disclosure also provides a mechanical leg, including the above-mentioned calf structure 102.

[0132] In some examples, the mechanical leg provided by the present disclosure further includes: a thigh portion 101 .

[0133] The thigh 101 includes a femoral rod 5 , a first end of which is connected to a hip structure (not shown), and a second end of which is connected to a second end (ie, upper end) of a calf rod 1 of the calf structure 102 .

[0134] The upper region of the femoral rod 5 is provided with a second receiving portion, and the second receiving portion is used to place the knee joint actuator 6 .

[0135] In the related art, the knee joint actuator is usually set at the connection between the upper end of the calf and the lower end of the thigh (i.e., the knee), and the movement of the knee joint is controlled by the knee joint actuator. However, in this method, due to the large mass of the knee joint actuator, the knee joint actuator is directly set at the knee, which makes the mass of the entire leg large and the overall center of mass is located below the thigh. As a result, the moment of inertia is large when the knee is controlled, making it difficult to control. In order to solve the above technical problems, in the mechanical leg provided by the present invention, since the femoral rod 5 provides a accommodating portion for moving the ankle joint actuator upward, compared with the related art in which the knee joint actuator is set at the knee, moving the knee joint actuator upward can effectively increase the distance from the ground and move the center of mass upward, thereby reducing the movement inertia of the leg and being more conducive to motion control; and, there is no need to add connecting parts to connect the calf, thigh and knee joint actuator at the knee, thereby simplifying the leg structure of the robot, facilitating installation, and avoiding connection failure caused by damage to the connecting parts. At the same time, the reduction of the connecting parts in the thigh further reduces the mass of the leg, thereby further reducing the movement inertia; and, reducing the inertia of the leg can reduce the inertial coupling of the leg.

[0136] In this way, the knee joint actuator 6 can be supported to move upward. Since the knee joint actuator 6 has a large mass, moving the knee joint actuator 6 upward increases the distance from the ground, thereby reducing the movement inertia of the leg.

[0137] In some examples, the mechanical leg provided by the present disclosure further includes: a knee joint actuator 6, a knee joint transmission mechanism 7 and a knee joint transmission bearing 8,

[0138] The knee joint actuator 6 is placed in the second receiving portion of the femoral rod 5;

[0139] A first end of the knee joint transmission mechanism 7 is connected to the output end of the knee joint actuator 6 , and a second end thereof is connected to the knee joint transmission bearing 8 .

[0140] The knee joint transmission bearing 8 is arranged at the connection between the femoral rod 5 and the calf rod 1, that is, the original knee position.

[0141] The output execution action of the knee joint actuator 6 is transmitted to the knee joint transmission bearing 8 through the knee joint transmission mechanism 7 to control the movement of the calf bone rod 1.

[0142] In this way, the knee joint actuator 6 is moved upward, and the knee joint transmission mechanism 7 is used to transmit the execution action applied to it to the knee, so that the distance from the ground is raised while the knee movement control can be achieved, thereby reducing the movement inertia of the knee. In addition, the ankle joint actuator 2 and the knee joint actuator 6 are separately arranged, and the movement of the ankle and the knee are controlled by their respective transmission mechanisms. The two are decoupled and independent, so there is no movement interference, so that the independent movement control of the ankle and the knee can be better achieved.

[0143] Specifically, the knee joint transmission mechanism 7 can adopt various forms of transmission mechanisms, such as: chain structure, flexible shaft structure, wire chain structure, connecting rod structure, etc., which are not limited here.

[0144] In some examples, the knee joint transmission mechanism 7 includes: a third connecting rod 71 and a fourth connecting rod 72;

[0145] The first end of the third connecting rod 71 and the first end of the fourth connecting rod 72 are connected to the output end of the knee joint actuator 6 , and the second end of the third connecting rod 71 and the second end of the fourth connecting rod 72 are connected to the knee joint transmission bearing 8 .

[0146] In some examples, based on the above, the third link 71, the knee joint actuator 6, the fourth link 72 and the knee joint transmission bearing 8 constitute a parallelogram mechanism.

[0147] The present disclosure also provides a robot, comprising: the above-mentioned calf structure, and / or the above-mentioned mechanical leg. Since the knee joint actuator and the ankle joint actuator are moved upward, the movement inertia can be reduced.

[0148] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0149] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0150] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A calf structure, comprising: A calf bone rod, a first end of which is used to connect to the foot, and a second end of which is used to connect to the thigh; Wherein, a first accommodation portion is provided in an upper area of ​​the calf bone rod away from the first end and close to the second end, and the first accommodation portion is used for placing an ankle joint actuator.

2. The calf structure according to claim 1, wherein: The calf structure further includes: an ankle joint actuator, placed in the first accommodation portion; An ankle transmission mechanism, a first end of which is connected to the output end of the ankle actuator, and a second end of which is connected to the foot, is used to transmit the execution action of the ankle actuator to the foot to control the movement of the foot.

3. The calf structure according to claim 2, wherein: The number of the ankle joint actuators is multiple; the number of the ankle joint transmission mechanisms is multiple.

4. The calf structure according to claim 3, wherein: The ankle joint actuator comprises: a first ankle joint actuator and a second ankle joint actuator; The ankle joint transmission mechanism comprises: a first ankle joint transmission mechanism, a first end of which is connected to the output end of the first ankle joint actuator, and a second end of which is connected to the foot; A second ankle joint transmission mechanism has a first end connected to the second ankle joint actuator and a second end connected to the foot.

5. The calf structure according to claim 4, wherein: The direction of the output end of the first ankle joint actuator is opposite to the direction of the output end of the second ankle joint actuator; The first ankle joint transmission mechanism extends along a first side of the tibia rod in the horizontal direction and is connected to the first side of the foot in the horizontal direction; the second ankle joint transmission mechanism extends along a second side of the tibia rod in the horizontal direction and is connected to the second side of the foot in the horizontal direction.

6. The calf structure according to claim 4, wherein: The first ankle joint actuator and the second ankle joint actuator are arranged along the length direction of the calf bone rod, and the first ankle joint actuator is located on a side of the second ankle joint actuator close to the first end of the calf bone rod; The transmission distance of the first ankle joint transmission mechanism is shorter than the transmission distance of the second ankle joint transmission mechanism.

7. The calf structure according to claim 6, wherein: The first ankle joint transmission mechanism is a first connecting rod structure; the second ankle joint transmission mechanism is a second connecting rod structure; The length of the second connecting rod structure is greater than the length of the first connecting rod structure.

8. The calf structure according to claim 7, wherein: A rotating shaft connecting member is provided at the first end of the first connecting rod structure, the rotating portion of the rotating shaft connecting member is connected to the output end of the first ankle joint actuator, and the protruding connecting portion of the rotating shaft connecting member is connected to the first end of the first connecting rod structure; A rotating shaft connecting member is provided at the first end of the second connecting rod structure, the rotating portion of the rotating shaft connecting member is connected to the output end of the second ankle joint actuator, and the protruding connecting portion of the rotating shaft connecting member is connected to the first end of the second connecting rod structure.

9. The calf structure according to claim 4, wherein: The orientation of the output end of the first ankle joint actuator is the same as the orientation of the output end of the second ankle joint actuator; The first ankle joint transmission mechanism extends along the first side of the tibia rod in the horizontal direction and is connected to the first side of the foot in the horizontal direction; the second ankle joint transmission mechanism extends along the first side of the tibia rod in the horizontal direction and is connected to the second side of the foot in the horizontal direction.

10. The calf structure according to any one of claims 2 to 9, wherein: The ankle joint actuator is a rotational motion actuator and can rotate forward and reverse.

11. The calf structure according to any one of claims 1 to 9, wherein: The calf bone rod includes a bottom area for connecting to the foot, a top area for connecting to the thigh, and the upper area is between the top area and the bottom area; The first receiving portion is located at a top end of the upper region.

12. The calf structure according to any one of claims 2 to 9, wherein: The calf structure also includes a foot portion connected to the first end of the calf bone rod and the second end of the ankle joint transmission mechanism.

13. The calf structure according to claim 12, wherein: The foot comprises: a sole plate, an ankle plate arranged on the sole plate near the calf bone rod, an ankle joint transmission mechanism fixing structure arranged on the ankle plate away from the sole plate, and an ankle brake mechanism arranged on the sole plate near the calf bone rod; Wherein, the ankle joint transmission mechanism fixing structure is connected to the second end of the ankle joint transmission mechanism; The ankle joint transmission mechanism transmits the execution action of the ankle joint actuator to the ankle braking mechanism through the ankle joint transmission mechanism fixing structure, and the ankle braking mechanism enables the ankle bottom plate to perform the execution action.

14. The calf structure according to claim 13, wherein: The ankle brake mechanism comprises: a rotating shaft assembly including a rotating shaft and a matching bearing, and a fixing assembly for fixing the rotating shaft assembly, wherein one side of the fixing assembly is fixed to the ankle bottom plate, and the other side is connected to the rotating shaft assembly.

15. The calf structure according to claim 14, wherein: The rotating shaft assembly is a cross universal joint rotating shaft assembly, comprising: a cross center fixing member, four rotating shafts fixed on the cross center fixing member and distributed in a cross shape, and four groups of bearings matched with the four bearings; One side of the fixing assembly is connected to bearings corresponding to any two shafts arranged in the same direction in the cross universal joint shaft assembly, and the other side includes two supporting parts, and the two supporting parts are connected to the ankle bottom plate.

16. The calf structure according to claim 15, wherein: The ankle joint transmission mechanism comprises: a first connecting rod structure and a second connecting rod structure; The ankle joint transmission mechanism fixing structure is a connecting rod fixing structure arranged along a second direction, and the second direction is the width direction of the foot; the first connecting rod structure and the second connecting rod structure are respectively rotatably connected to the two ends of the connecting rod fixing structure in the second direction.

17. The calf structure according to claim 15, wherein: The ankle joint transmission mechanism fixing structure is arranged on one side of the ankle base plate close to the front end of the sole base plate, and the orthographic projection of the ankle joint transmission mechanism fixing structure on the sole base plate is located in the middle position in the length direction of the sole base plate.

18. The calf structure according to claim 15, wherein: The rear portion of the sole bottom plate has an inclined portion, and a gap is formed between the rear side of the ankle bottom plate and the inclined portion.

19. A mechanical leg, comprising: A calf structure as claimed in any one of claims 1 to 18.

20. The mechanical leg according to claim 19, wherein: Also includes: Thigh; The thigh portion comprises: a femoral rod, a first end of the femoral rod being connected to a hip structure, and a second end of the femoral rod being connected to a second end of a calf rod of the calf structure; The upper area of ​​the femoral rod is provided with a second accommodation portion, and the second accommodation portion is used for accommodating a knee joint actuator.

21. The mechanical leg according to claim 20, wherein: Also includes: Knee joint actuator, knee joint transmission mechanism and knee joint transmission bearing; The knee joint actuator is placed in the second accommodation portion; The knee joint transmission mechanism has a first end connected to the output end of the knee joint actuator and a second end connected to the knee joint transmission bearing; The knee joint transmission bearing is arranged at the connection between the femoral rod and the calf rod; The output execution action of the knee joint actuator is transmitted to the knee joint transmission bearing through the knee joint transmission mechanism to control the movement of the calf bone rod.

22. The mechanical leg according to claim 21, wherein: The knee joint transmission mechanism comprises: a third connecting rod and a fourth connecting rod; The first end of the third connecting rod and the first end of the fourth connecting rod are connected to the output end of the knee joint actuator, and the second end of the third connecting rod and the second end of the fourth connecting rod are connected to the knee joint transmission bearing.

23. A robot comprising: A calf structure as claimed in any one of claims 1 to 18, and / or a mechanical leg as claimed in any one of claims 19 to 22.

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