Leg and waist structure of robot and humanoid robot

Abstract

The invention provides a leg and waist structure of a robot and a humanoid robot. The leg and waist structure comprises a knee bending mechanism, a waist bending mechanism and a lifting mechanism. The knee bending mechanism comprises a knee bending driving mechanism, a connecting rod assembly and a self-locking first transmission mechanism, so that the knee bending mechanism is switched between a bending state and a straightening state; the bending mechanism comprises a bending driving mechanism for driving the knee bending mechanism to switch between a bending state and a straightening state relative to the lifting mechanism; the lifting mechanism comprises a self-locking second transmission mechanism so that the lifting mechanism can ascend and descend relative to the bending mechanism. According to the invention, the knee bending mechanism can realize independent bending and straightening; the bending mechanism can drive the knee bending mechanism to bend and unbend relative to the lifting mechanism; the lifting mechanism can ascend and descend relative to the bending mechanism. Self-locking lead screws are respectively arranged in the knee bending mechanism and the lifting mechanism for transmission, so that the safety and the stability of the whole structure are greatly improved, the size of a motor is reduced, the weight of the whole machine is reduced, and the production cost is reduced.

Description

Technical Field

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

[0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated by artificial intelligence technology. Its mission is to assist or replace human work, such as manufacturing, construction, or dangerous work.

[0003] The waist and leg structures of existing robots are usually built with joint modules. Since the robot body is heavy, the legs of the leg robot usually require motors with large torque to meet the usage requirements to complete actions such as bending the knees and bending the waist. At the same time, the cost of the joint module is high, and the joint motor needs to continuously output torque to maintain an upright state during operation, which increases power consumption. At the same time, the multi-joint serial leg and waist structure will increase the overall weight of the robot. Summary of the invention

[0004] In view of this, the present invention proposes a robot leg and waist structure and a humanoid robot, and the specific scheme is as follows:

[0005] In the first part, the present invention provides a leg and waist structure of a robot, including a knee bending mechanism, a waist bending mechanism and a lifting mechanism which are movably connected in sequence;

[0006] The knee flexion mechanism comprises a knee flexion drive mechanism, a connecting rod assembly and a first self-locking transmission mechanism; the knee flexion drive mechanism drives the first transmission mechanism, and drives the connecting rod assembly through the first transmission mechanism to realize the switching of the knee flexion mechanism between a flexed state and an extended state;

[0007] The bending mechanism includes a bending drive mechanism; the bending drive mechanism is arranged between the connecting rod assembly and the lifting drive mechanism of the lifting mechanism to drive the knee bending mechanism to switch between a bending state and an extension state relative to the lifting mechanism;

[0008] The lifting mechanism further includes a second transmission mechanism that is self-locking, and the lifting drive mechanism drives the second transmission mechanism to achieve lifting of the lifting mechanism relative to the bending mechanism.

[0009] In a specific embodiment, the knee flexion mechanism further comprises a thigh shell, a calf upper shell and a calf lower shell connected in sequence from top to bottom; the end of the thigh shell away from the calf upper shell is rotatably connected to the waist bending mechanism;

[0010] The thigh shell, the calf upper shell and the calf lower shell form a leg accommodating space, the knee flexion drive mechanism and the first transmission mechanism are located in an area of ​​the leg accommodating space close to the calf lower shell, and the connecting rod assembly is located in an area of ​​the leg accommodating space close to the thigh shell.

[0011] In a specific embodiment, the knee flexion drive mechanism comprises a base, a drive assembly, a transmission assembly and a guide assembly; the drive assembly, the first transmission mechanism, the transmission assembly and the guide assembly are all arranged on the base;

[0012] The driving assembly is drivingly connected to the first transmission mechanism, and the first transmission mechanism is drivingly connected to the transmission assembly; the transmission assembly is drivingly connected to the guide assembly, so as to drive the guide assembly to reciprocate along the length direction of the knee flexion mechanism under the drive of the driving assembly; the guide assembly is drivingly connected to the connecting rod assembly at a side away from the transmission assembly, so as to drive the connecting rod assembly to rotate under the transmission of the transmission assembly, thereby driving the knee flexion mechanism to switch between a bent state and an extended state.

[0013] In a specific embodiment, the transmission assembly includes a first screw nut, a first driving wheel, a first driven wheel and a first synchronous belt; the first transmission mechanism includes a first screw; the driving assembly is provided with the first driving wheel, and the first driven wheel is provided at one end of the first screw close to the first driving wheel; one end of the first synchronous belt is sleeved on the outside of the first driving wheel, and the other end is sleeved on the outside of the first driven wheel; the first screw nut is sleeved on the outside of the first screw and is transmission-connected to the guide assembly, so that when the driving assembly is driven, the first screw is synchronously driven to rotate, and the first screw nut is driven to reciprocate along the length direction of the first screw, thereby driving the guide assembly to reciprocate along the length direction of the knee flexion mechanism;

[0014] The guide assembly includes a movable slider and a linear guide rail; the linear guide rail is arranged on the base, and the movable slider is sleeved on the outside of the linear guide rail and movably connected to the linear guide rail; and one side of the movable slider is transmission-connected to the first screw nut, and the other side is rotationally connected to the connecting rod assembly, so as to drive the connecting rod assembly to rotate under the transmission of the first screw nut.

[0015] In a specific embodiment, the connecting rod assembly includes a first connecting member, a rotating rod, a second connecting member and a thigh connecting rod; a first through hole matching the first connecting member is opened on one end of the rotating rod close to the guide assembly, and the first connecting member passes through the first through hole and is connected to the guide assembly to realize the rotation connection between the rotating rod and the guide assembly;

[0016] A second through hole matching the second connecting member is provided on the other end of the rotating rod, and a third through hole matching the second connecting member is provided on the end of the thigh connecting rod close to the rotating rod; the second connecting member passes through the second through hole and the third through hole in sequence, and is connected to one of the rotating rod and the thigh connecting rod to realize the rotational connection between the rotating rod and the thigh connecting rod.

[0017] In a specific embodiment, the bending mechanism also includes a first fixed plate, a second fixed plate, a waist bearing, a bearing pressure plate and a bearing baffle plate; one side of the bending drive mechanism is connected to the first fixed plate; the side of the bending drive mechanism away from the first fixed plate is sequentially provided with the bearing baffle plate, the waist bearing, the bearing pressure plate and the second fixed plate, and the bearing baffle plate and the bearing pressure plate are used to limit the waist bearing.

[0018] In a specific embodiment, the lifting drive mechanism includes a mounting seat, a lifting drive unit, a transmission unit, and a lifting seat; the lifting drive unit, the second transmission mechanism and the transmission unit are all arranged on the mounting seat; the lifting drive unit is drivingly connected to the second transmission mechanism, and the second transmission mechanism is drivingly connected to the transmission unit; the transmission unit is drivingly connected to the lifting seat to drive the lifting seat to rise and fall under the drive of the lifting drive unit, thereby driving the lifting mechanism to rise and fall relative to the bending mechanism.

[0019] In a specific embodiment, the transmission part includes a second driving wheel, a second driven wheel, a second synchronous belt and a second screw nut; the second transmission mechanism includes a second screw; the lifting drive part is provided with the second driving wheel, and the second screw is provided with the second driven wheel at one end close to the second driving wheel; one end of the second synchronous belt is sleeved on the outside of the second driving wheel, and the other end is sleeved on the outside of the second driven wheel;

[0020] The second lead screw nut is sleeved on the outside of the second lead screw and is transmission-connected to the lifting seat, so that when the lifting drive unit is driven, the second lead screw is synchronously driven to rotate, and the second lead screw nut is driven to reciprocate along the length direction of the second lead screw, thereby driving the lifting seat to reciprocate along the length direction of the lifting mechanism.

[0021] In a specific embodiment, the lifting mechanism further includes a chest support, a chest shell, and an upper body front shell, an upper body left shell, an upper body rear shell, and an upper body right shell that are sequentially connected and surrounded; the upper body front shell, the upper body left shell, the upper body rear shell, and the upper body right shell are all connected to the chest shell on one side away from the bending mechanism to form a back accommodating space;

[0022] The chest support and the lifting drive mechanism are both located in the back accommodating space, and the chest support is arranged on a side of the lifting drive mechanism away from the bending mechanism.

[0023] In the second part, the present invention provides a humanoid robot, including the leg and waist structures of the robot mentioned in the above technical solution.

[0024] Beneficial effects:

[0025] The present invention provides a robot leg and waist structure and a humanoid robot, wherein independent driving mechanisms are respectively arranged in the knee bending mechanism, the waist bending mechanism and the lifting mechanism, so that the knee bending mechanism can realize independent bending and straightening; the waist bending mechanism can drive the knee bending mechanism to bend and straighten relative to the lifting mechanism; the lifting mechanism can be lifted and lowered relative to the waist bending mechanism. Self-locking screws are respectively arranged in the knee bending mechanism and the lifting mechanism for transmission, so that even if the whole machine suddenly encounters unexpected situations such as power failure, the structure can be quickly self-locked, greatly improving the safety and stability of the overall structure; at the same time, the large torque characteristics of the screw reduce the torque requirements for the motor module under heavy load, thereby reducing the size of the motor, reducing the weight of the whole machine, and reducing the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of a three-dimensional structure of the leg and waist structure of a robot according to an embodiment of the present invention;

[0027] Figure 2 Schematic diagram of the internal three-dimensional structure of the leg and waist structure of the robot according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of the three-dimensional structure of the knee flexion mechanism according to an embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of the three-dimensional structure of the knee flexion drive mechanism according to an embodiment of the present invention;

[0030] Figure 5 is a schematic diagram of the three-dimensional structure of a bending mechanism according to an embodiment of the present invention;

[0031] Figure 6 is a schematic diagram of the three-dimensional structure of the lifting mechanism of an embodiment of the present invention;

[0032] Figure 7 is a schematic diagram of the three-dimensional structure of the lifting drive mechanism of an embodiment of the present invention;

[0033] Figure 8 is a schematic diagram of the leg and waist structure of the robot in a squatting state according to an embodiment of the present invention;

[0034] Fig. 9It is a schematic diagram of the leg and waist structure of the robot in a bent state according to an embodiment of the present invention.

[0035] Figure numerals: 1-knee flexion mechanism; 11-knee flexion drive mechanism; 111-base; 112-drive assembly; 113-transmission assembly; 1131-first screw nut; 1132-first driving wheel; 1133-first driven wheel; 1134-first synchronous belt; 114-guide assembly; 1141-moving slider; 1142-linear guide rail; 12-connecting rod assembly; 121-first connecting member; 122-rotating rod; 123-second connecting member; 124-thigh connecting rod; 125-first through hole; 126-second through hole; 127-third through hole; 13-first transmission mechanism; 14-thigh shell; 15-calf upper shell; 1 6-lower shell of calf; 2-bending mechanism; 21-bending drive mechanism; 22-first fixed plate; 23-second fixed plate; 24-lumbar bearing; 25-bearing pressure plate; 26-bearing baffle; 3-lifting mechanism; 31-lifting drive mechanism; 311-mounting seat; 312-lifting drive unit; 313-transmission unit; 3131-second driving wheel; 3132-second driven wheel; 3133-second synchronous belt; 3134-second screw nut; 314-lifting seat; 32-second transmission mechanism; 33-thoracic support; 34-thoracic outer shell; 35-upper body front shell; 36-upper body left shell; 37-upper body rear shell; 38-upper body right shell. DETAILED DESCRIPTION

[0036] In the following, various embodiments of the present disclosure will be described more fully. The present disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but the present disclosure should be understood to cover all adjustments, equivalents and / or alternatives that fall within the spirit and scope of the various embodiments of the present disclosure.

[0037] The terms used in the various embodiments disclosed in the present invention are only used for the purpose of describing specific embodiments and are not intended to limit the various embodiments disclosed in the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise specified, all terms used herein (including technical terms and scientific terms) have the same meaning as the meanings commonly understood by ordinary technicians in the field of the various embodiments disclosed in the present invention. The terms (such as the terms defined in the generally used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments disclosed in the present invention.

[0038] Example 1

[0039] This embodiment provides a leg and waist structure of a robot, wherein independent driving mechanisms are respectively arranged in the knee bending mechanism, the waist bending mechanism and the lifting mechanism, so that the knee bending mechanism can realize independent bending and straightening; the waist bending mechanism can drive the knee bending mechanism to bend and straighten relative to the lifting mechanism; the lifting mechanism can be lifted and lowered relative to the waist bending mechanism. Self-locking screws are respectively arranged in the knee bending mechanism and the lifting mechanism for transmission, so that even if the whole machine suddenly encounters unexpected situations such as power failure, the structure can be quickly self-locked, greatly improving the safety and stability of the overall structure; at the same time, the large torque characteristics of the screw reduce the torque requirements for the motor module under heavy load, thereby reducing the size of the motor, reducing the weight of the whole machine, and reducing the production cost.

[0040] The specific plan is as follows:

[0041] A robot leg and waist structure, comprising a knee bending mechanism 1, a waist bending mechanism 2 and a lifting mechanism 3 which are movably connected in sequence;

[0042] The knee flexion mechanism 1 comprises a knee flexion drive mechanism 11, a connecting rod assembly 12 and a self-locking first transmission mechanism 13; the knee flexion drive mechanism 11 drives the first transmission mechanism 13, and drives the connecting rod assembly 12 through the first transmission mechanism 13 to realize the switching of the knee flexion mechanism 1 between the bending state and the straightening state;

[0043] The bending mechanism 2 includes a bending drive mechanism 21; the bending drive mechanism 21 is arranged between the connecting rod assembly 12 and the lifting drive mechanism 31 of the lifting mechanism 3 to drive the knee flexion mechanism 1 to switch between a bending state and an extension state relative to the lifting mechanism 3;

[0044] The lifting mechanism 3 further includes a second transmission mechanism 32 which can be self-locked. The lifting drive mechanism 31 drives the second transmission mechanism 32 to achieve lifting of the lifting mechanism 3 relative to the bending mechanism 2 .

[0045] As attached Figure 1 and attached Figure 2 As shown, the robot leg and waist structure of this embodiment integrates a knee flexion mechanism 1, a waist bending mechanism 2 and a lifting mechanism 3 that are flexibly connected in sequence, which can realize flexible and diverse action modes.

[0046] The knee flexion mechanism 1 is the core of the leg movement. The knee flexion drive mechanism 11 drives the first transmission mechanism 13 to rotate, and then uses the spiral transmission principle between the lead screw and the nut to drive the connecting rod assembly 12 to move, so that the knee flexion mechanism 1 can be quickly and smoothly switched between a stable bending state and a stretched straight state. Figure 8 As shown, the knee flexion mechanism 1 is in a bent state.

[0047] In practical applications, the first transmission mechanism 13 of this embodiment is preferably a trapezoidal screw, which, with its unique trapezoidal thread design, not only provides excellent high thrust performance, but also has excellent self-locking characteristics. This feature enables the kneeling mechanism 1 to quickly achieve self-locking of the structure when using a trapezoidal screw for transmission, even if the whole machine suddenly encounters unexpected situations such as power failure, effectively preventing accidental movement caused by loss of power, thereby greatly improving the safety and stability of the overall structure.

[0048] In addition, the large torque characteristics of the lead screw enable it to significantly reduce the torque requirements of the motor module in heavy-load applications by virtue of its strong torque bearing capacity. This means that smaller and lighter motors can be selected while maintaining the same transmission efficiency, thereby effectively reducing the weight of the entire machine and reducing production costs, while also providing more flexibility and possibilities for the design and manufacture of robots.

[0049] The bending mechanism 2 is arranged between the connecting rod assembly 12 and the lifting drive mechanism 31 of the lifting mechanism 3, and its core component is the bending drive mechanism 21. The bending drive mechanism 21 drives the knee bending mechanism 1 as a whole to perform flexible bending and straightening movements relative to the lifting mechanism 3, further expanding the range of motion and flexibility of the robot. Fig. 9 As shown, the knee flexion mechanism 1 is in a bent state relative to the lifting mechanism 3 .

[0050] The lifting mechanism 3 realizes the precise lifting function relative to the bending mechanism 2 through its internal lifting drive mechanism 31 and the self-locking second transmission mechanism 32. The lifting drive mechanism 31 drives the second transmission mechanism 32 to rotate, and utilizes the principle of screw transmission to realize the smooth lifting of the lifting mechanism 3. At the same time, the self-locking function of the second transmission mechanism 32 ensures the stability and safety of the lifting position, and can maintain the current height unchanged even in the event of loss of external power. In practical applications, the second transmission mechanism 32 of this embodiment is preferably a trapezoidal screw. Due to the self-locking characteristics and high torque capacity of the screw itself, the required load of the motor is reduced, thereby reducing the size of the motor, reducing the weight of the entire mechanism, and reducing production costs; the self-locking characteristics of the screw also improve the safety of the entire structure.

[0051] In a specific embodiment, as shown in the attached Figure 3 As shown, the knee bending mechanism 1 also includes a thigh shell 14, a calf upper shell 15 and a calf lower shell 16 which are sequentially connected from top to bottom; one end of the thigh shell 14 away from the calf upper shell 15 is rotatably connected to the waist bending mechanism 2;

[0052] The thigh shell 14, the calf upper shell 15 and the calf lower shell 16 form a leg accommodation space, the knee flexion drive mechanism 11 and the first transmission mechanism 13 are located in the leg accommodation space near the calf lower shell 16, and the connecting rod assembly 12 is located in the leg accommodation space near the thigh shell 14. Not only a high degree of structural compactness and functionality is achieved, but also the overall aesthetics and durability are ensured, providing a solid foundation for the flexible movement of the robot.

[0053] In a specific embodiment, as shown in the attached Figure 4 As shown, the knee flexion driving mechanism 11 includes a base 111, a driving assembly 112, a transmission assembly 113 and a guide assembly 114; the driving assembly 112, the first transmission mechanism 13, the transmission assembly 113 and the guide assembly 114 are all arranged on the base 111;

[0054] The driving assembly 112 is connected to the first transmission mechanism 13, and the first transmission mechanism 13 is connected to the transmission assembly 113; the transmission assembly 113 is connected to the guide assembly 114, and the transmission assembly 113 can effectively convert the rotational motion of the first transmission mechanism 13 into a linear motion, and drive the guide assembly 114 to reciprocate; under the drive of the transmission assembly 113, the guide assembly 114 performs a stable linear motion along the length direction of the knee flexion mechanism 1, providing a solid foundation for the subsequent rotation of the connecting rod assembly 12; the guide assembly 114 is connected to the connecting rod assembly 12 at one side away from the transmission assembly 113, and when the guide assembly 114 reciprocates, it drives the connecting rod assembly 12 to rotate through the transmission action, thereby realizing the switching of the knee flexion mechanism 1 between the bent state and the straight state, as shown in the attached Figure 8 As shown in FIG. 1 , the knee flexion mechanism 1 is in a bent state. In this embodiment, the drive assembly 112 is preferably a motor, as shown in FIG. Figure 4 As shown, since the motor is placed downward, the center of gravity of the knee flexion mechanism 1 is lowered, making the overall structure of the knee flexion mechanism 1 more stable.

[0055] In a specific embodiment, the transmission assembly 113 includes a first screw nut 1131, a first driving wheel 1132, a first driven wheel 1133 and a first synchronous belt 1134; the first transmission mechanism 13 includes a first screw; the driving assembly 112 is provided with a first driving wheel 1132, and the first driven wheel 1133 is provided at one end of the first screw close to the first driving wheel 1132, so as to form an effective transmission match with the first driving wheel 1132; one end of the first synchronous belt 1134 is sleeved on the outside of the first driving wheel 1132, and the other end is sleeved on the outside of the first driven wheel 1133; the first screw nut 1131 is sleeved on the outside of the first screw and is transmission-connected to the guide assembly 114. When the first screw rotates under the drive of the driving assembly 112, the first screw nut 1131 will reciprocate along the length direction of the first screw, providing a solid foundation for the subsequent movement of the guide assembly 114;

[0056] The guide assembly 114 includes a movable slider 1141 and a linear guide rail 1142; the linear guide rail 1142 is arranged on the base 111, and the movable slider 1141 is sleeved on the outer side of the linear guide rail 1142 and movably connected to the linear guide rail 1142; and one side of the movable slider 1141 is transmission-connected to the first screw nut 1131, and the other side is rotationally connected to the connecting rod assembly 12, so as to drive the connecting rod assembly 12 to rotate under the transmission of the first screw nut 1131. The structural design of the slider connecting rod reduces the volume of the rotation center compared to the ordinary joint module structure, thereby reducing the overall volume of the knee flexion mechanism 1 and reducing the overall weight of the knee flexion mechanism 1.

[0057] In a specific embodiment, the connecting rod assembly 12 includes a first connecting member 121, a rotating rod 122, a second connecting member 123 and a thigh connecting rod 124, which ensures its stability and flexibility during movement. A first through hole 125 matching the first connecting member 121 is provided on one end of the rotating rod 122 close to the guide assembly 114. The first connecting member 121 passes through the first through hole 125 and is connected to the guide assembly 114, thereby realizing a flexible rotation connection between the rotating rod 122 and the guide assembly 114. This connection method not only ensures the effective transmission of power, but also ensures stability and reliability during movement.

[0058] The other end of the rotating rod 122 is provided with a second through hole 126 matching the second connecting member 123, and the end of the thigh connecting rod 124 close to the rotating rod 122 is provided with a third through hole 127 matching the second connecting member 123; the second connecting member 123 passes through the second through hole 126 and the third through hole 127 in sequence, and is connected to one of the rotating rod 122 and the thigh connecting rod 124, ensuring that a stable rotation connection can be formed between the rotating rod 122 and the thigh connecting rod 124. This connection method not only meets the movement requirements of the connecting rod assembly 12 when simulating the human body's knee bending action, but also ensures the stability and durability of the entire mechanism.

[0059] In a specific embodiment, as shown in the attached Figure 5 As shown, the bending mechanism 2 also includes a first fixing plate 22, a second fixing plate 23, a waist bearing 24, a bearing pressure plate 25 and a bearing baffle plate 26; one side of the bending drive mechanism 21 is connected to the first fixing plate 22; the side of the bending drive mechanism 21 away from the first fixing plate 22 is provided with a bearing baffle plate 26, a waist bearing 24, a bearing pressure plate 25 and a second fixing plate 23 in sequence, and the bearing baffle plate 26 and the bearing pressure plate 25 are used to limit the waist bearing 24. The bearing baffle plate 26 plays a role in initially limiting the position of the waist bearing 24; the waist bearing 24 is the core transmission component of the entire bending action; the bearing pressure plate 25 further ensures the stability and precision of the waist bearing 24 through the synergistic effect with the bearing baffle plate 26. The design of the bearing baffle plate 26 and the bearing pressure plate 25 not only effectively limits the axial and radial movement of the waist bearing 24, but also ensures its stability and reliability during the movement process, which not only improves the overall performance of the bending mechanism 2, but also greatly extends its service life.

[0060] In a specific embodiment, as shown in the attached Figure 7 As shown, the lifting drive mechanism 31 includes a mounting seat 311, a lifting drive unit 312, a transmission unit 313, and a lifting seat 314; the lifting drive unit 312, the second transmission mechanism 32 and the transmission unit 313 are all arranged on the mounting seat 311; the lifting drive unit 312 is drivingly connected to the second transmission mechanism 32, and the second transmission mechanism 32 is drivingly connected to the transmission unit 313; the transmission unit 313 is drivingly connected to the lifting seat 314, so as to drive the lifting seat 314 to rise and fall under the drive of the lifting drive unit 312, thereby driving the lifting mechanism 3 to rise and fall relative to the bending mechanism 2.

[0061] The mounting base 311 is a basic support platform for the entire lifting drive mechanism 31. Its design is solid and stable, ensuring that all components can be firmly installed and work together. The lifting drive unit 312, as a core component that provides power, is installed on the mounting base 311 and is directly connected to the second transmission mechanism 32, so that the lifting drive unit 312 can efficiently transmit power to the second transmission mechanism 32, thereby driving it to rotate.

[0062] As a key component of the transmission system, the second transmission mechanism 32 is designed with full consideration of transmission efficiency and stability, and works closely with the lifting drive unit 312 to ensure smooth transmission of power. The second transmission mechanism 32 is connected to the transmission unit 313 in a transmission manner, which not only ensures the accuracy of the transmission, but also greatly improves the operating efficiency of the entire mechanism. In practical applications, the second transmission mechanism 32 of this embodiment is preferably a trapezoidal lead screw. Due to the self-locking characteristics and high torque capacity of the lead screw itself, the required load of the motor is reduced, thereby reducing the size of the motor, reducing the weight of the entire mechanism, and reducing production costs; the self-locking characteristics of the lead screw also improve the safety of the entire structure.

[0063] The transmission part 313 converts the rotational motion of the second transmission mechanism 32 into the linear lifting motion of the lifting seat 314. The conversion process is not only stable and reliable, but also ensures that the lifting seat 314 can perform precise lifting actions according to a predetermined trajectory. Driven by the lifting drive part 312, the transmission part 313 drives the lifting seat 314 to perform lifting motion, which not only realizes the precise lifting of the lifting mechanism 3 relative to the bending mechanism 2, but also ensures the stability and reliability of the entire mechanism during operation.

[0064] In a specific embodiment, the transmission part 313 includes a second driving wheel 3131, a second driven wheel 3132, a second synchronous belt 3133 and a second lead screw nut 3134; the second transmission mechanism 32 includes a second lead screw; a second driving wheel 3131 is provided on the lifting drive part 312, and a second driven wheel 3132 is provided on one end of the second lead screw close to the second driving wheel 3131, thereby ensuring smooth transmission of power; one end of the second synchronous belt 3133 is sleeved on the outer side of the second driving wheel 3131, and the other end is sleeved on the outer side of the second driven wheel 3132, thereby not only ensuring the synchronization and accuracy of the transmission, but also greatly improving the efficiency of the transmission.

[0065] The second lead screw nut 3134 is sleeved on the outside of the second lead screw and is connected to the lifting seat 314 in a transmission manner, so that when the lifting drive part 312 is driven, the second lead screw is synchronously driven to rotate, and the second lead screw nut 3134 is driven to reciprocate along the length direction of the second lead screw, thereby driving the lifting seat 314 to reciprocate along the length direction of the lifting mechanism 3.

[0066] In a specific embodiment, as shown in the attached Figure 6 As shown, the lifting mechanism 3 further includes a chest support 33, a chest shell 34, and an upper body front shell 35, an upper body left shell 36, an upper body rear shell 37, and an upper body right shell 38 that are connected in sequence; the upper body front shell 35, the upper body left shell 36, the upper body rear shell 37, and the upper body right shell 38 are all connected to the chest shell 34 at the side away from the bending mechanism 2 to form a back accommodating space;

[0067] The chest support 33 and the lifting drive mechanism 31 are both located in the back accommodation space. The chest support 33 is arranged on the side of the lifting drive mechanism 31 away from the bending mechanism 2, which not only improves the overall performance and stability of the lifting mechanism 3, but also provides more accurate and smooth movement performance for simulating human body movements. At the same time, the highly integrated and modular design also makes the lifting mechanism 3 more convenient and quick during maintenance and upgrading.

[0068] Example 2

[0069] This embodiment provides a humanoid robot, including the leg and waist structures of the robot mentioned in Embodiment 1.

[0070] The present invention provides a robot leg and waist structure and a humanoid robot, wherein independent driving mechanisms are respectively arranged in the knee bending mechanism, the waist bending mechanism and the lifting mechanism, so that the knee bending mechanism can realize independent bending and straightening; the waist bending mechanism can drive the knee bending mechanism to bend and straighten relative to the lifting mechanism; the lifting mechanism can be lifted and lowered relative to the waist bending mechanism. Self-locking screws are respectively arranged in the knee bending mechanism and the lifting mechanism for transmission, so that even if the whole machine suddenly encounters unexpected situations such as power failure, the structure can be quickly self-locked, greatly improving the safety and stability of the overall structure; at the same time, the large torque characteristics of the screw reduce the torque requirements for the motor module under heavy load, thereby reducing the size of the motor, reducing the weight of the whole machine, and reducing the production cost.

[0071] Those skilled in the art will appreciate that the attached figure is only a schematic diagram of a preferred implementation scenario, and the modules or processes in the attached figure are not necessarily required for implementing the present invention. Those skilled in the art will appreciate that the modules in the robot in the implementation scenario can be distributed in the robot in the implementation scenario according to the description of the implementation scenario, or can be changed accordingly and located in one or more robots different from the implementation scenario.

Claims

1. A leg and waist structure of a robot, characterized in that: It includes a knee bending mechanism, a waist bending mechanism and a lifting mechanism which are movably connected in sequence; The knee flexion mechanism comprises a knee flexion drive mechanism, a connecting rod assembly and a first self-locking transmission mechanism; the knee flexion drive mechanism drives the first transmission mechanism, and drives the connecting rod assembly through the first transmission mechanism to realize the switching of the knee flexion mechanism between a flexed state and an extended state; The bending mechanism includes a bending drive mechanism; the bending drive mechanism is arranged between the connecting rod assembly and the lifting drive mechanism of the lifting mechanism to drive the knee bending mechanism to switch between a bending state and an extension state relative to the lifting mechanism; The lifting mechanism further includes a second transmission mechanism that is self-locking, and the lifting drive mechanism drives the second transmission mechanism to achieve lifting of the lifting mechanism relative to the bending mechanism.

2. The leg and waist structure of the robot according to claim 1, characterized in that: The knee-bending mechanism further comprises a thigh shell, a calf upper shell and a calf lower shell which are sequentially connected from top to bottom; one end of the thigh shell away from the calf upper shell is rotatably connected to the waist-bending mechanism; The thigh shell, the calf upper shell and the calf lower shell form a leg accommodating space, the knee flexion drive mechanism and the first transmission mechanism are located in an area of ​​the leg accommodating space close to the calf lower shell, and the connecting rod assembly is located in an area of ​​the leg accommodating space close to the thigh shell.

3. The leg and waist structure of the robot according to claim 1, characterized in that: The knee flexion drive mechanism comprises a base, a drive assembly, a transmission assembly and a guide assembly; the drive assembly, the first transmission mechanism, the transmission assembly and the guide assembly are all arranged on the base; The driving assembly is drivingly connected to the first transmission mechanism, and the first transmission mechanism is drivingly connected to the transmission assembly; the transmission assembly is drivingly connected to the guide assembly, so as to drive the guide assembly to reciprocate along the length direction of the knee flexion mechanism under the drive of the driving assembly; the guide assembly is drivingly connected to the connecting rod assembly at a side away from the transmission assembly, so as to drive the connecting rod assembly to rotate under the transmission of the transmission assembly, thereby driving the knee flexion mechanism to switch between a bent state and an extended state.

4. The leg and waist structure of the robot according to claim 3, characterized in that: The transmission assembly includes a first screw nut, a first driving wheel, a first driven wheel and a first synchronous belt; the first transmission mechanism includes a first screw; the driving assembly is provided with the first driving wheel, and the first driven wheel is provided at one end of the first screw close to the first driving wheel; one end of the first synchronous belt is sleeved on the outside of the first driving wheel, and the other end is sleeved on the outside of the first driven wheel; the first screw nut is sleeved on the outside of the first screw and is transmission-connected to the guide assembly, so that when the driving assembly is driven, the first screw is synchronously driven to rotate, and the first screw nut is driven to reciprocate along the length direction of the first screw, thereby driving the guide assembly to reciprocate along the length direction of the knee bending mechanism; The guide assembly includes a movable slider and a linear guide rail; the linear guide rail is arranged on the base, and the movable slider is sleeved on the outside of the linear guide rail and movably connected to the linear guide rail; and one side of the movable slider is transmission-connected to the first screw nut, and the other side is rotationally connected to the connecting rod assembly, so as to drive the connecting rod assembly to rotate under the transmission of the first screw nut.

5. The leg and waist structure of the robot according to claim 3, characterized in that: The connecting rod assembly includes a first connecting member, a rotating rod, a second connecting member and a thigh connecting rod; a first through hole matching the first connecting member is formed on one end of the rotating rod close to the guide assembly, and the first connecting member passes through the first through hole and is connected to the guide assembly to realize the rotating connection between the rotating rod and the guide assembly; A second through hole matching the second connecting member is provided on the other end of the rotating rod, and a third through hole matching the second connecting member is provided on the end of the thigh connecting rod close to the rotating rod; the second connecting member passes through the second through hole and the third through hole in sequence, and is connected to one of the rotating rod and the thigh connecting rod to realize the rotational connection between the rotating rod and the thigh connecting rod.

6. The leg and waist structure of the robot according to claim 1, characterized in that: The bending mechanism also includes a first fixed plate, a second fixed plate, a waist bearing, a bearing pressure plate and a bearing baffle plate; one side of the bending drive mechanism is connected to the first fixed plate; the bearing baffle plate, the waist bearing, the bearing pressure plate and the second fixed plate are sequentially arranged on the side of the bending drive mechanism away from the first fixed plate, and the bearing baffle plate and the bearing pressure plate are used to limit the waist bearing.

7. The leg and waist structure of the robot according to claim 1, characterized in that: The lifting drive mechanism includes a mounting seat, a lifting drive unit, a transmission unit, and a lifting seat; the lifting drive unit, the second transmission mechanism, and the transmission unit are all arranged on the mounting seat; the lifting drive unit is drivingly connected to the second transmission mechanism, and the second transmission mechanism is drivingly connected to the transmission unit; the transmission unit is drivingly connected to the lifting seat to drive the lifting seat to rise and fall under the drive of the lifting drive unit, thereby driving the lifting mechanism to rise and fall relative to the bending mechanism.

8. The leg and waist structure of the robot according to claim 7, characterized in that: The transmission part includes a second driving wheel, a second driven wheel, a second synchronous belt and a second screw nut; the second transmission mechanism includes a second screw; the lifting drive part is provided with the second driving wheel, and the second driven wheel is provided at one end of the second screw close to the second driving wheel; one end of the second synchronous belt is sleeved on the outside of the second driving wheel, and the other end is sleeved on the outside of the second driven wheel; The second lead screw nut is sleeved on the outside of the second lead screw and is transmission-connected to the lifting seat, so that when the lifting drive unit is driven, the second lead screw is synchronously driven to rotate, and the second lead screw nut is driven to reciprocate along the length direction of the second lead screw, thereby driving the lifting seat to reciprocate along the length direction of the lifting mechanism.

9. The leg and waist structure of the robot according to claim 1, characterized in that: The lifting mechanism also includes a chest support, a chest shell, and an upper body front shell, an upper body left shell, an upper body rear shell, and an upper body right shell that are sequentially connected and surrounded; the upper body front shell, the upper body left shell, the upper body rear shell, and the upper body right shell are all connected to the chest shell on one side away from the bending mechanism to form a back accommodating space; The chest support and the lifting drive mechanism are both located in the back accommodating space, and the chest support is arranged on a side of the lifting drive mechanism away from the bending mechanism.

10. A humanoid robot, characterized in that: The robot comprises the leg and waist structures as described in any one of claims 1 to 9.

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