Robot lower limb and humanoid robot

Abstract

The invention discloses a lower limb of a robot and a humanoid robot. The lower limb of the robot comprises thigh parts; the hip joint is arranged at one end of the thigh part and is rotationally connected with the thigh part; the shank part is rotationally connected with the other end of the thigh part; the first dampers are arranged on the thighs and connected with the hip joints, and the first dampers are used for sharing loads borne by the hip joints and buffering movement of the hip joints; the second damper is arranged on the shank part and connected with the thigh part, and the second damper is used for sharing the load borne by the knee joint and buffering the movement of the knee joint. According to the lower limb of the robot, the passive load bearing capacity of the hip joint and the knee joint can be remarkably improved through the first damper and the second damper under the condition that the power of the joint active actuator is certain, the dampers can effectively share loads, locked-rotor energy consumption of the hip joint and the knee joint is reduced, stable operation of the joint is ensured, and the reliability of the robot is improved. Therefore, the movement is more efficient, safer and more reliable, and the service life loss of the motor is greatly reduced.

Description

Technical Field

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

[0002] Humanoid robots are robots designed and manufactured to imitate human form and behavior. They usually have a head, torso and limbs, and walk on two feet. With the rapid development of science and technology, humanoid robots, as a product that integrates a variety of advanced technologies, are gradually becoming a hot area of ​​research and application.

[0003] In the design process of humanoid robots, the output capacity of the actuators of each joint of its lower limbs determines the performance of the robot in a series of complex conditions such as walking, jumping and overcoming obstacles. In the movement process of existing humanoid robots, the force balance of passive impact loads and the power requirements of active movement are both borne by a single joint actuator. Actuators such as rotary joints often output torque to achieve force balance by stalling to keep the robot's body posture controllable and balanced. For example, when squatting statically with a heavy load, the joint actuator achieves force balance by stalling to resist the load, which is not only inefficient and energy-intensive, but also causes a large loss of life for the motor. If a higher-power actuator is simply selected, it will lead to power redundancy, increased mass and limited flexibility during normal walking. Summary of the invention

[0004] The main purpose of the present invention is to propose a robot lower limb, aiming to solve the technical problem that the current robot lower limb joint actuator achieves force balance by stalling to resist the load, which is not only inefficient and energy-intensive, but also causes a large life loss to the motor.

[0005] To achieve the above object, the present invention provides a robot lower limb, which includes: Thigh; A hip joint, disposed at one end of the thigh and rotatably connected to the thigh; A calf portion, rotatably connected to the other end of the thigh portion; a first damper, disposed on the thigh and connected to the hip joint, the first damper being used to share the load borne by the hip joint and to buffer the movement of the hip joint; The second damper is arranged on the calf part and connected to the thigh part. The second damper is used to share the load borne by the knee joint and to buffer the movement of the knee joint.

[0006] In some embodiments, the hip joint comprises: A joint seat, rotatably connected to the thigh; A first motor is disposed on the joint seat, and an output end of the first motor is connected to the thigh to drive the thigh to move; Wherein, the main body of the first damper is hinged to the thigh part, and the piston rod of the first damper is hinged to the joint seat.

[0007] In some embodiments, the joint seat has a first connection portion and a second connection portion, the first connection portion and the second connection portion are arranged relatively spaced apart to form a receiving cavity, and one end of the thigh portion extends into the receiving cavity; The first motor is arranged on the first connecting part, the first connecting part is configured with an opening, the output end of the first motor is connected to the thigh part through the opening, the thigh part is rotatably connected to the second connecting part, the second connecting part is configured with a hinged part, and the piston rod of the first damper is hinged to the joint seat by being hinged to the hinged part.

[0008] In some embodiments, the first damper is located on one side of the thigh, the thigh is connected to a side seat, a hinge shaft is provided between the side seat and the thigh, and the main body of the first damper is rotatably mounted on the hinge shaft to be hinged with the thigh.

[0009] In some embodiments, the body of the second damper is hinged to the calf portion, and the piston rod of the second damper is connected to the thigh portion through a connecting rod assembly.

[0010] In some embodiments, the link assembly includes a first link and a second link, one end of the first link is hinged to the calf, the other end of the first link is hinged to one end of the second link, and the other end of the second link is hinged to the thigh; Wherein, the piston rod of the second damper is hinged to the first connecting rod.

[0011] In some embodiments, a side cover is detachably connected to one side of the calf portion, an accommodating space is formed between the side cover and the calf portion, and the second damper is accommodated in the accommodating space.

[0012] In some embodiments, the robotic lower limb further comprises: The second motor is arranged on the thigh and connected to the calf through the first crank-connecting rod assembly, and the second motor is used for driving the calf to move.

[0013] In some embodiments, the robotic lower limb further comprises: The sole of the foot is rotatably connected to the calf; The third motor is arranged on the calf and connected to the sole of the foot through a second crank-connecting rod assembly, and the third motor is used for driving the sole of the foot to move.

[0014] The present invention also provides a humanoid robot, which includes the robot lower limbs as described above.

[0015] When the robot lower limbs of the present invention are faced with working conditions such as heavy load static squatting, the first damper will automatically adjust the damping characteristics according to the change of the load on the hip joint, share the load force for the hip joint, so that the actuator of the hip joint does not need to rely entirely on stalling to resist the load, and reduce its torque output demand, and the second damper will automatically adjust the damping characteristics according to the change of the load on the knee joint, share the load force for the knee joint, so that the actuator of the knee joint does not need to rely entirely on stalling to resist the load, and reduce its torque output demand. That is, the robot lower limbs can significantly improve the passive load bearing capacity of the hip joint and the knee joint under the condition of a certain power of the joint active actuator through the first damper and the second damper, whether it is encountered during walking due to the impact force generated by the uneven ground, or in working conditions such as squatting, jumping and overcoming obstacles with heavy loads, the damper can effectively share the load, reduce the energy consumption of stalling of the hip joint and the knee joint, ensure the stable operation of the joint, make the movement more efficient, safe and reliable, and greatly reduce the life loss of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the robot lower limbs in one embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the structure of the robot's lower limbs in another perspective in the embodiment; Figure 3 for Figure 1 A schematic diagram of the structure of a part of the lower limbs of the robot in the embodiment; Figure 4 An exploded view of a portion of the robot's lower limbs in Embodiment 1; Figure 5 for Figure 1 An exploded view of a portion of the robot's lower limbs in an embodiment; Figure 6 for Figure 1 A schematic diagram of the structure of a portion of the robot's lower limbs in an embodiment. DETAILED DESCRIPTION

[0017] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0019] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0020] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0021] In existing robot lower limb technology, joint actuators often resist loads by stalling to achieve force balance. This method has many disadvantages. On the one hand, the process of stalling to resist loads is relatively inefficient and energy-intensive, which greatly increases the energy consumption of the robot and reduces energy efficiency. On the other hand, long-term stalling causes a large loss of motor life. Frequent stalling conditions will accelerate the wear of the motor, resulting in increased maintenance and replacement costs for the motor, which seriously affects the overall service life and stability of the robot.

[0022] In order to solve the above problems existing in the prior art, the present invention proposes a robot lower limb 100, referring to Figure 1 and Figure 2 , the robot lower limb 100 comprises: The thigh part 110, as one of the main load-bearing components of the robot's lower limb 100, connects the hip joint 120 and the calf part 130, and plays a role in transmitting force and movement during the movement of the robot.

[0023] The hip joint 120 is disposed at one end of the thigh 110 and is rotatably connected to the thigh 110 . The hip joint 120 is a key joint for realizing the movement of the thigh 110 and provides the thigh 110 with rotational freedom.

[0024] The calf part 130 is rotatably connected to the other end of the thigh part 110, and cooperates with the thigh part 110 to complete the robot's walking, squatting and other tasks.

[0025] The first damper 140 is arranged on the thigh 110 and connected to the hip joint 120. The first damper 140 is used to share the load borne by the hip joint 120 and to buffer the movement of the hip joint 120. When the hip joint 120 bears the load, the first damper 140 automatically adjusts the damping characteristics according to the load change to reduce the torque output requirement of the actuator of the hip joint 120. Specifically, during the loaded movement, the output system of the hip joint 120 outputs the active torque to resist the impact load force and maintain the balance of the body. At this time, the first damper 140 is passively stretched or compressed. The first damper 140 can output precise controllable damping force during the compression or stretching process to compensate for the output system torque and assist the output system force to perform low-energy, high-load hip joint 120 movement. Among them, the first damper 140 can adopt a hydraulic damper or a pneumatic damper, which can be set according to actual needs.

[0026] The second damper 150 is arranged on the calf 130 and connected to the thigh 110. The second damper 150 is used to share the load borne by the knee joint and cushion the movement of the knee joint. Similarly, when the knee joint is under load, the second damper 150 plays a role to reduce the stall energy consumption of the knee joint actuator. Specifically, during the loaded movement, the calf 130 is driven to rotate under the action of the knee joint, and at the same time, the second damper 150 is compressed or stretched, thereby providing a corresponding passive damping force to assist the knee joint to complete the loaded bending movement. When the knee bends, the second damper 150 is compressed, and when the knee is straightened, the second damper 150 is stretched. The second damper 150 realizes the output torque compensation of the knee joint under the load of the knee joint by adjusting the passive damping. Among them, the second damper 150 can adopt a hydraulic damper or a pneumatic damper, which is set according to actual needs.

[0027] When the robot lower limb 100 of the present invention faces working conditions such as static squatting with a heavy load, the first damper 140 will automatically adjust the damping characteristics according to the change of the load on the hip joint 120, so as to share the load force for the hip joint 120, so that the actuator of the hip joint 120 does not need to rely entirely on stalling to resist the load, thereby reducing its torque output demand, and the second damper 150 will automatically adjust the damping characteristics according to the change of the load on the knee joint, so as to share the load force for the knee joint, so that the actuator of the knee joint does not need to rely entirely on stalling to resist the load, thereby reducing its torque output demand. That is, the robot lower limb 100 can significantly improve the passive load bearing capacity of the hip joint 120 and the knee joint under a certain power of the joint active actuator through the first damper 140 and the second damper 150. No matter it encounters impact force caused by uneven ground during walking, or squatting, jumping and overcoming obstacles with heavy loads, the damper can effectively share the load, reduce the energy consumption of the hip joint 120 and the knee joint, ensure the stable operation of the joint, make the movement more efficient, safe and reliable, and greatly reduce the life loss of the motor.

[0028] In some embodiments, reference Figure 1 and Figure 2 , the hip joint 120 includes: The joint seat 121 is rotatably connected to the thigh portion 110; A first motor 122 is disposed on the joint seat 121, and an output end of the first motor 122 is connected to the thigh 110 to drive the thigh 110 to move; The main body of the first damper 140 is hinged to the thigh part 110 , and the piston rod of the first damper 140 is hinged to the joint seat 121 .

[0029] The first motor 122 is mounted on the joint seat 121. When the first motor 122 is started, its output end transmits the rotational power to the thigh 110. Since the joint seat 121 is rotatably connected to the thigh 110, the thigh 110 can rotate around the joint seat 121, thereby realizing the movement of the robot lower limb 100 at the hip joint 120, such as lifting the leg and other actions. Among them, the first motor 122 can be a pitch motor to control the change of the pitch angle of the thigh 110. In addition to the first motor 122 included in the hip joint 120, other multiple motors can be set, and finally output power to the joint seat 121, so as to realize the rotation of multiple degrees of freedom of the thigh 110.

[0030] When the robot's lower limb 100 is in motion and the hip joint 120 is under load, the first damper 140 begins to work. Because the main body of the first damper 140 is hinged to the thigh 110, and the piston rod of the first damper 140 is hinged to the joint seat 121, the load on the hip joint 120 will cause changes in the relative position and angle between the thigh 110 and the joint seat 121, and this change will stretch or compress the first damper 140. The first damper 140 automatically adjusts the damping characteristics according to the load change and generates a corresponding damping force. On the one hand, this damping force shares the load force borne by the hip joint 120, and on the other hand, it buffers the movement of the hip joint 120 to prevent the thigh 110 from moving too violently. For example, if the robot suddenly stops while lifting its legs quickly, the first damper 140 can buffer the impact force generated by this emergency stop, making the movement smoother.

[0031] The buffering effect of the first damper 140 on the movement of the hip joint 120 effectively reduces the damage to the knee joint components, including the joint seat 121, the first motor 122 and its connecting components, caused by load impact and instantaneous excessive force. At the same time, since the torque output demand of the first motor 122 is reduced, the wear of the internal components of the first motor 122 is reduced, the probability of failure of the first motor 122 is reduced, the service life of the various components of the hip joint 120 and the motor is extended, and the maintenance cost of the robot is reduced.

[0032] In some embodiments, reference Figure 3 and Figure 4 The joint seat 121 has a first connection portion 1211 and a second connection portion 1212. The first connection portion 1211 and the second connection portion 1212 are arranged relatively spaced apart to form a receiving cavity 1213. One end of the thigh portion 110 is extended into the receiving cavity 1213. The first motor 122 is arranged on the first connecting part 1211, and the first connecting part 1211 is configured with an opening. The output end of the first motor 122 is connected to the thigh part 110 through the opening. The thigh part 110 is rotatably connected to the second connecting part 1212. The second connecting part 1212 is configured with a hinge part 12121. The piston rod of the first damper 140 is hinged to the joint seat 121 by being hinged to the hinge part 12121.

[0033] The first connection part 1211 and the second connection part 1212 of the joint seat 121 are arranged relative to form a receiving cavity 1213, in which one end of the thigh 110 is nested. This compact structural design greatly enhances the connection strength between the joint seat 121 and the thigh 110. Compared with the traditional simple connection method, the structure can withstand greater torque and impact force, ensuring the stable operation of the robot lower limb 100 under complex working conditions, and also provides the possibility for the miniaturization and lightweight design of the overall structure of the robot. In addition, the opening design of the first connection part 1211 enables the output end of the first motor 122 to be directly and efficiently connected to the thigh 110, reducing the intermediate transmission link and energy loss. The first damper 140 is hinged to the hinge part 12121 of the second connection part 1212 to form an articulation with the joint seat 121, and can sense the change of the load on the hip joint 120 in real time and accurately. Under different load conditions, the first damper 140 can respond quickly and adjust the damping force to effectively share the load of the hip joint 120.

[0034] When the robot's lower limb 100 moves, the joint seat 121 serves as a key transmission hub, and the first motor 122 on the first connection part 1211 starts to operate. The first motor 122 outputs rotational power, and through the opening of the first connection part 1211, it is mechanically connected to the thigh 110 located in the accommodating cavity 1213 and transmits power. Since the thigh 110 is rotationally connected with the second connection part 1212, driven by the power of the first motor 122, the thigh 110 uses the second connection part 1212 as a rotation fulcrum and moves around the joint seat 121, thereby realizing the robot's thigh 110 and other actions such as leg lifting, ensuring the precise control of the power source and motion trajectory of the robot's leg movement.

[0035] When the robot lower limb 100 is subjected to a load, such as the impact force generated by encountering an obstacle during walking, or the pressure when carrying a heavy object, the thigh 110 will produce a displacement and angle change relative to the joint seat 121 due to the force. The piston rod of the first damper 140 is connected to the hinge part 12121 of the second connecting part 1212, and this displacement and angle change will be immediately transmitted to the first damper 140, causing it to produce a stretch or compression change.

[0036] In some embodiments, reference Figure 4 and Figure 5, the first damper 140 is located on one side of the thigh 110, and the thigh 110 is connected to a side seat 160, and a hinge shaft 110Z is provided between the side seat 160 and the thigh 110, and the main body of the first damper 140 is rotatably sleeved on the hinge shaft 110Z to be hinged with the thigh 110. Specifically, the first damper 140 is placed on one side of the thigh 110, providing a specific physical position layout for the realization of its load sharing and buffering functions. The thigh 110 is connected to a side seat 160, and the side seat 160 and the thigh 110 are detachably connected, and the detachable connection method includes screw connection, snap connection, etc., which is not limited in this embodiment. A hinge shaft 110Z is provided between the side seat 160 and the thigh 110, and the hinge shaft 110Z is a key component for connecting the first damper 140 with the thigh 110. The main body of the first damper 140 is rotatably mounted on the hinge shaft 110Z, thereby realizing an articulated connection with the thigh 110. This structural setting not only ensures the mechanical connection stability between the first damper 140 and the thigh 110, but also gives the first damper 140 a certain degree of rotational freedom, so that it can flexibly respond to the movement and force changes of the thigh 110. That is, the first damper 140 is connected to the thigh 110 through the hinge shaft 110Z, so that it has good flexibility when following the movement of the thigh 110. Compared with the traditional fixed connection method, this articulated connection reduces interference and jamming during movement.

[0037] In some embodiments, reference Figure 1 and Figure 2 The main body of the second damper 150 is hinged to the calf 130, and the piston rod of the second damper 150 is connected to the thigh 110 through the connecting rod assembly 170. The main body of the second damper 150 is connected to the calf 130 in a hinged manner, so that the main body of the second damper 150 has a certain degree of rotational freedom and can flexibly adapt to the movement changes of the calf 130. The piston rod of the second damper 150 is connected to the thigh 110 through the connecting rod assembly 170. The connecting rod assembly 170 serves as a force transmission bridge to build a close mechanical connection between the second damper 150 and the thigh 110. The connecting rod assembly 170 generally includes a plurality of connecting rods, each of which is connected in sequence via a hinge point, with one end hinged to the piston rod of the second damper 150 and the other end hinged to the thigh 110 , thereby forming a stable and movable connection structure, ensuring that the second damper 150 can effectively sense and respond to mechanical changes between the thigh 110 and the calf 130 .

[0038] When the robot's lower limb 100 moves, the calf 130 will perform flexion and extension and other movements. Since the second damper 150 body is hinged to the calf 130, it can closely follow the movement trajectory of the calf 130. At the same time, the relative movement changes between the thigh 110 and the calf 130, such as the flexion and extension of the knee joint during walking, will cause the connecting rod assembly 170 to deform accordingly. The deformation of the connecting rod assembly 170 transmits force to the piston rod of the second damper 150, thereby allowing the second damper 150 to sense the force changes between the thigh 110 and the calf 130. For example, when the robot squats quickly, the rapid change in the angle between the calf 130 and the thigh 110 is transmitted to the second damper 150 through the connecting rod assembly 170.

[0039] In some embodiments, reference Figure 2 The connecting rod assembly 170 includes a first connecting rod 171 and a second connecting rod 172, one end of the first connecting rod 171 is hinged to the calf portion 130, the other end of the first connecting rod 171 is hinged to one end of the second connecting rod 172, and the other end of the second connecting rod 172 is hinged to the thigh portion 110; The piston rod of the second damper 150 is hinged to the first connecting rod 171 .

[0040] When the robot's lower limb 100 moves, the calf 130 performs flexion and extension and other movements. Taking walking as an example, the calf 130 performs flexion and extension around the knee joint. Since one end of the first link 171 is hinged to the calf 130, the movement of the calf 130 will drive the first link 171 to rotate around the hinge point. The rotation of the first link 171 will cause the position of the hinge with the second link 172 to change, and then the second link 172 will also move. Because the other end of the second link 172 is hinged to the thigh 110, the movement of the second link 172 will reflect the change in the relative position and angle between the thigh 110 and the calf 130. At the same time, the piston rod of the second damper 150 is hinged with the first connecting rod 171, and the posture change of the first connecting rod 171 during the movement of the calf 130 is directly transmitted to the piston rod of the second damper 150, so that the second damper 150 can accurately sense the force change and movement state between the thigh 110 and the calf 130. For example, when the robot quickly goes up the stairs, the rapid lifting and lowering of the calf 130 can be transmitted by the first connecting rod 171 and the second connecting rod 172, so that the second damper 150 can timely sense this drastic movement change.

[0041] When the robot's lower limb 100 is subjected to a load, such as when carrying heavy objects, the knee joint is subjected to greater pressure, resulting in a change in the force between the calf 130 and the thigh 110. This change in force will cause the force state of the first connecting rod 171 and the second connecting rod 172 to change accordingly. For example, the first connecting rod 171 may be subjected to a greater tensile or compressive force. Since the piston rod of the second damper 150 is hinged to the first connecting rod 171, the displacement caused by the change in force of the first connecting rod 171 will drive the piston rod of the second damper 150 to move, thereby compressing or stretching the damping medium inside the second damper 150. The damping medium has the characteristic of hindering rapid displacement. When the piston rod of the second damper 150 moves, the damping medium will generate resistance. This resistance acts in the opposite direction on the thigh 110 and the calf 130 through the connecting rod assembly 170 composed of the first connecting rod 171 and the second connecting rod 172.

[0042] In some embodiments, reference Figure 1 , Figure 2 and Figure 5 A side cover 180 is detachably connected to one side of the calf portion 130 , and an accommodating space is formed between the side cover 180 and the calf portion 130 , and the second damper 150 is accommodated in the accommodating space.

[0043] A detachable connection structure is provided on one side of the calf portion 130, which is firmly connected to the side cover 180 by bolt connection, snap connection or magnetic connection. The shape and size of the side cover 180 are adapted to the calf portion 130, and the two are enclosed to form a containing space. The second damper 150 is precisely placed in this containing space, and its main body is hinged to the calf portion 130, and the piston rod is connected to the thigh portion 110 through the connecting rod assembly 170, ensuring that under the protection of the side cover 180, the second damper 150 can normally perform its load sharing and buffering functions. The protective effect of the side cover 180 on the second damper 150 greatly reduces its risk of damage in complex working environments.

[0044] Furthermore, the accommodation space formed by the side cover 180 and the calf part 130 cleverly accommodates the second damper 150 therein, making the overall structure of the robot's lower limb 100 more compact. This compact structural design is not only conducive to the robot's operation in a small space, but also reduces the robot's overall weight and volume, and improves its movement flexibility. In addition, the detachable connection between the side cover 180 and the calf part 130 makes it easier to maintain, inspect or replace the second damper 150. Simply disassembling the side cover 180 allows direct access to the second damper 150, without the need for large-scale disassembly of other complex components of the robot's lower limb 100, which shortens maintenance time and reduces maintenance costs. Optionally, if Figure 5As shown, the side cover 180 is provided with hollow holes, and the number of the hollow holes can be one or more, so as to reduce the weight and contribute to the lightweight design of the robot lower limb 100.

[0045] A control circuit board is provided in the accommodation space, and the control circuit board can be fixed in the accommodation space by screw connection, bonding, snap connection, etc. Optionally, the inner wall of the accommodation space is configured with an accommodation groove, which is adapted to the control circuit board, and the control circuit board is accommodated in the accommodation groove. The accommodation groove can be formed in the calf part 130. The control circuit board is used to connect with the device of the calf part 130 through a wire, and is routed toward the thigh part 110 to realize signal transmission, processing, etc. The device of the calf part 130 involved may include a second damper 150, but is not limited thereto, for example, it can also be a third motor 1120 as involved in subsequent embodiments.

[0046] Alternatively, if Figure 1 As shown, the outer surface of the thigh 110 is provided with a wiring groove 110C and a plurality of wire pressing pieces 110P. The wiring groove 110C is used for routing wires (for example, wires connected to the control circuit board), and the plurality of wire pressing pieces 110P are sequentially arranged at intervals along the wiring groove 110C to limit the wires in the wiring groove 110C. For easy disassembly and assembly, the wire pressing piece 110P is fastened to the thigh 110 by screws.

[0047] In some embodiments, reference Figure 1 , Figure 2 and Figure 5 , the robot lower limb 100 further includes: The second motor 190 is disposed on the thigh portion 110 and connected to the calf portion 130 via the first crank-connecting rod assembly 1100 . The second motor 190 is used to drive the calf portion 130 to move.

[0048] When the robot lower limb 100 moves, the second motor 190 on the thigh 110 can start to operate. The second motor 190 outputs rotational power and transmits it to the calf 130 through the first crank connecting rod assembly 1100, thereby driving the calf 130 to rotate to achieve movements such as bending of the lower limb. Figure 5 As shown, the first crank-connecting rod assembly 1100 may include a first crank 1101 and a first connecting rod 1102, one end of the first crank 1101 is connected to the output end of the second motor 190, the other end of the first crank 1101 is hinged to one end of the first connecting rod 1102, and the other end of the first connecting rod 1102 is hinged to the calf part 130. When the second motor 190 is working, the first crank 1101 can rotate with the output end of the second motor 190, thereby pulling the first connecting rod 1102, so that the first connecting rod 1102 drives the calf part 130 to move.

[0049] Among them, Figure 5 As shown, a receiving cavity 110Q is constructed in the thigh portion 110, the first crank-connecting rod assembly 1100 is arranged in the receiving cavity 110Q of the thigh portion 110, the body of the second motor 190 is fixedly arranged on the outer surface of the thigh portion 110, the output end of the second motor 190 penetrates into the receiving cavity 110Q of the thigh portion 110 and is connected to the first crank-connecting rod assembly 1100, and at the same time, an avoidance opening is provided at one end of the thigh portion 110 facing the calf portion 130, and the first crank-connecting rod assembly 1100 is connected to the calf portion 130 at the avoidance opening, thereby realizing a compact structural setting.

[0050] In some embodiments, reference Figure 1 , Figure 2 , Figure 5 and Figure 6 , the robot lower limb 100 further includes: The sole 1110 is rotatably connected to the calf 130; The third motor 1120 is disposed on the calf portion 130 and connected to the sole 1110 via the second crank-connecting rod assembly 1130 . The third motor 1120 is used to drive the sole 1110 to move.

[0051] When the robot lower limb 100 moves, the third motor 1120 on the calf 130 can start to operate. The third motor 1120 outputs rotational power and transmits it to the sole 1110 through the second crank connecting rod assembly 1130, thereby driving the sole 1110 to rotate to achieve actions such as lifting the foot. Figure 6 As shown, the second crank-connecting rod assembly 1130 may include a second crank 1131 and a second connecting rod 1132, one end of the second crank 1131 is connected to the output end of the third motor 1120, the other end of the second crank 1131 is hinged to one end of the second connecting rod 1132, and the other end of the second connecting rod 1132 is hinged to the sole 1110. When the third motor 1120 is working, the second crank 1131 can rotate with the output end of the third motor 1120, thereby pulling the second connecting rod 1132, so that the second connecting rod 1132 drives the sole 1110 to move.

[0052] Optionally, in the left-right direction of the calf 130, the body of the third motor 1120 is located on one side of the calf 130, and the output end of the third motor 1120 passes through the calf 130 to the other side of the calf 130, and is connected to the second crank-connecting rod assembly 1130. In addition, in the front-back direction of the sole 1110, the second crank-connecting rod assembly 1130 is located at the rear side of the sole 1110, so that when the robot lower limb 100 moves, interference with other objects in the front space of the sole 1110 can be avoided.

[0053] In order to limit the rotation range of the sole 1110, a limiter is provided on the calf portion 130, and the limiter limits the rotation limit position of the sole 1110 by mechanically limiting the second crank. Figure 6 As shown, the limit member can be an arc-shaped limit strip 1140, and the arc-shaped limit strip 1140 has a receiving opening 1140K due to its structural shape. One end of the second crank 1131 connected to the output end of the third motor 1120 is accommodated in the receiving opening 1140K of the arc-shaped limit strip 1140, and the opposite side walls of the receiving opening 1140K are used to stop the second crank 1131 to limit the extreme rotation position of the second crank 1131. For example, when the third motor 1120 is operated to make the second crank 1131 rotate clockwise, one side wall of the accommodating opening 1140K can stop the second crank 1131 when the second crank 1131 rotates to the extreme position in the clockwise direction, so as to prevent the second crank 1131 from continuing to rotate clockwise; and when the third motor 1120 is operated to make the second crank 1131 rotate counterclockwise, the other side wall of the accommodating opening 1140K can stop the second crank 1131 when the second crank 1131 rotates to the extreme position in the counterclockwise direction, so as to prevent the second crank 1131 from continuing to rotate counterclockwise.

[0054] The present invention also provides a humanoid robot, which includes a robot lower limb 100 as described in the above embodiment. The specific structure of the robot lower limb 100 refers to the above embodiment. Since the humanoid robot adopts all the technical solutions of all the above embodiments, it at least has all the technical effects brought by the technical solutions of the above embodiments, which will not be described one by one here. Specifically, the torso of the humanoid robot is connected to the robot lower limb 100.

[0055] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A robot lower limb, characterized in that: include: Thigh; A hip joint, disposed at one end of the thigh and rotatably connected to the thigh; A calf portion, rotatably connected to the other end of the thigh portion; a first damper, disposed on the thigh and connected to the hip joint, the first damper being used to share the load borne by the hip joint and to buffer the movement of the hip joint; The second damper is arranged on the calf part and connected to the thigh part. The second damper is used to share the load borne by the knee joint and to buffer the movement of the knee joint.

2. The robot lower limb according to claim 1, characterized in that: The hip joint comprises: A joint seat, rotatably connected to the thigh; A first motor is disposed on the joint seat, and an output end of the first motor is connected to the thigh to drive the thigh to move; Wherein, the main body of the first damper is hinged to the thigh part, and the piston rod of the first damper is hinged to the joint seat.

3. The robot lower limb according to claim 2, characterized in that: The joint seat has a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are arranged relatively spaced apart to form a receiving cavity, and one end of the thigh portion extends into the receiving cavity; The first motor is arranged on the first connecting part, the first connecting part is configured with an opening, the output end of the first motor is connected to the thigh part through the opening, the thigh part is rotatably connected to the second connecting part, the second connecting part is configured with a hinged part, and the piston rod of the first damper is hinged to the joint seat by being hinged to the hinged part.

4. The robot lower limb according to claim 2, characterized in that: The first damper is located at one side of the thigh, the thigh is connected with a side seat, a hinge shaft is provided between the side seat and the thigh, and the main body of the first damper is rotatably sleeved on the hinge shaft to be hinged with the thigh.

5. The robot lower limb according to claim 1, characterized in that: The main body of the second damper is hinged to the calf part, and the piston rod of the second damper is connected to the thigh part through a connecting rod assembly.

6. The robot lower limb according to claim 5, characterized in that: The connecting rod assembly comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to the calf, the other end of the first connecting rod is hinged to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the thigh; Wherein, the piston rod of the second damper is hinged to the first connecting rod.

7. The robot lower limb according to claim 5, characterized in that: A side cover is detachably connected to one side of the calf portion, an accommodating space is formed between the side cover and the calf portion, and the second damper is accommodated in the accommodating space.

8. The robot lower limb according to claim 1, characterized in that: Also includes: The second motor is arranged on the thigh and connected to the calf through the first crank-connecting rod assembly, and the second motor is used for driving the calf to move.

9. The robot lower limb according to claim 1, characterized in that: Also includes: The sole of the foot is rotatably connected to the calf; The third motor is arranged at the calf part and connected to the sole of the foot through a second crank connecting rod assembly, and the third motor is used for driving the sole of the foot to move.

10. A humanoid robot, characterized in that: Comprising a robot lower limb as described in any one of claims 1 to 9.

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