Robot Lower Limbs and Humanoid Robots

Abstract

The present invention discloses a robot lower limb and a humanoid robot. The robot lower limb includes: a thigh portion; a hip joint provided at one end of the thigh portion and rotatably connected to the thigh portion; a calf portion rotatably connected to the other end of the thigh portion; a first damper provided in the thigh portion and connected to the hip joint, the first damper being used to share the load borne by the hip joint and buffer the movement of the hip joint; a second damper provided in the calf portion and connected to the thigh portion, the second damper being used to share the load borne by the knee joint and buffer the movement of the knee joint. By means of the provided first damper and second damper, the robot lower limb of the present invention can significantly improve the passive load-bearing capacity of the hip joint and the knee joint when the power of the joint actuator is constant. The dampers can effectively share the load, reduce the jamming energy consumption of the hip joint and the knee joint, ensure the stable operation of the joints, make the movement more efficient, safe and reliable, and greatly reduce the life loss of the motor.

Description

Technical Field

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

[0002] A humanoid robot refers to a robot designed and manufactured by imitating the form and behavior of a human, usually having a head, a torso, and four limbs, and using two legs to walk. With the rapid development of technology, as a product integrating a variety of advanced technologies, humanoid robots are gradually becoming a hot field of research and application.

[0003] In the design process of a humanoid robot, the output ability of the actuators of each joint in its lower limbs determines the performance of the robot under a series of complex working conditions such as walking, jumping, and obstacle crossing. During the movement of existing humanoid robots, both the force balance of the impact load generated passively and the power demand of the active movement are borne by a single joint actuator. An actuator such as a rotary joint often outputs torque by stalling to achieve force balance and maintain the controllability and balance of the robot's body posture. For example, when performing a heavy-load static squat, the joint actuator resists the load by stalling to achieve force balance, which is not only relatively inefficient and energy-consuming, but also causes a large loss of the motor's lifespan. If a larger-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 object of the present invention is to propose a lower limb of a robot, aiming to solve the technical problem that the joint actuator of the current robot lower limb resists the load by stalling to achieve force balance, which is not only relatively inefficient and energy-consuming, but also causes a large loss of the motor's lifespan.

[0005] To achieve the above object, the present invention proposes a lower limb of a robot, which includes:

[0006] A thigh portion;

[0007] A hip joint, provided at one end of the thigh portion and rotatably connected to the thigh portion;

[0008] A calf portion, rotatably connected to the other end of the thigh portion;

[0009] A first damper, provided in the thigh portion and connected to the hip joint, the first damper being used to share the load borne by the hip joint and buffer the movement of the hip joint;

[0010] A second damper, provided in the calf portion and connected to the thigh portion, the second damper being used to share the load borne by the knee joint and buffer the movement of the knee joint.

[0011] In some embodiments, the hip joint includes:

[0012] The joint seat is rotatably connected to the thigh part;

[0013] The first motor is arranged on the joint seat, and the output end of the first motor is connected to the thigh part to drive the movement of the thigh part;

[0014] 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.

[0015] In some embodiments, the joint seat has a first connecting part and a second connecting part, the first connecting part and the second connecting part are arranged at intervals relative to each other to form a receiving cavity, and one end of the thigh part extends into the receiving cavity;

[0016] The first motor is arranged on the first connecting part, the first connecting part is provided 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 provided with a hinge part, and the piston rod of the first damper is hinged to the joint seat through the hinge part.

[0017] In some embodiments, the first damper is located on one side of the thigh part, the thigh part is connected with a side seat, a hinge shaft is arranged between the side seat and the thigh part, and the main body of the first damper is rotatably sleeved on the hinge shaft to be hinged to the thigh part.

[0018] In some embodiments, 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.

[0019] In some embodiments, the connecting rod assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to the calf part, 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 part;

[0020] Wherein, the piston rod of the second damper is hinged to the first connecting rod.

[0021] In some embodiments, a side cover is detachably connected to one side of the calf part, a receiving space is formed by enclosing between the side cover and the calf part, and the second damper is accommodated in the receiving space.

[0022] In some embodiments, the lower limb of the robot further includes:

[0023] The second motor is arranged on the thigh part and is connected to the calf part through a first crank connecting rod assembly, and the second motor is used to drive the movement of the calf part.

[0024] In some embodiments, the lower limbs of the robot further include:

[0025] A foot sole, rotatably connected to the calf;

[0026] A third motor, disposed on the calf and connected to the foot sole through a second crank-link assembly, the third motor being used to drive the movement of the foot sole.

[0027] The present invention also provides a humanoid robot, which includes the lower limbs of the robot as described above.

[0028] When the lower limbs of the robot of the present invention face working conditions such as static squatting under heavy loads, the first damper will automatically adjust its damping characteristics according to the change of the load on the hip joint, sharing 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, reducing its torque output requirement, and the second damper will automatically adjust its damping characteristics according to the change of the load on the knee joint, sharing 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, reducing its torque output requirement. That is, through the provided first damper and second damper, the lower limbs of the robot can significantly improve the passive load-bearing capacity of the hip joint and the knee joint when the power of the joint active actuator is certain. Whether it is the impact force generated due to uneven ground during walking or in working conditions such as heavy-load squatting, jumping, and obstacle crossing, the damper can effectively share the load, reduce the stalling energy consumption 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

[0029] Figure 1 is a schematic structural diagram of the lower limbs of the robot in an embodiment of the present invention;

[0030] Figure 2 is Figure 1 a schematic structural diagram of the lower limbs of the robot in another perspective in the embodiment;

[0031] Figure 3 is Figure 1 a schematic structural diagram of a part of the lower limbs of the robot in the embodiment;

[0032] Figure 4 is an exploded view of a part of the lower limbs of the robot in Embodiment 1;

[0033] Figure 5 is Figure 1 an exploded view of another part of the lower limbs of the robot in the embodiment;

[0034] Figure 6 is Figure 1 a schematic structural diagram of yet another part of the lower limbs of the robot in the embodiment. Detailed implementation modes

[0035] The following will clearly and completely describe the solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0037] It should also be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0038] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0039] In the existing robot lower limb technology, the joint actuator often resists the load by means of stall to achieve force balance. This method has many drawbacks. On the one hand, the process of resisting the load by stall is relatively inefficient and has high energy consumption, greatly increasing the energy consumption of the robot and reducing the energy utilization efficiency. On the other hand, long-term stall causes great life loss to the motor, and frequent stall conditions will accelerate the wear of the motor, resulting in an increase in the maintenance and replacement costs of the motor, seriously affecting the overall service life and stability of the robot.

[0040] 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 includes:[[]]

[0041] 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 motion during the movement of the robot.

[0042] The hip joint 120 is provided at one end of the thigh part 110 and is rotatably connected to the thigh part 110. The hip joint 120 is the key joint for realizing the movement of the thigh part 110 and provides the rotational degree of freedom for the thigh part 110.

[0043] 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 work of the robot such as walking and squatting.

[0044] The first damper 140 is provided on the thigh part 110 and is connected to the hip joint 120. The first damper 140 is used to share the load borne by the hip joint 120 and buffer the movement of the hip joint 120. When the hip joint 120 bears a load, the first damper 140 automatically adjusts the damping characteristics according to the load change, reducing the torque output requirement of the hip joint 120 actuator. Specifically, during the loaded movement, the hip joint 120 output system outputs an active torque to counteract the impact load force and maintain body balance. At this time, the first damper 140 is passively stretched or compressed. During the compression or stretching process of the first damper 140, an accurate controllable damping force can be output to compensate the output system torque and assist the output system force to perform the hip joint 120 movement with low energy consumption and high load. Among them, the first damper 140 can adopt a hydraulic damper or a pneumatic damper, which is set according to actual needs.

[0045] The second damper 150 is provided on the calf part 130 and is connected to the thigh part 110. The second damper 150 is used to share the load borne by the knee joint and buffer the movement of the knee joint. Similarly, when the knee joint bears a load, the second damper 150 plays a role in reducing the locked-rotor energy consumption of the knee joint actuator. Specifically, during the loaded movement, the calf part 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 lower knee joint to complete the load bending movement. When the knee bends, the second damper 150 is compressed, and when the knee extends, the second damper 150 is stretched. The second damper 150 compensates the output torque of the knee joint under the knee joint load 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.

[0046] When the lower limbs 100 of the robot of the present invention face working conditions such as static squatting under heavy loads, the first damper 140 will automatically adjust its damping characteristics according to the change of the load on the hip joint 120, 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, reducing its torque output requirement, and the second damper 150 will automatically adjust its 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, reducing its torque output requirement. That is to say, through the provided first damper 140 and second damper 150, the lower limbs 100 of the robot can significantly improve the passive load-bearing capacity of the hip joint 120 and the knee joint when the power of the joint active actuator is certain. Whether it is the impact force generated due to uneven ground during walking, or in working conditions such as heavy-load squatting, jumping, and obstacle crossing, the damper can effectively share the load, reduce the stalling 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.

[0047] In some embodiments, referring to Figure 1 and Figure 2 , the hip joint 120 includes:

[0048] A joint seat 121, rotatably connected to the thigh 110;

[0049] A first motor 122, disposed on the joint seat 121, the output end of the first motor 122 is connected to the thigh 110, and is used to drive the thigh 110 to move;

[0050] Wherein, 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.

[0051] The first motor 122 is installed 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 lower limbs 100 of the robot at the hip joint 120, such as actions like lifting the leg. Among them, the first motor 122 can be a pitching motor, used to control the change of the pitching angle of the thigh 110. In addition to the first motor 122 included in the hip joint 120, multiple other motors can also be provided, and finally output power to the joint seat 121 for realizing the rotation of multiple degrees of freedom of the thigh 110.

[0052] When the lower limb 100 of the robot bears a load during movement and the hip joint 120 is under load, the first damper 140 begins to function. Since the main body of the first damper 140 is hinged to the thigh portion 110 and the piston rod of the first damper 140 is hinged to the joint seat 121, the load received by the hip joint 120 will cause changes in the relative position and angle between the thigh portion 110 and the joint seat 121, and this change will stretch or compress the first damper 140. The first damper 140 automatically adjusts its 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 portion 110 from moving too violently. For example, when the robot suddenly stops during a rapid leg-lifting process, the first damper 140 can buffer the impact force generated by this sudden stop and make the movement smoother.

[0053] 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, etc., due to load impact and excessive instantaneous force. At the same time, since the torque output requirement of the first motor 122 is reduced, the wear of the internal components of the first motor 122 is reduced, the probability of the first motor 122 malfunctioning is reduced, the service life of the components of the hip joint 120 and the motor is extended, and the maintenance cost of the robot is reduced.

[0054] In some embodiments, referring to Figure 3 and Figure 4 , the joint seat 121 has a first connecting portion 1211 and a second connecting portion 1212. The first connecting portion 1211 and the second connecting portion 1212 are arranged at a relative interval to form a receiving cavity 1213, and one end of the thigh portion 110 extends into the receiving cavity 1213;

[0055] The first motor 122 is arranged on the first connecting portion 1211. The first connecting portion 1211 is configured with an opening. The output end of the first motor 122 is connected to the thigh portion 110 through the opening. The thigh portion 110 is rotatably connected to the second connecting portion 1212. The second connecting portion 1212 is configured with a hinge portion 12121. The piston rod of the first damper 140 is hinged to the joint seat 121 by being hinged to the hinge portion 12121.

[0056] The first connecting portion 1211 and the second connecting portion 1212 of the joint seat 121 are arranged opposite to each other to form a receiving cavity 1213, and one end of the thigh portion 110 is nested therein. This compact structural design greatly enhances the connection strength between the joint seat 121 and the thigh portion 110. Compared with the traditional simple connection method, this structure can withstand greater torque and impact force, ensuring the stable operation of the lower limb 100 of the robot under complex working conditions, and at the same time providing the possibility for the miniaturization and lightweight design of the overall structure of the robot. Moreover, the opening design of the first connecting portion 1211 enables the output end of the first motor 122 to be directly and efficiently docked with the thigh portion 110, reducing the intermediate transmission link and energy loss. The first damper 140 is hinged to the joint seat 121 through the hinge portion 12121 of the second connecting portion 1212, and can accurately sense the change of the load on the hip joint 120 in real time. Under different load conditions, the first damper 140 can quickly respond and adjust the damping force to effectively share the load of the hip joint 120.

[0057] When the lower limb 100 of the robot moves, the first motor 122 on the first connecting portion 1211 of the joint seat 121, as a key transmission hub, starts to operate. The first motor 122 outputs rotational power, and through the unique opening of the first connecting portion 1211, it is mechanically connected to the thigh portion 110 located in the receiving cavity 1213 and transmits power. Since the thigh portion 110 is rotatably connected to the second connecting portion 1212, driven by the power of the first motor 122, the thigh portion 110 takes the second connecting portion 1212 as the rotation fulcrum and moves around the joint seat 121, thereby realizing actions such as lifting the leg of the robot's thigh portion 110, ensuring the power source of the robot's leg movement and the precise control of the movement trajectory.

[0058] When the lower limb 100 of the robot is subjected to a load, such as the impact force generated when encountering an obstacle during walking or the pressure when carrying a heavy object, the thigh portion 110 will generate displacement and angular changes relative to the joint seat 121 due to the force. The piston rod of the first damper 140 is connected to the hinge portion 12121 of the second connecting portion 1212, and these displacement and angular changes will immediately be transmitted to the first damper 140, causing it to undergo tensile or compressive changes.

[0059] In some embodiments, refer to Figure 4 and Figure 5, the first damper 140 is located on one side of the thigh portion 110. The thigh portion 110 is connected to a side seat 160. There is a hinge shaft 110Z between the side seat 160 and the thigh portion 110. The main body of the first damper 140 is rotatably sleeved on the hinge shaft 110Z to be hinged to the thigh portion 110. Specifically, the first damper 140 is arranged on one side of the thigh portion 110, providing a specific physical position layout for the realization of its load sharing and buffering functions. The thigh portion 110 is connected to a side seat 160. The connection between the side seat 160 and the thigh portion 110 is detachable. The detachable connection methods include screw connection, snap connection, etc. This embodiment does not limit this. There is a hinge shaft 110Z between the side seat 160 and the thigh portion 110. This hinge shaft 110Z is a key component for the connection between the first damper 140 and the thigh portion 110. The main body of the first damper 140 is rotatably sleeved on the hinge shaft 110Z, thus realizing the hinged connection with the thigh portion 110. This structural setting not only ensures the mechanical connection stability between the first damper 140 and the thigh portion 110, but also endows the first damper 140 with a certain degree of rotational freedom, enabling it to flexibly respond to the movement and force changes of the thigh portion 110. That is to say, the first damper 140 is connected to the thigh portion 110 through the hinge shaft 110Z, making it have good flexibility when following the movement of the thigh portion 110. Compared with the traditional fixed connection method, this hinged connection reduces the interference and jamming phenomena during the movement process.

[0060] In some embodiments, referring to Figure 1 and Figure 2 , the main body of the second damper 150 is hinged to the calf portion 130, and the piston rod of the second damper 150 is connected to the thigh portion 110 through a connecting rod assembly 170. Among them, the main body of the second damper 150 is connected to the calf portion 130 in a hinged manner, enabling the main body of the second damper 150 to have a certain degree of rotational freedom and be able to flexibly adapt to the movement changes of the calf portion 130. And the piston rod of the second damper 150 is connected to the thigh portion 110 through the connecting rod assembly 170. The connecting rod assembly 170 serves as a bridge for force transmission, establishing a close mechanical connection between the second damper 150 and the thigh portion 110. The connecting rod assembly 170 usually includes multiple connecting rods. The connecting rods are sequentially connected through hinge points, hinged to the piston rod of the second damper 150 at one end and hinged to the thigh portion 110 at the other end, thus forming a stable and movable connection structure to ensure that the second damper 150 can effectively sense and respond to the mechanical changes between the thigh portion 110 and the calf portion 130.

[0061] 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.

[0062] 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;

[0063] The piston rod of the second damper 150 is hinged to the first connecting rod 171 .

[0064] 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.

[0065] When the lower limb 100 of the robot is subjected to a load, such as when carrying heavy objects, the knee joint bears a large pressure, resulting in a change in the force between the lower leg portion 130 and the thigh portion 110. This change in force will also cause a corresponding change in the force states of the first link 171 and the second link 172. For example, the first link 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 link 171, the displacement generated by the change in the force of the first link 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 property of hindering rapid displacement. When the piston rod of the second damper 150 moves, the damping medium will generate a resistance force. This resistance force acts on the thigh portion 110 and the lower leg portion 130 in the reverse direction through the link assembly 170 composed of the first link 171 and the second link 172.

[0066] In some embodiments, referring to Figure 1 、 Figure 2 and Figure 5 On one side of the lower leg portion 130, a side cover 180 is detachably connected. A receiving space is formed by enclosing between the side cover 180 and the lower leg portion 130, and the second damper 150 is received in the receiving space.

[0067] On one side of the lower leg portion 130, a detachable connection structure is provided, and it is firmly connected to the side cover 180 by means such as bolt connection, snap connection or magnetic attraction connection. The shape and size of the side cover 180 are adapted to the lower leg portion 130, and the two enclose to form a receiving space. The second damper 150 is accurately placed in this receiving space. Its main body is hinged to the lower leg portion 130, and the piston rod is connected to the thigh portion 110 through the link assembly 170, ensuring that under the protection of the side cover 180, the second damper 150 can normally perform its functions of load sharing and buffering. The protective effect of the side cover 180 on the second damper 150 greatly reduces the risk of damage in a complex working environment.

[0068] Moreover, the receiving space formed by enclosing between the side cover 180 and the lower leg portion 130 cleverly houses the second damper 150, making the overall structure of the lower limb 100 of the robot more compact. This compact structural design not only facilitates the operation of the robot in a narrow space, but also reduces the overall weight and volume of the robot, improving its movement flexibility. Also, the detachable connection method between the side cover 180 and the lower leg portion 130 makes it more convenient to perform maintenance, repair or replacement on the second damper 150. Just simply disassemble the side cover 180, and you can directly access the second damper 150 without having to perform large-scale disassembly on other complex components of the lower limb 100 of the robot, shortening the maintenance time and reducing the maintenance cost. Optionally, as Figure 5As shown, the side cover 180 is provided with hollow holes, and the number of the hollow holes can be one or more, which is used to reduce the weight and contribute to the lightweight design of the lower limb 100 of the robot.

[0069] Wherein, a control circuit board is arranged in the accommodating space, and the control circuit board can be fixed in the accommodating space by means of screw connection, bonding, snap connection, etc. Optionally, the inner wall of the accommodating space is configured with an accommodating groove, and the accommodating groove is adapted to the control circuit board, and the control circuit board is accommodated in the accommodating groove. Among them, the accommodating groove can be formed in the calf part 130. The control circuit board is used to connect with the devices in the calf part 130 through wires and route towards the thigh part 110 to realize signal transmission, processing, etc. The devices involved in the calf part 130 may include the second damper 150, but are not limited thereto. For example, it may also be the third motor 1120 involved in subsequent embodiments.

[0070] Optionally, as Figure 1 shown, a wiring groove 110C and a plurality of wire pressing pieces 110P are provided on the outer surface of the thigh part 110. The wiring groove 110C is used for the wires (for example, the wires connected to the control circuit board) to route. The plurality of wire pressing pieces 110P are arranged at intervals along the wiring groove 110C in sequence to limit the wires in the wiring groove 110C. For the convenience of disassembly and assembly, the wire pressing pieces 110P are fastened to the thigh part 110 by screws.

[0071] In some embodiments, referring to Figure 1 、 Figure 2 and Figure 5 , the lower limb 100 of the robot further includes:

[0072] A second motor 190, which is arranged on the thigh part 110 and is connected to the calf part 130 through a first crank and connecting rod assembly 1100. The second motor 190 is used to drive the movement of the calf part 130.

[0073] When the lower limb 100 of the robot moves, the second motor 190 on the thigh part 110 can start to operate. The second motor 190 outputs rotational power and transmits it to the calf part 130 through the first crank and connecting rod assembly 1100, and then drives the calf part 130 to rotate to realize actions such as lower limb bending. Among them, as Figure 5 shown, the first crank and 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 works, the first crank 1101 can rotate with the output end of the second motor 190, and then pull the first connecting rod 1102, so that the first connecting rod 1102 drives the calf part 130 to move.

[0074] Among them, as Figure 5 shown, an accommodation cavity 110Q is constructed inside the thigh part 110. The first crank - connecting rod assembly 1100 is arranged inside the accommodation cavity 110Q of the thigh part 110. The body of the second motor 190 is fixedly arranged on the outer surface of the thigh part 110. The output end of the second motor 190 penetrates into the accommodation cavity 110Q of the thigh part 110 and is connected to the first crank - connecting rod assembly 1100. At the same time, one end of the thigh part 110 facing the calf part 130 is provided with an avoidance opening, and the first crank - connecting rod assembly 1100 is connected to the calf part 130 at this avoidance opening, so as to realize a compact structure setting.

[0075] In some embodiments, referring to Figure 1 , Figure 2 , Figure 5 and Figure 6 , the lower limb 100 of the robot further includes:

[0076] A foot sole 1110, rotatably connected to the calf part 130;

[0077] A third motor 1120, arranged on the calf part 130 and connected to the foot sole 1110 through a second crank - connecting rod assembly 1130. The third motor 1120 is used to drive the movement of the foot sole 1110.

[0078] When the lower limb 100 of the robot moves, the third motor 1120 on the calf part 130 can start to operate. The third motor 1120 outputs rotational power and transmits it to the foot sole 1110 through the second crank - connecting rod assembly 1130, and then drives the foot sole 1110 to rotate to realize actions such as lifting the foot. Among them, as Figure 6 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 foot sole 1110. When the third motor 1120 works, the second crank 1131 can rotate with the output end of the third motor 1120, and then pull the second connecting rod 1132, so that the second connecting rod 1132 drives the foot sole 1110 to move.

[0079] Optionally, in the left - right direction of the calf part 130, the body of the third motor 1120 is located on one side of the calf part 130, and the output end of the third motor 1120 penetrates from the calf part 130 to the other side of the calf part 130 and is connected to the second crank - connecting rod assembly 1130. And, in the front - back direction of the foot sole 1110, the second crank - connecting rod assembly 1130 is located at the rear side position of the foot sole 1110. When the lower limb 100 of the robot moves, it can avoid interference with other objects in the front - side space of the foot sole 1110.

[0080] To limit the rotation range of the foot sole 1110, a limiting member is provided on the lower leg portion 130. The limiting member mechanically limits the second crank to define the limit position of the rotation of the foot sole 1110. For example, Figure 6 As shown, the limiting member can be an arc-shaped limiting strip 1140. Due to its structural shape, the arc-shaped limiting strip 1140 forms a receiving opening 1140K. One end of the second crank 1131 connected to the output end of the third motor 1120 is received in the receiving opening 1140K of the arc-shaped limiting strip 1140. The opposite side walls of the receiving opening 1140K are used to stop the second crank 1131 to define the limit rotation position of the second crank 1131. For example, when the third motor 1120 operates to rotate the second crank 1131 clockwise, one side wall of the receiving opening 1140K can stop the second crank 1131 when the second crank 1131 rotates clockwise to the limit position to prevent the second crank 1131 from continuing to rotate clockwise; and when the third motor 1120 operates to rotate the second crank 1131 counterclockwise, the other side wall of the receiving opening 1140K can stop the second crank 1131 when the second crank 1131 rotates counterclockwise to the limit position to prevent the second crank 1131 from continuing to rotate counterclockwise.

[0081] The present invention also provides a humanoid robot, which includes the robot lower limb 100 described in the foregoing embodiments. The specific structure of the robot lower limb 100 refers to the above embodiments. Since this 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 elaborated here one by one. Specifically, the torso of the humanoid robot is connected to the robot lower limb 100.

[0082] The above are only partial or preferred embodiments of the present invention. Whether in terms of text or drawings, the scope of protection of the present invention cannot be limited thereby. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the overall concept of the present invention, or any direct / indirect application in other related technical fields is included in the scope of protection of the present invention.

Claims

1. A robot lower limb, characterized in that, Comprising: Thigh portion; Hip joint, provided at one end of the thigh portion and rotatably connected to the thigh portion; Calf portion, rotatably connected to the other end of the thigh portion; First damper, provided on the thigh portion and connected to the hip joint, the first damper being used to share the load borne by the hip joint and buffer the movement of the hip joint; Second damper, provided on the calf portion and connected to the thigh portion, the second damper being used to share the load borne by the knee joint and buffer the movement of the knee joint; The hip joint includes: Joint seat, rotatably connected to the thigh portion; Wherein, the first damper is located on one side of the thigh portion, the main body of the first damper is hinged to the thigh portion, and the piston rod of the first damper is hinged to the joint seat; The main 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 link assembly; The link assembly includes a first link and a second link, one end of the first link is hinged to the calf portion, 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 portion; Wherein, the piston rod of the second damper is hinged to the first link.

2. The robot lower limb according to claim 1, wherein, The hip joint further includes: First motor, provided on the joint seat, the output end of the first motor is connected to the thigh portion for driving the movement of the thigh portion.

3. The robotic lower limb according to claim 2, wherein, The joint seat has a first connection portion and a second connection portion, the first connection portion and the second connection portion are relatively spaced apart to form a receiving cavity, and one end of the thigh portion extends into the receiving cavity; The first motor is provided on the first connection portion, the first connection portion is configured with an opening, the output end of the first motor passes through the opening to be connected to the thigh portion, the thigh portion is rotatably connected to the second connection portion, the second connection portion is configured with a hinge portion, and the piston rod of the first damper is hinged to the joint seat by being hinged to the hinge portion.

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

5. The robot lower limb according to claim 1, characterized in that, A side cover is detachably connected to one side of the calf portion, and an accommodating space is formed by enclosing between the side cover and the calf portion, and the second damper is accommodated in the accommodating space.

6. The robot lower limb according to claim 1, characterized in that, Further comprising: Second motor, provided on the thigh portion and connected to the calf portion through a first crank and link assembly, the second motor being used to drive the movement of the calf portion.

7. The robot lower limb according to claim 1, characterized in that, Further comprising: Foot sole, rotatably connected to the calf portion; Third motor, provided on the calf portion and connected to the foot sole through a second crank and link assembly, the third motor being used to drive the movement of the foot sole.

8. A humanoid robot, characterized in that, Comprising the robot lower limb according to any one of claims 1 to 7.

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