Ankle-foot structure of humanoid robot capable of transversely rolling in large range and robot

Abstract

The invention provides a humanoid robot ankle-foot structure capable of transversely rolling in a large range and a robot, and relates to the technical field of robotics.The ankle-foot structure comprises two motor connecting rod mechanisms and an ankle-foot structure, one side of a motor base is connected with a thigh, the other side of the motor base is fixedly connected with a motor, and one side of a crank is fixedly connected with an output shaft of the motor; the thigh connecting rod is connected with the shank connecting rod through a trapezoidal rod, and the shank connecting rod is connected with the first base; the lower portion of the first base is fixedly connected with the ankle-foot bottom plate, two first through holes are formed in the upper portion of the first base, linear bearings are placed in the first through holes and connected to the foot shaft in a sleeving mode, and the shank connecting rod is connected to the foot shaft in a sleeving mode through a fisheye bearing. The lower portion of the second base is fixedly connected with an ankle-foot bottom plate, two second through holes are formed in the upper portion of the second base, deep groove ball bearings are placed in the second through holes and connected to the cross in a sleeving mode, and foot rubber is fixedly connected to the ankle-foot bottom plate.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a humanoid robot ankle-foot structure capable of rolling over a large range and a robot. Background Art

[0002] Compared with other types of robots, humanoid robots are designed to imitate the structure and movement of humans, enabling them to operate more flexibly in complex environments. This biologically inspired design enables them to easily cope with various dynamically changing tasks. Secondly, humanoid robots excel in interactive capabilities. Because of their similar morphology to humans, they can communicate with humans more naturally and intuitively, thereby improving the effectiveness of human-machine collaboration. For example, in the medical, educational and service industries, humanoid robots can better understand human emotions and social cues, thereby providing more humane services. In addition, the high adaptability and learning ability of humanoid robots enable them to continuously optimize their decision-making and action strategies through advanced artificial intelligence technology, thereby improving efficiency and effectiveness in practical applications. In summary, with their flexibility, interactivity and adaptability, humanoid robots not only surpass the limitations of traditional robots in certain specific tasks, but also provide new possibilities for innovative development in all walks of life.

[0003] Compared with other forms of legged robots, humanoid robots can not only ensure high-speed and stable walking ability and load capacity, but also take into account the simplicity of mechanical structure and control system.

[0004] Chinese patent publication number CN119459930A discloses a humanoid robot ankle-foot structure. In the ankle-foot structure, the ankle joint motor drives the left and right rolling motion of the foot component through a connecting rod of a bilateral fisheye structure. However, the rolling angle range that can be achieved by the ankle-foot structure in this scheme is relatively small, and it is difficult to achieve a large-scale rolling motion of a single leg.

[0005] Chinese Patent Publication No. CN118810957A discloses an ankle-foot structure of a humanoid robot. In this ankle-foot structure, the ankle joint drive link is connected to the foot structure through two small cross axes to achieve the drive of the foot assembly with two degrees of freedom. However, the lateral movable angle of the upper end of the drive link of the ankle-foot structure in this solution is small, and the overall flexibility is relatively insufficient. Chinese Patent Publication No. CN119370223A discloses an ankle-foot structure of a bipedal robot. In this ankle-foot structure, multiple links are used to achieve the drive control of the calf and foot. However, the ankle-foot structure in this solution can only achieve one degree of freedom movement forward and backward, and cannot perform left and right rolling movement. The lower limbs are not flexible enough, and it is difficult to complete complex human-like movements.

[0006] In summary, most of the existing humanoid robot ankle joints have only one degree of freedom, that is, when the thigh drives the calf to swing back and forth, the ankle joint moves back and forth accordingly. However, when a humanoid robot walks normally or performs special actions, it needs to have rolling motion, that is, the hip joint drives the lower limbs to roll, and when standing on one leg, the ankle joint needs to support a large range of rolling motion. The existing single-degree-of-freedom ankle joint cannot meet the stability and flexibility of the robot during rolling motion, and a small range of rolling cannot meet the needs of a humanoid robot standing on one leg. Summary of the invention

[0007] In order to solve the technical problems that the single-degree-of-freedom ankle joint of the existing humanoid robot cannot meet the robot's stability and flexibility during rolling motion, and a small range of rolling cannot meet the humanoid robot's one-leg standing, the present invention provides a humanoid robot ankle-foot structure and a robot that can roll in a large range.

[0008] The technical solution provided by the embodiment of the present invention is as follows:

[0009] An embodiment of the present invention provides a humanoid robot ankle-foot structure capable of rolling over a large range, comprising: two motor-link mechanisms and an ankle-foot structure, wherein the motor-link mechanisms are respectively a left motor-link mechanism and a right motor-link mechanism;

[0010] The motor-connecting rod mechanism comprises a motor, a motor base, a crank, a thigh connecting rod, a trapezoidal rod, a shank connecting rod, a first base and a foot shaft;

[0011] The ankle-foot structure includes an ankle-foot plate, a foot rubber, a cross and a second base;

[0012] One side of the motor base is connected to the thigh, and the other side is fixedly connected to the motor. One side of the crank is fixedly connected to the output shaft of the motor, and the other side has a first groove for placing the thigh connecting rod. The thigh connecting rod is connected to the shank connecting rod through the trapezoidal rod, and the shank connecting rod is connected to the first base;

[0013] The lower part of the first base is fixedly connected to the ankle sole plate, the upper part of the first base is provided with two first through holes, linear bearings are placed in the first through holes, the linear bearings are sleeved on the foot shaft, and the calf connecting rod is sleeved on the foot shaft through a fisheye bearing;

[0014] The lower part of the second base is fixedly connected to the ankle sole plate, and the upper part of the second base is provided with two second through holes, in which deep groove ball bearings are placed, and the deep groove ball bearings are sleeved on the cross, and the foot rubber is fixedly connected to the ankle sole plate.

[0015] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0016] (1) In the embodiment of the present invention, the left and right cranks are synchronously driven by the left and right motors to move, thereby driving the ankle-foot plantar plate to move up and down. At the same time, the left and right cranks are differentially driven by the left and right motors to move, thereby driving the asynchronous movement of the two parallel four-bar mechanisms on the left and right sides, thereby realizing a large range of left and right tilting movement of the ankle-foot plantar plate in the ankle-foot structure, and realizing the movement of the ankle joint with two degrees of freedom, thereby enhancing the stability and flexibility of the robot, enabling the robot to more accurately adjust its posture and control walking on complex and uneven terrain. At the same time, the humanoid robot can better absorb and adjust the impact force in the gait, avoid imbalance, provide more precise motion control, and thus improve the overall motion ability and adaptability.

[0017] (2) In the embodiment of the present invention, a cross, a fisheye bearing, a linear bearing and two axially movable foot shafts are used to realize the connection between the motor connecting rod mechanism and the ankle-foot structure. When the fisheye bearing reaches the limit position, the calf connecting rod realizes a large range of rolling motion of the ankle joint through the axial relative motion between the foot shaft and the linear bearing, thereby satisfying the need for the center of gravity of the humanoid robot to be concentrated on the single foot when standing on one leg, thereby realizing the humanoid robot standing on one leg. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic structural diagram of a humanoid robot ankle-foot structure capable of rolling over a large range provided by an embodiment of the present invention;

[0020] Figure 2 An exploded structural diagram of a motor assembly provided by an embodiment of the present invention;

[0021] Figure 3 A structural diagram of a calf-feet connecting rod mechanism provided by an embodiment of the present invention;

[0022] Figure 4 A structural diagram of an ankle joint provided by an embodiment of the present invention;

[0023] Figure 5 An exploded view of an ankle joint provided by an embodiment of the present invention;

[0024] Figure 6 A cross-sectional structural diagram of an ankle-foot structure of a humanoid robot capable of rolling over a large range provided by an embodiment of the present invention;

[0025] Figure 7A schematic diagram of the forward and backward motion modes of an ankle-foot structure of a humanoid robot capable of rolling over a large range provided by an embodiment of the present invention;

[0026] Figure 8 A schematic diagram of the left-right tilting motion modes of the ankle-foot structure of a humanoid robot capable of rolling over a large range provided in an embodiment of the present invention.

[0027] Figure numerals: 1. Transmission assembly; 11. Double-sided crank assembly; 12. Transmission connecting rod; 111. Second support rod output flange; 112. Support shaft; 113. Connecting shaft; 114. Rotating shaft; 115. Crank outer plate; 2. Support assembly; 21. First support rod; 22. End cover; 23. Second support rod; 3. Wheel foot assembly; 31. Hub motor; 32. Hub motor connector; 33. Tire assembly; 331. Wheel hub; 332. Tire; 4. Power assembly. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is described below in conjunction with the accompanying drawings. It is also noted that, in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0029] like Figures 1 to 8 As shown, an embodiment of the present invention provides a humanoid robot ankle-foot structure capable of large-range rolling, comprising: two motor-link mechanisms 1 and an ankle-foot structure 2, wherein the motor-link mechanisms are a left motor-link mechanism and a right motor-link mechanism.

[0030] The motor-connecting rod mechanism 1 comprises a motor 11 , a motor base 12 , a crank 13 , a thigh connecting rod 14 , a trapezoidal rod 15 , a shank connecting rod 16 , a first base 17 and a foot shaft 18 .

[0031] The ankle-foot structure 2 includes an ankle-foot plantar plate 21 , a foot rubber 22 , a cross 23 and a second base 24 .

[0032] One side of the motor base 12 is connected to the thigh, and the other side is fixedly connected to the motor 11. One side of the crank 13 is fixedly connected to the output shaft of the motor 11, and the other side has a first groove for placing the thigh connecting rod 14. The thigh connecting rod 14 is connected to the calf connecting rod 16 through the trapezoidal rod 15, and the calf connecting rod 16 is connected to the first base 17.

[0033] It should be noted that the motor 11 is fixed on the thigh. Compared with most existing humanoid robots where the ankle motor is placed on the calf or ankle joint, this design can improve the working efficiency of the motor, reduce the weight of the calf and foot, thereby reducing the inertia of movement, and improving the movement flexibility and efficiency of the robot; it can make the center of gravity relatively concentrated, making it easier to control the overall balance. Centralized installation can make the robot design more compact, make more reasonable use of the thigh space, improve reliability, and also reduce the complexity and length of the driving force transmission path, thereby reducing energy loss and maintenance requirements.

[0034] The first base 17 is fixedly connected to the ankle plantar plate 21 at the bottom, and two first through holes are provided above the first base 17. A linear bearing 17A is placed in the first through hole, and the linear bearing 17A is sleeved on the foot shaft 18. The calf connecting rod 16 is sleeved on the foot shaft 18 through a fisheye bearing 16E. The second base 24 is fixedly connected to the ankle plantar plate 21 at the bottom, and two second through holes are provided above the second base 24. A deep groove ball bearing 34A is placed in the second through hole, and the deep groove ball bearing 34A is sleeved on the cross 23. The foot rubber 22 is fixedly connected to the ankle plantar plate 21.

[0035] It should be noted that the humanoid robot ankle-foot structure disclosed in the present invention has two degrees of freedom, namely, the up-down degree of freedom and the left-right degree of freedom. The up-down degree of freedom is achieved by the left-right motors synchronously driving the left-right cranks to move, driving the two parallel four-bar mechanisms on the left and right to move synchronously, and then driving the ankle-foot plantar to move up and down, and the relative movement between the leg and the ankle joint is achieved through the cross in the ankle joint structure. The left-right degree of freedom is achieved by the left-right motors differentially driving the left-right cranks to move, and then driving the two parallel four-bar mechanisms on the left and right to move asynchronously. The connection between the parallel four-bar mechanism and the ankle-foot plantar is mainly achieved through two shafts that can move axially, two small U-shaped bases and four linear bearings, so as to achieve a large range of left-right tilting movement of the ankle-foot plantar in the ankle-foot structure.

[0036] Therefore, the humanoid robot ankle-foot structure provided by the present invention includes a forward and backward motion mode and a left and right tilt motion mode.

[0037] When in the forward and backward movement mode, the left and right motors simultaneously drive the connecting rod mechanism to move, causing the left and right connecting rod mechanisms to rise or fall at the same time, thereby driving the ankle-foot structure to move forward and backward; the thigh drives the calf to move forward and backward, and is connected to the ankle-foot plantar plate through a cross and a large U-shaped seat, thereby realizing the up and down movement of the ankle-foot plantar plate relative to the calf.

[0038] When in the left and right tilting motion mode, the left motor drives the connecting rod mechanism to move, so that the left connecting rod mechanism rises, and the right motor does not drive or drives at a lower speed than the left motor, thereby driving the ankle-foot plantar plate to tilt to the right; the right motor drives the connecting rod mechanism to move, so that the right connecting rod mechanism rises, and the left motor does not drive or drives at a lower speed than the right motor, thereby driving the ankle-foot plantar plate to tilt to the left; when the left and right fisheye bearings reach the limit position, the left and right tilt angles of the ankle joint are increased through the axial movement of the left and right shafts and linear bearings, and the ankle-foot plantar plate is connected to the calf through a cross and a large U-shaped seat, so as to realize a large range of left and right tilting motion of the ankle-foot plantar plate.

[0039] Furthermore, by controlling the driving speed, output torque, rotation time, etc. of the two motors so that the two motors rotate differentially, the left and right tilting movement of the ankle-foot structure can be achieved, and the left and right tilting angles of the ankle-foot structure can be precisely controlled.

[0040] The humanoid robot ankle-foot structure capable of rolling over a large range provided by the present invention not only retains the ability of the existing humanoid robot ankle joint to move up and down, but also improves the structural design of the robot ankle joint. It adopts four parallel four-bar mechanisms, so that the ankle joint of this humanoid robot can move up and down and tilt left and right, allowing the robot to better balance and move on complex terrain, simulate human gait, improve the naturalness and stability of walking, and significantly improve the efficiency and accuracy of task execution. In addition, it can also reduce the energy loss caused by uneven power transmission during high-speed movement, thereby extending the service life and reliability of the robot. It greatly improves the motion stability and flexibility of traditional humanoid robot movements, and is expected to further promote the development and application of humanoid robots.

[0041] In a possible implementation, the crank 13 , the thigh link 14 , the trapezoidal rod 15 , the shank link 16 , the thigh body, the shank body, and the ankle-foot plate 21 form a plurality of link mechanisms.

[0042] Optionally, the crank 13, thigh connecting rod 14, trapezoidal rod 15 and thigh body on the left side constitute a first parallel four-bar mechanism. The trapezoidal rod 15, shank connecting rod 16, ankle-foot plate 21 and shank body on the left side constitute a second parallel four-bar mechanism. The crank 13, thigh connecting rod 14, trapezoidal rod 15 and thigh body on the right side constitute a third parallel four-bar mechanism. The trapezoidal rod 15, shank connecting rod 16, ankle-foot plate 21 and shank body on the right side constitute a fourth parallel four-bar mechanism.

[0043] It should be noted that the use of four-parallel four-bar transmission to achieve a dual-degree-of-freedom humanoid robot ankle-foot structure greatly increases the limit angle of ankle joint rolling motion, which satisfies the requirement that the center of gravity of the humanoid robot falls on the single foot when standing on one leg, thereby achieving its single-leg standing.

[0044] In the present invention, the transmission of motion between the legs and the ankle-foot structure is achieved through four parallel four-bar mechanisms, the change of the ankle joint is achieved through motor drive, the movement of the legs driven by the hip joint and the movement of the ankle joint driven by the left and right motor linkage mechanisms realize the movement of the ankle-foot structure of the humanoid robot with two degrees of freedom. The ankle-foot structure with two degrees of freedom enhances the stability and flexibility of the robot, enabling it to more accurately adjust its posture and control walking on complex and uneven terrain. The dual-degree-of-freedom design also allows the robot to better absorb and adjust the impact force in the gait, avoid imbalance, and provide more precise motion control, thereby improving the overall movement ability and adaptability.

[0045] The following is an introduction to the operation of each parallel four-bar mechanism.

[0046] The motor 11 on the left side drives the crank 13 to rotate, driving the thigh connecting rod 14 to rotate around the pin shaft, and then driving the trapezoidal rod 15 to rotate around the hexagon socket screw to complete the movement of the first parallel four-bar mechanism.

[0047] The rotation of the trapezoidal rod 15 on the left side drives the calf connecting rod 16 to rotate up and down around the pin shaft, and then drives the foot shaft 18 to move relative to the axial direction of the linear bearing through the fisheye bearing 16E below the calf connecting rod 16, thereby driving the ankle sole plate 21 to move to complete the movement of the second parallel four-bar mechanism.

[0048] The motor 11 on the right side drives the crank 13 to rotate, driving the thigh connecting rod 14 to rotate around the pin shaft, and then driving the trapezoidal rod 15 to rotate around the hexagon socket screw to complete the movement of the third parallel four-bar mechanism.

[0049] The rotation of the trapezoidal rod 15 on the right side drives the calf connecting rod 16 to rotate up and down around the pin shaft, and then drives the foot shaft 18 to move relative to the axial direction of the linear bearing through the fisheye bearing 16E below the calf connecting rod 16, thereby driving the ankle sole plate 21 to move, so as to complete the movement of the fourth parallel four-bar mechanism.

[0050] The up-and-down and left-and-right rolling motions of the ankle joint are realized through the first parallel four-bar mechanism, the second parallel four-bar mechanism, the third parallel four-bar mechanism and the fourth parallel four-bar mechanism.

[0051] In a possible implementation, one side of the motor base 12 is connected to the thigh via a hexagon socket head screw, one side of the crank 13 is fixedly connected to the output shaft of the motor 11 via a bolt, the first base 17 is fixedly connected to the ankle plantar plate 21 via a bolt at the bottom, the second base 24 is fixedly connected to the ankle plantar plate 21 via a bolt at the bottom, and the foot rubber 22 is fixedly connected to the ankle plantar plate 21 via threaded holes on the four sides and the bottom.

[0052] In a possible implementation manner, a limiting rubber 12A and a limiting rubber 12B are fixedly disposed on both sides of the groove of the motor base 12 , and the limiting rubber 12A and the limiting rubber 12B provide limiting protection for the motor base 12 and the crank 13 .

[0053] In the present invention, the limit rubber 12A and the limit rubber 12B can effectively reduce the excessive friction and impact of the mechanical parts during the movement, prevent the parts from being damaged or worn due to excessive movement, and thus improve the reliability and service life of the system. At the same time, this limit protection can also reduce the impact force during the movement, ensure that the robot is more stable when moving at high speed or with load changes, and further improve the overall performance.

[0054] In a possible embodiment, the thigh link 14 includes a first intermediate threaded rod 14A, two first deep groove ball bearing seats 14B and two first deep groove ball bearings 14C. The two first deep groove ball bearing seats 14B are respectively arranged at both ends of the intermediate threaded rod 14A, and the first deep groove ball bearing 14C is arranged in the first deep groove ball bearing seat 14B.

[0055] The calf connecting rod 16 includes a second intermediate threaded rod 16A, a second deep groove ball bearing seat 16B, a second deep groove ball bearing 16C, a fisheye bearing seat 16D and a fisheye bearing 16E. The second deep groove ball bearing seat 16B is arranged at one end of the second intermediate threaded rod 16A, the fisheye bearing seat 16D is arranged at the other end of the second intermediate threaded rod 16A, the second deep groove ball bearing 16C is arranged in the second deep groove ball bearing seat 16B, and the fisheye bearing 16E is arranged in the fisheye bearing seat 16D.

[0056] The fisheye bearing 16E is sleeved on the foot shaft 18 .

[0057] A circular through hole is provided above the trapezoidal rod 15, in which a first deep groove ball bearing 14C is placed; a second groove and four third through holes are provided below the trapezoidal rod 15, in which the first deep groove ball bearing 14C below the thigh connecting rod 14 and the second deep groove ball bearing 16C above the calf connecting rod 16 are placed; and two pins are placed in the four third through holes.

[0058] In the present invention, a cross 23, two fisheye bearings 16E, four deep groove ball bearings 16C and two pins that can move axially are used at the ankle joint of the present invention to realize the connection between the foot mechanism and the leg structure, wherein the four axial ends of the cross 23 are respectively matched with a deep groove ball bearing 16C, so as to realize the connection between the foot and the calf and satisfy the movement of two degrees of freedom. When the fisheye bearing 16E reaches the limit position, the calf connecting rod 16 realizes a large range of rolling movement of the ankle joint through the axial relative movement between the two motion axes and the linear bearing, so as to satisfy the concentration of the center of gravity on the single foot when the humanoid robot stands on one leg, thereby realizing the humanoid robot standing on one leg.

[0059] The following is an introduction to the assembly method of the motor-connecting rod mechanism 1: the motor 11 is fixedly connected to the thigh through the motor base 12, one side of the crank 13 is connected to the output shaft of the motor 11 by bolts, and the other side is provided with a groove and two through holes, in which a deep groove ball bearing 14C is placed below the thigh connecting rod, and a pin is placed in the two through holes to interfere with it, and the deep groove ball bearing 14C is connected in series with the crank 13 through the pin; the deep groove ball bearing 16C above the calf connecting rod 16 is placed in the groove of the trapezoidal rod 15, and is connected in series with the trapezoidal rod 15 through the pin, and the fisheye bearing 16E below is sleeved on the foot shaft 18, and interferes with the middle protrusion of the foot shaft 18; the trapezoidal rod 15, the thigh cover plate, the calf, and the right trapezoidal rod 25 are connected in series together by hexagon socket screws, thereby realizing the assembly of the motor-connecting rod mechanism 1.

[0060] Furthermore, the assembly method of the motor-link mechanism 1 and the ankle-foot structure 3 is introduced: the fisheye bearing 16E at the bottom is sleeved on the foot shaft 18, and has an interference fit with the middle protruding part of the foot shaft 18; a linear bearing 17A is placed in the through hole above the first base 17, and bearing retaining rings 17B are installed on both sides of the linear bearing for axial fixation of the linear bearing; the linear bearing 17A is sleeved on the foot shaft 18, so that the foot shaft 18 can move relatively along the axial direction of the linear bearing; two circular through holes are opened below the calf, and deep groove ball bearings are placed in the through holes, and the four axial ends of the cross are respectively inserted into the deep groove ball bearing in the calf through hole and the inner ring of the deep groove ball bearing in the through hole above the large U-shaped base 34, and the assembly of the motor-link mechanism 1 and the ankle-foot structure 3 is realized by the fisheye bearing 16E, the first base 17, the linear bearing 17A and the foot shaft 18.

[0061] In a possible implementation, a zero position detection device 19 is provided on the motor 11. The zero position detection device 19 includes a photoelectric induction switch and an induction element. The zero position detection device 19 is used to detect the vertical standing position of the humanoid robot in a standing state.

[0062] In the present invention, the motors of the left and right connecting rod mechanisms adopt a zero position detection mechanism, which can give an accurate zero position, greatly improve the accuracy of the motor zero position calibration and improve the zero position calibration work efficiency, increase the accuracy of the motor output angle control, and thus improve the stability of the robot movement and the accuracy of the action.

[0063] In a possible implementation, the length ratio between the thigh link 14 and the shank link 16 is 1.2:1.

[0064] In the present invention, the length ratio of the thigh link 14 to the shank link 16 is set to 1.2:1, which conforms to the natural proportion of the human body and helps to improve the kinematic performance and natural gait of the humanoid robot. This ratio can better simulate the movement mechanism of the human body, make the movement of the robot more in line with the principles of biomechanics, and improve the stability and smoothness of walking. At the same time, such a design helps to optimize the balance control of the robot, making it more flexible and adaptable when performing complex movements.

[0065] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0066] (1) In the embodiment of the present invention, the left and right cranks are synchronously driven by the left and right motors to move, thereby driving the ankle-foot plantar plate to move up and down. At the same time, the left and right cranks are differentially driven by the left and right motors to move, thereby driving the asynchronous movement of the two parallel four-bar mechanisms on the left and right sides, thereby realizing a large range of left and right tilting movement of the ankle-foot plantar plate in the ankle-foot structure, and realizing the movement of the ankle joint with two degrees of freedom, thereby enhancing the stability and flexibility of the robot, enabling the robot to more accurately adjust its posture and control walking on complex and uneven terrain. At the same time, the humanoid robot can better absorb and adjust the impact force in the gait, avoid imbalance, provide more precise motion control, and thus improve the overall motion ability and adaptability.

[0067] (2) In the embodiment of the present invention, a cross, a fisheye bearing, a linear bearing and two axially movable foot shafts are used to realize the connection between the motor connecting rod mechanism and the ankle-foot structure. When the fisheye bearing reaches the limit position, the shank connecting rod realizes a large range of rolling motion of the ankle joint through the axial relative motion between the foot shaft and the linear bearing, so as to meet the requirement that the center of gravity of the humanoid robot is concentrated on the single foot when standing on one leg, thereby realizing the humanoid robot standing on one leg.

[0068] An embodiment of the present invention provides a robot, comprising the above-mentioned humanoid robot ankle-foot structure capable of rolling over a large range.

[0069] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0070] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A humanoid robot ankle-foot structure capable of rolling over a large range, characterized in that: include: Two motor-link mechanisms and an ankle-foot structure, wherein the motor-link mechanisms are respectively a left motor-link mechanism and a right motor-link mechanism; The motor-connecting rod mechanism comprises a motor, a motor base, a crank, a thigh connecting rod, a trapezoidal rod, a shank connecting rod, a first base and a foot shaft; The ankle-foot structure includes an ankle-foot plate, a foot rubber, a cross and a second base; One side of the motor base is connected to the thigh, and the other side is fixedly connected to the motor. One side of the crank is fixedly connected to the output shaft of the motor, and the other side has a first groove for placing the thigh connecting rod. The thigh connecting rod is connected to the shank connecting rod through the trapezoidal rod, and the shank connecting rod is connected to the first base; The lower part of the first base is fixedly connected to the ankle sole plate, the upper part of the first base is provided with two first through holes, linear bearings are placed in the first through holes, the linear bearings are sleeved on the foot shaft, and the calf connecting rod is sleeved on the foot shaft through a fisheye bearing; The lower part of the second base is fixedly connected to the ankle sole plate, and the upper part of the second base is provided with two second through holes, in which deep groove ball bearings are placed, and the deep groove ball bearings are sleeved on the cross, and the foot rubber is fixedly connected to the ankle sole plate.

2. The humanoid robot ankle-foot structure capable of large-range rolling according to claim 1, characterized in that: Limiting rubbers and limiting rubbers are fixedly arranged on both sides of the groove of the motor base, and the limiting rubbers and limiting rubbers perform limiting protection on the motor base and the crank.

3. The humanoid robot ankle-foot structure capable of large-range rolling according to claim 1, characterized in that: The thigh connecting rod comprises a first middle threaded rod, two first deep groove ball bearing seats and two first deep groove ball bearings, the two first deep groove ball bearing seats are respectively arranged at two ends of the middle threaded rod, and the first deep groove ball bearing is arranged in the first deep groove ball bearing seat; The shank connecting rod comprises a second intermediate threaded rod, a second deep groove ball bearing seat, a second deep groove ball bearing, a fisheye bearing seat and a fisheye bearing, wherein the second deep groove ball bearing seat is arranged at one end of the second intermediate threaded rod, the fisheye bearing seat is arranged at the other end of the second intermediate threaded rod, the second deep groove ball bearing is arranged in the second deep groove ball bearing seat, and the fisheye bearing is arranged in the fisheye bearing seat; The fisheye bearing is sleeved on the foot shaft; A circular through hole is arranged above the trapezoidal rod, in which the first deep groove ball bearing is placed, a second groove and four third through holes are opened below the trapezoidal rod, in which the first deep groove ball bearing below the thigh connecting rod and the second deep groove ball bearing above the calf connecting rod are placed, and two pins are placed in the four third through holes.

4. The humanoid robot ankle-foot structure capable of large-range rolling according to claim 1, characterized in that: The crank, the thigh link, the trapezoidal rod, the shank link, the thigh body, the shank body and the ankle-foot plantar plate form a plurality of link mechanisms.

5. The humanoid robot ankle-foot structure capable of large-range rolling according to claim 4, characterized in that: The crank, the thigh connecting rod, the trapezoidal rod and the thigh body on the left side constitute a first parallel four-bar mechanism; the trapezoidal rod, the calf connecting rod, the ankle plantar plate and the calf body on the left side constitute a second parallel four-bar mechanism; the crank, the thigh connecting rod, the trapezoidal rod and the thigh body on the right side constitute a third parallel four-bar mechanism; the trapezoidal rod, the calf connecting rod, the ankle plantar plate and the calf body on the right side constitute a fourth parallel four-bar mechanism.

6. The humanoid robot ankle-foot structure capable of large-range rolling according to claim 5, characterized in that: The motor on the left side drives the crank to rotate, driving the thigh connecting rod to rotate around the pin shaft, and then driving the trapezoidal rod to rotate around the hexagon socket screw to complete the movement of the first parallel four-bar mechanism; The rotation of the trapezoidal rod on the left side drives the calf connecting rod to rotate up and down around the pin shaft, and then drives the foot shaft to move relative to the axial direction of the linear bearing through the fisheye bearing under the calf connecting rod, thereby driving the ankle sole plate to move, so as to complete the movement of the second parallel four-bar mechanism; The motor on the right side drives the crank to rotate, driving the thigh connecting rod to rotate around the pin shaft, and then driving the trapezoidal rod to rotate around the hexagon socket screw to complete the movement of the third parallel four-bar mechanism; The rotation of the trapezoidal rod on the right side drives the calf connecting rod to rotate up and down around the pin shaft, and then drives the foot shaft to move relative to the axial direction of the linear bearing through the fisheye bearing under the calf connecting rod, thereby driving the ankle sole plate to move, so as to complete the movement of the fourth parallel four-bar mechanism; The up-and-down and left-and-right rolling motions of the ankle joint are realized by the first parallel four-bar mechanism, the second parallel four-bar mechanism, the third parallel four-bar mechanism and the fourth parallel four-bar mechanism.

7. The humanoid robot ankle-foot structure capable of large-range rolling according to claim 1, characterized in that: The motor is provided with a zero position detection device, which includes a photoelectric induction switch and an induction element. The zero position detection device is used to detect the vertical standing position of the humanoid robot in a standing state.

8. The humanoid robot ankle-foot structure capable of large-range rolling according to claim 1, characterized in that: The length ratio of the thigh connecting rod to the calf connecting rod is 1.2:

1.

9. The humanoid robot ankle-foot structure capable of large-range rolling according to claim 1, characterized in that: One side of the motor base is connected to the thigh through a hexagon socket head screw, one side of the crank is fixedly connected to the output shaft of the motor through a bolt, the lower part of the first base is fixedly connected to the ankle plantar plate through a bolt, the lower part of the second base is fixedly connected to the ankle plantar plate through a bolt, and the foot rubber is fixedly connected to the ankle plantar plate through threaded holes on four sides and the bottom.

10. A robot, characterized in that: It comprises the humanoid robot ankle-foot structure capable of rolling over a large range as described in any one of claims 1 to 9.

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