A wide-range rollable humanoid robot ankle-foot structure and robot

Abstract

The application provides a wide-range rollable humanoid robot ankle-foot structure and robot, and relates to the technical field of robots.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 is fixedly connected with a motor, one side of a crank is fixedly connected with an output shaft of the motor, the other side is provided with a first recess for placing a thigh connecting rod, the thigh connecting rod is connected with a lower leg connecting rod through a trapezoidal rod, and the lower leg connecting rod is connected with a first base; the first base is fixedly connected with an ankle-foot bottom plate below, two first through holes are arranged above the first base, a linear bearing is arranged in the first through hole, the linear bearing is sleeved on a foot shaft, and the lower leg connecting rod is sleeved on the foot shaft through a fisheye bearing; a second base is fixedly connected with the ankle-foot bottom plate below, two second through holes are arranged above the second base, a deep groove ball bearing is arranged in the second through hole, the deep groove ball bearing is sleeved on a cross, and a foot rubber is fixedly connected on the ankle-foot bottom plate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a humanoid robot ankle-foot structure capable of wide-range lateral rolling. BACKGROUND

[0002] Compared with other types of robots, humanoid robots mimic the structure and movement of humans in design, making them more flexible in complex environments. This bio-inspired design allows them to easily handle various dynamic tasks. Secondly, humanoid robots excel in interaction capabilities. Due to their similar appearance to humans, they can communicate more naturally and intuitively, enhancing human-machine collaboration. For example, in the medical, educational, and service industries, humanoid robots can better understand human emotions and social cues, providing more personalized services. In addition, the high adaptability and learning ability of humanoid robots allow 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, humanoid robots, with their flexibility, interaction, and adaptability, not only surpass traditional robots in certain specific tasks, but also provide new possibilities for innovation and development in various industries.

[0003] Compared with other forms of legged robots, humanoid robots can ensure high-speed stable walking ability and load capacity while considering the simplicity of mechanical structure and control system.

[0004] Chinese Patent Publication No. CN119459930A discloses a humanoid robot ankle-foot structure. In this ankle-foot structure, the ankle joint motor drives the left and right lateral rolling movement of the foot assembly through a double-fish-eye structure connecting rod. However, the lateral rolling angle range of the ankle-foot structure in this scheme is small, making it difficult to achieve large-scale lateral rolling of a single leg.

[0005] Chinese Patent Publication No. CN118810957A discloses a humanoid robot ankle-foot structure. In this ankle-foot structure, the ankle joint drive connecting rod is connected to the foot plate structure through two small cross shafts, achieving two degrees of freedom driving of the foot assembly. However, the lateral movement angle of the upper end of the drive connecting rod in this ankle-foot structure is small, and the overall flexibility is relatively insufficient. Chinese Patent Publication No. CN119370223A discloses a double-legged robot ankle-foot structure. In this ankle-foot structure, multiple connecting rods are used to achieve driving control of the lower leg and foot plate. However, the ankle-foot structure in this scheme can only achieve one degree of freedom movement in the forward and backward direction, and cannot perform lateral rolling movement. The lower limb flexibility is insufficient, making it difficult to complete complex human-like actions.

[0006] In summary, the existing humanoid robot ankle joint mostly has only one degree of freedom, that is, when the thigh swings forward and backward, the ankle joint moves forward and backward with the thigh. However, the humanoid robot needs to have a lateral roll movement when walking normally or performing special actions, that is, the hip joint drives the lower limb to perform a lateral roll movement, and the ankle joint needs to support a large range of lateral roll movement when standing on one leg. The existing single-degree-of-freedom ankle joint cannot meet the stability and flexibility of the robot during lateral roll movement, and a small range of lateral roll cannot meet the humanoid robot standing on one leg. SUMMARY

[0007] In order to solve the technical problems that the single-degree-of-freedom ankle joint of the existing humanoid robot cannot meet the stability and flexibility of the robot during lateral roll movement, and a small range of lateral roll cannot meet the humanoid robot standing on one leg, the present application provides a humanoid robot ankle-foot structure capable of large-range lateral roll and a robot.

[0008] The technical scheme provided by the embodiment of the present application is as follows:

[0009] The humanoid robot ankle-foot structure capable of large-range lateral roll provided by the embodiment of the present application comprises two motor linkage mechanisms and an ankle-foot structure, wherein the motor linkage mechanisms are respectively a left motor linkage mechanism and a right motor linkage mechanism.

[0010] The motor linkage mechanism comprises a motor, a motor base, a crank, a thigh linkage, a trapezoidal rod, a calf linkage, a first base and a foot shaft.

[0011] The ankle-foot structure comprises an ankle-foot bottom plate, a foot rubber, a cross and a second base.

[0012] One side of the motor base is connected with the thigh, and the other side is fixedly connected with the motor, one side of the crank is fixedly connected with the output shaft of the motor, and the other side is provided with a first recess for placing the thigh linkage, the thigh linkage is connected with the calf linkage through the trapezoidal rod, and the calf linkage is connected with the first base.

[0013] The first base is fixedly connected with the ankle-foot bottom plate below, two first through holes are arranged above the first base, a linear bearing is arranged in the first through hole, the linear bearing is sleeved on the foot shaft, and the calf linkage is sleeved on the foot shaft through a fisheye bearing.

[0014] The second base is fixedly connected with the ankle-foot bottom plate below, two second through holes are arranged above the second base, a deep groove ball bearing is arranged in the second through hole, the deep groove ball bearing is sleeved on the cross, and the foot rubber is fixedly connected on the ankle-foot bottom plate.

[0015] The technical scheme provided by the embodiment of the present application has at least the following beneficial effects:

[0016] (1) In the embodiment of the present application, the left and right motors are synchronously driven to drive the left and right crank movements, and drive the ankle-foot plate to move up and down, and the left and right motors are differentially driven to drive the left and right crank movements, and further drive the different step movements of the two parallel four-bar mechanisms on the left and right, so as to realize the large-range left and right tilting movements of the ankle-foot plate in the ankle-foot structure, realize the two-degree-of-freedom movements of the ankle joint, enhance the stability and flexibility of the robot, enable the robot to more accurately perform posture adjustment and walking control on complex and uneven terrains, and enable the humanoid robot to better absorb and adjust the impact force in the gait, avoid imbalance, and provide more accurate motion control, thereby improving the overall motion ability and adaptability.

[0017] (2) In the embodiment of the present application, the cross, the fish-eye bearing, the linear bearing, and the two foot shafts that can move axially are adopted to realize the connection of the motor connecting rod mechanism and the ankle-foot structure, when the fish-eye bearing reaches the limit position, the small leg connecting rod realizes the large-range roll movement of the ankle joint through the axial relative movement between the foot shaft and the linear bearing, meets the requirement that the gravity center of the humanoid robot is concentrated on the single foot when standing on the single leg, and further realizes the single-leg standing of the humanoid robot. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0019] Figure 1 A structure diagram of the large-range rollable humanoid robot ankle-foot structure provided by the embodiment of the present application;

[0020] Figure 2 An exploded structure diagram of the motor assembly provided by the embodiment of the present application;

[0021] Figure 3 A structure diagram of the large-range rollable humanoid robot ankle-foot structure provided by the embodiment of the present application;

[0022] Figure 4 A structure diagram of the large-range rollable humanoid robot ankle-foot structure provided by the embodiment of the present application;

[0023] Figure 5 An exploded diagram of the ankle joint provided by the embodiment of the present application;

[0024] Figure 6 A structure diagram of the large-range rollable humanoid robot ankle-foot structure provided by the embodiment of the present application;

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

[0026] Figure 8 This is a schematic diagram of the left and right tilting motion modes of the ankle and foot structure of a humanoid robot capable of large-range rolling, provided as an embodiment of the present invention.

[0027] Reference 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. Outer crank disc; 2. Support assembly; 21. First support rod; 22. End cap; 23. Second support rod; 3. Wheel assembly; 31. Hub motor; 32. Hub motor connector; 33. Tire assembly; 331. Hub; 332. Tire; 4. Power assembly. Detailed Implementation

[0028] The technical solutions of the present invention will now be described with reference to the accompanying drawings. It should also be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments. For some well-known technologies, those skilled in the art can also use other alternative methods to implement the invention; moreover, 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 structure capable of large-range rolling, comprising: two motor linkage mechanisms 1 and an ankle structure 2, wherein the motor linkage mechanisms are a left motor linkage mechanism and a right motor linkage mechanism.

[0030] The motor linkage mechanism 1 includes a motor 11, a motor base 12, a crank 13, a thigh linkage 14, a trapezoidal rod 15, a lower leg linkage 16, a first base 17, and a foot axle 18.

[0031] The ankle-foot structure 2 includes an ankle-foot 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 lower leg connecting rod 16 through the trapezoidal rod 15, and the lower leg 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 of the existing humanoid robot ankle motor placed on the lower leg or ankle, the design can improve the motor efficiency, reduce the weight of the lower leg and the foot, thereby reducing the motion inertia, improving the motion flexibility and efficiency of the robot; can make the gravity relatively concentrated, more easily control the overall balance. Concentrated installation can make the robot design more compact, so that the thigh space is more reasonable, improve the 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 with the ankle foot plate 21 below, two first through holes are arranged on the upper side of the first base 17, a linear bearing 17A is arranged in the first through hole, the linear bearing 17A is sleeved on the foot shaft 18, the fish-eye bearing 16E is sleeved on the foot shaft 18 through the lower leg connecting rod 16, the second base 24 is fixedly connected with the ankle foot plate 21 below, two second through holes are arranged on the upper side of the second base 24, a deep groove ball bearing 34A is arranged in the second through hole, the deep groove ball bearing 34A is sleeved on the cross 23, and the foot rubber 22 is fixedly connected with the ankle foot plate 21.

[0035] It should be noted that the disclosed humanoid robot ankle foot structure has two degrees of freedom, namely up-down freedom and left-right freedom. The up-down freedom is driven by the left and right motors to drive the left and right crank movements, drive the left and right two parallel four-bar mechanisms to move synchronously, and then drive the ankle foot plate to move up and down, and the relative movement between the leg and the ankle joint is realized through the cross in the ankle joint structure. The left and right motors drive the left and right crank movements at different speeds, and then drive the left and right two parallel four-bar mechanisms to move asynchronously, and the connection between the parallel four-bar mechanism and the ankle foot plate is mainly realized through two axially movable shafts, two small U-shaped bases and four linear bearings, so as to realize the large-scale left and right tilting movement of the ankle foot plate in the ankle foot structure.

[0036] Therefore, the humanoid robot ankle foot structure provided by the present application includes a front-back movement mode and a left-right tilting movement mode.

[0037] When in the front-back movement mode, the left and right motors drive the connecting rod mechanism to move at the same time, so that the left and right connecting rod mechanisms rise or fall at the same time, and then drive the ankle foot structure to move forward and backward; the thigh drives the lower leg to move forward and backward, and is connected with the ankle foot plate through the cross and the large U-shaped base, so as to realize the up-down movement of the ankle foot plate relative to the lower leg.

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

[0039] Further, by controlling the driving speed and output torque, rotation time, etc. of the two motors, differential rotation of the two motors can be realized, the left and right tilting movement of the ankle foot structure can be realized, and the left and right tilting angles of the ankle foot structure can be accurately controlled.

[0040] The ankle foot structure of the humanoid robot capable of large-range horizontal rolling provided by the application not only retains the up and down movement capability of the ankle joint of the existing humanoid robot, but also improves the structural design of the ankle joint of the robot, adopts four parallel four-bar mechanisms, so that the ankle joint of the humanoid robot can tilt up and down and left and right, allows the robot to better balance and move on complex terrain, can simulate human gait, improves the naturalness and stability of walking, and significantly improves 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 prolonging the service life and reliability of the robot. It greatly improves the motion stability and flexibility of the traditional humanoid robot, and is expected to further promote the development and application of humanoid robots.

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

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

[0043] It should be noted that the four parallel four-bar transmission is used to realize the two-degree-of-freedom humanoid robot ankle foot structure, greatly increases the limit angle of the ankle joint horizontal rolling movement, and meets the requirement that the gravity center of the humanoid robot falls on the single foot when standing on a single leg, thereby realizing the single leg standing.

[0044] In the present application, the transmission of movement between the leg and the ankle-foot structure is realized by four parallel four-bar mechanisms, the change of the ankle joint is realized by motor driving, the movement of the hip joint drives the movement of the leg, and the left and right motor connecting rod mechanisms drive the movement of the ankle joint, realizing the two-degree-of-freedom movement of the ankle-foot structure of the humanoid robot. The ankle-foot structure with two degrees of freedom enhances the stability and flexibility of the robot, enabling it to more accurately adjust the posture and control the walking on complex and uneven terrain. The design of two degrees of freedom 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 motion ability and adaptability.

[0045] The operation mode of each parallel four-bar mechanism will be introduced below.

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

[0047] The rotation of the left trapezoidal rod 15 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 linear bearing through the fisheye bearing 16E below the calf connecting rod 16, and then drives the ankle-foot bottom plate 21 to move, to complete the movement of the second parallel four-bar mechanism.

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

[0049] The rotation of the right trapezoidal rod 15 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 linear bearing through the fisheye bearing 16E below the calf connecting rod 16, and then drives the ankle-foot bottom plate 21 to move, to complete the movement of the fourth parallel four-bar mechanism.

[0050] The up-and-down and left-and-right roll movements of the ankle joint are realized by the first, second, third, and fourth parallel four-bar mechanisms.

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

[0052] In a possible implementation, the motor base 12 is provided with limiting rubbers 12A and 12B on both sides of the groove, which limit and protect the motor base 12 and the crank 13.

[0053] In the present application, the limiting rubbers 12A and 12B can effectively reduce excessive friction and impact generated during the movement of mechanical components, prevent damage or wear of components due to excessive movement, and improve the reliability and service life of the system. At the same time, such limiting protection can also reduce the impact force during movement, ensure that the robot is more stable during high-speed movement or load change, and further improve the overall performance.

[0054] In a possible implementation, the thigh connecting rod 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 fish-eye bearing seat 16D, and a fish-eye bearing 16E. The second deep groove ball bearing seat 16B is arranged at one end of the second intermediate threaded rod 16A, the fish-eye 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 fish-eye bearing 16E is arranged in the fish-eye bearing seat 16D.

[0056] The fish-eye bearing 16E is sleeved on the foot shaft 18.

[0057] The upper part of the trapezoidal rod 15 is provided with a circular through hole, and the first deep groove ball bearing 14C is placed in the circular through hole. The lower part of the trapezoidal rod 15 is provided with a second groove and four third through holes. The first deep groove ball bearing 14C at the lower part of the thigh connecting rod 14 and the second deep groove ball bearing 16C at the upper part of the calf connecting rod 16 are placed in the second groove. Two pin shafts are placed in the four third through holes.

[0058] In the present application, a cross 23, two fish-eye bearings 16E, four deep groove ball bearings 16C, and two axially movable pin shafts are used at the ankle joint to connect the foot mechanism and the leg structure. The four shaft ends of the cross 23 are respectively matched with a deep groove ball bearing 16C to realize the connection of the foot and the calf and satisfy the two-degree-of-freedom movement. When the fish-eye bearing 16E reaches the limit position, the calf connecting rod 16 realizes the large-range roll movement of the ankle joint through the axial relative movement between the two movement shafts and the linear bearing, which satisfies the concentration of the center of gravity on the single foot when the humanoid robot stands on a single leg, and further realizes the single-leg standing of the humanoid robot.

[0059] The assembly of the motor connecting rod mechanism 1 is as follows: the motor 11 is fixedly connected with the thigh through the motor base 12, one side of the crank 13 is connected with the output shaft of the motor 11 through a bolt, the other side is provided with a groove and two through holes, the deep groove ball bearing 14C below the thigh connecting rod is placed in the groove, and the two through holes are provided with a pin shaft in interference fit, and the deep groove ball bearing 14C and the crank 13 are connected in series through the pin shaft; the deep groove ball bearing 16C above the lower leg connecting rod 16 is placed in the groove of the trapezoidal rod 15 and connected in series with the trapezoidal rod 15 through a pin shaft, and the fish-eye bearing 16E below is sleeved on the foot shaft 18 and interferingly fitted with the protruding part in the middle of the foot shaft 18; the trapezoidal rod 15, the thigh cover plate, the lower leg and the right trapezoidal rod 25 are connected in series through an internal hexagonal plug screw, so that the assembly of the motor connecting rod mechanism 1 is realized.

[0060] Further, the assembly of the motor connecting rod mechanism 1 and the ankle-foot structure 3 is as follows: the fish-eye bearing 16E below is sleeved on the foot shaft 18 and interferingly fitted with the protruding part in the middle of the foot shaft 18; the through hole above the first base 17 is provided with a linear bearing 17A, and bearing retainer 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 provided below the lower leg, and deep groove ball bearings are placed in the through holes, four shaft ends of the cross are respectively inserted into the inner rings of the deep groove ball bearings in the through holes of the lower leg and the deep groove ball bearings above the U-shaped base 34, and the fish-eye bearing 16E, the first base 17, the linear bearing 17A and the foot shaft 18 are used to realize the assembly of the motor connecting rod mechanism 1 and the ankle-foot structure 3.

[0061] In a possible implementation, the motor 11 is provided with a zero position detection device 19, the zero position detection device 19 includes a photoelectric sensing switch and a sensing piece, and the zero position detection device 19 is used for detecting the vertical standing position in the standing state of the humanoid robot.

[0062] In the present application, the motor of the left and right connecting rod mechanisms adopts a zero position detection mechanism, which can give an accurate zero position, greatly improves the accuracy of motor zero position calibration and the working efficiency of zero position calibration, increases the accuracy of motor output angle control, and thus improves the stability of robot movement and the accuracy of action.

[0063] In a possible implementation, the length ratio of the thigh connecting rod 14 to the lower leg connecting rod 16 is 1.2:1.

[0064] In the present application, the length ratio of the thigh link 14 and 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 gait naturalness of the humanoid robot. This ratio can better simulate the human motion mechanism, making the robot's movement more in line with the principles of biomechanics, and improving the stability and fluency of walking. At the same time, such design helps to optimize the balance control of the robot, making it more flexible and adaptable when performing complex actions.

[0065] The technical solutions provided by the embodiments of the present application have at least the following beneficial effects:

[0066] (1) In the embodiments of the present application, the left and right motors are synchronously driven to move the left and right cranks, which in turn drive the ankle-sole plate to move up and down. At the same time, the left and right motors are differentially driven to move the left and right cranks, which in turn drive the different step movements of the two parallel four-bar mechanisms on the left and right sides, realizing the large-scale left and right tilting movement of the ankle-sole plate in the ankle-foot structure, realizing the two degrees of freedom movement of the ankle joint, enhancing the stability and flexibility of the robot, and enabling the robot to more accurately adjust its posture and control its 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, and provide more accurate motion control, thereby improving the overall motion ability and adaptability.

[0067] (2) In the embodiments of the present application, the cross, fisheye bearing, linear bearing and two axles that can move axially are used to realize the connection between the motor link mechanism and the ankle-foot structure. When the fisheye bearing reaches the limit position, the shank link realizes the large-scale roll movement of the ankle joint through the axial relative movement between the axle and the linear bearing, and realizes the single-leg standing of the humanoid robot.

[0068] The embodiments of the present application provide a humanoid robot with a large-scale rollable ankle-foot structure.

[0069] The present application encompasses any substitutions, modifications, equivalent methods and solutions made to the essence and scope of the present application. In order for the public to have a thorough understanding of the present application, specific details are described in the preferred embodiments of the present application, and the present application can also be fully understood without these details by those skilled in the art. In addition, in order to avoid unnecessary confusion to the essence of the present application, well-known methods, processes, procedures, elements and circuits, etc. are not described in detail.

[0070] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principle of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application.

Claims

1. A humanoid robot ankle-foot structure that can roll laterally over a wide range, characterized by, The utility model relates to a kind of motor-driven artificial leg, including: Two motor link mechanisms and ankle-foot structures, the motor link mechanisms are left motor link mechanism and right motor link mechanism respectively; The motor link mechanism includes motor, motor base, crank, thigh link, trapezoidal rod, shank link, first base and foot shaft; The ankle-foot structure includes ankle-foot base plate, foot rubber, cross and second base; One side of the motor base is connected with thigh, and the other side is fixedly connected with the motor, one side of the crank is fixedly connected with the output shaft of the motor, and the other side is provided with first recess for placing the thigh link, the thigh link is connected with the shank link through the trapezoidal rod, and the shank link is connected with the first base; The first base is fixedly connected with the ankle-foot base plate below, two first through holes are provided above the first base, linear bearings are placed in the first through holes, the linear bearings are sleeved on the foot shaft, and the shank link is sleeved on the foot shaft through fish-eye bearing; The second base is fixedly connected with the ankle-foot base plate below, two second through holes are provided above the second base, deep groove ball bearings are placed in the second through holes, the deep groove ball bearings are sleeved on the cross, and the foot rubber is fixedly connected on the ankle-foot base plate.

2. The highly omnidirectional-rolling anthropomorphic robot ankle-foot structure of claim 1, wherein, Limiting rubbers are fixedly arranged on both sides of the recess of the motor base, and the limiting rubbers limit and protect the motor base and the crank.

3. The highly omnidirectional rollable anthropomorphic robot ankle-foot structure of claim 1, wherein, The thigh link includes first intermediate threaded rod, two first deep groove ball bearing seats and two first deep groove ball bearings, two first deep groove ball bearing seats are arranged at both ends of the intermediate threaded rod respectively, and the first deep groove ball bearings are arranged in the first deep groove ball bearing seats; The shank link includes second intermediate threaded rod, second deep groove ball bearing seat, second deep groove ball bearing, fish-eye bearing seat and fish-eye bearing, the second deep groove ball bearing seat is arranged at one end of the second intermediate threaded rod, the fish-eye 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 fish-eye bearing is arranged in the fish-eye bearing seat; The fish-eye bearing is sleeved on the foot shaft; The trapezoidal rod is provided with circular through hole above, the first deep groove ball bearings are placed in the circular through hole, a second recess and four third through holes are formed in the lower part of the trapezoidal rod, the first deep groove ball bearings below the thigh link and the second deep groove ball bearings above the shank link are placed in the second recess, and two pin shafts are placed in the four third through holes.

4. The highly omnidirectional rollable anthropomorphic robot ankle-foot structure of claim 1, wherein, The crank, the thigh link, the trapezoidal rod, the shank link, thigh body, shank body and the ankle-foot base plate form a plurality of link mechanisms.

5. The highly omnidirectional rollable anthropomorphic robot ankle-foot structure of claim 4, wherein, 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 shank connecting rod, the ankle foot plate and the shank 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 shank connecting rod, the ankle foot plate and the shank body on the right side constitute a fourth parallel four-bar mechanism.

6. The highly omnidirectional rollable anthropomorphic robot ankle-foot structure of claim 5, wherein, The motor on the left side drives the rotation of the crank, drives the rotation of the thigh connecting rod around the pin shaft, and then drives the rotation of the trapezoidal rod around the hexagonal socket screw, so as to complete the movement of the first parallel four-bar mechanism. The rotation of the trapezoidal rod on the left side drives the up-and-down rotation of the shank connecting rod around the pin shaft, drives the relative movement of the foot shaft along the axial direction of the linear bearing through the fisheye bearing below the shank connecting rod, and then drives the movement of the ankle foot plate, so as to complete the movement of the second parallel four-bar mechanism. The motor on the right side drives the rotation of the crank, drives the rotation of the thigh connecting rod around the pin shaft, and then drives the rotation of the trapezoidal rod around the hexagonal socket screw, so as to complete the movement of the third parallel four-bar mechanism. The rotation of the trapezoidal rod on the right side drives the up-and-down rotation of the shank connecting rod around the pin shaft, drives the relative movement of the foot shaft along the axial direction of the linear bearing through the fisheye bearing below the shank connecting rod, and then drives the movement of the ankle foot plate, so as to complete the movement of the fourth parallel four-bar mechanism. The up-and-down and left-and-right roll movements of the ankle joint are realized through the first, second, third and fourth parallel four-bar mechanisms.

7. The highly omnizoolable anthropomorphic robot ankle-foot structure of claim 1, wherein, A zero position detection device is arranged on the motor, and the zero position detection device comprises a photoelectric sensing switch and a sensing piece, and is used for detecting the vertical standing position in the standing state of the humanoid robot.

8. The highly omnizoolable anthropomorphic robot ankle-foot structure of claim 1, wherein, The length ratio of the thigh connecting rod to the shank connecting rod is 1.2:

1.

9. The highly omnizoolable anthropomorphic robot ankle-foot structure of claim 1, wherein, One side of the motor base is connected with the thigh through a hexagonal cylindrical head screw, one side of the crank is fixedly connected with the output shaft of the motor through a bolt, the first base is fixedly connected with the ankle foot plate through a bolt below, the second base is fixedly connected with the ankle foot plate through a bolt below, and the foot rubber is fixedly connected on the ankle foot plate through four side and bottom threaded holes.

10. A robot, characterized in that The humanoid robot ankle foot structure with a wide range of roll includes the humanoid robot ankle foot structure according to any one of claims 1 to 9.

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