Leg assembly for robot and robot

Abstract

The invention relates to a leg assembly for a robot and the robot, and relates to the technical field of robots. The leg assembly comprises a thigh connecting rod, a shank connecting rod, a driving assembly and a connecting assembly. The shank connecting rod is movably connected with one end of the thigh connecting rod, and the driving assembly is arranged at the other end of the thigh connecting rod and located outside the thigh connecting rod; the driving assembly is connected with the shank connecting rod through the connecting assembly; the driving assembly is used for driving the connecting assembly to drive the shank connecting rod to move. When the shank of the robot needs to move, the driving assembly transmits the movement to the shank by driving the connecting assembly, and the shank connecting rod is driven to rotate around the knee joint. According to the robot, the driving assembly of the shank connecting rod is arranged above the thigh connecting rod, the overall inertia of the robot can be reduced, and the robot has better movement capacity.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a leg component for a robot and a robot. Background Art

[0002] To achieve the movement or walking of a robot, a reasonable mechanical structure needs to be designed.

[0003] In the related art, the drive of the calf is usually arranged on the thigh or the knee joint, and a polygonal link mechanism is used to achieve long-distance motion transmission.

[0004] However, the mechanical structure in the related art will increase the inertia of the legs of a biped robot and increase the burden on the main drive servo. Summary of the Invention

[0005] This application provides a leg component for a robot and a robot, which can reduce the overall inertia of a biped robot; the technical solution is as follows:

[0006] According to one aspect of this application, a leg component for a robot is provided, and the leg component includes:

[0007] A thigh link, a calf link, a drive component, and a connection component;

[0008] The calf link is movably connected to one end of the thigh link, the drive component is arranged at the other end of the thigh link and is located outside the thigh link;

[0009] The drive component is connected to the calf link through the connection component;

[0010] The drive component is used to drive the connection component to drive the calf link to move.

[0011] In some embodiments, the leg component further includes: a hip joint component;

[0012] The hip joint component is connected to the end of the thigh link far from the calf link.

[0013] In some embodiments, the drive component is fixedly connected to the hip joint component.

[0014] In some embodiments, the hip joint component includes the drive component.

[0015] In some embodiments, the drive component includes: a first drive servo;

[0016] The driving disc of the first drive servo is connected to the connection component to drive the connection component.

[0017] In some embodiments, the connecting component includes: a gear assembly, a swing rod, and a connecting rod assembly;

[0018] The driving disk of the first driving servo is in transmission connection with the gear assembly to drive the gear assembly;

[0019] One end of the swing rod is connected to the gear assembly, and the other end of the swing rod is movably connected to the connecting rod assembly;

[0020] One end of the connecting rod assembly away from the swing rod is movably connected to the calf connecting rod.

[0021] In some embodiments, the gear assembly includes: a driving gear and a driven gear;

[0022] The driving gear is fixedly connected to the driving disk of the first driving servo;

[0023] The driving gear is in transmission connection with the driven gear;

[0024] One end of the swing rod is fixedly connected to the driven gear.

[0025] In some embodiments, the gear assembly further includes: a first flange;

[0026] One end of the first flange is fixedly connected to the driving disk of the first driving servo, and the other end of the first flange is fixedly connected to the driving gear.

[0027] In some embodiments, the driving component further includes: a second driving servo;

[0028] The driving disk of the second driving servo is connected to the thigh connecting rod to drive the thigh connecting rod;

[0029] The gear assembly further includes: a second flange and a bearing assembly;

[0030] One end of the second flange is fixedly connected to the driving disk of the second driving servo, and the other end of the second flange is connected to the bearing assembly;

[0031] The driven gear is sleeved on the bearing assembly.

[0032] In some embodiments, the connecting rod assembly includes: a first spherical eye screw, a first flange bearing, a first bolt, and a first nut;

[0033] The first bolt passes through the hole of the first spherical eye screw, the first flange bearing, and the first nut;

[0034] One end of the swing rod away from the driven gear is sleeved on the first flange bearing.

[0035] In some embodiments, the link assembly includes: a second fish-eye screw, a second flange bearing, a second bolt, and a second nut;

[0036] The second bolt passes through the hole of the second fish-eye screw, the second flange bearing, and the second nut;

[0037] The calf link is sleeved on the second flange bearing.

[0038] In some embodiments, the link assembly further includes: a stud;

[0039] One end of the stud is connected to the first fish-eye screw, and the other end of the stud is connected to the second fish-eye screw.

[0040] In some embodiments, one end of the stud is provided with a first long thread for connecting the first fish-eye screw, and the other end of the stud is provided with a second long thread for connecting the second fish-eye screw;

[0041] The thread helix direction of the first long thread is opposite to that of the second long thread.

[0042] In some embodiments, one end of the calf link is pivotally connected to one end of the thigh link;

[0043] At the end of the calf link pivotally connected to the thigh link, a protruding rod extends in a direction perpendicular to the calf link; and the extending direction of the protruding rod is perpendicular to the axial direction of the pivotal connection between the calf link and the thigh link;

[0044] The top end of the protruding rod is sleeved on the second flange bearing.

[0045] According to one aspect of the present application, a robot is provided, and the robot includes at least two sets of the above-mentioned leg assemblies.

[0046] The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

[0047] The leg assembly of the present application includes a thigh link, a calf link, a driving component, and a connecting component; the calf link is movably connected to one end of the thigh link, the driving component is disposed at the other end of the thigh link and is located outside the thigh link; the driving component is connected to the calf link through the connecting component; the driving component is used to drive the connecting component to drive the calf link to move. When the calf of the robot needs to move, the driving component drives the connecting component to transmit the movement to the calf, driving the calf link to rotate around the knee joint. The present application disposes the driving component of the calf link above the thigh link, which can reduce the overall inertia of the robot and enable the robot to have better movement ability. Brief Description of the Drawings

[0048] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0049] Figure 1 is a schematic diagram of a leg assembly for a robot provided by an exemplary embodiment of the present application;

[0050] Figure 2 is a schematic diagram of a leg assembly for a robot provided by another exemplary embodiment of the present application;

[0051] Figure 3 is an exploded view of a gear assembly provided by an exemplary embodiment of the present application;

[0052] Figure 4 is an exploded view of a gear assembly provided by another exemplary embodiment of the present application;

[0053] Figure 5 is an exploded view of the connection between a second driving servo and a thigh link provided by an exemplary embodiment of the present application;

[0054] Figure 6 is a schematic diagram of a driving assembly provided by an exemplary embodiment of the present application;

[0055] Figure 7 is a schematic diagram of a leg assembly for a robot provided by yet another exemplary embodiment of the present application;

[0056] Figure 8 is an exploded view of a link assembly provided by an exemplary embodiment of the present application;

[0057] Figure 9 is an exploded view of a link assembly provided by another exemplary embodiment of the present application;

[0058] Figure 10 is a schematic diagram of a leg assembly for a robot provided by still another exemplary embodiment of the present application;

[0059] Figure 11 is a schematic diagram of a robot provided by an exemplary embodiment of the present application.

[0060] Among them, the reference numerals in the drawings:

[0061] 1 - Thigh connecting rod; 2 - Calf connecting rod, 201 - Protruding rod; 3 - Driving assembly; 301 - First driving servo, 302 - Second driving servo, 303 - Third driving servo; 4 - Connecting assembly; 41 - Gear assembly, 411 - Driving gear, 412 - Driven gear, 413 - First flange, 414 - Second flange, 415 - Bearing assembly, 4151 - First gasket, 4152 - First thin-walled bearing, 4153 - Second gasket, 4154 - Second thin-walled bearing; 42 - Swing rod; 43 - Link assembly, 431 - First spherical eye screw, 432 - First flange bearing, 433 - First bolt, 434 - First nut, 435 - Second spherical eye screw, 436 - Second flange bearing, 437 - Second bolt, 438 - Second nut, 439 - Stud; 5 - First bracket; 6 - Heightening gasket; 7 - Second bracket; 8 - Third bracket; 9 - Rotating assembly; 901 - First connecting plate, 902 - Third flange bearing; 10 - Fourth bracket; 11 - Second connecting plate; 12 - Fifth bracket.

[0062] The accompanying drawings here are incorporated into and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Detailed implementation manners

[0063] To make the objectives, technical solutions and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0064] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0065] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms "a", "the" and "said" used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0066] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions. For example, the object behaviors such as attack operations involved in this application are obtained under full authorization.

[0067] It should be understood that although the terms first, second, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, the first parameter may also be referred to as the second parameter, and similarly, the second parameter may also be referred to as the first parameter. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0068] Artificial Intelligence (AI) is a theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a way similar to human intelligence. Artificial intelligence also studies the design principles and implementation methods of various intelligent machines, enabling the machines to have the functions of perception, reasoning, and decision-making.

[0069] Artificial intelligence technology is an interdisciplinary subject with a wide range of fields involved, including both hardware-level technologies and software-level technologies. The basic technologies of artificial intelligence generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, and mechatronics. The software technologies of artificial intelligence mainly include several major directions such as computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0070] With the research and progress of artificial intelligence technology, artificial intelligence technology has been studied and applied in multiple fields. For example, common applications include smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, driverless, autonomous driving, drones, robots, smart healthcare, smart customer service, etc. It is believed that with the development of technology, artificial intelligence technology will be applied in more fields and play an increasingly important role.

[0071] The technical solution of this application mainly relates to robot technology in artificial intelligence technology, and mainly relates to robot intelligent control. A robot is a mechatronic device composed of mechanical transmission and modern microelectronics technology, which can imitate a certain skill of a human. Robots are developed on the basis of electronics, machinery and information technology. A robot doesn't necessarily have to look like a human. As long as it can autonomously complete the tasks and commands given by humans, it belongs to the family of robots. A robot is an automated machine that has some intelligent capabilities similar to humans or living organisms, such as perception ability, planning ability, motion ability and cooperation ability. It is an automated machine with high flexibility. With the development of computer technology and artificial intelligence technology, robots have been greatly improved in terms of function and technology level. Mobile robots and technologies such as robot vision and touch are typical representatives.

[0072] In the past half century, bipedal robots have rapidly developed from the most basic automatic devices into a global interdisciplinary research field. The continuously developed advanced robots have increased the research difficulty in theory and methods, and at the same time promoted the development of many disciplines such as mechanics, machinery, information and control. Bipedal robots can assist humans in performing tasks or activities in dangerous environments, and use their two legs to achieve stable and variable gaits on outdoor complex terrains. It is expected to be applied in industries such as personal assistance and care, education and entertainment, search and rescue, manufacturing and maintenance, public services and healthcare.

[0073] In the current research on bipedal robots, some domestic research institutions have made great progress in aspects such as motion control, gait planning and autonomous navigation of bipedal robots. However, in the mechanical structure of the bipedal robot prototype, especially in the layout of its transmission device, there is a lack of reasonable innovative design.

[0074] Traditional drive devices are placed at the rotary joints. However, this method will increase the inertia of the bipedal robot's legs and increase the burden on the main drive servo motors. If the drive servo motor of the knee joint is placed at the thigh link, it will make the mass at the link too large, causing the model of the physical prototype to deviate from the inverted pendulum model and the link model. And the current main control strategies are established based on the inverted pendulum model or the link model. The inverted pendulum model requires the mass of the robot to be as concentrated as possible, and the link model requires the mass at the link to be as light as possible, with the mass concentrated at the rotation center.

[0075] Therefore, the design of the transmission mechanism of bipedal robots will directly affect the compatibility between the control strategy and the physical prototype of the robot and its motion performance ability, and further optimization and improvement of its transmission structure are needed.

[0076] Please refer to Figure 1 , which shows a schematic diagram of a leg assembly for a robot provided by an exemplary embodiment of this application.

[0077] As shown Figure 1 in the figure, the leg assembly includes:

[0078] a thigh link 1, a calf link 2, a driving assembly 3 and a connecting assembly 4;

[0079] One end of the calf link 2 is movably connected to one end of the thigh link 1, and the driving assembly 3 is arranged at the other end of the thigh link 1 and is located outside the thigh link 1;

[0080] The driving assembly 3 is connected to the calf link 2 through the connecting assembly 4;

[0081] The driving assembly 3 is used to drive the connecting assembly 4 to drive the calf link 2 to move.

[0082] In the embodiment of the present application, taking a robot in a standing state with its head in a neutral position as an example, the orientation of the head of the robot is set as up, the orientation of the feet is set as down, the orientation of the face of the robot is set as forward, and the left side direction of the robot is set as left. All the subsequent orientation relationships (such as up, down, left, right, front, back, etc.) involved in the present application are based on this. Among them, the limitation of the above orientation relationship is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present application.

[0083] That is to say, the calf link 2 is movably connected to the lower end of the thigh link 1, and the movable connection part between the calf link 2 and the thigh link 1 is the knee joint.

[0084] The driving assembly 3 is arranged above the thigh link 1 and is located outside the thigh link 1.

[0085] Among them, the driving assembly 3 can be arranged at the hip joint of the robot.

[0086] One end of the connecting assembly 4 is connected to the driving assembly 3, and the other end of the connecting assembly 4 is connected to the calf link 2. The driving assembly 3 can drive the connecting assembly 4, and then the connecting assembly 4 drives the calf link 2, realizing the movement of the driving assembly 3 driving the calf link 2 through the connecting assembly 4.

[0087] Among them, the driving assembly 3 can drive the calf link 2 to rotate around the knee joint.

[0088] To sum up, based on the structural design shown in the above embodiments, when the calf of the robot needs to move, the driving assembly transmits the movement to the calf through the driving connecting assembly, driving the calf link to rotate around the knee joint. In the present application, the driving assembly of the calf link is arranged above the thigh link, which can reduce the overall inertia of the robot and enable the robot to have better movement ability.

[0089] In some embodiments, the leg assembly further includes: a hip joint assembly;

[0090] The hip joint assembly is connected to one end of the thigh link 1 away from the calf link 2.

[0091] In the embodiments of the present application, the hip joint assembly can be disposed above the thigh link 1 and connected to the thigh link 1.

[0092] Wherein, the hip joint assembly being disposed above the thigh link 1 means that when the robot is in a standing state, the hip joint assembly is located above the thigh link 1.

[0093] In some embodiments, the leg assembly further includes: a fourth driving servo;

[0094] The driving disc of the fourth driving servo is connected to the hip joint assembly to drive the hip joint assembly to drive the thigh link 1 and the calf link 2 to move, and the overall rotational movement of the hip joint assembly, the thigh link 1 and the calf link 2 can be realized.

[0095] In some embodiments, the driving assembly 3 is fixedly connected to the hip joint assembly.

[0096] In the embodiments of the present application, the driving assembly 3 can be disposed outside the hip joint assembly, and the driving assembly 3 can be fixedly connected to the hip joint assembly through a support member.

[0097] In some embodiments, the hip joint assembly includes the driving assembly 3.

[0098] In the embodiments of the present application, the driving assembly 3 can also be included in the hip joint assembly, that is to say, the driving assembly 3 can be set as a part of the hip joint assembly.

[0099] Based on the above embodiments, please refer to Figure 2 , which shows a schematic diagram of a leg assembly for a robot provided by another exemplary embodiment of the present application.

[0100] As Figure 2 shown, the driving assembly 3 includes: a first driving servo 301;

[0101] The driving disc of the first driving servo 301 is connected to the connecting assembly 4 to drive the connecting assembly 4.

[0102] Wherein, the driving disc refers to a component in the driving servo that can actively rotate.

[0103] In the embodiments of the present application, the first driving servo 301 drives the calf link 2 to move by driving the connecting assembly 4.

[0104] As Figure 2As shown, the above-mentioned connecting component 4 includes: a gear component 41, a swing rod 42, and a connecting rod component 43;

[0105] The driving disc of the first driving servo 301 is in transmission connection with the gear component 41 to drive the gear component 41;

[0106] One end of the swing rod 42 is connected to the gear component 41, and the other end of the swing rod 42 is movably connected to the connecting rod component 43;

[0107] The end of the connecting rod component 43 away from the swing rod 42 is movably connected to the calf connecting rod 2.

[0108] In the embodiment of the present application, the first driving servo 301 drives the gear component 41, drives the swing rod 42 and the connecting rod component 43, so as to realize the movement of the calf connecting rod 2.

[0109] As Figure 2 shown, the above-mentioned gear component 41 includes: a driving gear 411 and a driven gear 412;

[0110] The driving gear 411 is fixedly connected to the driving disc of the first driving servo 301;

[0111] The driving gear 411 is in transmission connection with the driven gear 412;

[0112] One end of the swing rod 42 is fixedly connected to the driven gear 412.

[0113] In the embodiment of the present application, the first driving servo 301 drives the driving gear 411, drives the driven gear 412, and further drives the swing rod 42 and the connecting rod component 43, so as to realize the movement of the calf connecting rod 2.

[0114] In some embodiments, the above-mentioned gear component 41 further includes: a gear belt;

[0115] The gear belt is sleeved on the driving gear 411 and the driven gear 412.

[0116] Wherein, the driving gear 411 transmits the rotational movement of the first driving servo 301 to the driven gear 412 through the meshing of the gear belt.

[0117] In the embodiment of the present application, the driving gear 411 and the driven gear 412 are in transmission connection through a gear belt with a suitable length. Among them, since the gear belt has a certain elasticity, and real-time movement transmission is required between the driving gear 411 and the driven gear 412, the gear belt needs to have a certain tension when installed.

[0118] In some embodiments, four threaded holes of the same size are formed in the driven gear 412, and four through holes of the same size are formed in the swing rod 42 at the same position. The swing rod 42 and the driven gear 412 can be fixedly connected by four long bolts.

[0119] Please refer to Figure 3 , which shows an exploded view of a gear assembly provided by an exemplary embodiment of the present application.

[0120] As Figure 2 shown, the above-mentioned gear assembly 41 further includes: a first flange 413;

[0121] One end of the first flange 413 is fixedly connected to the driving disk of the first driving servo 301, and the other end of the first flange 413 is fixedly connected to the driving gear 411.

[0122] In the embodiment of the present application, the above-mentioned driving gear 411 is fixedly connected to the driving disk of the first driving servo 301 through the first flange 413.

[0123] Among them, as Figure 3 shown, the first flange 413 is a disk with a hollow center, and a protruding hollow column is provided along the hollow axis in the hollow center. The hollow column is used for sleeving the driving gear 411. The middle of the first flange 413 is made hollow to accommodate the protruding bolt head of the driving disk of the first driving servo 301.

[0124] In some embodiments, the first driving servo 301, the first flange 413 and the driving gear 411 can be fixedly connected by long bolts.

[0125] Among them, four through holes of the same size are formed at the same position on the driving gear 411 and the first flange 413, and four threaded holes of the same size are formed on the driving disk of the first driving servo 301. The driving gear 411 and the first flange 413 can be fixed to the driving disk of the first driving servo 301 by four long bolts.

[0126] Please refer to Figure 4 , which shows an exploded view of a gear assembly provided by another exemplary embodiment of the present application.

[0127] As Figure 2 shown, the above-mentioned drive assembly 3 further includes: a second driving servo 302;

[0128] The driving disk of the second driving servo 302 is connected to the thigh link 1 to drive the thigh link 1;

[0129] The gear assembly 41 further includes: a second flange 414 and a bearing assembly 415;

[0130] One end of the second flange 414 is fixedly connected to the driving disc of the second driving steering gear 302, and the other end of the second flange 414 is connected to the bearing assembly 415;

[0131] The driven gear 412 is sleeved on the bearing assembly 415.

[0132] Among them, the driven gear 412 is sleeved on the bearing assembly 415, which can not only realize the installation of the driven gear 412, so that the center of the driven gear 412 is located at the rotation center of the second driving steering gear 302; but also realize the independent rotational movement of the driven gear 412 without being interfered by the second driving steering gear 302, so that the independent movement of the calf connecting rod 2 will not affect the movement of the thigh connecting rod 1.

[0133] In the embodiment of the present application, the above-mentioned driven gear 412 realizes radial limit through the second flange 414 and the bearing assembly 415, and the bearing assembly 415 can prevent the rotation of the second flange 414 driven by the second driving steering gear 302 from interfering with the rotation of the driven gear 412.

[0134] Among them, as Figure 4 shown, the second flange 414 is a disc with a hollow center, and a protruding hollow column is provided along the hollow axis in the hollow center. The hollow column is used to sleeve the bearing assembly 415. The middle of the second flange 414 is made hollow to accommodate the protruding bolt head of the driving disc of the second driving steering gear 302.

[0135] In some embodiments, the second flange 414 has the same structure as the first flange 413.

[0136] In some embodiments, the second driving steering gear 302 and the second flange can be fixedly connected by long bolts.

[0137] Among them, the driven gear 412 is provided with a plurality of through holes of the same size, and a plurality of threaded holes of the same size are correspondingly provided on the driving disc of the second driving steering gear 302. The second flange 414 can be fixed to the driving disc of the first driving steering gear 301 by a plurality of long bolts.

[0138] As Figure 4 shown, the bearing assembly 415 includes a first gasket 4151, a first thin-walled bearing 4152, a second gasket 4153, and a second thin-walled bearing 4154 that are sequentially sleeved on the hollow column of the second flange 414.

[0139] Among them, the second flange 414 can be fixed to the driving disk of the second driving steering gear 302 by bolts. The bolts may protrude from the surface of the second flange 414. The first gasket 4151 can isolate the bolts from the first thin-wall bearing 4152, and the second gasket 4153 can isolate the first thin-wall bearing 4152 from the second thin-wall bearing 4154, preventing the failure of the first thin-wall bearing 4152 or the second thin-wall bearing 4154.

[0140] Among them, the first thin-wall bearing 4152 and the second thin-wall bearing 4154 are determined according to specific dimensions and are standard parts, which can better reduce costs.

[0141] Please refer to Figure 5 , which shows an exploded view of the connection between the second driving steering gear and the thigh link provided by an exemplary embodiment of the present application.

[0142] As Figure 5 shown, the driving disk of the second driving steering gear 302 can be connected to the thigh link 1 through the first bracket 5. The top of the first bracket 5 is fixedly connected to the driving disk of the second driving steering gear 302, and the bottom of the first bracket 5 is fixedly connected to the top of the thigh link 1.

[0143] In the embodiment of the present application, since there is a bolt protruding outward at the rotation center of the driving disk of the second driving steering gear 302, the connection between the first bracket 5 and the driving disk of the second driving steering gear 302 is set as a semi-circle. During connection and installation, the second driving steering gear 302 is placed into the first bracket 5 from the top of the first bracket 5, so that the top of the first bracket 5 is aligned with the driving disk of the second driving steering gear 302, realizing the assembly of the driving disk of the second driving steering gear 302 and the thigh link 1.

[0144] Among them, there is a space left between the bottom of the second driving steering gear 302 and the first bracket 5 to accommodate the rotation of the first bracket 5 following the driving disk of the second driving steering gear 302, preventing movement failure.

[0145] Among them, the inner side of the top of the first bracket 5 is fixedly connected to the driving disk of the second driving steering gear 302, and the outer side of the top of the first bracket 5 is fixedly connected with a second flange 414. Since the top of the first bracket 5 is a semi-circle and cannot cover the entire driving disk of the second driving steering gear 302, a heightening gasket 6 needs to be added to assist in installing the second flange 414 before installing the second flange 414, and the heightening gasket 6 moves along with the movement of the driving disk of the second driving steering gear 302.

[0146] One side of the spacer 6 is fixedly connected to the driving disc of the second driving servo 302 and is disposed outside the first bracket 5. The other side of the spacer 6 is fixedly connected to the second flange 414 to fill the gap between the driving disc of the second driving servo 302 and the second flange 414 above the first bracket 5, so that the second flange 414 can be reasonably stressed during installation.

[0147] Please refer to Figure 6 , which shows a schematic diagram of the driving assembly provided by an exemplary embodiment of the present application.

[0148] As Figure 6 shown, the above-mentioned driving assembly 3 further includes: a third driving servo 303;

[0149] The driving disc of the third driving servo 303 is connected to the thigh link 1 to drive the thigh link 1.

[0150] In the embodiment of the present application, the second driving servo 302 can control the front and back swing of the thigh link 1, and the third driving servo 303 can control the lateral swing of the thigh link 1.

[0151] In the embodiment of the present application, the first driving servo 301 and the third driving servo 303 are oppositely arranged and are disposed on the adjacent surface of the plane where the driving disc of the second driving servo 302 is located.

[0152] Among them, the third driving servo 303 can be connected to the second driving servo 302 through the second bracket 7, that is, it can be connected to the thigh link 1. One end of the second bracket 7 is fixedly connected to the rear side surface of the second driving servo 302, and the other end of the second bracket 7 is fixedly connected to the third driving servo 303.

[0153] The surface where the driving disc of the third driving servo 303 is located is close to the second driving servo 302, and there is a space for assembling the third bracket 8 and rotating the driving disc of the third driving servo 303.

[0154] Among them, the third bracket 8 can be used as a part of the hip joint assembly.

[0155] Optionally, the third bracket 8 is in an inverted U shape and is suspended above the second driving servo 302. The top of the third bracket 8 is fixedly connected to the driving disc of the fourth driving servo, one bottom of the third bracket 8 is fixedly connected to the driving disc of the third driving servo 303, and the other bottom of the third bracket 8 is rotatably connected to the second driving servo 302 through a rotating assembly 9.

[0156] When the fourth driving servo operates, the driving disc of the fourth driving servo can drive the overall rotation of the leg assembly; when the third driving servo 303 operates, the driving disc of the third driving servo 303 can drive the overall lateral swing of the leg assembly; when the second driving servo 302 operates, the driving disc of the second driving servo 302 can drive the overall front-back swing of the leg assembly.

[0157] Wherein, the rotating assembly 9 includes a first connecting disc 901 and a third flange bearing 902. One end of the first connecting disc 901 is used for fixedly connecting with the third bracket 8, the other end of the first connecting disc 901 is fixedly connected with the third flange bearing 902, and the third flange bearing 902 is sleeved with a fourth bracket 10.

[0158] Optionally, the fourth bracket 10 is fixed to the second driving servo 302, and a rotating space for the third flange bearing 902 is left between the fourth bracket 10 and the front side of the second driving servo 302.

[0159] Optionally, a second connecting disc 11 symmetrical to the first connecting disc 901 is further provided on the front side of the third bracket 8, and a fifth bracket 12 for installing the first driving servo 301 is provided on the front side of the second connecting disc 11. A gap for assembling bolts is left between the first driving servo 301 and the side of the fifth bracket 12 for installing the second connecting disc 11, and a distance of 3 mm can be left. The second connecting disc 11, the fifth bracket 12 and the first driving servo 301 can rotate along with the rotation of the third bracket 8, that is, move under the drive of the fourth driving servo, but will not be driven by the second driving servo 302 or the third driving servo 303.

[0160] Wherein, for the convenience of assembly, the first bracket 5, the second bracket 7 and the fifth bracket 12 can all be U-shaped bending plates, and the second driving servo 302, the third driving servo 303 and the first driving servo 301 are respectively installed in the space formed by the bending edges of the first bracket 5, the second bracket 7 and the fifth bracket 12, which is convenient for the stability of assembly.

[0161] Based on the above embodiments, please refer to Figure 7 , which shows a schematic diagram of a leg assembly for a robot provided by another exemplary embodiment of the present application.

[0162] Please refer to Figure 8 , which shows an exploded view of a link assembly provided by an exemplary embodiment of the present application.

[0163] As Figure 8 shown, the above link assembly 43 includes: a first spherical eye screw 431, a first flange bearing 432, a first bolt 433 and a first nut 434;

[0164] The first bolt 433 passes through the hole of the first fish-eye screw 431, the first flange bearing 432, and the first nut 434;

[0165] One end of the swing rod 42 away from the driven gear 412 is sleeved on the first flange bearing 432.

[0166] Wherein, the first bolt 433 and the first nut 434 have the same-sized threads and cooperate with each other to coaxialize the first fish-eye screw 431, the swing rod 42, and the first flange bearing 432.

[0167] In the embodiment of the present application, the first bolt 433 and the first nut 434 are used to limit the positions of the first fish-eye screw 431 and the first flange bearing 432;

[0168] The first flange bearing 432, on the one hand, is used to radially limit the swing rod 42 to prevent the swing rod 42 from shifting in position during movement; on the other hand, it enables the swing rod 42 to rotate better at the corresponding connection, reduces the resistance at the turning point, and minimizes the friction and energy loss at the connection.

[0169] Wherein, the two ends of the swing rod 42 are of different sizes and are both provided with through holes. Threaded holes for fixedly connecting with the driven gear 412 are provided on the outer circle of the through hole at the larger end; the through hole at the smaller end is used to be sleeved on the first flange bearing 432.

[0170] In some embodiments, three plastic washers are also sleeved on the first bolt 433, as Figure 8 shown, and can be respectively arranged between the first bolt 433 and the first fish-eye screw 431, between the first fish-eye screw 431 and the first flange bearing 432, and between the first flange bearing 432 and the first nut 434. The three plastic washers can prevent the inner and outer rings of the first flange bearing 432 from contacting the same component simultaneously, resulting in the failure of the relative movement of the bearing, and improve the efficiency during the movement transmission process.

[0171] Wherein, the plastic washer arranged between the first bolt 433 and the first fish-eye screw 431 is used to isolate the first fish-eye screw 431 and the first bolt 433 to prevent the inner and outer rings of the first fish-eye screw 431 from contacting the first bolt 433 simultaneously;

[0172] The plastic washer arranged between the first fish-eye screw 431 and the first flange bearing 432 is used to isolate the swing rod 42 and the first fish-eye screw 431, and can also be used to prevent the first fish-eye screw 431 and the first flange bearing 432 from contacting each other;

[0173] A plastic gasket is provided between the first flange bearing 432 and the first nut 434 to isolate the first nut 434 from the first flange bearing 432, so that the first flange bearing 432 can rotate independently between the inner and outer rings normally.

[0174] Please refer to Figure 9 , which shows an exploded view of the connecting rod assembly provided by another exemplary embodiment of the present application.

[0175] As Figure 9 shown, the above-mentioned connecting rod assembly 43 includes: a second fish-eye screw 435, a second flange bearing 436, a second bolt 437, and a second nut 438;

[0176] The second bolt 437 passes through the hole of the second fish-eye screw 435, the second flange bearing 436, and the second nut 438;

[0177] The calf connecting rod 2 is sleeved on the second flange bearing 436.

[0178] In the embodiment of the present application, the second bolt 437 and the second nut 438 are used to limit the second fish-eye screw 435 and the second flange bearing 436;

[0179] The second flange bearing 436, on the one hand, is used to radially limit the calf connecting rod 2 to prevent the calf connecting rod 2 from shifting during movement; on the other hand, it enables the calf connecting rod 2 to rotate better at the corresponding connection, reduces the resistance at the turning point, and minimizes the friction and energy loss at the connection.

[0180] As Figure 7 shown, the above-mentioned connecting rod assembly 43 further includes: a stud 439;

[0181] One end of the stud 439 is connected to the first fish-eye screw 431, and the other end of the stud 439 is connected to the second fish-eye screw 435.

[0182] In the embodiment of the present application, the first fish-eye screw 431 and the second fish-eye screw 435 transmit motion through the stud 439.

[0183] In some embodiments, one end of the above-mentioned stud 439 is provided with a first long thread for connecting the first fish-eye screw 431, and the other end of the stud 439 is provided with a second long thread for connecting the second fish-eye screw 435;

[0184] The thread helix direction of the first long thread is opposite to that of the second long thread.

[0185] One end of the first fisheye screw rod 431 connected to the double-headed stud 439 is provided with a first threaded hole corresponding to the first long thread for threaded connection between the first fisheye screw rod 431 and the double-headed stud 439; one end of the second fisheye screw rod 435 connected to the double-headed stud 439 is provided with a second threaded hole corresponding to the second long thread for threaded connection between the second fisheye screw rod 435 and the double-headed stud 439.

[0186] In the embodiment of the present application, by rotating the double-headed stud 439, the distance between the first fisheye screw rod 431 and the second fisheye screw rod 435 can be controlled.

[0187] Both ends of the double-headed stud 439 are provided with long threads, and the long threads at both ends have opposite helix directions, so that the effective length between the two fisheye screw rods can be adjusted more flexibly, thereby achieving a more ingenious length ratio relationship, which is more convenient for adjusting the transmission ratio.

[0188] Based on the above embodiments, please refer to Figure 10 which shows a schematic diagram of a leg assembly for a robot provided by another exemplary embodiment of the present application.

[0189] As Figure 10 shown, one end of the above-mentioned calf connecting rod 2 is axially connected to one end of the thigh connecting rod 1;

[0190] At one end of the calf connecting rod 2 axially connected to the thigh connecting rod 1, a protruding rod 201 extends in a direction perpendicular to the calf connecting rod 2; and the extending direction of the protruding rod 201 is perpendicular to the axial direction of the axial connection between the calf connecting rod 2 and the thigh connecting rod 1;

[0191] The top end of the protruding rod 201 is sleeved on the second flange bearing 436.

[0192] In the embodiment of the present application, the first driving servo 301 drives the protruding rod 201 to rotate around the knee joint through the driving connection assembly 4, thereby realizing the rotation of the calf connecting rod 2.

[0193] In some embodiments, the protruding rod 201 is arranged at the rear side of the calf connecting rod 2 so as to realize that the calf connecting rod 2 can rotate backward around the knee joint to realize the humanoid walking of the robot.

[0194] Among them, the protruding rod 201 can also be arranged at the front side of the calf connecting rod 2, that is, the calf connecting rod 2 can rotate forward around the knee joint to meet other types of walking requirements.

[0195] In summary, when the driving disk of the first driving servo 301 rotates, it can drive the driving gear 411 to rotate, and then drive the driven gear 412 to rotate. Since the rotation centers of the driven gear 412 and the second flange 414 are coaxial, and a bearing assembly 415 is installed between them for transition, the driven gear 412 and the second flange 414 can move independently without interference.

[0196] The movement of the driven gear 412 drives the swing rod 42 to swing. The movement of the swing rod 42 is transmitted to the calf link 2 through the link assembly 43, driving the calf link 2 to rotate around the knee joint, realizing the function that the calf link 2 rotates independently of the thigh link 1.

[0197] This application provides a leg assembly for a robot, aiming to solve the problem that there is a certain deviation between the physical prototype and the control theory modeling of existing biped robots due to the installation position of the actuator during the transmission process.

[0198] When only the calf link 2 needs to move, the driving disk of the first driving servo 301 rotates, driving the driving gear 411 to move; the driven gear 412 that cooperates with the driving gear 411 receives the movement of the driving gear 411 through the gear belt and thus starts to rotate; since there is a bearing assembly 415 for transition between the driven gear 412 and the second flange 414, the rotation of the driven gear 412 will not affect the second flange 414, nor the second driving servo 302 of the thigh link 1. The driven gear 412 drives the swing rod 42 installed on its side to swing, and the swing rod 42 transmits the movement to the first fish-eye screw 431, and the movement is transmitted to the second fish-eye screw 435 of the calf link 2 by the double-headed screw 439 connected to the first fish-eye screw 431, driving the calf link 2 to swing.

[0199] When only the thigh link 1 needs to swing, the first driving servo 301 of the calf link 2 does not work, and the driving disk of the second driving servo 302 rotates, driving the second flange 414 to move. Since there is a bearing assembly 415 to support between the second flange 414 and the driven gear 412 of the calf link 2, the movement of the second flange 414 will not cause the driven gear 412 to move, and thus will not affect the first driving servo 301. The calf link 2 and the thigh link 1 are connected by a transmission bolt, so the rotation of the thigh link 1 can also drive the rotation of the calf link 2. Thus, this structure can achieve the established purpose, that is, the movement of the thigh link 1 can drive the movement of the calf link 2, and the calf link 2 can also rotate independently, realizing the normal walking function of the robot.

[0200] In the optimization design layout of the leg components in this solution, the position of the calf drive servo is raised upward and placed at the hip joint, which raises the overall center of mass of the biped robot, reduces the overall inertia of the robot, eases the driving burden, enables the robot to have better locomotion ability, improves the traditional solution of placing the calf drive servo at the thigh link, makes the model of the physical prototype closer to the inverted pendulum and link models, and enables a higher correlation between the physical prototype and the control theory modeling.

[0201] Please refer to Figure 11 , which shows a schematic diagram of a robot provided by an exemplary embodiment of the present application.

[0202] As Figure 11 shown, the robot includes at least two sets of leg components as shown in any of the above embodiments. For example, when the robot includes two sets of leg components as shown in any of the above embodiments, the robot is a biped robot.

[0203] The robot provided by the embodiments of the present application can be a patrol robot for security patrol, a service robot, a dancing robot, a humanoid robot, or an industrial robot. The embodiments of the present application do not make specific limitations thereto.

[0204] Regarding the relevant introduction to the leg structure of the robot, reference can be made to the above embodiments, and details are not described herein again.

[0205] When designing the structure of a biped robot, in order to simplify the control model, the overall inertia is usually reduced, so most of the weight is transferred to the center of the robot. Usually, the drive of the knee joint is arranged on the thigh, and the motion link is used for motion transmission. However, this solution integrates too much mass on the thigh, making the thigh link have too much weight, which is somewhat different from the link model.

[0206] If the position of the knee joint drive is continued to be arranged upward (i.e., arranged at the hip joint or the waist, or a higher position), it may interfere with the hip joint drive, thus affecting the independence of the calf movement.

[0207] Therefore, this solution designs the above structure, solves the interference problem of the hip joint drive, arranges the drive of the knee joint (i.e., the first drive servo 301) above the root of the thigh, and no drive device is arranged at the thigh link, so that the overall weight of the robot is integrated on the hip joint. Thus, both the thigh and the calf can be approximately regarded as light rods, and their weights can be ignored, making the dynamic model closer to the link and inverted pendulum models.

[0208] To reduce the energy loss of each rotating joint, bearings are used to connect and bear the radial force at the relative rotating joints. By reasonably setting the lengths of the thigh link 1 and the swing link 42 to form a parallelogram mechanism for motion transmission, the equal-proportion transmission of motion can be achieved, eliminating the need to calculate the different motion conditions caused by the length differences of the links during motion transmission.

[0209] On the premise of raising the center of mass of the biped robot and reducing its inertia, the structure of this application realizes the efficient transmission of the leg motion of the biped robot, making the model of the biped robot closer to the link and inverted pendulum models, and providing great convenience for the application of control strategies.

[0210] To solve the problem of the discrepancy between the physical prototype and the control theory modeling of existing biped robots, this application proposes a motion transmission mechanism for the calf of a biped robot. Based on the structural design of the above embodiments of this application, when the calf link 2 of the biped robot needs to move independently of the thigh link 1, the first driving servo 301 fixed to the hip joint will drive the corresponding active gear 411 to rotate. Through the cooperation of the driven gear 412, the motion is transmitted to the swing link 42, and thus the motion of the swing link 42 drives the motion of the link assembly 43. The motion of the link assembly 43 finally controls the corresponding rotation of the calf link 2 around the knee joint. At the same time, due to the existence of the bearing assembly 415 between the first driving servo 301 of the calf link 2 and the second driving servo 302 of the thigh link 1, the motion of the calf link 2 will not affect the state of the thigh link 1. This motion transmission mechanism can well solve the problem of the discrepancy between the physical prototype and the control theory modeling of the biped robot, making the physical prototype closer to the inverted pendulum and link models, and being able to well reduce the overall inertia of the robot, reduce the burden on the driving mechanism, and improve the motion ability of the biped robot.

[0211] When the thigh of the biped robot needs to move, the thigh link 1 can be driven to swing by the driving disk of the second driving servo 302. Since the driven gear 412 of the motion transmission unit of the calf link 2 passes through the axis of the rotating shaft of the second driving servo 302 and a bearing assembly 415 that can rotate relatively is installed between the driven gear 412 and the second flange 414, the rotation of the calf link 2 will not affect the thigh link 1.

[0212] The motion transmission mechanism in this solution retains the motion correlation between the thighs and calves of the biped robot. Through the flange and bearing settings at the center of the thigh drive servo, the calves can move independently of the thighs without affecting the thigh linkages. However, the thighs can also drive the calves to move simultaneously, meeting the walking rules of a humanoid. The designed transmission mechanism has a certain degree of versatility and can achieve good adaptation effects for different working states of various tasks.

[0213] According to different working states, through the mutual cooperation between various components, the motion transmission structure designed in this solution can achieve good working results for different task states. The biped robot equipped with this motion transmission structure can, while ensuring the completion of motion, reduce the inertia of its own mechanism, making the entire model closer to the inverted pendulum and linkage models, significantly improving the correlation between the physical world model and mathematical modeling of the robot, and being of great significance for facilitating the research on the motion control strategy of the robot.

Claims

1. A leg component for a robot, characterized in that, the leg component includes: a thigh link (1), a calf link (2), a drive component (3) and a connection component (4); the calf link (2) is movably connected to one end of the thigh link (1), the drive component (3) is arranged at the other end of the thigh link (1) and is located outside the thigh link (1); the drive component (3) is connected to the calf link (2) through the connection component (4); the drive component (3) is used to drive the connection component (4) to drive the calf link (2) to move.

2. The leg component according to claim 1, characterized in that, the leg component further includes: a hip joint component; the hip joint component is connected to the end of the thigh link (1) far from the calf link (2).

3. The leg component according to claim 2, characterized in that, the drive component (3) is fixedly connected to the hip joint component.

4. The leg component according to claim 2, characterized in that, the hip joint component includes the drive component (3).

5. The leg component according to claim 1, characterized in that, the drive component (3) includes: a first drive servo (301); the driving disc of the first drive servo (301) is connected to the connection component (4) to drive the connection component (4).

6. The leg component according to claim 5, characterized in that, the connection component (4) includes: a gear component (41), a swing rod (42) and a link component (43); the driving disc of the first drive servo (301) is in transmission connection with the gear component (41) to drive the gear component (41); one end of the swing rod (42) is connected to the gear component (41), and the other end of the swing rod (42) is movably connected to the link component (43); the end of the link component (43) far from the swing rod (42) is movably connected to the calf link (2).

7. The leg component according to claim 6, characterized in that, the gear component (41) includes: a driving gear (411) and a driven gear (412); the driving gear (411) is fixedly connected to the driving disc of the first drive servo (301); the driving gear (411) is in transmission connection with the driven gear (412); one end of the swing rod (42) is fixedly connected to the driven gear (412).

8. The leg component according to claim 7, characterized in that, the gear component (41) further includes: a first flange (413); one end of the first flange (413) is fixedly connected to the driving disc of the first drive servo (301), and the other end of the first flange (413) is fixedly connected to the driving gear (411).

9. The leg component according to any one of claims 5 to 8, characterized in that, the drive component (3) further includes: a second drive servo (302); The driving disc of the second driving servo (302) is connected to the thigh connecting rod (1) to drive the thigh connecting rod (1); The gear assembly (41) further includes: a second flange (414) and a bearing assembly (415); One end of the second flange (414) is fixedly connected to the driving disc of the second driving servo (302), and the other end of the second flange (414) is connected to the bearing assembly (415); The driven gear (412) is sleeved on the bearing assembly (415).

10. The leg assembly according to claim 7, wherein, The connecting rod assembly (43) includes: a first fish-eye screw (431), a first flange bearing (432), a first bolt (433) and a first nut (434); The first bolt (433) passes through the hole of the first fish-eye screw (431), the first flange bearing (432) and the first nut (434); One end of the swing rod (42) far from the driven gear (412) is sleeved on the first flange bearing (432).

11. The leg assembly according to claim 6, wherein, The connecting rod assembly (43) includes: a second fish-eye screw (435), a second flange bearing (436), a second bolt (437) and a second nut (438); The second bolt (437) passes through the hole of the second fish-eye screw (435), the second flange bearing (436) and the second nut (438); The calf connecting rod (2) is sleeved on the second flange bearing (436).

12. The leg assembly according to claim 10 or 11, wherein, The connecting rod assembly (43) further includes: a stud (439); One end of the stud (439) is connected to the first fish-eye screw (431), and the other end of the stud (439) is connected to the second fish-eye screw (435).

13. The leg assembly according to claim 12, wherein, One end of the stud (439) is provided with a first long thread connecting the first fish-eye screw (431), and the other end of the stud (439) is provided with a second long thread connecting the second fish-eye screw (435); The thread helix direction of the first long thread is opposite to that of the second long thread.

14. The leg assembly according to claim 11, wherein, One end of the calf connecting rod (2) is axially connected to one end of the thigh connecting rod (1); At the end of the calf connecting rod (2) axially connected to the thigh connecting rod (1), a protruding rod (201) extends in a direction perpendicular to the calf connecting rod (2); and the extending direction of the protruding rod (201) is perpendicular to the axial direction of the connection between the calf connecting rod (2) and the thigh connecting rod (1); The top end of the protruding rod (201) is sleeved on the second flange bearing (436).

15. A robot, wherein: It includes at least two sets of leg assemblies as described in any one of claims 1-14.

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