Leg structure and biped robot

Abstract

The invention discloses a leg structure and a biped robot, and relates to the technical field of robotics.The leg structure comprises a hip lateral extension assembly, a hip pitching assembly, a hip turnover assembly, a thigh skeleton and a shank skeleton which are connected in sequence, and a knee joint assembly connected with the thigh skeleton and the shank skeleton; the output axis of the hip lateral extension assembly, the output axis of the hip turnover assembly and the output axis of the hip pitching assembly are perpendicular to one another, and the output axis of the hip pitching assembly is parallel to the output axis of the knee joint assembly; the hip lateral extension assembly can drive the thigh skeleton to rotate around the output axis of the hip lateral extension assembly, the hip pitching assembly can drive the thigh skeleton to rotate around the output axis of the hip pitching assembly, the hip turnover assembly can drive the thigh skeleton to rotate around the output axis of the hip turnover assembly, and the knee joint assembly can drive the shank skeleton to rotate relative to the thigh skeleton. According to the leg structure, the tail end mass of the leg structure can be reduced, the rotational inertia is reduced, and therefore the flexibility and cruising ability of the biped robot are improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a leg structure and a bipedal robot. Background Art

[0002] Bipedal robots possess similar locomotion to humans, enabling them to navigate the complex environments in which humans operate. They can assist or even replace humans in performing dangerous, arduous, and complex tasks, improving both efficiency and quality. They are widely used in various industries, including manufacturing, the military, education, and daily life. The leg structure is a crucial component of bipedal robots, directly determining their stability and flexibility.

[0003] The leg structure of a bipedal robot typically includes corresponding leg joints, such as the hip, knee, and ankle. These joints coordinate with each other to achieve walking movements similar to those of the human body. However, most traditional bipedal robots suffer from low inertia, which results in high energy consumption when lifting the legs, resulting in insufficient flexibility and limited endurance. Therefore, reducing the energy consumption of bipedal robots and improving their flexibility are pressing technical challenges. Summary of the Invention

[0004] The purpose of this application is to provide a leg structure and a bipedal robot that can reduce the end mass of the leg structure and reduce the moment of inertia, thereby improving the flexibility and endurance of the bipedal robot.

[0005] The embodiment of the present application is implemented as follows:

[0006] In a first aspect of an embodiment of the present application, a leg structure is provided, comprising a hip lateral extension assembly, a hip pitch assembly, a hip rotation assembly, a thigh frame, and a shank frame connected in sequence, and further comprising a knee joint assembly connected to the thigh frame and the shank frame; the output axis of the hip lateral extension assembly, the output axis of the hip pitch assembly, and the output axis of the hip rotation assembly are perpendicular to each other, and the output axis of the hip pitch assembly is parallel to the output axis of the knee joint assembly; the hip lateral extension assembly can drive the thigh frame to rotate around the output axis of the hip lateral extension assembly through the hip pitch assembly and the hip rotation assembly, the hip pitch assembly can drive the thigh frame to rotate around the output axis of the hip pitch assembly through the hip rotation assembly, the hip rotation assembly can drive the thigh frame to rotate around the output axis of the hip rotation assembly, and the knee joint assembly can drive the shank frame to rotate relative to the thigh frame. This leg structure can reduce the end mass of the leg structure and reduce the moment of inertia, thereby improving the flexibility and endurance of the bipedal robot.

[0007] As an implementable embodiment, the hip lateral abduction assembly includes a hip lateral abduction connector and a hip lateral abduction joint connected to the hip lateral abduction connector, the hip pitch assembly includes a hip pitch connector and a hip pitch joint connected to the hip pitch connector, and the hip rotation assembly includes a hip rotation connector and a hip rotation joint connected to the hip rotation connector; the output end of the hip lateral abduction joint is driven to rotate relative to the hip lateral abduction connector, and can drive the thigh skeleton to rotate around the output axis of the hip lateral abduction joint; the output end of the hip pitch joint is driven to rotate relative to the hip pitch connector, and can drive the thigh skeleton to rotate around the output axis of the hip pitch joint; the output end of the hip rotation joint is driven to rotate relative to the hip rotation connector, and can drive the thigh skeleton to rotate around the output axis of the hip rotation joint.

[0008] As an implementation method, it also includes a hip lateral extension component fixing seat, the hip lateral extension connector is fixedly installed on the hip lateral extension component fixing seat, the output end of the hip lateral extension joint is connected to the output end of the hip pitch joint, the hip pitch connector is connected to the output end of the hip rotation joint, and the hip rotation connector is connected to the thigh skeleton.

[0009] As an implementable embodiment, a connecting frame is further included, and the output end of the hip abduction joint is connected to the output end of the hip pitch joint through the connecting frame.

[0010] As an implementation method, the connecting frame is a U-shaped connecting frame, which is arranged on the outside of the hip lateral extension component along the output axis of the hip lateral extension joint. One of the connecting arms of the U-shaped connecting frame is rotatably connected to the hip lateral extension component fixed seat through a bearing, and the other connecting arm is fixedly connected to the output end of the hip lateral extension joint. The output end of the hip pitch joint is fixedly connected to the connecting plate connecting the two connecting arms of the U-shaped connecting frame.

[0011] As an implementation method, it also includes a hip pitch shell arranged on the outside of the hip pitch assembly and a thigh shell arranged on the outside of the hip rotation assembly; the hip pitch connector is fixedly mounted on the hip pitch shell, and the hip pitch connector is fixedly connected to the output end of the hip rotation joint through the hip pitch shell; the hip rotation connector is fixedly mounted on the thigh shell, and the hip rotation connector is fixedly connected to the thigh frame through the thigh shell.

[0012] As an implementable embodiment, the hip pitch shell includes a hip pitch inner cover, a hip pitch outer cover and a hip pitch protection cover which are arranged in sequence along the output axis of the hip pitch joint, the hip pitch inner cover, the hip pitch outer cover and the hip pitch protection cover are arranged in cooperation with each other on the outside of the hip pitch assembly, the hip pitch connector is fixedly mounted on the hip pitch outer cover, and the hip pitch connector is fixedly connected to the output end of the hip rotation joint through the hip pitch outer cover.

[0013] As an embodiment, the thigh shell includes a thigh inner shell and a thigh outer shell, the thigh inner shell and the hip pitch inner cover are located on the same side of the hip pitch assembly, the thigh outer shell and the hip pitch protection cover are located on the other side of the hip pitch assembly, the thigh inner shell and the thigh outer shell cooperate with each other and are arranged on the outside of the hip rotation assembly, the hip rotation connector is fixedly installed on the thigh inner shell or the thigh outer shell, and the hip rotation connector is fixedly connected to the thigh frame through the thigh inner shell or the thigh outer shell.

[0014] As an implementable embodiment, the knee joint assembly includes a knee connector and a knee joint connected to the knee connector, the knee connector is fixedly connected to the thigh frame, the output end of the knee joint is transmission-connected to the calf frame, and the output end of the knee joint is driven to rotate relative to the knee connector, thereby driving the calf frame to rotate relative to the thigh frame.

[0015] A second aspect of the present application provides a bipedal robot comprising the aforementioned leg structure, which can reduce the mass at the end of the leg structure and the moment of inertia, thereby improving the flexibility and endurance of the bipedal robot.

[0016] The beneficial effects of the embodiments of the present application include:

[0017] The leg structure includes a hip lateral extension component, a hip pitch component, a hip rotation component, a thigh frame and a calf frame connected in sequence, and also includes a knee joint component connected to the thigh frame and the calf frame; the output axes of the hip lateral extension component, the output axes of the hip pitch component and the hip rotation component are perpendicular to each other, and the output axis of the hip pitch component is parallel to the output axis of the knee joint component; the hip lateral extension component can drive the thigh frame to rotate around the output axis of the hip lateral extension component through the hip pitch component and the hip rotation component, thereby realizing the lateral extension movement of the thigh frame, the hip pitch component can drive the thigh frame to rotate around the output axis of the hip pitch component through the hip rotation component, thereby realizing the pitch movement of the thigh frame, the hip rotation component can drive the thigh frame to rotate around the output axis of the hip rotation component, thereby realizing the rotation movement of the thigh frame, and the knee joint component can drive the calf frame to rotate relative to the thigh frame, thereby realizing the flexion and extension movement of the knee. Compared with the existing technology, the present application can move the hip pitch assembly upward and closer to the waist of the bipedal robot by rationally arranging the above-mentioned components. At the same time, it can also move the knee joint assembly upward and closer to the body of the bipedal robot. On the one hand, the mass of the bipedal robot can be more concentrated, and by optimizing the mass distribution of the leg structure, the end mass of the leg structure can be reduced, thereby reducing the inertia of the leg structure, reducing power consumption, and thereby improving the movement flexibility and endurance of the bipedal robot; on the other hand, the movement range of the hip pitch assembly can be larger, and the thigh skeleton can protect the knee joint assembly to avoid the risk of parts leakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is one of the structural diagrams of the leg structure provided in an embodiment of the present application;

[0020] Figure 2 The second structural diagram of the leg structure provided in the embodiment of the present application;

[0021] Figure 3 The third structural diagram of the leg structure provided in the embodiment of the present application;

[0022] Figure 4 The fourth structural diagram of the leg structure provided in the embodiment of the present application;

[0023] Figure 5 for Figure 4A partial enlarged view after the hip side shell is hidden;

[0024] Figure 6 The fifth structural diagram of the leg structure provided in the embodiment of the present application;

[0025] Figure 7 for Figure 6 A partial enlarged view of .

[0026] Icons: 10-hip lateral extension assembly; 11-hip lateral extension joint; 12-hip lateral extension connector; 20-hip pitch assembly; 21-hip pitch joint; 22-hip pitch connector; 30-hip rotation assembly; 31-hip rotation joint; 32-hip rotation connector; 40-thigh skeleton; 50-calf skeleton; 51-first side plate; 60-knee joint assembly; 61-knee joint; 62-knee connector; 70-first link assembly; 71-knee crank; 72-knee connector; 80A, 80B-ankle assembly; 81-ankle joint; 82-ankle connector; 90-foot; 91-second side plate; 92-foot shell; 93-foot body; 94-plantar plate; 100-second link assembly; 101-ankle crank; 102-ankle connector Rod; 110-cross axis; 111-first axis; 112-second axis; 120-inertial measurement unit; 130-hip lateral extension assembly fixing seat; 131-second hip lateral extension side cover; 140-first hip lateral extension side cover; 150-hip front cover; 160-hip back cover; 170-hip reinforcement plate; 180-U-shaped connecting frame; 181-first connecting arm; 182-second connecting arm; 190-hip pitch inner cover; 200-hip pitch outer cover; 210-hip pitch protection cover; 220-thigh inner shell; 230-thigh outer shell; 240-lumbar joint adapter; 250-hip bearing outer cover; 251-bearing; 260-inner knee pivot; 270-outer knee pivot; 280-ankle adapter; 290-hip rotation assembly adapter. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0029] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0030] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the products of this application are typically placed when in use. These terms are intended only to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0032] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections, indirect connections through an intermediate medium, or connections within two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0033] Please refer to Figures 1 to 7, an embodiment of the present application provides a leg structure, including a hip lateral extension component 10, a hip pitch component 20, a hip rotation component 30, a thigh frame 40 and a calf frame 50 connected in sequence, and also including a knee joint component 60 connected to the thigh frame 40 and the calf frame 50; the output axis of the hip lateral extension component 10, the output axis of the hip pitch component 20 and the output axis of the hip rotation component 30 are perpendicular to each other, and the output axis of the hip pitch component 20 is parallel to the output axis of the knee joint component 60; the hip lateral extension component 10 can drive the thigh frame 40 to rotate around the output axis of the hip lateral extension component 10 through the hip pitch component 20 and the hip rotation component 30, the hip pitch component 20 can drive the thigh frame 40 to rotate around the output axis of the hip pitch component 20 through the hip rotation component 30, the hip rotation component 30 can drive the thigh frame 40 to rotate around the output axis of the hip rotation component 30, and the knee joint component 60 can drive the calf frame 50 to rotate relative to the thigh frame 40. This leg structure can reduce the end mass of the leg structure and the moment of inertia, thereby improving the flexibility and endurance of the bipedal robot.

[0034] It should be noted that if Figure 1 、 Figure 2 and Figure 6 As shown, the leg structure includes a hip lateral extension component 10, a hip pitch component 20, a hip rotation component 30, a thigh frame 40, a calf frame 50 and a knee joint component 60. The hip lateral extension component 10 can drive the thigh frame 40 to rotate around the output axis of the hip lateral extension component 10 through the hip pitch component 20 and the hip rotation component 30, thereby realizing the lateral extension movement of the leg structure. The hip pitch component 20 can drive the thigh frame 40 to rotate around the output axis of the hip pitch component 20 through the hip rotation component 30, thereby realizing the pitching movement of the leg structure. The hip rotation component 30 can drive the thigh frame 40 to rotate around the output axis of the hip rotation component 30, thereby realizing the rotation movement of the leg structure. The knee joint component 60 can drive the calf frame 50 to rotate relative to the thigh frame 40, thereby realizing the flexion and extension movement of the knee.

[0035] In the actual assembly process, the hip extension assembly 10, the hip pitch assembly 20, the hip rotation assembly 30, the thigh frame 40 and the calf frame 50 are sequentially connected to form a leg structure, for example, Figure 1 and Figure 4As shown, in this embodiment, the hip pitch assembly 20 is located on the left or right side of the hip lateral extension assembly 10, the hip rotation assembly 30 is located below the hip lateral extension assembly 10, the thigh frame 40 is located below the hip rotation assembly 30, the calf frame 50 is located below the thigh frame 40, and the knee joint assembly 60 is connected to the thigh frame 40 and the calf frame 50. For example, the knee joint assembly 60 can be located inside the thigh frame 40, and the output axis of the hip lateral extension assembly 10 (i.e., in the thickness direction of the leg structure), the output axis of the hip pitch assembly 20 (i.e., in the width direction of the leg structure) and the output axis of the hip rotation assembly 30 (i.e., in the length direction of the leg structure) are perpendicular to each other, and the output axis of the hip pitch assembly 20 and the output axis of the knee joint assembly 60 are parallel to each other.

[0036] Compared with the existing technology, the present application can move the hip pitch assembly 20 upward and closer to the waist of the bipedal robot by rationally arranging the above-mentioned components. At the same time, it can also move the knee joint assembly 60 upward and closer to the body of the bipedal robot. On the one hand, the mass of the bipedal robot can be more concentrated, and by optimizing the mass distribution of the leg structure, the end mass of the leg structure can be reduced, thereby reducing the inertia of the leg structure, reducing power consumption, and thus improving the movement flexibility and endurance of the bipedal robot; on the other hand, the movement range of the hip pitch assembly 20 can be made larger, and the thigh skeleton 40 can protect the knee joint assembly 60 to avoid the risk of parts leakage.

[0037] As an implementable method, Figure 2 、 Figure 4 and Figure 5 As shown, the hip abduction assembly 10 includes a hip abduction connection 12 and a hip abduction joint 11 connected to the hip abduction connection 12 , the hip pitch assembly 20 includes a hip pitch connection 22 and a hip pitch joint 21 connected to the hip pitch connection 22 , and the hip rotation assembly 30 includes a hip rotation connection 32 and a hip rotation joint 31 connected to the hip rotation connection 32 .

[0038] In this way, when the output end of the hip lateral extension joint 11 is driven to rotate relative to the hip lateral extension connector 12, it can drive the thigh skeleton 40 to rotate around the output axis of the hip lateral extension joint 11, thereby realizing a lateral extension movement similar to the human hip joint expanding outward or contracting inward, thereby changing the horizontal position posture of the leg structure; when the output end of the hip pitch joint 21 is driven to rotate relative to the hip pitch connector 22, it can drive the thigh skeleton 40 to rotate around the output axis of the hip pitch joint 21, by simulating the pitching movement of the human hip joint lifting forward and swinging backward, thereby realizing a movement posture similar to the thigh skeleton 40 lifting forward and swinging backward when the human body walks; when the output end of the hip swivel joint 31 is driven to rotate relative to the hip swivel connector 32, it can drive the thigh skeleton 40 to rotate around the output axis of the hip swivel joint 31, thereby completing the rotation movement of the thigh skeleton 40 on the horizontal plane, thereby realizing a movement posture similar to the hip joint driving the leg structure to rotate when the human body turns on the spot.

[0039] As an implementable method, Figure 4 and Figure 5 As shown, the leg structure also includes a hip lateral expansion component fixing seat 130, and the number of hip lateral expansion components 10, hip pitch components 20 and hip rotation components 30 are two. The two hip lateral expansion components 10 are arranged in a front-to-back staggered manner along the output axis of the hip lateral expansion component 10, and the installation directions of the two hip lateral expansion components 10 are opposite. The two hip pitch components 20 are arranged left and right along the output axis of the hip pitch component 20 on opposite sides of the hip lateral expansion component fixing seat 130, and the two hip pitch components 20 are connected to the two hip lateral expansion components 10 in a one-to-one correspondence. The two hip rotation components 30 are arranged left and right along the output axis of the hip pitch component 20 on opposite sides of the hip lateral expansion component fixing seat 130, and the two hip rotation components 30 are connected to the two hip pitch components 20 in a one-to-one correspondence.

[0040] The two hip lateral extension assemblies 10 are arranged in a front-to-back staggered arrangement along the output axis of the hip lateral extension assembly 10. Correspondingly, the output axes of the two hip lateral extension assemblies 10 are arranged parallel to each other and staggered along the front and back sides of the hip lateral extension assembly fixing seat 130. The two hip pitch assemblies 20 are arranged left and right on the opposite sides of the hip lateral extension assembly fixing seat 130 along the output axis of the hip pitch assemblies 20. Correspondingly, the output axes of the two hip pitch assemblies 20 are coaxially arranged. The two hip rotation assemblies 30 are arranged left and right on the opposite sides of the hip lateral extension assembly fixing seat 130 along the output axis of the hip pitch assemblies 20. Correspondingly, the output axes of the two hip rotation assemblies 30 are arranged parallel to each other and coplanar along the left and right sides of the hip lateral extension assembly fixing seat 130. In this way, the two thigh skeletons 40 of the leg structure can correspondingly realize lateral extension, pitch and rotation movements.

[0041] Compared with the prior art, the present application significantly optimizes the structure and performance of the hip of the bipedal robot by arranging the two hip side extension components 10 in a front-to-back staggered arrangement along their output axis and making the two installation directions opposite. From the perspective of spatial layout, the front-to-back staggered arrangement effectively reduces the lateral size of the hip, making the overall structure of the bipedal robot more compact, greatly improving its movement flexibility in narrow spaces, and being able to adapt to more complex environments. In terms of force transmission and motion control, the two hip side extension components 10 with opposite installation directions form a more reasonable force transmission path, which not only achieves a balanced distribution of load and enhances the stability of the bipedal robot's movement, but also achieves a richer and more diverse gait movement through the synergy of different components, expanding the range of motion of the bipedal robot. At the same time, this unique layout breaks through the limitations of traditional structures on the range of joint movement, enabling the hip to complete larger and more complex movements, making it possible for the bipedal robot to achieve difficult movements, thereby improving the application adaptability of the bipedal robot.

[0042] As an implementable method, Figure 2 、 Figure 4 and Figure 5 As shown, the hip lateral extension connectors 12 of the two hip lateral extension assemblies 10 are respectively fixedly mounted on the above-mentioned hip lateral extension assembly fixing seat 130, the output end of the hip lateral extension joint 11 is connected to the output end of the hip pitch joint 21, the hip pitch connector 22 is connected to the output end of the hip rotation joint 31, and the hip rotation connector 32 is connected to the thigh skeleton 40.

[0043] It should be noted that the hip lateral extension component fixing seat 130, as a basic supporting component, can be connected to the robot torso by bolts or slots, and the hip lateral extension connector 12 is fixed to the hip lateral extension component fixing seat 130 in a rigid connection manner (such as welding, high-strength bolts), forming an installation reference for the entire leg structure. The output end of the hip lateral extension joint 11 is connected to the output end of the hip pitch joint 21, the hip pitch connector 22 is connected to the output end of the hip rotation joint 31, and the hip rotation connector 32 is connected to the thigh skeleton 40, so that the hip lateral extension joint 11 can drive the thigh skeleton 40 to rotate around the output axis of the hip lateral extension joint 11 through the hip pitch component 20 and the hip rotation component 30, thereby realizing the lateral extension movement of the leg structure, the hip pitch joint 21 can drive the thigh skeleton 40 to rotate around the output axis of the hip pitch joint 21 through the hip rotation component 30, thereby realizing the pitch movement of the leg structure, and the hip rotation joint 31 can drive the thigh skeleton 40 to rotate around the output axis of the hip rotation joint 31, thereby realizing the rotation movement of the leg structure.

[0044] As another possible implementation method, the above-mentioned hip lateral extension assembly 10, hip pitch assembly 20 and hip rotation assembly 30 are connected in a sequential connection manner, that is, the hip lateral extension connector 12, the hip lateral extension joint 11, the hip pitch connector 22, the hip pitch joint 21, the hip rotation connector 32 and the hip rotation joint 31 are connected in sequence. For example, since the output end of the hip lateral extension joint 11 is fixed to the hip pitch connector 22, when the hip lateral extension joint 11 rotates, it can drive the hip pitch connector 22 and the subsequent hip pitch joint 21 to move synchronously, thereby realizing a lateral extension action similar to the human hip joint expanding outward or contracting inward. The principles of the hip pitch assembly 20 and the hip rotation assembly 30 to realize their respective corresponding actions are the same as above and will not be repeated here. Regarding the hip lateral extension assembly 10, the hip pitch assembly 20 and the hip rotation assembly 30, those skilled in the art should be able to select a suitable connection method according to actual needs, and no specific restrictions are made here.

[0045] As an implementable method, Figure 4 and Figure 5 As shown, the leg structure also includes a connecting frame, and the output end of the hip extension joint 11 is connected to the output end of the hip pitch joint 21 through the connecting frame. In some embodiments, the connecting frame can be a U-shaped connecting frame 180, which is arranged on the outside of the hip extension assembly 10 along the output axis of the hip extension joint 11. One of the connecting arms of the U-shaped connecting frame 180 is rotatably connected to the hip extension assembly fixing seat 130 through a bearing 251, so as to achieve a supporting effect through the connecting arm, ensure the stability of the connection between the U-shaped connecting frame 180 and the hip extension assembly fixing seat 130, and achieve a rotational connection through the bearing 251. It can also avoid interference with the rotation of the output end of the hip extension joint 11. The other connecting arm of the U-shaped connecting frame 180 is fixedly connected to the output end of the hip extension joint 11, and the output end of the hip pitch joint 21 is fixedly connected to the connecting plate connecting the two connecting arms of the U-shaped connecting frame 180, so as to achieve a transmission effect between the output end of the hip extension joint 11 and the output end of the hip pitch joint 21 through the connecting arm and the connecting plate. In this way, the hip extension assembly 10 and the hip pitch assembly 20 can be connected through the U-shaped connecting frame 180 to play a reversing role.

[0046] Specifically, the U-shaped connecting frame 180 includes a first connecting arm 181, a second connecting arm 182 and a connecting plate connecting the first connecting arm 181 and the second connecting arm 182. The first connecting arm 181 and the second connecting arm 182 are arranged front to back along the output axis of the hip extension joint 11 on the outside of the hip extension assembly 10. The first connecting arm 181 is rotatably connected to the hip extension assembly fixed seat 130 through a bearing 251, the second connecting arm 182 is fixedly connected to the output end of the hip extension joint 11, and the connecting plate is fixedly connected to the output end of the hip pitch joint 21.

[0047] When there are two U-shaped connecting frames 180, the installation directions of the two hip side expansion components 10 are opposite, which means that the two U-shaped connecting frames 180 are connected to the two hip side expansion components 10 one by one, and the first connecting arm 181 of one U-shaped connecting frame 180 and the second connecting arm 182 of the other U-shaped connecting frame 180 are installed on the same side of the hip side expansion component fixing seat 130, and the second connecting arm 182 of one U-shaped connecting frame 180 and the first connecting arm 181 of the other U-shaped connecting frame 180 are installed on the other side of the hip side expansion component fixing seat 130.

[0048] As an implementable method, Figure 5 As shown, the rotation axis of the first connecting arm 181 is coaxial with the output axis of the hip extension joint 11. In this case, when the output end of the hip extension joint 11 is driven to rotate, the first connecting arm 181 and the second connecting arm 182 of the same U-shaped connecting frame 180 can swing coaxially, thereby improving the force uniformity and transmission stability of the transmission and reversing achieved through the U-shaped connecting frame 180.

[0049] As an implementable method, Figure 4 As shown, the leg structure also includes a hip side expansion shell arranged on the outside of the hip side expansion assembly fixing seat 130, and the hip side expansion shell includes two first hip side expansion side covers 140 and two second hip side expansion side covers 131. The two first hip side expansion side covers 140 and the two second hip side expansion side covers 131 are arranged on the left and right sides of the output axis of the hip pitch joint 21 of the hip side expansion assembly 10 in a one-to-one correspondence; the hip side expansion shell also includes a hip front cover 150 and a hip back cover 160. The hip front cover 150 and the hip back cover 160 are arranged on the front and back sides of the output axis of the hip side expansion joint 11 of the hip side expansion assembly 10 in a coordinated manner. For example, the hip front cover 150 and the hip back cover 160 extend toward a side close to the robot torso (such as the waist joint adapter 240), and the hip front cover 150 and the hip back cover 160 and the hip reinforcement plate 170 located below the hip side expansion assembly 10 are all connected to the hip assembly. For example, a hip bearing outer cover 250 is further provided on the inner side of the hip front cover 150 to fix the bearing 251. In this way, the two first hip side extension covers 140, the two second hip side extension covers 131, the hip front cover 150, the hip back cover 160 (and the hip reinforcement plate 170) can fully protect the hip side extension assembly 10.

[0050] As an implementable method, Figure 6As shown, the leg structure also includes a hip pitch shell arranged on the outside of the hip pitch assembly 20 and a thigh shell arranged on the outside of the hip rotation assembly 30; the hip pitch connector 22 is fixedly mounted on the hip pitch shell, and the hip pitch connector 22 is fixedly connected to the output end of the hip rotation joint 31 through the hip pitch shell and / or the hip rotation assembly adapter 290; the hip rotation connector 32 is fixedly mounted on the thigh shell, and the hip rotation connector 32 is fixedly connected to the thigh skeleton 40 through the thigh shell, or the hip rotation connector 32 can be directly formed on the thigh shell, so that when the hip rotation joint 31 rotates, the thigh skeleton 40 can be driven to rotate through the hip rotation connector 32 and the thigh shell.

[0051] As an implementable method, Figure 6 As shown, the hip pitch housing includes a hip pitch inner cover 190, a hip pitch outer cover 200, and a hip pitch protective cover 210, which are sequentially arranged along the output axis of the hip pitch joint 21. The hip pitch inner cover 190, the hip pitch outer cover 200, and the hip pitch protective cover 210 cooperate with each other and are arranged on the outside of the hip pitch assembly 20. In this way, the hip pitch assembly 20 can be fully protected by the hip pitch inner cover 190, the hip pitch outer cover 200, and the hip pitch protective cover 210. The hip pitch connector 22 is fixedly mounted on the hip pitch outer cover 200. The hip pitch connector 22 is fixedly connected to the output end of the hip rotation joint 31 through the hip pitch outer cover 200 and / or the hip rotation assembly adapter 290, so that when the hip rotation joint 31 rotates, the thigh skeleton 40 can be driven to rotate through the hip rotation connector 32 and the thigh housing.

[0052] As an implementable method, Figure 6 As shown, the thigh shell includes a thigh inner shell 220 and a thigh outer shell 230. The thigh inner shell 220 and the hip pitch inner cover 190 are located on the same side of the hip pitch assembly 20, and the thigh outer shell 230 and the hip pitch protection cover 210 are located on the other side of the hip pitch assembly 20. The thigh inner shell 220 and the thigh outer shell 230 cooperate with each other and are arranged on the outside of the hip rotation assembly 30 and the knee joint assembly 60. The hip rotation connector 32 is fixedly installed or directly formed on the thigh inner shell 220 and / or the thigh outer shell 230. The hip rotation connector 32 is fixedly connected to the thigh frame 40 through the thigh inner shell 220 and / or the thigh outer shell 230. In this way, it can play the role of a connector in the connection relationship through the thigh inner shell 220 and the thigh outer shell 230, and play the role of an outer shell in appearance.

[0053] Through this connection method, the hip rotation assembly 30 connects the hip pitch assembly 20 to the thigh inner shell 220 and thigh outer shell 230, making it easier to disassemble the thigh inner shell 220 and thigh outer shell 230 during maintenance, thereby increasing the maintainability of the leg structure. Furthermore, compared to the prior art, the present application rationally designs each of the aforementioned components, enabling each component to not only provide structural support but also protect the appearance. This eliminates the need for complex exterior components, resulting in a more streamlined leg structure and enhanced protection for the various internal components.

[0054] As an implementable method, Figures 1 to 3 、 Figure 6 As shown, the knee joint assembly 60 includes a knee connector 62 and a knee joint 61 connected to the knee connector 62. The knee connector 62 is fixedly connected to the thigh frame 40. The output end of the knee joint 61 is transmission-connected to the calf frame 50. When the output end of the knee joint 61 is driven to rotate relative to the knee connector 62, it can drive the calf frame 50 to rotate relative to the thigh frame 40, thereby completing the flexion and extension movement of the calf frame 50, thereby realizing the flexion and extension function of the knee joint 61 during human activities such as walking and running. For example, an inner knee pivot 260 and an outer knee pivot 270 are further provided at one end of the thigh frame 40 close to the calf frame 50, so as to connect the end of the thigh frame 40 close to the calf frame 50 and the end of the calf frame 50 close to the thigh frame 40 through the inner knee pivot 260 and the outer knee pivot 270.

[0055] As an implementable method, Figure 3 As shown, the leg structure also includes a first connecting rod assembly 70. The output end of the knee joint 61 is connected to the calf skeleton 50 through the first connecting rod assembly 70, so that the calf skeleton 50 can be driven to move through the first connecting rod assembly 70, thereby realizing the flexion and extension movement of the knee of the bipedal robot.

[0056] For example, Figure 3 As shown, in this embodiment, the first connecting rod assembly 70 includes a knee crank 71 and a knee connecting rod 72. The opposite ends of the knee crank 71 are rotatably connected to the output end of the knee joint 61 and the knee connecting rod 72, respectively. The end of the knee connecting rod 72, which is away from the knee crank 71, is rotatably connected to the calf frame 50. In this way, when the output end of the knee joint 61 drives the knee crank 71 to rotate, the knee connecting rod 72 can be driven to rotate via the knee crank 71, and the knee connecting rod 72 can then drive the calf frame 50 to rotate relative to the thigh frame 40 via the knee connecting rod 72. This simple and efficient transmission method.

[0057] As an implementable method, Figure 1 and Figure 2As shown, the leg structure also includes two ankle components (ankle component 80A, ankle component 80B) arranged in sequence along the extension direction of the calf frame 50 (i.e., the length direction of the leg structure) and a foot 90 arranged at one end of the calf frame 50 away from the thigh frame 40. The two ankle components each include an ankle connector 82 and an ankle joint 81 connected to the ankle connector 82, and the output axes of the ankle joints 81 of the two ankle components are parallel to each other. The ankle connectors 82 of the two ankle components are respectively fixedly connected to the calf frame 50, and the opposite sides of the foot 90 are respectively movably connected to the output ends of the ankle joints 81 of the two ankle components.

[0058] For example, Figure 1 and Figure 2 As shown, in this embodiment, ankle assembly 80A is located above ankle assembly 80B, the output axes of the ankle joints 81 of the two ankle assemblies are parallel to each other, the ankle connectors 82 of the two ankle assemblies are respectively fixedly connected to the calf frame 50, the two ankle assemblies are installed in opposite directions, and the output ends of the ankle joints 81 of the two ankle assemblies are respectively movably connected to opposite sides of the foot 90. As a result, through the mutual cooperation of the ankle connectors 82 of ankle assembly 80A and the ankle connectors 82 of ankle assembly 80B, the foot 90 can be lifted forward, lifted backward, and swung sideways.

[0059] Specifically, when the output end of the ankle joint 81 of the ankle assembly 80A and the output end of the ankle joint 81 of the ankle assembly 80B move synchronously, the foot 90 can be lifted forward or lifted backward; when the output end of the ankle joint 81 of the ankle assembly 80A and the output end of the ankle joint 81 of the ankle assembly 80B move asynchronously, the foot 90 can be swung sideways, i.e., inversion of the foot 90 or eversion of the foot 90. Regarding the specific implementation methods of the aforementioned forward lifting, backward lifting, inversion, and eversion movements of the foot 90, those skilled in the art should be able to derive them through simple logical reasoning based on the leg structure provided in this application, and no further details will be given here.

[0060] As an implementable method, Figures 1 to 3 As shown, the leg structure further includes two second link assemblies 100, and the opposite sides of the foot 90 are movably connected to the output ends of the ankle joints 81 of the two ankle assemblies through the two second link assemblies 100, one-to-one, thereby realizing various movements of the foot 90 of the biped robot. It is worth noting that the lengths of the two second link assemblies 100 are different, so that the lengths of the two second link assemblies 100 are respectively adapted to the distance between the output ends of the ankle joints 81 of the two ankle assemblies (ankle assembly 80A and ankle assembly 80B) arranged in sequence along the extension direction of the calf skeleton 50 (i.e., the length direction of the leg structure) and the foot 90.

[0061] For example, Figure 3 As shown, in this embodiment, the second link assembly 100 includes an ankle crank 101 and an ankle link 102. The opposite ends of the ankle crank 101 are rotatably connected to the output end of the ankle joint 81 and the ankle link 102, respectively. The end of the ankle link 102 away from the ankle crank 101 is rotatably connected to the foot 90. In this way, when the output end of the ankle joint 81 is driven to rotate relative to the ankle connector 82, the ankle crank 101 is driven to rotate, thereby driving the ankle link 102 to rotate through the ankle crank 101, and then driving the foot 90 to rotate relative to the calf frame 50 through the ankle link 102. The transmission structure is simple and the transmission method is efficient.

[0062] As an implementable method, Figure 6 and Figure 7 As shown, two first side plates 51 are spaced apart at one end of the calf frame 50 near the foot 90, and the two first side plates 51 are respectively provided with a first axial hole; two second side plates 91 are spaced apart at one end of the foot 90 near the calf frame 50, and the two second side plates 91 are respectively provided with a second axial hole, the extension direction of the two first side plates 51 is perpendicular to the extension direction of the two second side plates 91, and the connection direction of the two first axial holes is cross-shaped with the connection direction of the two second axial holes. For example, Figure 6 and Figure 7 As shown, the foot 90 includes a foot shell 92, a foot body 93 and a foot sole plate 94 which are arranged in sequence along the extension direction of the calf frame 50 (i.e., the length direction of the leg structure). The above-mentioned second side plate 91 is arranged above the foot shell 92. In addition to the second side plate 91, an ankle adapter 280 is also provided at one end of the foot 90 close to the calf frame 50 to connect with the ankle link 102 through the ankle adapter 280.

[0063] Based on the above structure, Figure 6 and Figure 7 As shown, the leg structure also includes a cross-axis 110, which includes a first shaft 111 and a second shaft 112 arranged orthogonally. The two ends of the first shaft 111 are respectively inserted into the two first shaft holes, and the two ends of the second shaft 112 are respectively inserted into the two second shaft holes. In this way, the calf frame 50 and the foot 90 can be connected via the cross-axis 110, so that the axis of motion of the ankle lateral extension and the axis of motion of the ankle pitch intersect at a single point (i.e., the intersection of the cross-axis 110), making it easier to control and more compact.

[0064] In a second aspect of the embodiments of the present application, a bipedal robot is provided, the bipedal robot including the above-mentioned leg structure. The bipedal robot may further include a robot trunk, and the leg structure is connected to the robot trunk. Since the structure and beneficial effects of the leg structure have been described in detail in the above embodiments, they will not be repeated here. For example, Figure 4 As shown, in this embodiment, the inertial measurement unit 120 of the biped robot is provided on the hip extension assembly 10 to monitor the motion inertia of the leg structure in real time.

[0065] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

[0066] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner unless there is any contradiction. In order to avoid unnecessary repetition, this application will not further describe various possible combinations.

Claims

1. A leg structure, characterized in that: The invention comprises a hip lateral extension assembly (10), a hip pitch assembly (20), a hip rotation assembly (30), a thigh frame (40) and a shank frame (50) which are connected in sequence, and also comprises a knee joint assembly (60) connected to the thigh frame (40) and the shank frame (50); The output axis of the hip lateral extension assembly (10), the output axis of the hip pitch assembly (20) and the output axis of the hip rotation assembly (30) are perpendicular to each other, and the output axis of the hip pitch assembly (20) is parallel to the output axis of the knee joint assembly (60); The hip lateral extension assembly (10) can drive the thigh frame (40) to rotate around the output axis of the hip lateral extension assembly (10) through the hip pitch assembly (20) and the hip rotation assembly (30); the hip pitch assembly (20) can drive the thigh frame (40) to rotate around the output axis of the hip pitch assembly (20) through the hip rotation assembly (30); the hip rotation assembly (30) can drive the thigh frame (40) to rotate around the output axis of the hip rotation assembly (30); and the knee joint assembly (60) can drive the calf frame (50) to rotate relative to the thigh frame (40).

2. The leg structure according to claim 1, characterized in that: The hip lateral extension assembly (10) comprises a hip lateral extension connector (12) and a hip lateral extension joint (11) connected to the hip lateral extension connector (12); the hip pitch assembly (20) comprises a hip pitch connector (22) and a hip pitch joint (21) connected to the hip pitch connector (22); and the hip rotation assembly (30) comprises a hip rotation connector (32) and a hip rotation joint (31) connected to the hip rotation connector (32); The output end of the hip extension joint (11) is driven to rotate relative to the hip extension connector (12), and can drive the thigh frame (40) to rotate around the output axis of the hip extension joint (11); the output end of the hip pitch joint (21) is driven to rotate relative to the hip pitch connector (22), and can drive the thigh frame (40) to rotate around the output axis of the hip pitch joint (21); the output end of the hip rotation joint (31) is driven to rotate relative to the hip rotation connector (32), and can drive the thigh frame (40) to rotate around the output axis of the hip rotation joint (31).

3. The leg structure according to claim 2, characterized in that: It also includes a hip lateral expansion component fixing seat (130), the hip lateral expansion connector (12) is fixedly installed on the hip lateral expansion component fixing seat (130), the output end of the hip lateral expansion joint (11) is connected to the output end of the hip pitch joint (21), the hip pitch connector (22) is connected to the output end of the hip rotation joint (31), and the hip rotation connector (32) is connected to the thigh frame (40).

4. The leg structure according to claim 3, characterized in that: It also includes a connecting frame, through which the output end of the hip extension joint (11) and the output end of the hip pitch joint (21) are connected.

5. The leg structure according to claim 4, characterized in that: The connecting frame is a U-shaped connecting frame (180), and the U-shaped connecting frame (180) is arranged on the outside of the hip side extension component (10) along the output axis of the hip side extension joint (11). One connecting arm of the U-shaped connecting frame (180) is rotatably connected to the hip side extension component fixing seat (130) through a bearing (251), and the other connecting arm is fixedly connected to the output end of the hip side extension joint (11). The output end of the hip pitch joint (21) is fixedly connected to a connecting plate connecting the two connecting arms of the U-shaped connecting frame (180).

6. The leg structure according to claim 3, characterized in that: It also includes a hip pitch housing arranged outside the hip pitch assembly (20) and a thigh housing arranged outside the hip rotation assembly (30); The hip pitch connector (22) is fixedly mounted on the hip pitch housing, and the hip pitch connector (22) is fixedly connected to the output end of the hip rotation joint (31) via the hip pitch housing; The hip circumferential connecting member (32) is fixedly mounted on the thigh shell, and the hip circumferential connecting member (32) is fixedly connected to the thigh frame (40) via the thigh shell.

7. The leg structure according to claim 6, characterized in that: The hip pitch housing comprises a hip pitch inner cover (190), a hip pitch outer cover (200) and a hip pitch protective cover (210) which are sequentially arranged along the output axis of the hip pitch joint (21); the hip pitch inner cover (190), the hip pitch outer cover (200) and the hip pitch protective cover (210) are arranged on the outside of the hip pitch assembly (20) in cooperation with each other; the hip pitch connector (22) is fixedly mounted on the hip pitch outer cover (200); and the hip pitch connector (22) is fixedly connected to the output end of the hip rotation joint (31) through the hip pitch outer cover (200).

8. The leg structure according to claim 7, characterized in that: The thigh shell includes a thigh inner shell (220) and a thigh outer shell (230), the thigh inner shell (220) and the hip pitch inner cover (190) are located on the same side of the hip pitch assembly (20), the thigh outer shell (230) and the hip pitch protective cover (210) are located on the other side of the hip pitch assembly (20), the thigh inner shell (220) and the thigh outer shell (230) are arranged in cooperation with each other on the outside of the hip rotation assembly (30), the hip rotation connector (32) is fixedly mounted on the thigh inner shell (220) or the thigh outer shell (230), and the hip rotation connector (32) is fixedly connected to the thigh frame (40) through the thigh inner shell (220) or the thigh outer shell (230).

9. The leg structure according to claim 1, characterized in that: The knee joint assembly (60) includes a knee connector (62) and a knee joint (61) connected to the knee connector (62); the knee connector (62) is fixedly connected to the thigh frame (40); the output end of the knee joint (61) is transmission-connected to the calf frame (50); the output end of the knee joint (61) is driven to rotate relative to the knee connector (62), and can drive the calf frame (50) to rotate relative to the thigh frame (40).

10. A bipedal robot, characterized in that: The invention comprises the leg structure according to any one of claims 1 to 9.

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