Leg structure and biped robot

Abstract

The application discloses a leg structure and a biped robot, and relates to the technical field of robots.The leg structure comprises a hip abduction assembly, a hip pitch assembly, a hip roll 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 shaft of the hip abduction assembly, the output shaft of the hip roll assembly and the output shaft of the hip pitch assembly are perpendicular to each other in pairs, and the output shaft of the hip pitch assembly is parallel to the output shaft of the knee joint assembly; the hip abduction assembly can drive the thigh skeleton to rotate around the output shaft of the hip abduction assembly, the hip pitch assembly can drive the thigh skeleton to rotate around the output shaft of the hip pitch assembly, the hip roll assembly can drive the thigh skeleton to rotate around the output shaft of the hip roll assembly, and the knee joint assembly can drive the shank skeleton to rotate relative to the thigh skeleton.The leg structure can reduce the terminal mass of the leg structure, reduce the moment of inertia, and thus improve the flexibility and endurance of the biped robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a leg structure and a biped robot. BACKGROUND

[0002] The biped robot has a similar movement mode to human beings and can freely move in various complex environments where human beings can move. The biped robot can assist or even replace human beings to complete dangerous, heavy and complex work, improve work efficiency and quality, and is widely applied in many industries such as production, military, education and life. Among them, the leg structure is an important part of the biped robot, which directly determines the stability and flexibility of the biped robot.

[0003] The leg structure of the biped robot generally includes corresponding leg joints such as a hip joint, a knee joint and an ankle joint. The leg joints can cooperate with each other to complete a walking movement similar to human body movement. Most of the traditional biped robots have the problem of low inertia, which causes large energy consumption when lifting the leg, thereby resulting in insufficient flexibility of the biped robot and insufficient endurance. Therefore, how to reduce the motion energy consumption of the biped robot and improve the action flexibility is a technical problem to be solved at present. SUMMARY

[0004] The purpose of the present application is to provide a leg structure and a biped robot, which can reduce the end mass of the leg structure, reduce the moment of inertia, and thereby improve the flexibility and endurance of the biped robot.

[0005] Embodiments of the present application are implemented as follows:

[0006] In a first aspect, the present application provides a leg structure, comprising a hip abduction assembly, a hip pitch assembly, a hip roll assembly, a thigh skeleton and a shank skeleton connected in sequence, and further comprising a knee joint assembly connected with the thigh skeleton and the shank skeleton; the output axis of the hip abduction assembly, the output axis of the hip pitch assembly and the output axis of the hip roll 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 abduction assembly can drive the thigh skeleton to rotate around the output axis of the hip abduction assembly through the hip pitch assembly and the hip roll assembly, the hip pitch assembly can drive the thigh skeleton to rotate around the output axis of the hip pitch assembly through the hip roll assembly, the hip roll assembly can drive the thigh skeleton to rotate around the output axis of the hip roll assembly, and the knee joint assembly can drive the shank skeleton to rotate relative to the thigh skeleton. The leg structure can reduce the end mass of the leg structure, reduce the moment of inertia, and thereby improve the flexibility and endurance of the biped robot.

[0007] As an implementable mode, the hip abduction assembly comprises a hip abduction connecting piece and a hip abduction joint connected with the hip abduction connecting piece, the hip inclination assembly comprises a hip inclination connecting piece and a hip inclination joint connected with the hip inclination connecting piece, and the hip circumduction assembly comprises a hip circumduction connecting piece and a hip circumduction joint connected with the hip circumduction connecting piece; the output end of the hip abduction joint is driven to rotate relative to the hip abduction connecting piece, and can drive the thigh skeleton to rotate around the output axis of the hip abduction joint; the output end of the hip inclination joint is driven to rotate relative to the hip inclination connecting piece, and can drive the thigh skeleton to rotate around the output axis of the hip inclination joint; and the output end of the hip circumduction joint is driven to rotate relative to the hip circumduction connecting piece, and can drive the thigh skeleton to rotate around the output axis of the hip circumduction joint.

[0008] As an implementable mode, the hip abduction assembly further comprises a hip abduction assembly fixing seat, the hip abduction connecting piece is fixedly installed on the hip abduction assembly fixing seat, the output end of the hip abduction joint is connected with the output end of the hip inclination joint, the hip inclination connecting piece is connected with the output end of the hip circumduction joint, and the hip circumduction connecting piece is connected with the thigh skeleton.

[0009] As an implementable mode, the hip abduction assembly further comprises a connecting frame, and the output end of the hip abduction joint is connected with the output end of the hip inclination joint through the connecting frame.

[0010] As an implementable mode, the connecting frame is a U-shaped connecting frame, the U-shaped connecting frame is arranged on the outside of the hip abduction assembly along the output axis of the hip abduction joint, one connecting arm of the U-shaped connecting frame is rotatably connected with the hip abduction assembly fixing seat through a bearing, the other connecting arm is fixedly connected with the output end of the hip abduction joint, and the output end of the hip inclination joint is fixedly connected with a connecting plate connecting the two connecting arms of the U-shaped connecting frame.

[0011] As an implementable mode, the hip abduction assembly further comprises a hip inclination housing arranged on the outside of the hip inclination assembly and a thigh housing arranged on the outside of the hip circumduction assembly; the hip inclination connecting piece is fixedly installed on the hip inclination housing, and the hip inclination connecting piece is fixedly connected with the output end of the hip circumduction joint through the hip inclination housing; and the hip circumduction connecting piece is fixedly installed on the thigh housing, and the hip circumduction connecting piece is fixedly connected with the thigh skeleton through the thigh housing.

[0012] As an implementable mode, the hip flexion shell comprises a hip flexion inner cover, a hip flexion outer cover and a hip flexion protection cover arranged in sequence along an output axis of the hip flexion joint, the hip flexion inner cover, the hip flexion outer cover and the hip flexion protection cover are arranged on the outside of the hip flexion assembly in cooperation with each other, the hip flexion connecting piece is fixedly installed on the hip flexion outer cover, and the hip flexion connecting piece is fixedly connected with the output end of the hip rotation joint through the hip flexion outer cover.

[0013] As an implementable mode, the thigh shell comprises a thigh inner shell and a thigh outer shell, the thigh inner shell and the hip flexion inner cover are located on the same side of the hip flexion assembly, the thigh outer shell and the hip flexion protection cover are located on the other side of the hip flexion assembly, the thigh inner shell and the thigh outer shell are arranged on the outside of the hip rotation assembly in cooperation with each other, the hip rotation connecting piece is fixedly installed on the thigh inner shell or the thigh outer shell, and the hip rotation connecting piece is fixedly connected with the thigh skeleton through the thigh inner shell or the thigh outer shell.

[0014] As an implementable mode, the knee joint assembly comprises a knee connecting piece and a knee joint connected with the knee connecting piece, the knee connecting piece is fixedly connected with the thigh skeleton, the output end of the knee joint is drivingly connected with the shank skeleton, and the output end of the knee joint is driven to rotate relative to the knee connecting piece, so as to drive the shank skeleton to rotate relative to the thigh skeleton.

[0015] According to a second aspect of the embodiment of the present application, a biped robot is provided, comprising the leg structure described above. The leg structure can reduce the mass of the end of the leg structure, reduce the moment of inertia, and thus improve the flexibility and endurance of the biped robot.

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

[0017] The leg structure comprises a hip abduction assembly, a hip pitch assembly, a hip roll assembly, a thigh skeleton and a shank skeleton connected in sequence, and a knee joint assembly connected with the thigh skeleton and the shank skeleton; the output shaft of the hip abduction assembly, the output shaft of the hip pitch assembly and the output shaft of the hip roll assembly are perpendicular to each other, and the output shaft of the hip pitch assembly is parallel to the output shaft of the knee joint assembly; the hip abduction assembly can drive the thigh skeleton to rotate around the output shaft of the hip abduction assembly through the hip pitch assembly and the hip roll assembly, so as to realize the abduction action of the thigh skeleton; the hip pitch assembly can drive the thigh skeleton to rotate around the output shaft of the hip pitch assembly through the hip roll assembly, so as to realize the pitch action of the thigh skeleton; the hip roll assembly can drive the thigh skeleton to rotate around the output shaft of the hip roll assembly, so as to realize the roll action of the thigh skeleton; and the knee joint assembly can drive the shank skeleton to rotate relative to the thigh skeleton, so as to realize the flexion and extension action of the knee. Compared with the prior art, the hip pitch assembly can be moved upward and closer to the waist of the biped robot by reasonably arranging the above-mentioned assemblies, and the knee joint assembly can also be moved upward and closer to the body of the biped robot, on the one hand, the mass of the biped robot can be more concentrated, the mass distribution of the leg structure is optimized, the mass of the end of the leg structure is reduced, the inertia of the leg structure is reduced, the power consumption is reduced, and the motion flexibility and endurance of the biped robot are improved; on the other hand, the motion range of the hip pitch assembly is larger, and the knee joint assembly is protected by the thigh skeleton, so that the risk of part leakage is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0019] Figure 1 One of the structural schematic diagrams of the leg structure provided by the embodiments of the present application;

[0020] Figure 2 The second structural schematic diagram of the leg structure provided by the embodiments of the present application;

[0021] Figure 3 The third structural schematic diagram of the leg structure provided by the embodiments of the present application;

[0022] Figure 4 The fourth structural schematic diagram of the leg structure provided by the embodiments of the present application;

[0023] Figure 5 The fourth structural schematic diagram of the leg structure provided by the embodiments of the present application; Figure 4Partial enlarged view of the hip abduction shell hidden behind the hip abduction shell;

[0024] Figure 6 Fifth structural schematic view of the leg structure provided for the embodiment of the present application;

[0025] Figure 7 Fifth structural schematic view of the leg structure provided for the embodiment of the present application; Figure 6 Partial enlarged view of the hip abduction shell hidden behind the hip abduction shell.

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

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. 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 drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0029] It should be noted that like reference numerals and characters refer to like elements throughout the particular drawings. Moreover, unless specifically stated otherwise, it can be appreciated that, throughout the description, the use of terms such as "first" and "second", etc. can be a literal or relative description that refer to the order of things. For example, a first element can be positioned on a left side of a second element, or the first element can be positioned on a right side of the second element. As such, the foregoing is not intended to limit the scope of the application, for it is intended to cover all such modifications as fall within the scope of the claims.

[0030] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed during use, and are merely intended to facilitate the description of the present application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0031] In addition, the terms "horizontal", "vertical", and the like do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0032] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set", "mount", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the connection between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] Please refer to Figures 1 to 7The embodiment of the application provides a leg structure, which comprises a hip abduction assembly 10, a hip pitch assembly 20, a hip roll assembly 30, a thigh skeleton 40 and a shank skeleton 50 connected in sequence, and a knee joint assembly 60 connected with the thigh skeleton 40 and the shank skeleton 50; the output shaft of the hip abduction assembly 10, the output shaft of the hip pitch assembly 20 and the output shaft of the hip roll assembly 30 are perpendicular to each other, and the output shaft of the hip pitch assembly 20 is parallel to the output shaft of the knee joint assembly 60; the hip abduction assembly 10 can drive the thigh skeleton 40 to rotate around the output shaft of the hip abduction assembly 10 through the hip pitch assembly 20 and the hip roll assembly 30, the hip pitch assembly 20 can drive the thigh skeleton 40 to rotate around the output shaft of the hip pitch assembly 20 through the hip roll assembly 30, the hip roll assembly 30 can drive the thigh skeleton 40 to rotate around the output shaft of the hip roll assembly 30, and the knee joint assembly 60 can drive the shank skeleton 50 to rotate relative to the thigh skeleton 40. The leg structure can reduce the terminal mass of the leg structure and the rotational inertia, thereby improving the flexibility and endurance of the biped robot.

[0034] It should be noted that, as shown in Figure 1 、 Figure 2 and Figure 6 , the leg structure comprises the hip abduction assembly 10, the hip pitch assembly 20, the hip roll assembly 30, the thigh skeleton 40, the shank skeleton 50 and the knee joint assembly 60, the hip abduction assembly 10 can drive the thigh skeleton 40 to rotate around the output shaft of the hip abduction assembly 10 through the hip pitch assembly 20 and the hip roll assembly 30, so as to realize the abduction action of the leg structure, the hip pitch assembly 20 can drive the thigh skeleton 40 to rotate around the output shaft of the hip pitch assembly 20 through the hip roll assembly 30, so as to realize the pitch action of the leg structure, the hip roll assembly 30 can drive the thigh skeleton 40 to rotate around the output shaft of the hip roll assembly 30, so as to realize the roll action of the leg structure, and the knee joint assembly 60 can drive the shank skeleton 50 to rotate relative to the thigh skeleton 40, so as to realize the flexion and extension action of the knee.

[0035] In the actual assembly process, the hip abduction assembly 10, the hip pitch assembly 20, the hip roll assembly 30, the thigh skeleton 40 and the shank skeleton 50 are connected in sequence to form the leg structure, for example, as shown in Figure 1 and Figure 4As shown in the embodiment, the hip inclination assembly 20 is located on the left side or the right side of the hip abduction assembly 10, the hip circumduction assembly 30 is located below the hip abduction assembly 10, the thigh skeleton 40 is located below the hip circumduction assembly 30, the shank skeleton 50 is located below the thigh skeleton 40, the knee joint assembly 60 is connected with the thigh skeleton 40 and the shank skeleton 50, and the knee joint assembly 60 is located inside the thigh skeleton 40, for example. The output axis of the hip abduction assembly 10 (i.e. in the thickness direction of the leg structure), the output axis of the hip inclination assembly 20 (i.e. in the width direction of the leg structure), and the output axis of the hip circumduction assembly 30 (i.e. in the length direction of the leg structure) are perpendicular to each other, and the output axis of the hip inclination assembly 20 is parallel to the output axis of the knee joint assembly 60.

[0036] Compared with the prior art, the hip inclination assembly 20 can be moved upward and closer to the waist of the biped robot, and the knee joint assembly 60 can also be moved upward and closer to the body of the biped robot by reasonably arranging the above components, which can concentrate the mass of the biped robot, reduce the mass of the end of the leg structure, reduce the inertia of the leg structure, reduce power consumption, and thus improve the motion flexibility and endurance of the biped robot. On the other hand, the movement range of the hip inclination assembly 20 can be larger, and the thigh skeleton 40 can protect the knee joint assembly 60 from being exposed.

[0037] As an implementable manner, as shown in Figure 2 , Figure 4 and Figure 5 , the hip abduction assembly 10 includes a hip abduction connecting piece 12 and a hip abduction joint 11 connected with the hip abduction connecting piece 12, the hip inclination assembly 20 includes a hip inclination connecting piece 22 and a hip inclination joint 21 connected with the hip inclination connecting piece 22, and the hip circumduction assembly 30 includes a hip circumduction connecting piece 32 and a hip circumduction joint 31 connected with the hip circumduction connecting piece 32.

[0038] In this way, when the output end of the hip abduction joint 11 is driven to rotate relative to the hip abduction connecting member 12, the thigh skeleton 40 can be driven to rotate around the output axis of the hip abduction joint 11, so as to realize the abduction action of the human hip joint outwardly spreading or inwardly closing, and further change the position and posture of the leg structure in the horizontal transverse direction; when the output end of the hip inclination joint 21 is driven to rotate relative to the hip inclination connecting member 22, the thigh skeleton 40 can be driven to rotate around the output axis of the hip inclination joint 21, so as to realize the inclination action of the human hip joint lifting forward or swinging backward, and further realize the action posture of the thigh skeleton 40 lifting forward or swinging backward when walking; when the output end of the hip circumrotation joint 31 is driven to rotate relative to the hip circumrotation connecting member 32, the thigh skeleton 40 can be driven to rotate around the output axis of the hip circumrotation joint 31, so as to realize the circumrotation action of the thigh skeleton 40 in the horizontal plane, and further realize the action posture of the leg structure rotating when the human body turns around at the original position.

[0039] As an implementation manner, as shown in Figure 4 and Figure 5 The leg structure further comprises a hip abduction assembly fixing seat 130, the number of the hip abduction assembly 10, the hip inclination assembly 20 and the hip circumrotation assembly 30 is two, the two hip abduction assemblies 10 are arranged in front and back staggered along the output axis of the hip abduction assembly 10, and the installation directions of the two hip abduction assemblies 10 are opposite, the two hip inclination assemblies 20 are arranged on the opposite sides of the hip abduction assembly fixing seat 130 along the output axis of the hip inclination assembly 20, and the two hip inclination assemblies 20 are connected with the two hip abduction assemblies 10 one by one, and the two hip circumrotation assemblies 30 are arranged on the opposite sides of the hip abduction assembly fixing seat 130 along the output axis of the hip inclination assembly 20, and the two hip circumrotation assemblies 30 are connected with the two hip inclination assemblies 20 one by one.

[0040] The two hip abduction assemblies 10 are arranged in front and back staggered along the output axis of the hip abduction assembly 10, and correspondingly, the output axes of the two hip abduction assemblies 10 are parallel and staggered along the front and back sides of the hip abduction assembly fixing seat 130; the two hip inclination assemblies 20 are arranged on the opposite sides of the hip abduction assembly fixing seat 130 along the output axis of the hip inclination assembly 20, and correspondingly, the output axes of the two hip inclination assemblies 20 are coaxially arranged; the two hip circumrotation assemblies 30 are arranged on the opposite sides of the hip abduction assembly fixing seat 130 along the output axis of the hip inclination assembly 20, and correspondingly, the output axes of the two hip circumrotation assemblies 30 are parallel and coplanar along the left and right sides of the hip abduction assembly fixing seat 130. In this way, the two thigh skeletons 40 of the leg structure can realize the abduction action, the inclination action and the circumrotation action.

[0041] Compared with the prior art, the application significantly optimizes the structure and performance of the hip of the biped robot by arranging two hip abduction assemblies 10 in front and back along the output axis of the hip abduction assemblies 10 and mounting the two hip abduction assemblies 10 in opposite directions. From the spatial layout, the front and back arrangement effectively reduces the transverse size of the hip, makes the overall structure of the biped robot more compact, greatly improves the movement flexibility of the biped robot in a narrow space, and can adapt to a more complex environment. In terms of force transmission and motion control, the two hip abduction assemblies 10 mounted in opposite directions form a more reasonable force transmission path, not only achieving balanced distribution of the load and enhancing the stability of the movement of the biped robot, but also realizing more diverse gait movements through the synergistic action of different assemblies, expanding the action range of the biped robot. At the same time, this unique layout breaks through the limitation of the traditional structure on the range of joint movement, enabling the hip to complete larger and more complex movements, making it possible for the biped robot to realize high-difficulty actions, and thus improving the application adaptability of the biped robot.

[0042] As an implementable manner, as shown in Figure 2 、 Figure 4 and Figure 5 , the hip abduction connecting pieces 12 of the two hip abduction assemblies 10 are respectively fixedly mounted on the hip abduction assembly fixing seat 130, the output end of the hip abduction joint 11 is connected with the output end of the hip inclination joint 21, the hip inclination connecting piece 22 is connected with the output end of the hip circumduction joint 31, and the hip circumduction connecting piece 32 is connected with the thigh skeleton 40.

[0043] It should be noted that the hip abduction assembly fixing seat 130 as a basic support component can be connected with the robot trunk through bolts or clamping grooves, and the hip abduction connecting piece 12 is fixed on the hip abduction assembly fixing seat 130 in a rigid connection manner (such as welding or high-strength bolts) to form the mounting reference of the entire leg structure. The output end of the hip abduction joint 11 is connected with the output end of the hip inclination joint 21, the hip inclination connecting piece 22 is connected with the output end of the hip circumduction joint 31, and the hip circumduction connecting piece 32 is connected with the thigh skeleton 40, so that the hip abduction joint 11 can drive the thigh skeleton 40 to rotate around the output axis of the hip abduction joint 11 through the hip inclination assembly 20 and the hip circumduction assembly 30, thereby realizing the abduction action of the leg structure, the hip inclination joint 21 can drive the thigh skeleton 40 to rotate around the output axis of the hip inclination joint 21 through the hip circumduction assembly 30, thereby realizing the inclination action of the leg structure, and the hip circumduction joint 31 can drive the thigh skeleton 40 to rotate around the output axis of the hip circumduction joint 31, thereby realizing the circumduction action of the leg structure.

[0044] As another implementable manner, the hip abduction assembly 10, the hip flexion assembly 20 and the hip rotation assembly 30 are connected in sequence, i.e., the hip abduction connecting member 12, the hip abduction joint 11, the hip flexion connecting member 22, the hip flexion joint 21, the hip rotation connecting member 32 and the hip rotation joint 31 are connected in sequence. For example, since the output end of the hip abduction joint 11 is fixed with the hip flexion connecting member 22, when the hip abduction joint 11 rotates, the hip flexion connecting member 22 and the subsequent hip flexion joint 21 can be driven to move synchronously, thereby realizing the hip abduction action similar to the outward expansion or inward contraction of the human hip joint. The principles of realizing the respective actions of the hip flexion assembly 20 and the hip rotation assembly 30 are the same as above, which will not be described herein again. As to the hip abduction assembly 10, the hip flexion assembly 20 and the hip rotation assembly 30, the person skilled in the art should be able to select a suitable connection manner according to actual needs, which will not be specifically limited herein.

[0045] As an implementable manner, as shown in Figure 4 and Figure 5 the leg structure further comprises a connecting frame, the output end of the hip abduction joint 11 is connected with the output end of the hip flexion joint 21 through the connecting frame. In some embodiments, the connecting frame can be a U-shaped connecting frame 180, the U-shaped connecting frame 180 is arranged on the outside of the hip abduction assembly 10 along the output axis of the hip abduction joint 11, one connecting arm of the U-shaped connecting frame 180 is rotatably connected with the hip abduction assembly fixed seat 130 through a bearing 251, so as to realize the supporting action through the connecting arm and ensure the stability of the connection between the U-shaped connecting frame 180 and the hip abduction assembly fixed seat 130, the rotatable connection through the bearing 251 can also avoid the interference to the rotation of the output end of the hip abduction joint 11, the other connecting arm of the U-shaped connecting frame 180 is fixedly connected with the output end of the hip abduction joint 11, and the output end of the hip flexion joint 21 is fixedly connected with the connecting plate of the two connecting arms of the U-shaped connecting frame 180, so as to realize the transmission action between the output end of the hip abduction joint 11 and the output end of the hip flexion joint 21 through the connecting arm and the connecting plate. In this way, the hip abduction assembly 10 and the hip flexion assembly 20 can be connected through the U-shaped connecting frame 180, and the reversing action can be realized.

[0046] Specifically, the U-shaped connecting frame 180 comprises 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 on the outside of the hip abduction assembly 10 in front and back along the output axis of the hip abduction joint 11, the first connecting arm 181 is rotatably connected with the hip abduction assembly fixed seat 130 through the bearing 251, the second connecting arm 182 is fixedly connected with the output end of the hip abduction joint 11, and the connecting plate is fixedly connected with the output end of the hip flexion joint 21.

[0047] When the number of the U-shaped connecting frames 180 is two, the installation directions of the two hip abduction assemblies 10 are opposite, meaning that the two U-shaped connecting frames 180 are connected with the two hip abduction assemblies 10 one by one, wherein the first connecting arm 181 of one U-shaped connecting frame 180 and the second connecting arm 182 of another U-shaped connecting frame 180 are installed on the same side of the hip abduction assembly fixing seat 130, and the second connecting arm 182 of one U-shaped connecting frame 180 and the first connecting arm 181 of another U-shaped connecting frame 180 are installed on the other side of the hip abduction assembly fixing seat 130.

[0048] As an implementable manner, as shown in Figure 5 the rotation axis of the first connecting arm 181 and the output axis of the hip abduction joint 11 are coaxially arranged. At this time, when the output end of the hip abduction 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 coaxially swing, thereby improving the force uniformity and transmission stability of the transmission and reversing realized by the U-shaped connecting frame 180.

[0049] As an implementable manner, as shown in Figure 4 the leg structure further comprises a hip abduction shell arranged outside the hip abduction assembly fixing seat 130, the hip abduction shell comprises two first hip abduction side covers 140 and two second hip abduction side covers 131, which are arranged one by one on the left and right sides of the hip abduction assembly 10 along the output axis of the hip anteversion joint 21; the hip abduction shell further comprises a hip front cover 150 and a hip rear cover 160, which are arranged on the front and rear sides of the hip abduction assembly 10 along the output axis of the hip abduction joint 11. For example, the hip front cover 150 and the hip rear cover 160 extend towards the side close to the robot torso (such as the waist joint adapter 240), and the hip front cover 150 and the hip rear cover 160 and the hip reinforcing plate 170 located below the hip abduction assembly 10 are all connected to the hip assembly. For example, the inner side of the hip front cover 150 is further provided with a hip bearing outer cover 250 to fix the above-mentioned bearing 251 through the hip bearing outer cover 250. In this way, the hip abduction assembly 10 can be protected in all directions by the two first hip abduction side covers 140, the two second hip abduction side covers 131, the hip front cover 150, the hip rear cover 160 (and the hip reinforcing plate 170).

[0050] As an implementable manner, as shown in Figure 6As shown, the leg structure further comprises a hip flexion shell arranged outside the hip flexion assembly 20 and a thigh shell arranged outside the hip circumduction assembly 30; the hip flexion connector 22 is fixedly installed on the hip flexion shell, and the hip flexion connector 22 is fixedly connected with the output end of the hip circumduction joint 31 through the hip flexion shell and / or the hip circumduction assembly adapter 290; the hip circumduction connector 32 is fixedly installed on the thigh shell, and the hip circumduction connector 32 is fixedly connected with the thigh skeleton 40 through the thigh shell, or the hip circumduction connector 32 can be directly formed on the thigh shell, so that when the hip circumduction joint 31 rotates, the thigh skeleton 40 can be driven to rotate through the hip circumduction connector 32 and the thigh shell.

[0051] As an implementable manner, as shown in Figure 6 As shown, the hip flexion shell comprises a hip flexion inner cover 190, a hip flexion outer cover 200 and a hip flexion protection cover 210 arranged in sequence along the output axis of the hip flexion joint 21, and the hip flexion inner cover 190, the hip flexion outer cover 200 and the hip flexion protection cover 210 are arranged outside the hip flexion assembly 20 in cooperation with each other, so that the hip flexion assembly 20 can be protected in all directions through the hip flexion inner cover 190, the hip flexion outer cover 200 and the hip flexion protection cover 210. The hip flexion connector 22 is fixedly installed on the hip flexion outer cover 200, and the hip flexion connector 22 is fixedly connected with the output end of the hip circumduction joint 31 through the hip flexion outer cover 200 and / or the hip circumduction assembly adapter 290, so that when the hip circumduction joint 31 rotates, the thigh skeleton 40 can be driven to rotate through the hip circumduction connector 32 and the thigh shell.

[0052] As an implementable manner, as shown in Figure 6 As shown, the thigh shell comprises a thigh inner shell 220 and a thigh outer shell 230, the thigh inner shell 220 and the hip flexion inner cover 190 are located on the same side of the hip flexion assembly 20, the thigh outer shell 230 and the hip flexion protection cover 210 are located on the other side of the hip flexion assembly 20, and the thigh inner shell 220 and the thigh outer shell 230 are arranged outside the hip circumduction assembly 30 and the knee joint assembly 60 in cooperation with each other; the hip circumduction connector 32 is fixedly installed or directly formed on the thigh inner shell 220 and / or the thigh outer shell 230, and the hip circumduction connector 32 is fixedly connected with the thigh skeleton 40 through the thigh inner shell 220 and / or the thigh outer shell 230, so that the thigh inner shell 220 and the thigh outer shell 230 can play the role of the connector in the connection relationship and the role of the shell in the appearance.

[0053] Through the above connection mode, the hip rotation assembly 30 connects the hip pitch assembly 20 with the thigh inner shell 220 and the thigh outer shell 230, facilitating the direct disassembly of the thigh inner shell 220 and the thigh outer shell 230 during maintenance, and increasing the maintainability of the leg structure. Moreover, compared with the prior art, the above-mentioned components are reasonably designed, so that each component not only can play a structural support role, but also can play an appearance protection role, thereby the complex appearance part can be omitted, the leg structure is more compact, and the protection of the internal components is improved.

[0054] As an implementable manner, as shown in Figures 1 to 3 , Figure 6 , the knee joint assembly 60 comprises a knee connecting piece 62 and a knee joint 61 connected with the knee connecting piece 62, the knee connecting piece 62 is fixedly connected with the thigh skeleton 40, and the output end of the knee joint 61 is drivingly connected with the lower leg skeleton 50. When the output end of the knee joint 61 is driven to rotate relative to the knee connecting piece 62, the lower leg skeleton 50 can be driven to rotate relative to the thigh skeleton 40, thereby completing the flexion and extension action of the lower leg skeleton 50, and realizing the flexion and extension function of the knee joint 61 in human walking, running and other activities. For example, the end of the thigh skeleton 40 close to the lower leg skeleton 50 is also provided with an inner knee rotation shaft 260 and an outer knee rotation shaft 270, so as to connect the end of the thigh skeleton 40 close to the lower leg skeleton 50 and the end of the lower leg skeleton 50 close to the thigh skeleton 40 through the inner knee rotation shaft 260 and the outer knee rotation shaft 270.

[0055] As an implementable manner, as shown in Figure 3 , the leg structure further comprises a first connecting rod assembly 70, and the output end of the knee joint 61 is drivingly connected with the lower leg skeleton 50 through the first connecting rod assembly 70, so as to drive the lower leg skeleton 50 to move through the first connecting rod assembly 70, thereby realizing the flexion and extension action of the knee of the biped robot.

[0056] For example, as shown in Figure 3 , in the embodiment, the first connecting rod assembly 70 comprises a knee crank 71 and a knee connecting rod 72, the opposite ends of the knee crank 71 are respectively drivingly connected with the output end of the knee joint 61 and the knee connecting rod 72, and the end of the knee connecting rod 72 away from the knee crank 71 is drivingly connected with the lower leg skeleton 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 through the knee crank 71, and the lower leg skeleton 50 can be driven to rotate relative to the thigh skeleton 40 through the knee connecting rod 72, and the transmission mode is simple and efficient.

[0057] As an implementable manner, as shown in 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, as shown in Figure 3 In this embodiment, the second linkage assembly 100 includes an ankle crank 101 and an ankle linkage 102, opposite ends of the ankle crank 101 are rotatably connected with an output end of the ankle joint 81 and the ankle linkage 102 respectively, and an end of the ankle linkage 102 away from the ankle crank 101 is rotatably connected with the foot 90. In this way, when the output end of the ankle joint 81 is driven to rotate relative to the ankle connecting piece 82, the ankle crank 101 is driven to rotate, thereby driving the ankle linkage 102 to rotate through the ankle crank 101, and further driving the foot 90 to rotate relative to the shank skeleton 50 through the ankle linkage 102, the transmission structure is simple, and the transmission mode is efficient.

[0062] As an implementable manner, as shown in Figure 6 and Figure 7 The end of the shank skeleton 50 close to the foot 90 is provided with two first side plates 51 in a spaced manner, and the two first side plates 51 are respectively provided with first shaft holes; the end of the foot 90 close to the shank skeleton 50 is provided with two second side plates 91 in a spaced manner, and the two second side plates 91 are respectively provided with second shaft holes, the extension directions of the two first side plates 51 and the two second side plates 91 are perpendicular to each other, and the connecting line directions of the two first shaft holes and the two second shaft holes are cross-shaped. For example, as shown in Figure 6 and Figure 7 The foot 90 includes a foot shell 92, a foot body 93 and a foot bottom plate 94 arranged in sequence along the extension direction of the shank skeleton 50 (i.e. the length direction of the leg structure), and the second side plate 91 is arranged above the foot shell 92. In addition to the second side plate 91, an ankle adapter 280 is arranged at the end of the foot 90 close to the shank skeleton 50, so as to be connected with the ankle linkage 102 through the ankle adapter 280.

[0063] Based on the above structure, as shown in Figure 6 and Figure 7 The leg structure further includes a cross shaft 110, the cross shaft 110 includes a first shaft body 111 and a second shaft body 112 arranged in a perpendicular manner, two ends of the first shaft body 111 are respectively arranged in the two first shaft holes, and two ends of the second shaft body 112 are respectively arranged in the two second shaft holes. In this way, the shank skeleton 50 and the foot 90 can be connected through the cross shaft 110, so that the motion axis of the ankle abduction and the motion axis of the ankle pitch intersect at a point (i.e. the intersection point of the cross shaft 110), which is easier to control and more compact in layout.

[0064] In a second aspect, the embodiment of the present application provides a biped robot, which includes the leg structure described above. The biped robot can further include a robot trunk, and the leg structure is connected to the robot trunk. Since the structure and advantages of the leg structure have been described in detail in the foregoing embodiments, they will not be described here again. For example, as shown inFigure 4 As shown, in the present embodiment, the inertial measurement unit 120 of the biped robot is arranged on the hip abduction assembly 10 to monitor the motion inertia of the leg structure in real time.

[0065] The above merely provides the optional embodiments of the present application, but shall not be used to limit the present application. For those skilled in the art, various modifications and variations can be made on the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0066] In addition, it should be noted that the various specific technical features described in the foregoing embodiments can be combined in any appropriate manner without contradiction. To avoid unnecessary repetition, various possible combinations are not described again in the present application.

Claims

1. A leg structure, characterized by, The leg structure comprises a hip abduction assembly (10), a hip pitch assembly (20), a hip roll assembly (30), a thigh skeleton (40) and a shank skeleton (50) connected in sequence, and further comprises a knee joint assembly (60) connected with the thigh skeleton (40) and the shank skeleton (50); The output axes of the hip abduction assembly (10), the hip pitch assembly (20) and the hip roll 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 abduction assembly (10) can drive the thigh skeleton (40) to rotate around the output axis of the hip abduction assembly (10) through the hip pitch assembly (20) and the hip roll assembly (30), the hip pitch assembly (20) can drive the thigh skeleton (40) to rotate around the output axis of the hip pitch assembly (20) through the hip roll assembly (30), the hip roll assembly (30) can drive the thigh skeleton (40) to rotate around the output axis of the hip roll assembly (30), and the knee joint assembly (60) can drive the shank skeleton (50) to rotate relative to the thigh skeleton (40); The leg structure further comprises a U-shaped connecting frame (180) and a hip abduction assembly fixing seat (130), the output end of a hip abduction joint (11) of the hip abduction assembly (10) is connected with the output end of a hip pitch joint (21) of the hip pitch assembly (20) through the U-shaped connecting frame (180), the U-shaped connecting frame (180) is arranged on the outer side of the hip abduction assembly (10) along the output axis of the hip abduction joint (11), a first connecting arm (181) of the U-shaped connecting frame (180) is rotationally connected with the hip abduction assembly fixing seat (130) through a bearing (251), a second connecting arm (182) of the U-shaped connecting frame (180) is fixedly connected with the output end of the hip abduction joint (11), and the connecting plates of the two connecting arms of the U-shaped connecting frame (180) are fixedly connected with the output end of the hip pitch joint (21); The number of the U-shaped connecting frames (180) is two, the two U-shaped connecting frames (180) are connected with the two hip abduction assemblies (10) one by one, the first connecting arm (181) of one of the U-shaped connecting frames (180) and the second connecting arm (182) of the other U-shaped connecting frame (180) are installed on the same side of the hip abduction assembly fixing seat (130), and the second connecting arm (182) of one of the U-shaped connecting frames (180) and the first connecting arm (181) of the other U-shaped connecting frame (180) are installed on the other side of the hip abduction assembly fixing seat (130).

2. The leg structure of claim 1, wherein The hip abduction assembly (10) comprises a hip abduction connecting piece (12) and a hip abduction joint (11) connected with the hip abduction connecting piece (12), the hip inclination assembly (20) comprises a hip inclination connecting piece (22) and a hip inclination joint (21) connected with the hip inclination connecting piece (22), and the hip rotation assembly (30) comprises a hip rotation connecting piece (32) and a hip rotation joint (31) connected with the hip rotation connecting piece (32); The output end of the hip abduction joint (11) is driven to rotate relative to the hip abduction connecting piece (12), which can drive the thigh skeleton (40) to rotate around the output axis of the hip abduction joint (11); the output end of the hip inclination joint (21) is driven to rotate relative to the hip inclination connecting piece (22), which can drive the thigh skeleton (40) to rotate around the output axis of the hip inclination joint (21); and the output end of the hip rotation joint (31) is driven to rotate relative to the hip rotation connecting piece (32), which can drive the thigh skeleton (40) to rotate around the output axis of the hip rotation joint (31).

3. The leg structure of claim 2, wherein, The hip abduction connecting piece (12) is fixedly installed on the hip abduction assembly fixing seat (130), the hip inclination connecting piece (22) is connected with the output end of the hip rotation joint (31), and the hip rotation connecting piece (32) is connected with the thigh skeleton (40).

4. The leg structure of claim 3, wherein Further comprising a hip inclination shell arranged outside the hip inclination assembly (20) and a thigh shell arranged outside the hip rotation assembly (30); The hip inclination connecting piece (22) is fixedly installed on the hip inclination shell, and the hip inclination connecting piece (22) is fixedly connected with the output end of the hip rotation joint (31) through the hip inclination shell; The hip rotation connecting piece (32) is fixedly installed on the thigh shell, and the hip rotation connecting piece (32) is fixedly connected with the thigh skeleton (40) through the thigh shell.

5. The leg structure of claim 4, wherein The hip inclination shell comprises a hip inclination inner cover (190), a hip inclination outer cover (200) and a hip inclination protection cover (210) arranged in sequence along the output axis of the hip inclination joint (21), the hip inclination inner cover (190), the hip inclination outer cover (200) and the hip inclination protection cover (210) are arranged outside the hip inclination assembly (20) in cooperation with each other, the hip inclination connecting piece (22) is fixedly installed on the hip inclination outer cover (200), and the hip inclination connecting piece (22) is fixedly connected with the output end of the hip rotation joint (31) through the hip inclination outer cover (200).

6. The leg structure of claim 5, wherein, The thigh shell comprises 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 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) are arranged on the outer side of the hip rotation assembly (30) in a matched manner, the hip rotation connecting piece (32) is fixedly installed on the thigh inner shell (220) or the thigh outer shell (230), and the hip rotation connecting piece (32) is fixedly connected with the thigh skeleton (40) through the thigh inner shell (220) or the thigh outer shell (230).

7. The leg structure of claim 1, wherein The knee joint assembly (60) comprises a knee connecting piece (62) and a knee joint (61) connected with the knee connecting piece (62), the knee connecting piece (62) is fixedly connected with the thigh skeleton (40), an output end of the knee joint (61) is drivingly connected with the shank skeleton (50), and the output end of the knee joint (61) is driven to rotate relative to the knee connecting piece (62) and can drive the shank skeleton (50) to rotate relative to the thigh skeleton (40).

8. A biped robot characterized by comprising: The leg structure comprises any one of claims 1-6.

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