Biped humanoid robot simulating human leg skeletal muscle structure

Abstract

The invention relates to the technical field of biped humanoid robots, in particular to a biped humanoid robot simulating a human leg skeletal muscle structure. Comprising a hip bone plate, two upper rotary actuators, two hip joint rotating parts, two thigh bone simulation rods, two knee joint frames, two lower rotary actuators, two shank bone simulation parts, two foot simulation parts, four upper front linear actuators, two upper rear linear actuators and four lower rear linear actuators, and each hip joint has three degrees of freedom. The knee joint has one degree of freedom. The ankle joint has two degrees of freedom, so that the biped humanoid robot can complete actions such as walking, running, hip twisting and squatting, the flexibility of hip joint motion control is guaranteed, and the use of parts is reduced. By optimizing the structure of the biped humanoid robot, when the biped humanoid robot is in the upright state or the walking state, the consumed electric energy is less, and the cruising ability of the biped humanoid robot is effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of bipedal humanoid robots, in particular to a bipedal humanoid robot imitating the skeletal muscle structure of human legs. Background Art

[0002] Human musculoskeletal anatomy shows that the legs, which enable standing, walking, and other movements, are primarily composed of hard bone tissue and soft muscle and ligament tissue. The hip joint and thigh consist of the acetabulum, femur, and the muscles and ligaments of the anterior, medial, and posterior thighs. The calf consists of the tibia, fibula, and the anterior and posterior calf muscles. The core joints of the lower limb include the hip joint, where the waist connects to the thigh; the knee joint, where the thigh connects to the calf; and the ankle joint, where the calf connects to the foot. The hip joint has three degrees of freedom: hip abduction and adduction, hip flexion and extension, and hip internal and external rotation. The knee joint has two degrees of freedom: knee flexion and extension, and knee internal and external rotation. The ankle joint has two degrees of freedom: ankle flexion and extension, and ankle internal and external rotation. The skeleton controls the direction of movement of each leg part, while soft tissues such as muscles and ligaments control the speed and force of movement at each joint. When the human body stands upright, the entire weight of the upper body is transferred to the soles of the feet through the femur, fibula and tibia, and finally to the ground. During this process, since the hip, knee and ankle joints do not need to provide a slightly larger torque support force, less energy is consumed when standing upright.

[0003] The legs of bipedal humanoid robots often utilize a structure designed to mimic the human skeleton and joints, emulating the joint connections and distribution of the human lower limb skeleton to form the basic framework for support, transmission, and movement. In the design of bipedal humanoid robot lower limbs, the single spherical motion component requires external support to provide stable support, resulting in a large body. Consequently, in the development of bipedal humanoid robot lower limbs, rotational and linear motion control components are primarily used to achieve lower limb movement. These two types of motion components are also referred to as rotary actuators and linear actuators. Due to limitations in engineering implementation, both types of actuators currently only provide single-directional motion (forward / reverse rotation or linear reciprocating motion). To achieve the multidirectional motion of human leg joints using unidirectional motion components, the multidirectional motion of the lower limb core joints is typically decomposed into a combination of three orthogonal motions. Specifically, rotation about the X-axis is called roll, rotation about the Y-axis is called pitch, and rotation about the Y-axis is called yaw. For bipedal humanoid robots, a single leg joint can achieve six degrees of freedom, simulating the form and function of a real human leg. Typically, the hip joint of a bipedal humanoid robot is required to have three degrees of freedom, namely rolling, pitching, and yawing. The knee joint has only one degree of freedom, namely pitching. The ankle joint has two degrees of freedom, namely rolling and pitching.

[0004] Currently, some bipedal humanoid robots use only rotary actuators, achieving complex multi-degree-of-freedom motion through the movement of a single rotary actuator or the orthogonal parallel motion of two or three rotary actuators. Other bipedal humanoid robots use a combination of rotary and linear actuators to achieve single or multiple degrees of freedom. Traditional bipedal humanoid robots are structurally unsuitable, resulting in high power consumption both in an upright position and in motion. Summary of the Invention

[0005] The present invention provides a bipedal humanoid robot imitating the skeletal muscle structure of human legs, which is used to solve the problem that the structure of traditional bipedal humanoid robots is unreasonable and the power consumption is high when in an upright state and a moving state.

[0006] The present invention provides a bipedal humanoid robot imitating the skeletal muscle structure of a human leg, comprising: Hip Plate; There are two hip joint rotating parts, which are respectively mounted on opposite sides of the bottom surface of the hip bone plate so as to be rotatable around their own axes; There are two femoral simulation rods, the top ends of which are hinged to the middle parts of the two hip joint rotating parts in a one-to-one correspondence; There are two knee joint frames, the top surfaces of which correspond one to one with the two femoral simulation rods and are fixed to the bottom ends of the femoral simulation rods; There are two calf bone simulation parts, the top of which is rotatably connected to the two knee joint frames in a one-to-one correspondence; There are two foot simulation parts, and the top part is hinged to the bottom end of the calf bone simulation part in a one-to-one correspondence with the two calf bone simulation parts.

[0007] In some embodiments, further comprising: There are two upper rotary actuators, which are installed on opposite sides of the top surface of the hip bone plate, and the output shafts are fixedly connected to the top ends of the two hip joint rotating parts in a one-to-one correspondence; There are two lower rotary actuators, which are installed inside the knee joint frame in a one-to-one correspondence with the two knee joint frames, and the output shafts are fixedly connected to the tops of the two calf bone simulation components in a one-to-one correspondence; There are four upper front linear actuators; the fixed ends of two of the upper front linear actuators are respectively hinged to the front side of one of the hip joint rotating parts, and the output ends are respectively rotatably connected to the front side of one of the knee joint frames; the fixed ends of the other two upper front linear actuators are respectively hinged to the front side of another hip joint rotating part, and the output ends are respectively rotatably connected to the front side of another knee joint frame; There are two upper rear linear actuators; the fixed end of one of the upper rear linear actuators is hinged to the rear side of one of the hip joint rotating parts, and the output end is rotatably connected to the rear side of one of the knee joint frames; the fixed end of the other upper rear linear actuator is hinged to the rear side of the other hip joint rotating part, and the output end is rotatably connected to the rear side of the other knee joint frame; There are four lower rear linear actuators; the fixed ends of two of the lower rear linear actuators are respectively rotatably connected to the rear side of one of the knee joint frames, and the output ends are respectively rotatably connected to the rear side of one of the foot simulation components; the fixed ends of the other two lower rear linear actuators are respectively rotatably connected to the rear side of another knee joint frame, and the output ends are respectively rotatably connected to the rear side of another foot simulation component.

[0008] In some embodiments, each knee joint frame is provided with a front connecting rod on the front side and a rear connecting rod on the rear side; The top end of each femoral simulation rod is hinged to the middle part of the hip joint rotating part through the universal joint in the hip joint; The fixed end of each upper front linear actuator is hinged to the front side of the hip joint rotating member through the front universal joint of the hip joint, and the output end is rotatably connected to the front connecting rod through the front extension rod and the front bearing of the knee joint; The fixed end of each upper rear linear actuator is hinged to the rear side of the hip joint rotating member through the hip joint rear universal joint, and the output end is rotatably connected to the rear connecting rod through the rear extension rod and the knee joint rear bearing; The top of each foot simulation component is hinged to the bottom end of the calf bone simulation component through an adapter.

[0009] In some embodiments, the upper part of each adapter is rotatably connected to the bottom end of the calf bone simulation component via a first rotating shaft, and the lower part is rotatably connected to the top of the foot simulation component via a second rotating shaft; the axes of the first rotating shaft and the second rotating shaft are perpendicular to each other.

[0010] In some embodiments, limiting slots are respectively provided on the left and right sides of each knee joint frame; Limit rods matching the limit slots are respectively provided on the left and right sides of the top of each calf bone simulation component; the limit rods on both sides can move in the limit slots on the corresponding sides to limit the backward swing amplitude of the calf bone simulation component.

[0011] In some embodiments, each foot simulation member comprises: An arch simulation component, the top of which is hinged to the bottom end of the calf bone simulation component; The forefoot is rotationally connected to the front side of the arch simulation component via a third rotation axis; The rear heel is rotatably connected to the rear side of the arch simulation component via a fourth rotation axis; The axes of the fourth rotating shaft and the third rotating shaft are parallel to each other.

[0012] In some embodiments, each foot simulation member further comprises: A front torsion spring is sleeved on the third rotating shaft; The rear torsion spring is sleeved on the fourth rotating shaft.

[0013] In some embodiments, each foot simulation member further comprises: The electromagnetic lock is installed on the forefoot; the forefoot and the arch simulation piece are respectively provided with sockets adapted to the locking rod of the electromagnetic lock.

[0014] In some of the embodiments, when the bipedal humanoid robot imitating the skeletal muscle structure of a human leg is in an upright state, the axis of the upper rotary actuator, the axis of the femoral simulation rod, the hinge point between the calf simulation component and the knee joint frame, and the hinge point between the calf simulation component and the foot simulation component are on the same straight line.

[0015] The present invention has the following beneficial effects: The bipedal humanoid robot, which mimics the human leg skeletal muscle structure, comprises a hip plate, two upper rotational actuators, two hip joint rotational members, two femoral simulation rods, two knee joint frames, two lower rotational actuators, two shin simulation members, two foot simulation members, four upper front linear actuators, two upper rear linear actuators, and four lower rear linear actuators. The hip plate simulates the human hip bone, the two femoral simulation rods simulate the human femurs, the two knee joint frames simulate the human knees, the two shin simulation members simulate the human shin bones, and the two foot simulation members simulate the human feet. The four upper front linear actuators simulate the human anterior thigh muscle groups. The two upper rear linear actuators simulate the human posterior thigh muscle groups. The four lower rear linear actuators simulate the human posterior calf muscle groups. The hip joint utilizes the upper rotational actuator, the upper front linear actuator, and the upper rear linear actuator to provide three degrees of freedom. The knee joint utilizes the lower rotational actuator to provide one degree of freedom. The ankle joint utilizes a lower-posterior linear actuator with two degrees of freedom, enabling the bipedal humanoid robot to perform movements such as walking, running, hip twisting, and squatting. This ensures flexible hip joint motion control, reduces parts usage, and minimizes energy loss. By optimizing the bipedal humanoid robot's structure to mimic the skeletal and muscular structure of the human leg, the robot consumes less energy when standing upright or walking, effectively ensuring its endurance and walking capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagrams of some specific embodiments of a bipedal humanoid robot that mimics the skeletal and muscular structure of a human leg according to the present invention; Figure 2 yes Figure 1 A schematic structural diagram of a bipedal humanoid robot with a humanoid leg skeletal muscle structure from another perspective is shown; Figure 3 yes Figure 1 The schematic diagram of the structure of the hip joint of the bipedal humanoid robot imitating the human leg skeletal muscle structure when in an upright state is shown; Figure 4 yes Figure 1 The schematic diagram of the structure of the hip joint of the bipedal humanoid robot imitating the human leg skeletal muscle structure is shown as follows: Figure 5 yes Figure 1 The schematic diagram of the structure of the hip joint of the bipedal humanoid robot imitating the human leg skeletal muscle structure is shown when the thigh bone simulation rod swings backward; Figure 6 yes Figure 1The schematic diagram of the structure of the hip joint of the bipedal humanoid robot imitating the human leg skeletal muscle structure is shown when the thigh bone simulation rod swings to the left; Figure 7 yes Figure 1 The schematic diagram of the structure of the hip joint of the bipedal humanoid robot imitating the human leg skeletal muscle structure is shown when the thigh bone simulation rod swings to the right; Figure 8 yes Figure 1 The structure diagram of the knee joint of the bipedal humanoid robot imitating the human leg skeletal muscle structure is shown in one perspective when the robot is in an upright position; Figure 9 yes Figure 1 A schematic structural diagram of the knee joint of a bipedal humanoid robot imitating the humanoid leg skeletal muscle structure from another perspective when the robot is in an upright position; Figure 10 yes Figure 1 The structure diagram of the ankle joint of the bipedal humanoid robot imitating the human leg skeletal muscle structure is shown in one perspective when the robot is in an upright position; Figure 11 yes Figure 1 The structure diagram of the ankle joint of the bipedal humanoid robot imitating the human leg skeletal muscle structure is shown in another perspective when the robot is in an upright position; Figure 12 yes Figure 11 A vertical cross-sectional view of the ankle joint is shown; Figure 13 yes Figure 1 The figure shows a schematic diagram of the structure of the foot simulation part of a bipedal humanoid robot that imitates the skeletal muscle structure of the human leg.

[0017] In the accompanying drawings, 110, hip plate; 120, upper rotation actuator; 130, hip joint rotation member; 140, femoral simulation rod; 150, knee joint frame; 151, front connecting rod; 152, rear connecting rod; 153, limit slot; 160, lower rotation actuator; 170, calf bone simulation member; 171, limit rod; 180, foot simulation member; 181, arch simulation member; 182, forefoot; 183, third rotation axis; 184, heel; 185, fourth rotation axis ;186. Front torsion spring;187. Electromagnetic lock;191. Upper front linear actuator;192. Upper rear linear actuator;193. Lower rear linear actuator;1941. Middle universal joint of hip joint;1942. Front universal joint of hip joint;1943. Rear universal joint of hip joint;1944. Front extension rod;1945. Front bearing of knee joint;1946. Rear extension rod;1947. Rear bearing of knee joint;195. Adapter;1951. First rotating shaft;1952. Second rotating shaft. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] As described in the background, some bipedal humanoid robots currently utilize only rotary actuators, achieving complex multi-degree-of-freedom motion through the movement of a single rotary actuator or the orthogonal parallel motion of two or three rotary actuators. Other bipedal humanoid robots utilize a combination of rotary and linear actuators to achieve single or multiple degrees of freedom. These traditional bipedal humanoid robots suffer from structural inconsistencies, resulting in high power consumption both in an upright position and in motion.

[0020] It's important to note that conventional bipedal humanoid robots use three rotary actuators to form the hip joint. The rotary actuators responsible for hip pitch and yaw motion require high static torques. Considering the weight of the upper body when the robot is in an upright position, these two rotary actuators consume significant power, significantly reducing battery life. Furthermore, in the upright position, these two rotary actuators operate at a singular point, making them highly unstable. A shift in the body's center of gravity can cause these actuators to deviate from these transient stability points, rapidly entering an unstable state and generating significant acceleration, requiring the rotary actuators to possess high instantaneous torques. Furthermore, this results in a larger hip joint, significantly different from a humanoid's appearance. Conventional bipedal humanoid robots use linear actuators to drive knee joint motion. The linear actuator's fixed end is connected to the hip joint, and the other end is connected to the knee joint's movable axis. A V-shaped connecting rod on the movable axis controls knee joint motion. Since the outer diameter of the knee joint cannot be too large, the length of the V-shaped connecting rod fixed on the movable shaft is difficult to exceed 40mm, causing the problem of short lever arm length. A larger thrust is required to generate sufficient torque at the knee joint, and the power consumption is relatively high.

[0021] To solve the above problems, refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 and Figure 13The present invention provides a bipedal humanoid robot that mimics the skeletal muscle structure of a human leg, comprising a hip plate 110, two upper rotational actuators 120, two hip joint rotation members 130, two femoral simulation rods 140, two knee joint frames 150, two lower rotational actuators 160, two calf simulation members 170, two foot simulation members 180, four upper front linear actuators 191, two upper rear linear actuators 192, and four lower rear linear actuators 193. The two upper rotational actuators 120 are mounted on opposite sides of the top surface of the hip plate 110. The two hip joint rotation members 130 are mounted on opposite sides of the bottom surface of the hip plate 110 so as to be rotatable about their own axes. The top ends of the two hip joint rotation members 130 are fixedly connected to the output shafts of the two upper rotational actuators 120 in a one-to-one correspondence. The top ends of the two femoral simulation rods 140 are hingedly connected to the middle portion of the hip joint rotation members 130 in a one-to-one correspondence. The top surfaces of the two knee joint frames 150 are fixed to the bottom ends of the femoral simulation rods 140 in a one-to-one correspondence. The two lower rotation actuators 160 are installed inside the knee joint frames 150 in a one-to-one correspondence. The tops of the two calf bone simulation components 170 are rotationally connected to the knee joint frames 150 in a one-to-one correspondence. The tops of the two calf bone simulation components 170 are fixedly connected to the output shafts of the two lower rotation actuators 160 in a one-to-one correspondence. The tops of the two foot simulation components 180 are hinged to the bottom ends of the calf bone simulation components 170 in a one-to-one correspondence. The fixed ends of the two upper front linear actuators 191 are respectively hinged to the front side of one of the hip joint rotation components 130, and the output ends are rotationally connected to the front side of one of the knee joint frames 150. The fixed ends of the other two upper front linear actuators 191 are respectively hinged to the front side of the other hip joint rotation member 130, and the output ends are respectively rotatably connected to the front side of the other knee joint frame 150. The fixed end of one of the upper rear linear actuators 192 is hinged to the rear side of one of the hip joint rotation members 130, and the output end is respectively rotatably connected to the rear side of one of the knee joint frames 150. The fixed end of another upper rear linear actuator 192 is hinged to the rear side of the other hip joint rotation member 130, and the output end is respectively rotatably connected to the rear side of the other knee joint frame 150. The fixed ends of the two lower rear linear actuators 193 are respectively rotatably connected to the rear side of one of the knee joint frames 150, and the output ends are respectively rotatably connected to the rear side of one of the foot simulators 180. The fixed ends of the other two lower rear linear actuators 193 are respectively rotatably connected to the rear side of the other knee joint frame 150, and the output ends are respectively rotatably connected to the rear side of the other foot simulator 180.

[0022] In this embodiment, the hip plate 110 is used to simulate the human hip bone, the two femur simulation rods 140 are used to simulate the two femurs of the human body, the two knee joint frames 150 are used to simulate the two knees of the human body, the two calf bone simulation parts 170 are used to simulate the two calf bones of the human body, and the two foot simulation parts 180 are used to simulate the two feet of the human body. The four upper front linear actuators 191 are used to simulate the two front thigh muscle groups of the human body. The two upper rear linear actuators 192 are used to simulate the two rear thigh muscle groups of the human body. The four lower rear linear actuators 193 are used to simulate the two rear calf muscle groups of the human body. When the two upper rotation actuators 120 drive the corresponding hip joint rotating parts 130 to rotate 360°, the corresponding femur simulation rods 140, knee joint frames 150, calf bone simulation parts 170 and foot simulation parts 180 can be rotated 360°. In this way, the left and right swing motion of the hip joint can be completed. As shown Figure 4 As shown, when the push rods of the two upper front linear actuators 191 are contracted, the push rods of the corresponding upper rear linear actuators 192 are extended, driving the corresponding femoral simulation rods 140 to swing forward. Figure 5 As shown, when the push rods of the two upper front linear actuators 191 extend and the push rods of the corresponding upper rear linear actuators 192 contract, the corresponding femoral simulation rods 140 are driven to swing backward. In this way, the hip joint can be pitched forward and backward. Figure 6 As shown, when the push rod of the inner upper front linear actuator 191 of the two upper front linear actuators 191 contracts, the push rod of the outer upper front linear actuator 191 extends, and the extension length of the push rod of the corresponding upper rear linear actuator 192 remains unchanged, the corresponding femoral simulation rod 140 is driven to swing inward. Figure 7 As shown, when the push rod of the inner upper front linear actuator 191 of the two upper front linear actuators 191 is extended, the push rod of the outer upper front linear actuator 191 is shortened, and the extension length of the push rod of the corresponding upper rear linear actuator 192 remains unchanged, the corresponding femoral simulation rod 140 is driven to swing outward. In this way, the hip joint can be rolled. Figure 8 and Figure 9 As shown in FIG, when the two lower rotary actuators 160 drive the top of the corresponding calf bone simulation component 170 to rotate, the front and back pitching motion of the knee joint can be completed. Figure 10 and Figure 11As shown, when the push rods of two of the lower rear linear actuators 193 are extended or shortened at the same time, the corresponding foot simulation member 180 can be driven to swing forward or backward. In this way, the forward and backward pitching movement of the ankle joint can be completed. When the push rod of any one of the two lower rear linear actuators 193 is extended, the corresponding foot simulation member 180 can be driven to swing outward or inward. In this way, the rolling of the ankle joint can be completed. Overall, the hip joint adopts the form of matching the upper rotation actuator 120, the upper front linear actuator 191 and the upper rear linear actuator 192, and has three degrees of freedom. When the bipedal humanoid robot is in an upright state, the power consumption is reduced. Each hip joint uses two upper front linear actuators 191 and one upper rear linear actuator 192 instead of traditional rotary motors, making the robot's hip joints and buttocks more human-like in appearance. This avoids the appearance of two orthogonally placed rotary motors controlling the front, back, and left and right swings of the thighs. This prevents the bipedal humanoid robot's hips from becoming too large, and the waist presents a triangular support structure, which increases people's acceptance and enjoyment of its appearance. The knee joint uses a lower rotary actuator 160 with one degree of freedom. The ankle joint uses a lower rear linear actuator 193 with two degrees of freedom, enabling the bipedal humanoid robot to perform movements such as walking, running, hip twisting, and squatting. This ensures the flexibility of hip joint motion control, reduces the use of parts, and reduces energy loss. By optimizing the structure of a bipedal humanoid robot that mimics the musculoskeletal structure of a human leg, when the bipedal humanoid robot is in an upright position, the weight of the upper body is directly transmitted to the two knee joint frames 150 via the two thigh bone simulation rods 140. The two knee joint frames 150 then transmit the upper body weight to the ground via the two calf bone simulation components 170 and the two foot simulation components 180. The reaction force from the ground is transmitted to the knee joints via the ankle joints for gradual absorption. During the upright position, the two upper rotary actuators 120 do not need to consume power to provide rotational torque, and the four upper front linear actuators 191 and the two upper rear linear actuators 192 only need to provide a small auxiliary force. When the robot is in a walking state, one of its legs has stepped out and is in a suspended state, while the other leg serving as support transfers most of the body weight to the ground through the femoral simulation rod 140, the knee joint frame 150, the calf simulation component 170 and the foot simulation component 180. The upper rotary actuator 120, the lower rotary actuator 160, the upper front linear actuator 191, the upper rear linear actuator 192 and the lower rear linear actuator 193 only need to play an auxiliary role, consume less electricity, and effectively ensure the endurance and walking ability of the bipedal humanoid robot.

[0023] Preferably, each upper rotary actuator 120 and each lower rotary actuator 160 is a servo motor with high control accuracy. Each upper front linear actuator 191, each upper rear linear actuator 192 and each lower rear linear actuator 193 is an electric push rod.

[0024] Preferably, if Figure 2 As shown, when a bipedal humanoid robot with a humanoid leg musculoskeletal structure is in an upright position, the center of gravity of the upper body, the axis of the upper rotary actuator 120, the axis of the femoral simulated rod 140, the hinge point A between the shin bone simulated component 170 and the knee joint frame 150, and the hinge point B between the shin bone simulated component 170 and the foot simulated component 180 are all aligned. In other words, the center of gravity of the upper body, the axis of the upper rotary actuator 120, the axis of the femoral simulated rod 140, the knee joint, and the ankle joint are all aligned, and this line is perpendicular to the ground. In this state, each upper front linear actuator 191, each upper rear linear actuator 192, each lower rear linear actuator 193, and each lower rotary actuator 160 only need to apply a very small thrust / torque to maintain the bipedal humanoid robot in a stable upright position. This allows the robot to withstand a large gravitational load while saving energy consumption for all actuators.

[0025] Preferably, each upper rotary actuator 120 is detachably connected to the hip plate 110 by screw connection, so as to facilitate assembly and disassembly. Each lower rotary actuator 160 is detachably connected to the knee joint frame 150 by screw connection, so as to facilitate assembly and disassembly.

[0026] Specifically, in the example, Figure 8 and Figure 9 As shown, each knee joint frame 150 is provided with a front connecting rod 151 on the front side and a rear connecting rod 152 on the rear side. The top end of each femoral simulation rod 140 is hinged to the middle part of the hip joint rotating member 130 via a hip joint central universal joint 1941. The fixed end of each upper front linear actuator 191 is hinged to the front side of the hip joint rotating member 130 via a hip joint central universal joint 1942. The fixed end of each upper rear linear actuator 192 is hinged to the rear side of the hip joint rotating member 130 via a hip joint rear universal joint 1943. The hip joint central universal joint 1941, the hip joint front universal joint 1942, and the hip joint rear universal joint 1943 simulate the human femoral head and acetabulum, allowing the femoral simulation rod 140 to swing in multiple directions. The output end of each upper front linear actuator 191 is rotatably connected to the front connecting rod 151 via a front extension rod 1944 and a knee joint front bearing 1945. The output end of each upper rear linear actuator 192 is rotatably connected to the rear connecting rod 152 through the rear extension rod 1946 and the knee joint rear bearing 1947. The top of each foot simulation component 180 is hinged to the bottom end of the calf bone simulation component 170 through an adapter 195.

[0027] Preferably, the push rod of the upper front linear actuator 191 is connected to the front extension rod 1944 by screwing, the front extension rod 1944 is connected to the front bearing 1945 of the knee joint by screwing, the push rod of the upper rear linear actuator 192 is connected to the rear extension rod 1946 by screwing, and the rear extension rod 1946 and the rear bearing 1947 of the knee joint are connected by screwing, so as to facilitate disassembly and assembly.

[0028] Preferably, if Figure 11 and Figure 12 As shown, the upper portion of each adapter 195 is rotatably connected to the bottom end of the calf bone simulator 170 via a first rotation axis 1951, and the lower portion is rotatably connected to the top end of the foot simulator 180 via a second rotation axis 1952. The axes of the first rotation axis 1951 and the second rotation axis 1952 are perpendicular to each other. This provides the ankle joint with two degrees of freedom.

[0029] Specifically, in the example, Figure 8 and Figure 9 As shown, each knee joint frame 150 has a limit slot 153 on its left and right sides. Each calf bone simulator 170 has a limit rod 171 on its left and right sides, each of which is adapted to fit within the limit slot 153. The limit rods 171 on each side can move within the limit slot 153 on the corresponding side to limit the backward swing range of the calf bone simulator 170 to 0-180 degrees.

[0030] Specifically, in the example, Figure 13As shown, each foot simulator 180 includes an arch simulator 181, a forefoot 182, a heel 184, a front torsion spring 186, a rear torsion spring, and an electromagnetic lock 187. The top of the arch simulator 181 is hinged to the bottom of the calf bone simulator 170 via an adapter 195. The forefoot 182 is rotatably connected to the front side of the arch simulator 181 via a third rotating shaft 183. The rear heel 184 is rotatably connected to the rear side of the arch simulator 181 via a fourth rotating shaft 185. The axes of the fourth rotating shaft 185 and the third rotating shaft 183 are parallel to each other. The third rotating shaft 183 facilitates the rotation of the forefoot 182 relative to the arch simulator 181. The fourth rotating shaft 185 facilitates the rotation of the rear heel 184 relative to the arch simulator 181. Overall, the modular design makes the bipedal humanoid robot's walking gait smoother and more natural. The front torsion spring 186 is mounted on the third rotating shaft 183. The rear torsion spring is mounted on the fourth rotating shaft 185. When the forefoot 182 moves forward around the third rotating shaft 183 or the heel 184 moves backward around the fourth rotating shaft 185, the front torsion spring 186 or the extended end of the rear torsion spring is subjected to force. Under the action of the calf bone simulator 170 and the lower rear linear actuator 193, the angle of the forefoot 182 or the heel 184 relative to the arch simulator 181 can still be maintained. When the foot simulator 180 leaves the ground or the angle changes actively, the forefoot 182 or the heel 184 is reset with the help of the force of the front torsion spring 186 or the rear torsion spring to restore the deformation. The electromagnetic lock 187 is installed on the forefoot 182. Sockets that are compatible with the lock rod of the electromagnetic lock 187 are respectively provided on the forefoot 182 and the arch simulator 181. When the bipedal humanoid robot is in an upright position, the electromagnetic lock 187 is powered off, and the locking rod of the electromagnetic lock 187 extends naturally and inserts into the sockets on the forefoot 182 and the arch simulator 181. At this point, the forefoot 182 cannot rotate about its axis, allowing the bipedal humanoid robot to stand more stably. When the bipedal humanoid robot is performing a movement such as walking, the electromagnetic lock 187 is powered on, and the locking rod of the electromagnetic lock 187 retracts and disengages from the sockets on the forefoot 182 and the arch simulator 181, allowing the forefoot 182 to move about its axis, making the robot's movement smoother. It should be noted that the ratio of the length of the forefoot 182 to the length of the foot simulator 180 is 1 / 3. The forefoot 182 can rotate 30 degrees relative to the arch simulator 181. When walking or running, the foot simulator 180, which is about to leave the ground, can provide support for the bipedal humanoid robot's forward movement, thereby increasing its walking and running speed.

[0031] Preferably, each calf bone simulation component 170 includes two side plates arranged opposite to each other, so as to effectively reduce the weight of the calf bone simulation component 170 , achieve a lightweight design, and reduce the load of the lower rotary actuator 160 .

[0032] Preferably, each foot simulator 180 further includes a fixing box, a bidirectional linear actuator, and two support plates. The fixing box is fixedly mounted on the bottom of the arch simulator 181, and has clearance holes on the left and right sides. The bidirectional linear actuator is fixedly mounted in the fixing box. The two support plates are respectively arranged on the left and right sides of the fixing box. One of the support plates is fixedly connected to one of the output shafts of the bidirectional linear actuator, and the other support plate is fixedly connected to the other output shaft of the bidirectional linear actuator. When the bipedal humanoid robot is in an upright state, the bidirectional linear actuator drives the two support plates to extend out of the corresponding clearance holes and press against the ground to provide support on the left and right sides of the arch simulator 181, effectively improving the anti-tilting ability of the bipedal humanoid robot. When the bipedal humanoid robot is in a walking state, the bidirectional linear actuator drives the two support plates to retract into the corresponding clearance holes to ensure the smoothness of movement.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0035] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0036] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0037] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A bipedal humanoid robot that mimics the skeletal muscle structure of human legs, characterized in that: include: Hip Plate; There are two hip joint rotating parts, which are respectively mounted on opposite sides of the bottom surface of the hip bone plate so as to be rotatable around their own axes; There are two femoral simulation rods, the top ends of which are hinged to the middle parts of the two hip joint rotating parts in a one-to-one correspondence; There are two knee joint frames, the top surfaces of which are fixed to the bottom ends of the two femoral simulation rods in a one-to-one correspondence; There are two calf bone simulation parts, the top of which is rotatably connected to the two knee joint frames in a one-to-one correspondence; There are two foot simulation parts, and the top part is hinged to the bottom end of the two calf bone simulation parts in a one-to-one correspondence.

2. The bipedal humanoid robot imitating the skeletal muscle structure of human legs according to claim 1, characterized in that: Also includes: Two upper rotary actuators are mounted on opposite sides of the top surface of the hip bone plate, and the output shafts are fixedly connected to the top ends of the two hip joint rotating parts in a one-to-one correspondence; Two lower rotary actuators are installed inside the knee joint frame in a one-to-one correspondence with the two knee joint frames, and the output shafts are fixedly connected to the tops of the two calf bone simulation components in a one-to-one correspondence; There are four upper front linear actuators; the fixed ends of two of the upper front linear actuators are respectively hinged to the front side of one of the hip joint rotation members, and the output ends are respectively rotatably connected to the front side of one of the knee joint frames; the fixed ends of the other two upper front linear actuators are respectively hinged to the front side of another hip joint rotation member, and the output ends are respectively rotatably connected to the front side of another knee joint frame; There are two upper rear linear actuators; the fixed end of one of the upper rear linear actuators is hinged to the rear side of one of the hip joint rotating parts, and the output end is rotatably connected to the rear side of one of the knee joint frames; the fixed end of the other upper rear linear actuator is hinged to the rear side of the other hip joint rotating part, and the output end is rotatably connected to the rear side of the other knee joint frame; There are four lower rear linear actuators; the fixed ends of two of the lower rear linear actuators are respectively rotatably connected to the rear side of one of the knee joint frames, and the output ends are respectively rotatably connected to the rear side of one of the foot simulation components; the fixed ends of the other two lower rear linear actuators are respectively rotatably connected to the rear side of another knee joint frame, and the output ends are respectively rotatably connected to the rear side of another foot simulation component.

3. The bipedal humanoid robot imitating the skeletal muscle structure of human legs according to claim 2, characterized in that: Each knee joint frame is provided with a front connecting rod on the front side and a rear connecting rod on the rear side; The top end of each femoral simulation rod is hinged to the middle part of the hip joint rotating member through a universal joint in the hip joint; The fixed end of each upper front linear actuator is hinged to the front side of the hip joint rotating member through the hip joint front universal joint, and the output end is rotatably connected to the front connecting rod through the front extension rod and the knee joint front bearing; The fixed end of each upper rear linear actuator is hinged to the rear side of the hip joint rotating member through the hip joint rear universal joint, and the output end is rotatably connected to the rear connecting rod through the rear extension rod and the knee joint rear bearing; The top of each foot simulation component is hinged to the bottom end of the calf bone simulation component through an adapter.

4. The bipedal humanoid robot imitating the skeletal muscle structure of human legs according to claim 3, characterized in that: The upper part of each adapter is rotatably connected to the bottom end of the calf bone simulation component via a first rotating shaft, and the lower part is rotatably connected to the top of the foot simulation component via a second rotating shaft; the axes of the first rotating shaft and the second rotating shaft are perpendicular to each other.

5. The bipedal humanoid robot imitating the skeletal muscle structure of a human leg according to any one of claims 2 to 4, characterized in that: Limiting grooves are respectively provided on the left and right sides of each knee joint frame; Limit rods adapted to the limiting grooves are respectively provided on the left and right sides of the top of each calf bone simulation component; the limiting rods on both sides can move in the limiting grooves on the corresponding sides to limit the backward swing amplitude of the calf bone simulation component.

6. The bipedal humanoid robot imitating the skeletal muscle structure of a human leg according to any one of claims 2 to 4, characterized in that: Each of the foot simulation components comprises: An arch simulation component, the top of which is hinged to the bottom end of the calf bone simulation component; The forefoot is rotatably connected to the front side of the arch simulation component via a third rotating shaft; The rear heel is rotatably connected to the rear side of the arch simulation component via a fourth rotation axis; The axes of the fourth rotating shaft and the third rotating shaft are parallel to each other.

7. The bipedal humanoid robot imitating the human leg skeletal muscle structure according to claim 6, characterized in that: Each of the foot simulation members further comprises: a front torsion spring, sleeved on the third rotating shaft; The rear torsion spring is sleeved on the fourth rotating shaft.

8. The bipedal humanoid robot imitating the human leg skeletal muscle structure according to claim 6, characterized in that: Each of the foot simulation members further comprises: An electromagnetic lock is installed on the forefoot; and sockets adapted to the locking rod of the electromagnetic lock are respectively provided on the forefoot and the arch simulation piece.

9. The bipedal humanoid robot imitating the skeletal muscle structure of a human leg according to any one of claims 2 to 4, characterized in that: When the bipedal humanoid robot imitating the human leg skeletal muscle structure is in an upright state, the axis of the upper rotary actuator, the axis of the femoral simulation rod, the hinge point between the calf bone simulation component and the knee joint frame, and the hinge point between the calf bone simulation component and the foot simulation component are on the same straight line.

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