Leg and foot structure of humanoid robot

Abstract

The leg and foot structure of the humanoid robot comprises a driving assembly and an ankle joint assembly, and the bottom of the ankle joint assembly is connected with a foot sole; wherein the driving assembly comprises two symmetrically-arranged driving motors, the axes of output shafts of the two driving motors are located on the same straight line, the ankle joint assembly comprises a first rope winding rotating shaft and a second rope winding rotating shaft, and a third rope winding rotating shaft is further arranged on the rotating supporting structural part; the third rope winding rotating shaft is located between the first rope winding rotating shaft and the second rope winding rotating shaft, and each output shaft is provided with at least two first ropes connected with the first rope winding rotating shaft or the second rope winding rotating shaft. Second ropes wound on the third rope winding rotating shaft are further arranged on the upper sides and the lower sides of the first rope winding rotating shaft and the second rope winding rotating shaft. The motion range and the motion precision of the ankle joint are effectively improved, and the motion ability of the humanoid robot is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of humanoid robots, and in particular relates to a leg and foot structure of a humanoid robot. Background Art

[0002] The legs and feet of a humanoid robot are the core components for realizing the dynamic movement of the humanoid robot. Generally speaking, the joints that control the movement of the legs and feet may include the hip joint, knee joint, and ankle joint. By driving each joint, the humanoid robot can be controlled to walk and run. The ankle joint can be driven by a rigid structure such as a multi-link mechanism and a gear transmission mechanism, and the driving structure can be driven by a motor. However, when driven by a multi-link mechanism and a gear transmission mechanism, due to the complex structure and heavy weight of the mechanism, the response speed of the driving ankle joint is slow and the movement accuracy of the ankle joint is insufficient. Summary of the Invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide a leg and foot structure of a humanoid robot. The rope-driven form makes its movement accuracy higher. The two driving motors in the driving assembly are driven by their own ropes respectively, driving the two rotating shafts with the same axis to rotate, and the two rotating shafts are again rotated about the same rotating shaft in the other direction through the ropes, and cooperated with the second rope arranged around the third rope rotating shaft to effectively improve the motion range and motion accuracy of the ankle joint, thereby improving the movement ability of the humanoid robot.

[0004] The object of the present invention is achieved through the following technical solutions: A leg and foot structure of a humanoid robot includes a drive assembly and an ankle joint assembly, wherein the bottom of the ankle joint assembly is connected to the sole of the foot; wherein, the drive assembly includes two symmetrically arranged drive motors, the axes of the output shafts of the two drive motors are on the same straight line, the ankle joint assembly includes a first rope winding rotation axis and a second rope winding rotation axis, the first rope winding rotation axis and the second rope winding rotation axis are both mounted on a rotating support structure, and the axes of the two are on the same straight line, the rotating support structure is also provided with a third rope winding rotation axis whose axis is perpendicular to the first rope winding rotation axis and the second rope winding rotation axis, the third rope winding rotation axis is located between the first rope winding rotation axis and the second rope winding rotation axis, each of the output shafts is provided with at least two first ropes connected to the first rope winding rotation axis or the second rope winding rotation axis, and the first rope winding rotation axis and the second rope winding rotation axis are further provided with a second rope wound around the third rope winding rotation axis on the upper and lower sides; Through this embodiment, two symmetrically arranged drive motors are used to control the two rotating axes in the first direction through their respective first ropes, so that the two motors can output power together to form a parallel rope-driven structure, reducing the power required for a single motor to control the movement of the sole of the foot. Regardless of the angle of movement of the sole of the foot, the power of the two motors can be combined through the rope-driven structure, and the sole of the foot can be controlled collaboratively by the two motors to improve power utilization, control accuracy, control speed, and control sensitivity. At the same time, in cooperation with the second rope wound around the third rope rotating axis, the range of motion and motion accuracy of the ankle joint are further improved, thereby improving the movement ability of the humanoid robot.

[0005] In one embodiment, a V-shaped support frame is further provided on the upper and lower sides of the rotating support structure, and a first fixed pulley is installed at the vertices of both sides of the V-shaped support frame, and the second rope passes through the first fixed pulley and is wound around the third rope winding rotation axis; According to this embodiment, the second ropes are routed by utilizing the provided V-shaped support frame, thereby preventing the plurality of second ropes from influencing each other or influencing the first rope.

[0006] In one embodiment, each of the output shafts is provided with two symmetrical first ropes.

[0007] In one embodiment, the first rope is connected to the front and rear ends of the corresponding first rope rotation axis or the second rope rotation axis, and the first rope and the second rope on the first rope rotation axis and the second rope rotation axis are evenly distributed along the circumferential direction.

[0008] In one embodiment, a calf structure connected to the ankle joint assembly is further included, and a second fixed pulley for positioning each of the first cables is respectively provided on both sides of the calf structure.

[0009] In one embodiment, the first rope winding rotation axis and the second rope winding rotation axis are symmetrically arranged, and the first rope winding rotation axis and the second rope winding rotation axis are both connected to corresponding deep groove ball bearings and fixed by corresponding bearing pressure plates.

[0010] In one embodiment, the second ropes on the first rope winding rotation axis and the second rope winding rotation axis are both wound around the third rope winding rotation axis in an adjacent arrangement.

[0011] In one embodiment, the sole of the foot is in an L-shaped structure, and one end of the third rope rotation axis is connected to one end of the sole extending in the vertical direction.

[0012] In one embodiment, the ankle joint assembly further comprises a bearing positioning block arranged around the third rope rotation axis and a positioning sleeve wrapped around the third rope rotation axis, wherein the positioning sleeve is arranged in the rotation support structure.

[0013] In one embodiment, a support member connected to the rotation support structure is provided on the sole of the foot.

[0014] The beneficial effects of the present invention are: (1) Two symmetrically arranged drive motors are used to control the two rotating axes in the first direction through their respective first ropes, so that the two motors can work together to form a parallel rope drive structure, reducing the power required for a single motor to control the movement of the sole of the foot. Regardless of the angle of movement of the sole of the foot, the power of the two motors can be combined through the rope drive structure, and the sole of the foot can be controlled by the two motors in a coordinated manner, thereby improving the utilization rate of power, improving the control accuracy, control speed, and control sensitivity. When the two rotating axes in the first direction rotate in opposite directions, the rotating axis in the other direction is driven to rotate, and the sole of the foot performs a sideways swing movement. That is, the two rotating axes in the first direction cooperate with each other to be wound around the third rope rotating axis, which can further improve the range of motion and movement accuracy of the ankle joint and improve the movement ability of the humanoid robot.

[0015] (2) The length of the first rope wound around the drive motor and the length of the second rope wound around the third rope rotation axis can be increased as needed, thereby increasing the rotation angle of the ankle joint assembly in the first defense line and the second direction. The adjustment method is simple, allowing the humanoid robot to adapt to different sports scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings, wherein: Figure 1 A schematic diagram showing the structure of the present invention after the calf structure is removed; Figure 2 A schematic diagram showing the structure of the ankle joint assembly of the present invention when installed on the sole of the foot; Figure 3 A schematic structural diagram showing another direction of the ankle joint assembly of the present invention when it is installed on the sole of the foot; Figure 4 A schematic diagram showing the structure of the sole of the foot in one direction of the present invention is shown; Figure 5 A schematic diagram showing the structure of a single leg foot of the present invention is shown; Figure 6 shows a schematic structural diagram of the ankle joint assembly of the present invention; In the drawings, like reference numerals are used for like parts, but the drawings are not necessarily true to scale.

[0017] Reference numerals: 1-drive assembly, 2-ankle joint assembly, 3-sole, 4-rotational support structure, 5-first rope, 6-second rope, 7-V-shaped support frame, 8-first fixed pulley, 9-calf structure, 10-second fixed pulley, 11-deep groove ball bearing, 12-bearing pressure plate, 13-bearing positioning block, 14-positioning sleeve, 15-support member, 16-plane thrust bearing, 101-first drive motor, 102-second drive motor, 103-first output shaft, 104-second output shaft, 201-first rope winding rotation axis, 202-second rope winding rotation axis, 203-third rope winding rotation axis. DETAILED DESCRIPTION

[0018] The present invention will be further described below with reference to the accompanying drawings.

[0019] The present invention provides a leg and foot structure of a humanoid robot, such as Figures 1 to 6 As shown, it includes a drive assembly 1 and an ankle joint assembly 2, and the bottom of the ankle joint assembly 2 is connected to the sole 3; Among them, the driving component 1 includes two symmetrically arranged driving motors, and the axes of the output shafts of the two driving motors are on the same straight line. The ankle joint component 2 includes a first rope winding rotation axis 201 and a second rope winding rotation axis 202. The first rope winding rotation axis 201 and the second rope winding rotation axis 202 are both installed on the rotating support structure 4, and the axes of the two are on the same straight line. The rotating support structure 4 is also provided with a third rope winding rotation axis 203 whose axis is perpendicular to the first rope winding rotation axis 201 and the second rope winding rotation axis 202. The third rope winding rotation axis 203 is located between the first rope winding rotation axis 201 and the second rope winding rotation axis 202. Each output shaft is provided with at least two first ropes 5 connected to the first rope winding rotation axis 201 or the second rope winding rotation axis 202. The first rope winding rotation axis 201 and the second rope winding rotation axis 202 are further provided with second ropes 6 wound around the third rope winding rotation axis 203 on the upper and lower sides of the first rope winding rotation axis 201 and the second rope winding rotation axis 202. It should be noted that, in this embodiment, Figure 1 As shown, two symmetrically arranged first drive motors 101 and second drive motors 102 are used as the power source of the drive assembly 1. The axes of the first output shaft 103 of the first drive motor 101 and the second output shaft 104 of the second drive motor 102 are on the same straight line. Two first ropes 5 are connected to the two output shafts respectively. The other ends of the two first ropes 5 on one output shaft are connected to the first rope winding rotation shaft 201, and the other ends of the two first ropes 5 on the other output shaft are connected to the second rope winding rotation shaft 202. Figure 2 、 Figure 3 as well as Figure 6As shown, two second ropes 6 are provided on the upper and lower sides of the first rope winding rotation axis 201 and the second rope winding rotation axis 202, that is, a total of four second ropes 6, one end of the second rope 6 is fixed to the surface of the first rope winding rotation axis 201 or the second rope winding rotation axis 202, and the other end is wound around the third rope winding rotation axis 203, as shown in FIG. Figure 6 As shown, the axes of the first rope rotation axis 201 and the second rope rotation axis 202 are on the same straight line, and the third rope rotation axis 203 is located between the first rope rotation axis 201 and the second rope rotation axis 202, and the axis of the third rope rotation axis 203 is perpendicular to the first rope rotation axis 201 and the second rope rotation axis 202; That is, in this embodiment, when the two symmetrical driving motors move in the same direction, that is, the first rope rotation axis 201 and the second rope rotation axis 202 move in the same direction, the sole 3 performs a pitching motion around the axis of the first rope rotation axis 201 and the second rope rotation axis 202, and when the first rope rotation axis 201 and the second rope rotation axis 202 move in opposite directions, the second rope 6 on the first rope rotation axis 201 and the second rope rotation axis 202 drives the third rope rotation axis 203 to rotate around the axis of the first rope rotation axis 201 and the second rope rotation axis 202, so that the sole 3 performs a sideways swing motion, and the two symmetrically arranged driving motors drive the two rotation axes of the first direction respectively through their respective first ropes 5. The rotating shaft is controlled so that the two motors can work together to form a parallel rope-driven structure, reducing the power required for a single motor to control the movement of the sole 3 of the foot. No matter what angle the sole 3 is moved at, the power of the two motors can be combined through the rope-driven structure, and the sole 3 can be controlled by the two motors in a coordinated manner, thereby improving the utilization rate of power, improving the control accuracy, control speed, and control sensitivity. When the two rotating shafts in the first direction rotate in opposite directions, the rotating shaft in the other direction is driven to rotate. At this time, the sole 3 performs a sideways swing movement, that is, the two rotating shafts in the first direction cooperate to be wound around the third rope-wound rotating shaft 203, which can further improve the motion range and motion accuracy of the ankle joint, thereby improving the motion ability of the humanoid robot.

[0020] Specifically, the rotating support structure 4 is further provided with V-shaped support frames 7 on the upper and lower sides, and first fixed pulleys 8 are installed at the vertices of both sides of the V-shaped support frame 7. The second rope 6 is wound around the third rope winding rotation axis 203 through the first fixed pulleys 8. The shin structure 9 is also included, which is connected to the ankle joint assembly 2. Second fixed pulleys 10 for positioning each first rope 5 are respectively provided on both sides of the shin structure 9. It should be noted that if Figure 2As shown, the calf structure 9 is hidden, and the first rope 5 is positioned by the provided second fixed pulley 10. In this embodiment, four second fixed pulleys 10 are provided corresponding to the four first ropes 5. As shown in 6, two first fixed pulleys 8 are provided on the upper and lower sides of the rotating support structure 4 respectively. In order to facilitate the installation of the first fixed pulley 8, a V-shaped support frame 7 connected to the rotating support structure 4 is used as a mounting member for the first fixed pulley 8. At the same time, its V-shaped structure avoids affecting the winding of the second rope 6. The provided first fixed pulley 8 guides the first rope winding rotation axis 201 and the second rope winding rotation axis 202 in the horizontal direction and then winds them on the third rope winding rotation axis 203, so as to avoid mutual influence or interference with the first rope 5 in a small space.

[0021] It should be noted that the position and winding method of the first rope 5 can be adjusted as needed. In this embodiment, Figure 1 As shown, two symmetrical first ropes 5 are provided on each output shaft, and the ends of the first ropes 5 are directly connected to the surface of the output shaft. The first ropes 5 can also be wound around the surface of the output shaft. At the same time, in this embodiment, the ends of the second ropes 6 are directly connected to the surface of the first rope winding rotation axis 201 or the second rope winding rotation axis 202, and the other end is wound around the third rope winding rotation axis 203. The winding length can also be adjusted, such as increasing the length of the first rope 5 wound around the drive motor and increasing the length of the second rope 6 wound around the third rope winding rotation axis 203, thereby increasing the rotation angle of the ankle joint assembly 2 in the first defense line and the second direction. The longer the initial length, the larger the pitch and roll angles. The adjustment method is simple, so that the humanoid robot can adapt to different motion scenes.

[0022] In one embodiment, the first rope 5 is connected to the front and rear ends of the corresponding first rope rotation axis 201 or the second rope rotation axis 202, and the first rope 5 and the second rope 6 on the first rope rotation axis 201 and the second rope rotation axis 202 are evenly distributed along the circumference, that is, Figure 6 As shown, taking the second rotation axis 202 as an example, assuming that the leftmost end of the side surface of the cylinder corresponding to the second rotation axis 202 is 0°, the two first ropes 5 connected to the second rope winding rotation axis 202 are respectively located at 90° and 270° thereof, and the two second ropes 6 on the second rope winding rotation axis are respectively located at 0° and 180° thereof, that is, the two first ropes 5 are respectively fixed to the left and right ends of the second rotation axis 202, and the two second ropes 6 are respectively fixed to the upper and lower ends of the second rotation axis 202. The first rope winding rotation axis 201 is similar, that is, the arrangement of the first ropes 5 and the second ropes 6 can effectively improve the stability of the first rope winding rotation axis 201 and the second rope winding rotation axis 202 during rotation, and at the same time avoid entanglement between the ropes.

[0023] In one embodiment, Figure 6 As shown, the two first ropes 5 and the two second ropes 6 fixed on the first rotating shaft 201 and the second rotating shaft 202 are spaced apart in the direction along the side surface of the cylinder, so that when the first rotating shaft 201 or the second rotating shaft 202 rotates, the ropes are further prevented from being entangled with each other; Specifically, taking the second rotation axis 202 as an example, two first ropes 5 can be set on the second rotation axis 202 close to the inner side of the rotation support structure 4, and two second ropes 6 can be set on the second rotation axis 202 away from the outer side of the rotation support structure 4; In one embodiment, Figures 3 to 5 As shown, the first rope winding rotation axis 201 and the second rope winding rotation axis 202 are symmetrically arranged, and the first rope winding rotation axis 201 and the second rope winding rotation axis 202 are both connected to the corresponding deep groove ball bearings 11 and fixed by the corresponding bearing pressure plates 12. The sole 3 is an L-shaped structure, and one end of the third rope winding rotation axis 203 is connected to the end of the sole 3 extending in the vertical direction. The ankle joint assembly 2 also includes a bearing positioning block 13 arranged around the third rope winding rotation axis 203 to allow the third rope winding rotation axis 203 to approach the sole 3. The third rope winding rotation axis 203 is also wrapped with a positioning sleeve 14, which is arranged in the rotation support structure 4. A support member 15 connected to the rotation support structure 4 is provided on the sole 3; It should be noted that the third rope winding rotation axis 203 is fixed and supported by the plane thrust bearing 16, the positioning sleeve 14, the bearing positioning block 13 and the rotation support structure 4. Specifically, a bearing positioning block 13 for fixing the third rope winding rotation axis 203 is arranged around the third rope winding rotation axis 203. The bearing positioning block 13 is used to bring the third rope winding rotation axis 203 close to the end of the L-shaped sole 3 extending in the vertical direction to prevent the third rope winding rotation axis 203 from shifting in the horizontal direction. At the same time, the positioning sleeve 14 wrapped around the outside of the third rope winding rotation axis 203 protects the axis inside the third rope winding rotation axis 203, thereby improving the structural strength of the third rope winding rotation axis 203. The rotation support structure 4 is wrapped around the outside of the third rope winding rotation axis 203 and the positioning sleeve 14, further improving the structural strength of the third rope winding rotation axis 203. The support member 15 is used to fix the ankle joint assembly 2 and the sole 3 together.

[0024] In one embodiment, the second ropes 6 on the first rope rotation axis 201 and the second rope rotation axis 202 are both wound around the third rope rotation axis 203 in an adjacent arrangement. Figure 6 As shown, in this embodiment, the two second ropes 6 on the second rope winding rotation axis 202 are arranged adjacent to each other and are located outside the third rope winding rotation axis 203, while the two second ropes 6 on the first rope winding rotation axis 201 are arranged adjacent to each other and are located inside the third rope winding rotation axis 203, further preventing the ropes from being entangled with each other; Specifically, two V-shaped support frames 7 are provided on the upper and lower sides of the rotating support structure 4, each having an end having different lengths. The longer end can position the second rope 6 on the outside through the corresponding first fixed pulley 8, while the shorter end can position the second rope 6 on the inside through its corresponding first fixed pulley 8, thereby forming a spacing distance between the second rope 6 and the axis of the third rope winding rotation axis 203. In the description of the present invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "left", "right", etc., indicating directions or positional relationships, are based on the directions 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 direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention.

[0025] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with other described embodiments.

Claims

1. A leg and foot structure of a humanoid robot, characterized in that: It includes a drive assembly and an ankle joint assembly, wherein the bottom of the ankle joint assembly is connected to the sole of the foot; In which, the driving assembly includes two symmetrically arranged driving motors, and the axes of the output shafts of the two driving motors are on the same straight line. The ankle joint assembly includes a first rope winding rotation axis and a second rope winding rotation axis. The first rope winding rotation axis and the second rope winding rotation axis are both installed on a rotating support structure, and the axes of the two are on the same straight line. The rotating support structure is also provided with a third rope winding rotation axis whose axis is perpendicular to the first rope winding rotation axis and the second rope winding rotation axis. The third rope winding rotation axis is located between the first rope winding rotation axis and the second rope winding rotation axis. Each of the output shafts is provided with at least two first ropes connected to the first rope winding rotation axis or the second rope winding rotation axis, and the upper and lower sides of the first rope winding rotation axis and the second rope winding rotation axis are also provided with a second rope wound around the third rope winding rotation axis.

2. The leg and foot structure of a humanoid robot according to claim 1, characterized in that: V-shaped support frames are further provided on the upper and lower sides of the rotating support structure, and first fixed pulleys are installed on the vertices of both sides of the V-shaped support frame. The second rope passes through the first fixed pulley and is wound around the third rope winding rotation axis.

3. The leg and foot structure of a humanoid robot according to claim 2, characterized in that: Two symmetrical first ropes are arranged on each of the output shafts.

4. The leg and foot structure of a humanoid robot according to claim 3, characterized in that: The first rope is connected to the front and rear ends of the corresponding first rope rotation axis or the second rope rotation axis, and the first rope and the second rope on the first rope rotation axis and the second rope rotation axis are evenly distributed along the circumferential direction.

5. The leg and foot structure of a humanoid robot according to claim 1, characterized in that: It also includes a calf structure connected to the ankle joint assembly, and a second fixed pulley for positioning each of the first ropes is respectively provided on both sides of the calf structure.

6. The leg and foot structure of a humanoid robot according to claim 1, characterized in that: The first rope winding rotation axis and the second rope winding rotation axis are symmetrically arranged, and the first rope winding rotation axis and the second rope winding rotation axis are both connected to corresponding deep groove ball bearings and fixed by corresponding bearing pressure plates.

7. The leg and foot structure of a humanoid robot according to claim 1, characterized in that: The second ropes on the first rope winding rotation axis and the second rope winding rotation axis are both wound around the third rope winding rotation axis in an adjacent arrangement.

8. The leg and foot structure of a humanoid robot according to claim 1, characterized in that: The sole of the foot is in an L-shaped structure, and one end of the third rope-wrap rotation axis is connected to one end of the sole extending in the vertical direction.

9. The leg and foot structure of a humanoid robot according to claim 1, characterized in that: The ankle joint assembly further includes a bearing positioning block arranged around the third rope rotation axis and a positioning sleeve wrapped around the third rope rotation axis, and the positioning sleeve is arranged in the rotation support structure.

10. The leg and foot structure of a humanoid robot according to claim 7, characterized in that: A support member connected to the rotation support structure is provided on the sole of the foot.

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