Biped structure of bionic robot and bionic robot

Abstract

The biped structure comprises a hip module and an upper bionic leg module movably arranged on the hip module, the hip module comprises a forward swing driver, a lateral extension driver, a turnover driver, a lateral extension support and a turnover support, an output shaft of the forward swing driver is connected to the lateral extension support, and an output shaft of the turnover driver is connected to the lateral extension support. The side unfolding driver is arranged on the side unfolding support and rotates in the first direction along with the side unfolding support, an output shaft of the side unfolding driver is connected to the turnover support and used for driving the turnover support to rotate in the second direction, and the turnover driver is arranged on the turnover support and used for driving the turnover support to rotate in the second direction along with the turnover support. An output shaft of the turnover driver is connected to the top of the upper bionic leg module and used for driving the upper bionic leg module to rotate in the third direction, the first direction, the second direction and the third direction are perpendicular to one another in pairs, and the problem that the degree of freedom of movement is limited due to hip swelling is solved; the flexible space rotation of the upper bionic leg module is realized.

Description

TECHNICAL FIELD

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

[0002] In recent years, with the continuous breakthroughs in science and technology, human-shaped robots have gradually become an important development direction in the field of service robots, involving various practical application scenarios. The biped human-shaped robots with human-like structure and coordinated motion ability are widely concerned because they can realistically simulate human gait and achieve autonomous motion control. In order to enhance the walking ability and motion performance in complex environments, researchers continue to work on the optimization design of lower limb structure and motion system to achieve a more bionic, flexible and stable robot platform.

[0003] At present, in order to improve the stability and load capacity of the biped human-shaped robot during walking, the existing technology generally uses high-strength driving mechanisms and complex structural arrangements to enhance the overall rigidity of the lower limbs. In particular, in the hip and leg areas, multi-stage support components, large-size reducers or reinforced skeletons are usually introduced to ensure the stability of the structure and the reliability of power output, resulting in a generally bulky leg structure. Although this bulky design ensures the support ability of the leg in high-intensity motion to some extent, it also brings several problems: first, the leg structure deviates seriously from the human bionic proportion, affecting the visual simulation and aesthetics of the overall robot; second, the redundant space occupation compresses the joint motion range, causing limited motion freedom, making it difficult to perform actions such as kneeling, climbing or high-step crossing; third, the heavy structure increases the motion inertia, which is not conducive to rapid response and posture control, especially in dynamic gait or complex terrain adaptation.

[0004] In addition, some existing humanoid robot platforms attempt to move the knee joint center upward to reduce the weight and motion inertia of the lower leg, which has achieved certain results in improving response speed and motion sensitivity. However, this design further exacerbates the structural expansion and space conflict in the hip area, affecting the overall coordination. Therefore, it is urgent to propose a more compact, flexible and high-load-capacity lower limb structure scheme to improve the overall performance and practical value of human-shaped robots in complex multi-task scenarios. SUMMARY

[0005] The present application provides a bionic robot biped structure and a bionic robot to solve the technical problem of the bulky hip structure in the lower limb structure of the existing bionic robot, which limits the activity freedom and has poor space layout.

[0006] In order to solve the above technical problems, the application provides a bionic robot biped structure, which comprises a hip module and an upper bionic leg module movably arranged on the hip module, the hip module comprises a front swing driver, a lateral swing driver, a circumrotation driver, a lateral swing support and a circumrotation support, an output shaft of the front swing driver is connected to the lateral swing support to drive the lateral swing support to rotate in a first direction, the lateral swing driver is arranged on the lateral swing support and rotates with the lateral swing support in the first direction, an output shaft of the lateral swing driver is connected to the circumrotation support to drive the circumrotation support to rotate in a second direction, the circumrotation driver is arranged on the circumrotation support and rotates with the circumrotation support in the second direction, and an output shaft of the circumrotation driver is connected to a top of the upper bionic leg module to drive the upper bionic leg module to rotate in a third direction, the first direction, the second direction and the third direction are perpendicular to each other.

[0007] Further, the upper bionic leg module comprises a thigh shell with a first open cavity and a thigh skeleton rotatably arranged in the first open cavity, the circumrotation support is inserted into and fixed to an inner wall of the first open cavity, and the circumrotation driver is arranged in the first open cavity, the thigh shell comprises a front thigh shell with a first open slot and a rear thigh shell with a second open slot, the first open slot and the second open slot oppositely enclose the first open cavity, a plurality of limiting protrusions are arranged on opposite side walls of the first open slot, a plurality of clamping protrusions corresponding to the limiting protrusions are arranged on opposite side walls of the second open slot, and the limiting protrusions are fixedly connected to the clamping protrusions.

[0008] Further, the circumrotation support comprises a fixed plate arranged on an inner wall of the first open slot and a bearing plate arranged on a bottom of the fixed plate, the bearing plate is provided with a first output hole, the circumrotation driver is arranged on a top of the bearing plate, and an output shaft of the circumrotation driver is arranged to pass through the first output hole and connected to the thigh skeleton.

[0009] Further, the lateral swing support comprises a lateral swing plate arranged on a side wall of the output shaft of the front swing driver, the lateral swing plate is provided with a second output hole, the fixed plate is provided with a limiting hole coaxially arranged with the second output hole, an inner wall of the first open slot is provided with a positioning member matched with the limiting hole, the positioning member is arranged to pass through the limiting hole, the lateral swing driver is arranged on a side wall of the lateral swing plate, an output shaft of the lateral swing driver is arranged to pass through the second output hole and connected to the fixed plate, and the lateral swing driver is coaxially arranged with the positioning member.

[0010] Further, the lower bionic leg module further comprises an outer cover arranged on an end wall of the ring-shaped mounting portion and a radial bearing member rotatably arranged on the outer cover, the outer cover is arranged at an end of the ring-shaped mounting portion away from the output shaft of the knee swing driver, and the radial bearing member is coaxially arranged with the output shaft of the knee swing driver, the lower leg skeleton comprises a first side plate and a second side plate arranged opposite to the first side plate, the first side plate is connected with the output shaft of the knee swing driver, and the second side plate is rotatably connected with the radial bearing member.

[0011] Further, the lower bionic leg module further comprises an outer cover arranged on an end wall of the ring-shaped mounting portion and a radial bearing member rotatably arranged on the outer cover, the outer cover is arranged at an end of the ring-shaped mounting portion away from the output shaft of the knee swing driver, and the radial bearing member is coaxially arranged with the output shaft of the knee swing driver, the lower leg skeleton comprises a first side plate and a second side plate arranged opposite to the first side plate, the first side plate is connected with the output shaft of the knee swing driver, and the second side plate is rotatably connected with the radial bearing member.

[0012] Further, the lower bionic leg module further comprises an outer cover arranged on an end wall of the ring-shaped mounting portion and a radial bearing member rotatably arranged on the outer cover, the outer cover is arranged at an end of the ring-shaped mounting portion away from the output shaft of the knee swing driver, and the radial bearing member is coaxially arranged with the output shaft of the knee swing driver, the lower leg skeleton comprises a first side plate and a second side plate arranged opposite to the first side plate, the first side plate is connected with the output shaft of the knee swing driver, and the second side plate is rotatably connected with the radial bearing member.

[0013] Further, the lower bionic leg module further comprises an outer cover arranged on an end wall of the ring-shaped mounting portion and a radial bearing member rotatably arranged on the outer cover, the outer cover is arranged at an end of the ring-shaped mounting portion away from the output shaft of the knee swing driver, and the radial bearing member is coaxially arranged with the output shaft of the knee swing driver, the lower leg skeleton comprises a first side plate and a second side plate arranged opposite to the first side plate, the first side plate is connected with the output shaft of the knee swing driver, and the second side plate is rotatably connected with the radial bearing member.

[0014] Further, the support assembly comprises a foot plate, a first fisheye bearing piece, a second fisheye bearing piece, a limiting bearing seat and a cross shaft, the first fisheye bearing piece, the second fisheye bearing piece and the limiting bearing seat are arranged on the top of the foot plate, a third open slot is arranged on the limiting bearing seat, the opposite two shaft ends of the cross shaft are rotatably arranged on the opposite two side walls of the third open slot, the other opposite two shaft ends of the cross shaft are movably connected with the first side plate and the second side plate, the first fisheye bearing piece and the second fisheye bearing piece are arranged in parallel with a spacing, the bottom of the first swing connecting rod is movably connected with the first fisheye bearing piece, and the bottom of the second swing connecting rod is movably connected with the second fisheye bearing piece.

[0015] In another aspect, the application further provides a bionic robot, comprising the aforementioned biped structure, and further comprising an upper limb structure arranged on the top of the biped structure, wherein the upper limb structure comprises a body module, an arm module and a head module, the body module is arranged on the top of the hip module, the arm module is movably arranged on the side wall of the body module, and the head module is movably arranged on the top of the body module.

[0016] Compared with the prior art, the biped structure of the bionic robot and the bionic robot have the following beneficial effects:

[0017] The embodiment of the present application sets up the hip module and the upper bionic leg module to construct a multi-degree-of-freedom independent space driving control system, the front swing driver, the side spread driver and the circumrotation driver in the hip module adopt a stacked nested layout structure, are sequentially arranged in the inner cavities of the side spread support and the circumrotation support, the output shafts of the drivers are connected to different parts of the side spread support and the circumrotation support in a perpendicular manner, and the precise control of the hip module and the upper bionic leg module along the multi-degree-of-freedom movement in the three-dimensional space is realized by means of the positioning and supporting action of the side spread support and the circumrotation support, which not only effectively optimizes the overall bionic structure ratio and force transmission path from the hip to the leg, enhances the rigidity and impact resistance of the overall structure, but also reduces the use of redundant structural support members, further simplifies the number of structural components, increases the movement range of the hip and leg joints, and the three-degree-of-freedom cooperative movement system enables the drivers to be arranged without interference, greatly reduces the space waste and structural bulk caused by the space cross-wiring, repeated volume and movement interference in the traditional structure, enables the upper bionic leg module to rotate flexibly along three mutually perpendicular directions, effectively breaks through the problem of limited leg movement freedom caused by the volume expansion and structural bulk of the hip in the traditional design, realizes the flexible space rotation of the upper bionic leg module, significantly improves the rigidity and carrying capacity of the hip structure, and ensures the stable operation and durability of the robot under complex terrain and high-intensity movement conditions.

[0018] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings are used to better understand the present scheme and do not constitute a limitation on the present application. Among them:

[0020] Figure 1 is the overall structure schematic diagram of a bionic robot biped structure provided by the embodiment of the present application;

[0021] Figure 2 is an exploded view of a unilateral overall structure in a bionic robot biped structure provided by the embodiment of the present application;

[0022] Figure 3is an exploded view of a hip module and an upper bionic leg module in a bionic robot biped structure provided by an embodiment of the application;

[0023] Figure 4 is an exploded view of a thigh shell in a bionic robot biped structure provided by an embodiment of the application;

[0024] Figure 5 is an exploded view of a lower bionic leg module and a foot module in a bionic robot biped structure provided by an embodiment of the application;

[0025] Figure 6 is a structural schematic view of a thigh skeleton in a bionic robot biped structure provided by an embodiment of the application;

[0026] Figure 7 is a structural schematic view of a third side plate in a bionic robot biped structure provided by an embodiment of the application;

[0027] Figure 8 is a structural schematic view of a support assembly in a bionic robot biped structure provided by an embodiment of the application.

[0028] In the figure, 10, hip module; 11, front swing driver; 12, side swing driver; 13, week driver; 14, week support; 141, fixed plate; 1411, limiting hole; 142, receiving plate; 1421, first output hole; 15, side swing support; 151, side swing plate; 1511, second output hole; 20, upper bionic leg module; 21, thigh shell; 211, thigh front shell; 212, thigh rear shell; 213, first opening cavity; 2131, first opening slot; 2132, second opening slot; 214, limiting boss; 215, clamping boss; 216, positioning piece; 22, thigh skeleton; 221, annular mounting part; 2211, second opening cavity; 2212, annular flange; 30, lower bionic leg module; 31, knee swing driver; 32, calf skeleton; 321, first side plate; 322, second side plate; 323, third side plate; 3231, stepped flange; 3232, arc surface; 33, outer side cover; 34, radial bearing piece; 40, foot module; 41, first foot driver; 42, second foot driver; 43, first swing connecting rod; 44, second swing connecting rod; 45, support assembly; 451, foot plate; 452, first fisheye bearing piece; 453, second fisheye bearing piece; 454, limiting bearing seat; 455, cross shaft; 4551, horizontal shaft; 4552, vertical shaft. DETAILED DESCRIPTION

[0029] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with the drawings and examples in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the present application.

[0030] In the description of the present application, it should be noted that, for orientation words, such as the terms "middle", "top", "bottom", "upper", "lower", "inner", "outer" and the like indicate the orientation and positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and cannot be understood as limiting the specific protection scope of the present application.

[0031] In addition, the terms "first", "second", "third", "fourth" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the "first", "second", "third", "fourth" features defined can explicitly or implicitly include one or more features, and in the description of the present application, the meaning of "at least" is one or more, unless otherwise explicitly specified and limited.

[0032] In the present application, unless otherwise explicitly specified and limited, the terms "assembly", "connection", "connection" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected; it can be directly connected, or it can be connected through an intermediate medium; it can be connected inside two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0033] For the convenience of explanation, the first direction, the second direction and the third direction involved in the present application are first explained to be clearly defined: the first direction refers to the movement axis of the hip module 10 driving the upper bionic leg module 20 to swing in the front-back direction, corresponding to the forward and backward movement of the leg when a human walks or runs, and the leg structure as a whole rotates in the first direction during movement; the second direction refers to the axis of the hip module 10 driving the upper bionic leg module 20 to swing in the left-right direction of the body, corresponding to the dynamic process of the leg lifting outward or retracting inward when a human moves laterally or maintains body balance, and the leg structure as a whole moves in the second direction during movement; the third direction refers to the rotation direction of the femur skeleton 22 around its own longitudinal axis, corresponding to the rotation of the thigh around its own axis when a human stands, and only the femur skeleton 22 and the components arranged at the bottom of the femur skeleton 22 rotate as a whole in the third direction during movement, such as the rotation of the toe outward or inward from the front direction. The above three directions give the upper bionic leg module 20 of the bionic robot three independent and non-interfering degrees of freedom of forward swing, lateral spread and rotation, which are perpendicular to each other and cooperate with each other to realize the complex gait change and flexible motion control of the bionic robot in multiple dimensions, greatly improving the naturalness and adaptability of its movement.

[0034] As shown in Figure 1 , Figure 2 , the embodiment of the present application provides a bionic robot biped structure, which comprises a hip module 10 and an upper bionic leg module 20 movably arranged on the hip module 10, the hip module 10 comprising a forward swing driver 11, a lateral spread driver 12, a circumrotation driver 13, a lateral spread support 15 and a circumrotation support 14, the output shaft of the forward swing driver 11 being connected to the lateral spread support 15 for driving the lateral spread support 15 to rotate in the first direction, the lateral spread driver 12 being arranged on the lateral spread support 15 and rotating with the lateral spread support 15 in the first direction, and the output shaft of the lateral spread driver 12 being connected to the circumrotation support 14 for driving the circumrotation support 14 to rotate in the second direction, the circumrotation driver 13 being arranged at the bottom of the circumrotation support 14 and rotating with the circumrotation support 14 in the second direction, and the output shaft of the circumrotation driver 13 being connected to the top of the upper bionic leg module 20 for driving the upper bionic leg module 20 to rotate in the third direction, the first direction, the second direction and the third direction being perpendicular to each other.

[0035] The embodiment of the present application sets up the hip module 10 and the upper bionic leg module 20 that cooperate with each other, constructs a multi-degree-of-freedom independent space driving control system, the front swing driver 11, the side spread driver 12 and the circumrotation driver 13 in the hip module 10 adopt a laminated nested layout structure, are sequentially arranged on the side spread support 15 and the circumrotation support 14, the output shafts of the drivers are connected to different parts of the side spread support 15 and the circumrotation support 14 in a two-by-two vertical manner, and the precise control of the hip module 10 and the upper bionic leg module 20 along the multi-degree-of-freedom movement in the three-dimensional space is realized by means of the positioning and supporting action of the side spread support 15 and the circumrotation support 14, not only effectively optimizing the overall bionic structure ratio and force transmission path from the hip to the leg, enhancing the rigidity and impact resistance of the overall structure, but also reducing the use of redundant structural support members, further simplifying the number of structural components, increasing the movement range of the hip and leg joints, the three-degree-of-freedom cooperative movement system makes the drivers arranged without interference, greatly reducing the space waste and structural obesity problems caused by space cross-wiring, repeated volume and motion interference in the traditional structure, so that the upper bionic leg module 20 can rotate flexibly along three two-by-two vertical directions, effectively breaking through the problem of limited leg movement freedom caused by the volume expansion and structural obesity of the hip in the traditional design, realizing the flexible space rotation of the upper bionic leg module 20, significantly improving the rigidity and carrying capacity of the hip structure, and ensuring the stable operation and durability of the robot under complex terrain and high-intensity motion conditions. In summary, the present application realizes the high integration and precise cooperation of the hip module 10 and the upper bionic leg module 20, which not only improves the rigidity and carrying capacity of the hip module 10, ensures stable operation and durability in complex terrain, unstructured environment and high-intensity dynamic tasks, but also has good maintainability and modular expansion ability, realizes compact structure, coordinated power and space efficient fusion, and provides strong technical support and broad development potential for bionic robots in medical assistance, disaster rescue, industrial inspection and other high-demand scenarios.

[0036] In the embodiment of the application, the front swing driver 11, the lateral spread driver 12 and the circumrotation driver 13 are arranged in series in sequence, and respectively control the independent movement of the upper bionic leg module 20 in the front and rear swing (first direction), lateral spread (second direction) and axial rotation (third direction) three degrees of freedom. The three-dimensional orthogonal layout structure design has obvious advantages. First, each driver bears the power output in a single direction, simplifying the motion control algorithm and reducing the system complexity caused by multi-degree-of-freedom coupling. Second, by arranging the three drivers in layers on the lateral spread support 15 and the circumrotation support 14 structure, the continuity of the driving path and the transmission efficiency are ensured, and the overall structure is more compact, creating conditions for the "slimming" of the hip module 10. Since the hip joint often bears a large torque in a certain direction when performing high-load postures such as kneeling standing, lying down and getting up, and crossing obstacles, especially the front swing and lateral spread driving mechanism, the output torque and reduction performance of the driver are extremely high at this time. Therefore, the front swing driver 11, the lateral spread driver 12 and the circumrotation driver 13 in the scheme are preferably torque type planetary reducers. Such reducers have the characteristics of small size, large torque and smooth output, and can meet the driving requirements in high-load working conditions while ensuring compact structure. Their high load capacity and good rigidity also help to improve the posture stability and impact resistance of the robot in dynamic motion, so as to ensure that the bionic robot moves naturally and smoothly in complex environments. In summary, the layout of the front swing driver 11, the lateral spread driver 12 and the circumrotation driver 13 cooperates with the high-performance torque reducer to realize the comprehensive optimization of degree-of-freedom decoupling, compact structure and efficient output.

[0037] In addition to the torque type planetary reducer, the driver in the application can also select other types of high-performance reducers as the power transmission device, such as harmonic reducer, cycloidal pin wheel reducer or precision helical gear reducer, etc. The harmonic reducer is known for its ultra-high reduction ratio, zero backlash and high transmission efficiency, and is particularly suitable for application scenarios that require precise positioning and fast response speed; the cycloidal pin wheel reducer has compact structure, strong load capacity and good impact resistance, and is suitable for high-load and frequent start-stop working conditions; the precision helical gear reducer is widely used in various robot joint drives due to its stable transmission, low noise and mature manufacturing process. According to the specific motion performance requirements, volume limitations and cost considerations, the appropriate reducer type can be selected flexibly to realize efficient and stable power transmission of the hip module 10. The above-mentioned reducer selection is only one optional way of the driving scheme in the application, and does not constitute a limitation on the technical scheme.

[0038] Further, in the embodiment of the present application, the output shaft of the front swing driver 11 is connected to the lateral expansion support 15. The connection relationship can be directly formed by an integrated structure, or can be assembled and fixed by bolts, keys or other mechanical fastening methods, so as to balance the processing workability and assembly flexibility. Preferably, the connection structure of the output shaft of the front swing driver 11 and the lateral expansion support 15 is formed by an integrated molding method, so as to reduce the gap and tolerance accumulation between the connection parts, and improve the torque transmission efficiency and structural integrity of the driver. In other embodiments, in order to ensure the connection strength and structural rigidity of the driver under high load motion conditions, high-strength bolts, positioning pins or increased transition surface can also be used for reliable connection, so as to enhance the anti-torsion and anti-loosening capabilities, and further improve the stability and reliability of the overall driving structure.

[0039] It should be noted that the first direction, the second direction and the third direction are perpendicular to each other, and the fundamental purpose is to ensure that the three degrees of freedom motion of the bionic robot hip can realize independent, accurate and interference-free cooperation. Specifically, the three directions respectively represent the front and rear swing of the hip (the first direction), the lateral expansion (the second direction) and the axial rotation of the thigh skeleton 22 (the third direction), which are arranged orthogonally to each other, so that the driving force and motion trajectory of each degree of freedom do not overlap in space, avoiding mechanical jamming or performance degradation caused by motion interference between the drivers. Such vertical layout not only simplifies the complexity of the mechanical structure, but also helps to realize a simple force transmission path, and facilitates the decoupling control of the control system for each degree of freedom, improves the response speed and control accuracy. In addition, the orthogonal degree of freedom setting enhances the rigidity and stability of the structure, so that the hip can effectively disperse stress when bearing complex loads in multiple directions, reduce mechanical fatigue, and improve overall durability and motion flexibility. In summary, the design of the first direction, the second direction and the third direction perpendicular to each other is the basic guarantee for realizing efficient and multi-degree of freedom cooperative motion of the hip, and balances the rationality of the mechanical structure and the motion control performance.

[0040] As Figure 2-4The upper bionic leg module 20 includes the thigh shell 21 with the first opening cavity 213 and the thigh skeleton 22 rotatably arranged in the first opening cavity 213. The thigh shell 21 includes the front thigh shell 211 with the first opening slot 2131 and the rear thigh shell 212 with the second opening slot 2132. The first opening slot 2131 and the second opening slot 2132 are oppositely arranged and enclosed to form the first opening cavity 213. The opposite two side walls of the first opening slot 2131 are provided with a plurality of limiting protrusions 214. The opposite two side walls of the second opening slot 2132 are provided with a plurality of clamping protrusions 215 corresponding to the limiting protrusions 214. The limiting protrusions 214 and the clamping protrusions 215 are fixedly connected.

[0041] Specifically, the thigh shell 21 is ingeniously divided into the front thigh shell 211 and the rear thigh shell 212, and the first opening slot 2131 and the second opening slot 2132 are respectively arranged. The first opening slot 2131 and the second opening slot 2132 are oppositely arranged and enclosed to form the first opening cavity 213, which is used for placing the rotating support 14, the rotating driver 13 and the thigh skeleton 22. This structure has an extremely advantageous structural design and manufacturing process. First, the split shell design greatly simplifies the manufacturing process. The separate processing of the front and rear shells not only improves the machining accuracy of the parts, but also facilitates subsequent assembly and debugging processes, effectively reducing the complexity and cost of production and manufacturing, and significantly improving the overall manufacturing efficiency. Second, a plurality of limiting protrusions 214 are arranged on the two side walls of the first opening slot 2131, and a plurality of clamping protrusions 215 matching in number and shape are arranged on the two side walls of the second opening slot 2132. The limiting protrusions 214 and the clamping protrusions 215 are reliably fixedly connected and closely combined to form a stable mechanical connection structure, taking into account the firmness of the structure and the aesthetics of the overall appearance. It is particularly worth mentioning that the limiting protrusions 214 and the clamping protrusions 215 usually adopt an advanced hot embedding process to precisely embed copper nuts into the limiting protrusions 214. In combination with the reasonably arranged bolt holes on the clamping protrusions 215, the strength and durability of the connecting parts are ensured, the wear and loosening of the threads are prevented, and the assembly precision and long-term stability of the components are greatly improved, ensuring the reliability of the mechanical structure in high-load and frequent motion environments.

[0042] The upper bionic leg module 20 includes a thigh shell 21 with a first opening cavity 213 and a thigh skeleton 213 rotatably arranged in the first opening cavity. The bottom of the circumrotation support is inserted into and fixed to the inner wall of the first opening cavity 213. The circumrotation driver is clamped in the first opening cavity 213 and rotates along the second direction with the circumrotation support 14. The structure layout of the lateral spread support 15, the circumrotation support 14 and the thigh shell 21 is carefully arranged to realize an efficient, compact and high-degree-of-freedom hip driving system. The lateral spread support 15 is a relay structure between the front swing driver 11 and the circumrotation support 14. One end of the lateral spread support 15 is connected with the output shaft of the front swing driver 11 to realize the driving of the entire support along the first direction (the front and rear swing direction). The other end of the lateral spread support 15 is provided with the lateral spread driver 12, so that the circumrotation support 14 can be driven to rotate along the second direction (the lateral spread direction). The lateral spread driver 12 is arranged on the side of the lateral spread support 15 away from the front swing driver 11, so that a clear power transmission path is formed, and the driving mechanisms in different directions are effectively isolated, and structural interference is avoided. The circumrotation support 14 is located at the end of the entire hip structure, and the bottom is fixed to the inner wall of the first opening cavity 213 of the thigh shell 21. The circumrotation driver 13 is installed at the bottom of the circumrotation support 14 and directly drives the thigh skeleton 22 to rotate along the third direction (the axial rotation direction) through the output shaft. This “stacked” arrangement realizes the orthogonal distribution of each degree of freedom in space, so that the three-degree-of-freedom driving mechanism does not interfere with each other in the physical space, the force transmission path is clear and direct, the number of intermediate connecting parts is reduced, and the structural stiffness and response speed are improved. More importantly, the design integrates multiple levels of driving and bearing structures, avoids the horizontal stacking of the hip multidirectional driving mechanism in the traditional bionic robot in the horizontal direction, significantly reduces the cross-sectional size of the hip, improves the space utilization, effectively alleviates the “hip obesity” problem, gives the bionic robot biped structure higher flexibility and greater movement degree of freedom, and is especially suitable for dynamic gait adjustment and posture control under complex terrain.

[0043] In addition, the thigh shell 21 is both a structural load-bearing unit and a motion support unit. First, the thigh shell 21 provides a relatively closed cavity environment for the installation of the turnover support 14 through the first opening cavity 213, so that it can be firmly positioned and embedded in the inside of the thigh shell 21, thereby forming a complete power transmission system. In order to enhance the fixation reliability and aesthetics, the first opening cavity 213 is designed to be open at both ends, which is convenient for the assembly and debugging of the turnover support 14. At the same time, a plurality of fixing bosses are arranged on the inner wall, and copper nuts are usually embedded in the fixing bosses, which can achieve a high-strength screw connection between the thigh shell 21 and the turnover support 14, ensuring that there will be no loosening, slipping and other problems during the multi-degree-of-freedom rotation process, and effectively improving the structural stability. Secondly, the thigh shell 21 is not only used to install and fix the turnover support 14, but also undertakes the movement guidance and support functions of the thigh skeleton 22. Since the thigh skeleton 22 realizes axial (third direction) rotation in the first opening cavity 213, the thigh shell 21 forms a precise constraint on its rotation axis by axially covering and limiting both sides of the skeleton, thereby playing the role of axial positioning. Especially in the high-frequency gait transformation and complex terrain movement of the bionic robot, a good support and constraint design can effectively prevent the thigh skeleton 22 from shaking and vibrating due to inertia or external forces, ensuring the stability of the movement and the accuracy of control. Therefore, the thigh shell 21, as the structural core connecting the drive system and the actuator, not only optimizes the mechanical installation structure, but also improves the overall anti-interference ability and dynamic response performance of the system, and is the key foundation for achieving stable and efficient drive.

[0044] Finally, the limiting boss 214 and the locking boss 215 not only have the function of connection, but are also cleverly designed as support and fixing components for the revolving drive 13 and the revolving support 14. If necessary, they can be designed as a structural design for the revolving drive 13 and / or the revolving support 14. This design effectively optimizes the torque transmission path, minimizes the relative displacement and energy loss of the driving components during dynamic movement, and significantly improves the power transmission efficiency and the overall stability of the system. At the same time, the design can also reduce vibration and mechanical wear during movement, help extend the life of the machine and improve the smoothness and safety of operation. In summary, this innovative design scheme that combines the opening groove with the limiting boss 214 and the locking boss 215 not only takes into account the convenience of manufacturing and the aesthetics of the structure, but also greatly improves the comprehensive performance and service life of the bionic robot hip module 10 through meticulous mechanical optimization.

[0045] like Figure 3Said, in an optional embodiment of the present application, the turnover support 14 includes a fixed plate 141 arranged on the inner wall of the first open slot 2131 and a receiving plate 142 arranged on the bottom of the fixed plate 141, the receiving plate 142 has a first output hole 1421 passing through it, the turnover driver 13 is arranged on the top of the receiving plate 142, and the output shaft of the turnover driver 13 passes out of the first output hole 1421 and is connected with the femoral framework 22.

[0046] Specifically, the turnover support 14 realizes the stability and precise bearing of the structure by firmly installing the fixed plate 141 on the inner wall of the open slot and arranging the receiving plate 142 on the bottom of the fixed plate 141. The first output hole 1421 passing through the receiving plate 142 provides a precise channel for the output shaft of the turnover driver 13, so that the driving shaft can smoothly and without interference pass out of the receiving plate 142 and be directly connected to the femoral framework 22. This design not only ensures the linearity and efficiency of power transmission, avoids energy loss and transmission deviation, but also greatly improves the overall rigidity and stability of the mechanical structure. By placing the turnover driver 13 on the top of the receiving plate 142, the close combination of the turnover driver 13 and the receiving plate 142 forms a rigid whole, effectively reducing the vibration and displacement that may occur during movement, improving the response speed and control accuracy of the system. In addition, the reasonable design of the first output hole 1421 also optimizes the space utilization, so that the entire hip module 10 can maintain a compact and lightweight structure, which helps to reduce the overall weight and improve the motion flexibility and energy efficiency of the bionic robot. In summary, this structural layout not only enhances the reliability and durability of power transmission, but also provides a solid mechanical foundation for the hip module 10 to realize efficient and stable multi-degree-of-freedom motion.

[0047] In an optional embodiment of the present application, in order to ensure the structural strength and rigidity of the entire rotating support 14 during force application, the fixed plate 141 and the receiving plate 142 are designed in an integrated structure. Since the rotating driver 13 is a key executive component for realizing the axial rotation of the thigh skeleton 22 in the hip module 10, it will generate a large reaction force and torque during movement, especially during dynamic actions such as getting up, stepping or high-frequency rotation of the robot, which puts higher requirements on the stability and deformation resistance of the supporting structure. If the fixed plate 141 and the receiving plate 142 are in a split structure, the connecting part is prone to form a stress concentration point, which not only has the risk of potential loosening or displacement, but also may cause structural fatigue or damage due to repeated loading. The use of an integrated structure not only avoids assembly errors and ensures the angle and positional relationship between the fixed plate 141 and the receiving plate 142, but also effectively improves the rigidity and anti-vibration performance of the overall structure, ensuring the stability of the driver even when running at high speed or under sudden impact. Therefore, this design not only ensures the high strength and rigidity of the rotating support 14, but also enhances the stability and accuracy of the power transmission process, providing strong support for high-performance motion control of the bionic robot hip module 10.

[0048] It should be noted that, in order to further reduce the shaking and deflection of the rotating support 14 caused by uneven force or high-frequency vibration during operation, the receiving plate 142 provided at the bottom is closely abutted to the inner wall of the first open cavity 213 formed by the first open slot 2131 and the second open slot 2132 along the circumferential outer wall in the structural design. This arrangement along the circumferential outer wall can form multi-surface contact support in physical structure, greatly enhancing the positioning accuracy and anti-displacement ability of the receiving plate 142 in the overall structure of the rotating support 14. During robot movement, especially during knee bending, turning or rapid action, the driver carried by the receiving plate 142 will be subjected to a large torque and impact force, and without sufficient support along the circumferential outer wall, small displacement may accumulate into structural loosening, thereby affecting the rotation accuracy and power transmission efficiency of the thigh skeleton 22. By closely fitting the receiving plate 142 with the inner wall of the first open cavity 213 along the circumferential outer wall, the force bearing surface and stability of the receiving plate 142 are effectively improved, not only enhancing the anti-vibration performance and suppressing structural resonance, but also ensuring the rigid support during output of the rotating driver 13, providing a solid structural guarantee for high stability and high-precision operation of the entire hip module 10.

[0049] As Figure 3 and Figure 4In an optional embodiment of the present application, the side swing support 15 comprises a side swing plate 151 arranged on the side wall of the output shaft of the front swing driver 11, a second output hole 1511 is arranged through the side swing plate 151, a limiting hole 1411 coaxially arranged with the second output hole 1511 is arranged through the fixing plate 141, a positioning member 216 adapted to the limiting hole 1411 is arranged on the inner wall of the first open slot 2131, the positioning member 216 is arranged through the limiting hole 1411, the side swing driver 12 is arranged on the side wall of the side swing plate 151, and the output shaft of the side swing driver 12 is arranged through the second output hole 1511 and connected with the fixing plate 141, and the side swing driver 12 is coaxially arranged with the positioning member 216.

[0050] Specifically, the side swing support 15 is connected with the side wall of the output shaft of the front swing driver 11 through the side swing plate 151, and the second output hole 1511 is arranged through the side swing plate 151, the limiting hole 1411 coaxially arranged with the second output hole 1511 is arranged through the fixing plate 141, and the positioning member 216 arranged on the inner wall of the first open slot 2131 forms a set of accurate coaxial positioning and driving system. The positioning member 216 is arranged through the limiting hole 1411, which plays a role in accurately positioning the fixing plate 141 and the entire circumferential support 14 inside the thigh shell 21, and realizes reliable and stable mechanical positioning between the circumferential support 14 and the thigh shell 21. This structure ensures that the circumferential support 14 can always maintain a predetermined spatial position when subjected to external disturbance or driving load, effectively avoiding displacement, shaking and attitude deviation, thereby improving the overall operation stability and control accuracy of the hip module 10.

[0051] More importantly, the side swing driver 12 is arranged on the side wall of the side swing plate 151, the output shaft of the side swing driver 12 is directly connected to the fixing plate 141 after being arranged through the second output hole 1511, and the output shaft of the side swing driver 12 is arranged along the same axis as the positioning member 216. This coaxial design not only has a compact structure, but also optimizes the driving path in terms of mechanical properties. When the side swing driver 12 drives the fixing plate 141 and drives the entire circumferential support 14 to rotate along the second direction, the torque transmitted directly acts on the integrated structure formed by the fixing plate 141 and the receiving plate 142 along the driving axis direction, and the torque is further dispersed to the inner wall of the thigh shell 21 through the positioning member 216, thereby constructing a continuous rigid force flow path from the driver to the bearing shell. The existence of this path significantly improves the efficiency and stability of torque transmission, reduces structural deformation, connection loosening or stress fatigue caused by torque concentration, and effectively suppresses the vibration and impact caused by inertia or load fluctuation during driving.

[0052] In addition, the structure makes the output shaft of the lateral swing driver 12 coaxial with the positioning member 216, helps to control the coaxial degree of movement of the whole hip module 10, further reduces the yawing error, improves the system movement accuracy, provides more stable and reliable support for the bionic robot in complex terrain or high dynamic attitude change, not only realizes high strength and repeatable positioning between the revolving support 14 and the thigh shell 21, but also establishes a scientific and efficient torque transmission and dispersion mechanism, which is a key technical means to improve the overall rigidity, reliability and driving response performance of the hip module 10.

[0053] As Figure 5 In an optional embodiment of the present application, the lower bionic leg module 30 is further included, which comprises a knee swing driver 31 and a lower leg skeleton 32 connected to the output shaft of the knee swing driver 31. The thigh skeleton 22 extends from the first opening cavity 213 and is provided with an annular mounting portion 221, and the second opening cavity 2211 is formed in the annular mounting portion 221. The knee swing driver 31 is arranged in the second opening cavity 2211 and is used to drive the lower leg skeleton 32 to rotate in the first direction. The output shaft of the knee swing driver 31 is arranged in the same direction as the output shaft of the front swing driver 11.

[0054] Specifically, in an optional embodiment of the present application, the lower bionic leg module 30 for realizing the knee joint movement control is further included. The lower bionic leg module 30 comprises a knee swing driver 31 and a lower leg skeleton 32 connected to the output shaft of the knee swing driver 31, which constitutes the secondary power execution structure of the robot lower limb. The thigh skeleton 22 extends from the first opening cavity 213 of the thigh shell 21 and is provided with an annular mounting portion 221 at the end thereof, which is used as the mounting basis of the knee driver and is provided with a second opening cavity 2211 for mounting the knee swing driver 31. The knee swing driver 31 is compactly embedded in the second opening cavity 2211 and directly drives the lower leg skeleton 32 to swing in the first direction through the output shaft, realizing the flexion and extension action similar to the biological knee joint.

[0055] It is worth noting that the output shaft of the knee swing driver 31 and the output shaft of the front swing driver 11 in the hip module 10 are arranged to face the same direction, and the output shaft of the knee swing driver 31 and the output shaft of the front swing driver 11 are arranged on both sides of the vertical axis of the femur skeleton 22, forming a symmetrical and axial consistent power arrangement structure. This structure not only makes the space utilization more compact and orderly, but also can realize balanced stress in the process of mechanical transmission, avoid structural distortion or stress concentration caused by unbalanced load, make the driving logic of the lower limb more unified, and the wiring of the motor and the sensor more simple, greatly improve the module integration efficiency and assembly convenience. At the same time, the power transmission path is simplified and the symmetry and mechanical consistency of the lower limb structure are maintained. In this embodiment, the output shaft of the knee swing driver 31 is arranged in the same direction as the output shaft of the front swing driver 11 in the upper hip module 10. This same direction design not only helps to unify the driving logic of the whole lower limb, but also facilitates motor wiring, sensor layout and space coordination, thereby effectively improving the integration degree of the overall structure. In addition, the knee swing driver 31 is cleverly arranged in the annular mounting portion 221 at the bottom (end) of the femur skeleton 22, so that the driving structure can be installed in a "sunk" manner, thereby avoiding the problem of upward movement of the knee joint position caused by the external knee joint driving device in the traditional design, breaking through the problem of hip volume expansion and structure obesity caused by the change of knee joint position in the traditional design, effectively controlling the joint gravity center position, and reducing the inertia moment of the whole machine. The bionic robot shows higher stability and coordination when changing posture or walking under load, and avoids the risk of knee structure flexion deformation caused by path distortion in the traditional structure.

[0056] Therefore, this structure not only ensures sufficient joint degrees of freedom, but also optimizes the driving layout, considers the structure compactness and mechanical performance, and provides a solid foundation for realizing high simulation and high flexibility of lower limb movement. Overall, this innovative arrangement of the annular mounting portion 221 combined with the embedded knee swing driver 31 not only realizes precise control of the power output of the knee joint, but also avoids mechanical interference and unnatural movement caused by the protruding knee joint structure, which is a key design link to improve the functionality and movement performance of the lower limb of the bionic robot.

[0057] As Figure 5 In an optional embodiment of the present application, the lower bionic leg module 30 further comprises an outer cover 33 arranged on the end wall of the annular mounting portion 221 and a radial bearing 34 rotatably arranged on the outer cover 33. The outer cover 33 is located at one end of the annular mounting portion 221 away from the output shaft of the knee swing driver 31, and the radial bearing 34 is coaxially arranged with the output shaft of the knee swing driver. The lower leg skeleton 32 comprises a first side plate 321 and a second side plate 322 arranged at a distance opposite to the first side plate 321. The first side plate 321 is connected with the output shaft of the knee swing driver 31, and the second side plate 322 is rotatably connected with the radial bearing 34.

[0058] Specifically, by arranging the outer cover 33 and the radial bearing 34 rotatingly arranged thereon on the end wall of the annular mounting portion 221 away from the output shaft of the knee swing driver 31, a key mechanical support effect is achieved, effectively sharing the radial load borne by the output shaft of the knee swing driver 31. The radial bearing 34 is coaxially arranged on the end of the annular mounting portion 221 away from the output shaft of the knee swing driver 31, and is symmetrically supported with the output shaft of the knee swing driver 31, thereby forming a stable bearing support point by being fixed to the outer cover 33, so that the output shaft of the knee swing driver 31 not only bears the torque output during operation, but also effectively disperses the radial force caused by the load and movement, reduces the direct impact on the driving shaft body, and significantly reduces the risk of bearing wear and fatigue. At the same time, the connection of the output shaft of the knee swing driver 31 and the first side plate 321 of the lower leg skeleton 32, and the rotational connection of the second side plate 322 and the radial bearing 34, together form a high-stiffness and low-friction transmission support system. This design not only improves the stability and accuracy of power transmission, but also effectively prolongs the service life of the driving system, improves the running reliability and response sensitivity of the lower bionic leg module 30 under complex motion conditions, and ensures that the bionic robot knee joint moves more smoothly and smoothly.

[0059] Preferably, the radial bearing 34 is a deep groove ball bearing. This type of bearing not only has strong radial bearing capacity, but also can bear certain axial load, and has compact structure, stable performance and moderate cost, which meets the comprehensive needs of space layout and economy of the structure. Although the deep groove ball bearing is recommended in this embodiment, it is not limited thereto, and other types such as cylindrical roller bearings, angular contact ball bearings or angular contact ball bearings can also be used as optional solutions to adapt to different load requirements and installation conditions. This reasonable bearing configuration not only effectively reduces the radial burden of the output shaft of the knee swing driver 31, prolongs the service life of the driving system, but also optimizes the driving force transmission path, improves the stability and response sensitivity of the movement, and further improves the overall performance and reliability of the lower bionic leg module 30 of the bionic robot.

[0060] As Figure 5-7 In an optional embodiment of the present application, the lower leg skeleton 32 further comprises a third side plate 323, one end of the third side plate 323 being connected to the first side plate 321 and the other end being connected to the second side plate 322, and the top of the third side plate 323 being provided with an arc surface 3232 matched with the outer wall of the annular mounting portion 221. When the knee swing driver 31 drives the lower leg skeleton 32 to rotate in the first direction, the third side plate 323 slides along the outer wall of the annular mounting portion 221 through the arc surface 3232.

[0061] Specifically, the introduction of the third side plate 323 significantly enhances the overall structural rigidity and stability of the calf skeleton 32, with both ends firmly connected to the first side plate 321 and the second side plate 322, respectively, forming a robust three-dimensional frame structure that effectively prevents deformation and twisting that may occur during movement. The top of the third side plate 323 is provided with an arc surface 3232 that precisely matches the outer wall of the annular mounting portion 221, allowing it to smoothly slide along the outer wall of the annular mounting portion 221 when the knee swing driver 31 drives the calf skeleton 32 to rotate in the first direction, ensuring smoothness and high precision of movement. This contact sliding design effectively alleviates stress concentration between structures, reduces the impact of vibration and impact on the system, and improves the stability and coordination of overall movement. At the same time, the arc surface 3232 optimizes the stress distribution of the contact surface, achieving uniform force transmission, thereby enhancing the stability and durability of mechanical transmission. In summary, this design not only optimizes the power transmission path and movement coordination performance of the calf skeleton 32, but also significantly improves the response speed and smoothness of the bionic robot knee joint in dynamic movement, greatly enhancing the reliability and service life of the system.

[0062] At the same time, in order to ensure the stability and reliability of the connection structure between the calf skeleton 32 and the thigh skeleton 22, a ring flange 2212 is provided on the circumferential outer wall of the annular mounting portion 221, which is located on the side of the annular mounting portion 221 close to the outer cover 33; the top of the third side plate 323 is provided with a stepped flange 3231 that matches it, and the stepped flange 3231 is sequentially provided with a first stepped notch and a second stepped notch connected to the first stepped notch, and the stepped flange 3231 as a whole presents a stepped shape gradually rising from the first stepped notch to the second stepped notch. During the connection and assembly process of the calf skeleton 32 and the thigh skeleton 22, the ring flange 2212 and the first stepped notch realize preliminary clamping positioning, while the end of the annular mounting portion 221 away from the outer cover 33 forms a deeper stable insertion with the second stepped notch, realizing multi-level limiting and double buckle cooperation, and improving the fastening strength and stability of the connection interface. The arc surface 3232 is arranged on the top of the stepped flange 3231, and the stepped structure clamping cooperates with the smooth structure design of the arc surface 3232, not only enhancing the assembly firmness and impact resistance of the connection part, effectively inhibiting loosening and deviation during operation, but also forming multiple contact surfaces during force transmission, thereby optimizing the torque transmission path and dispersing the load in multiple points, effectively reducing the problem of local stress concentration. At the same time, the stepped structure between the ring flange 2212 and the stepped notch can also play a certain buffering and damping role during relative movement, improving the fatigue resistance of the overall joint connection, and further enhancing the durability and comfort of the lower limb structure in high-frequency motion and complex terrain adaptation.

[0063] As Figure 5-8The foot module 40 includes a first foot drive 41, a second foot drive 42, a first swing link 43, a second swing link 44, and a support assembly 45. The first side plate 321, the second side plate 322, and the third side plate 323 form a third open slot. The first foot drive 41 is arranged on the inner wall of the first side plate 321, and the second foot drive 42 is arranged on the inner wall of the first side plate 321. The first foot drive 41 and the second foot drive 42 are arranged side by side in the third open slot, and the output shafts of the first foot drive 41 and the second foot drive 42 are arranged in opposite directions. The bottom of the first swing link 43, the bottom of the second swing link 44, the bottom of the first side plate 321, and the bottom of the second side plate 322 are movably connected to the top of the support assembly 45. The first swing link 43 is connected to the output shaft of the first foot drive 41, and the top of the second swing link 44 is connected to the output shaft of the second foot drive 42.

[0064] Specifically, through the ingenious configuration of the double foot drive and the swing link system that cooperates with each other, the multi-degree-of-freedom flexible movement similar to the biological ankle wrist joint is realized, and the activity and support performance of the robot foot are effectively improved. The third open slot formed by the first side plate 321, the second side plate 322, and the third side plate 323 provides a stable and compact installation space for the drive and the link, so that the layout of each mechanism component is reasonable, the structure is compact, and the overall stress balance is beneficial. The two foot drives are arranged side by side and the output shafts are arranged in opposite directions, which can respectively drive different swing links, so that the foot can realize accurate swinging in multiple directions such as front and back, left and right, and the adaptability and flexibility of the foot to the ground are enhanced. The first swing link 43 and the second swing link 44 are movably connected to the support assembly 45, and a flexible transmission link is constructed. The bottom of the first side plate 321 and the bottom of the second side plate 322 are movably connected to the top of the support assembly 45, which provides a positioning fulcrum for the movement of the support assembly 45, allows the support assembly 45 to dynamically adjust and fine-tune according to the driving control algorithm and external environment changes, and thus improves the balance and stability of the robot during walking. This design not only effectively simulates the complex motion mode of the natural ankle wrist joint, but also significantly enhances the adaptability of the foot to various complex terrains, improves the reliability and comfort of the overall walking, and guarantees the flexible movement and efficient support function of the robot in complex environments.

[0065] The output shafts of the first foot motion driver 41 and the second foot motion driver 42 are arranged in opposite directions, which can balance and coordinate the foot driving force and optimize the overall force transmission distribution. Meanwhile, the opposite output shafts facilitate the first swing link 43 and the second swing link 44 to form coordinated movement on the support assembly 45, which is used to drive the support assembly 45 to pitch and roll, and enhance the stability and flexibility of the foot, so that the foot can more accurately respond to the ground unevenness and external disturbances. In addition, this design also optimizes the space utilization, ensures the compact arrangement of the driver and the link mechanism, improves the transmission efficiency and the reliability of power transmission, and further improves the motion performance and durability of the bionic robot foot module 40 in various complex environments.

[0066] The structural design of the first swing link 43 and the second swing link 44 is crucial to the motion performance of the foot module 40. The first swing link 43 and the second swing link 44 are preferably configured in a structure that the crank rod of the foot drive is connected to the connecting rod of the support assembly 45. This mechanism can achieve smooth and continuous swing motion, has simple structure and high transmission efficiency, is convenient for controlling the angle change and motion trajectory of the foot, and has good durability and fatigue resistance. Specifically, the output shaft of the first foot drive 41 and the output shaft of the second foot drive 42 are both provided with a crank rod, one end of the crank rod is hinged to the output end of the two foot drives, and the other end drives the connecting rod connected thereto to produce reciprocating swing. The structure utilizes the mechanical characteristics of the crank mechanism to stably convert the rotary motion into a sinusoidal swing motion of the connecting rod under the action of the rotary motion of the drive, thereby driving the swing link to achieve stable and continuous foot angle adjustment. The transmission path of the mechanism is clear, and the control is simple. It has the advantages of compact structure, high efficiency, fast response, strong fatigue resistance and long-term operation reliability, and is suitable for ground walking or standing actions with high requirements for posture stability. In addition, the first swing link 43 and the second swing link 44 can also be configured in a structure that the rotary cam of the foot drive is connected to the connecting rod of the support assembly 45. In this structure, the output shaft of the first foot drive 41 and the output shaft of the second foot drive 42 are both provided with a rotary cam, and the rotary cam is in rolling or sliding contact with the connecting rod on the support assembly 45. As the first foot drive 41 and the second foot drive 42 rotate the cam, the surface profile of the cam interacts with the connecting rod to generate a nonlinear and customizable displacement trajectory in the entire rotation period, thereby driving the connecting rod to produce complex swing actions. This non-uniform motion characteristic makes the cam mechanism particularly suitable for performing irregular gait adjustment, rapid posture switching or dynamic response control when dealing with complex terrain. The cam mechanism drives the connecting rod to produce complex nonlinear motion trajectories, which is suitable for achieving more precise and diversified motion modes, and can meet the special motion requirements or flexible adjustment under complex terrain. The two structures have their own advantages. The crank rod mechanism focuses on stability and reliability, while the cam mechanism emphasizes the diversity and precision control of motion. The specific selection can be reasonably configured according to the actual functional requirements and motion complexity of the robot foot. The embodiment of the present application preferably adopts the crank link structure as the driving mechanism of the swing link, because it has mature structure, high transmission efficiency, simple manufacturing, and is convenient for realizing stable and reliable high-frequency swing control.

[0067] In addition, the movable connection of the bottom of the first swing link 43, the bottom of the second swing link 44, the bottom of the first side plate 321, and the bottom of the second side plate 322 with the top of the support assembly 45 is preferably a bearing structure to ensure good flexibility and reliable movement performance at the connection. This design can effectively reduce the friction resistance at the connection, ensure smooth and responsive movement of the foot module 40 during multi-directional swinging, and improve the accuracy and stability of the overall movement. At the same time, to meet different application environments and cost control requirements, a ball hinge structure can also be used as an alternative. The ball hinge connection also has multi-degree-of-freedom rotation capability, simple structure, and easy assembly, and can realize flexible movement of the foot assembly, but compared with bearings, its wear resistance and long-term running stability may be slightly insufficient. In summary, bearings and ball hinges have their own advantages, and reasonable selection can be made according to specific performance requirements and manufacturing costs to ensure efficient and flexible operation of the foot module 40.

[0068] It should be noted that the knee swing driver 31, the first foot driver 41, and the second foot driver 42 also preferably use a torque type planetary reducer. The knee is a key load-bearing joint of the bionic robot, and in high-torque postures such as kneeling standing, kneeling turning, and standing up on flat ground, it often bears a large driving force requirement. Therefore, in the structural design, the knee swing driver 31 needs to be configured with a torque type planetary reducer with large torque output capability to meet the dual requirements of driving response and joint stability during intense action. The first foot driver 41 and the second foot driver 42 located at the foot are mainly responsible for controlling the fine adjustment of the foot plate 451 in the pitch and roll directions, and the required driving force is relatively small. Therefore, a small volume and light weight torque type planetary reducer can be used to not only ensure the required action accuracy but also effectively reduce the overall load and inertia of the ankle components, which helps to improve the response efficiency and stability performance of the bionic robot during multi-axis linkage.

[0069] As Figure 8 In an optional embodiment of the present application, the support assembly 45 includes a foot plate 451, a first fisheye bearing 452, a second fisheye bearing 453, a limit bearing seat 454, and a cross shaft 455. The first fisheye bearing 452, the second fisheye bearing 453, and the limit bearing seat 454 are all arranged on the top of the foot plate 451. The limit bearing seat 454 has a third open slot formed therein. The cross shaft 455 is rotatably arranged on the opposite two side walls of the third open slot at the opposite two shaft ends. The opposite two shaft ends of the cross shaft 455 are movably connected to the first side plate 321 and the second side plate 322. The first fisheye bearing 452 and the second fisheye bearing 453 are arranged in parallel with a certain distance. The bottom of the first swing link 43 is movably connected to the first fisheye bearing 452, and the bottom of the second swing link 44 is movably connected to the second fisheye bearing 453.

[0070] Specifically, the support assembly 45 structure significantly enhances the dynamic adaptability and ground contact performance of the bionic robot foot through the ingenious multi-degree-of-freedom connection design. Among them, the foot plate 451 serves as the force-bearing and ground contact platform of the entire bionic robot biped structure, providing a stable foundation for subsequent motion execution; and the first fisheye bearing member 452 and the second fisheye bearing member 453 are arranged in parallel at the top of the foot plate 451, respectively connected with the bottom of the first swing link 43 and the second swing link 44, so that the foot can rotate flexibly around multiple degrees of freedom when performing actions. The fisheye bearing member has spherical contact characteristics and can adapt to multi-directional changes in swing angle, which not only improves the fitting ability of the foot on complex terrain, but also ensures low friction and high durability of the connection during the action process. At the same time, the limiting bearing seat 454 is provided with a third opening slot, which cooperates with the cross shaft 455 structure arranged inside, so that the first side plate 321 and the second side plate 322 can be rotatably connected with the two side walls of the third opening slot through the two ends of the cross shaft 455. The introduction of the cross shaft 455 provides the foot with the ability to rotate freely in the vertical and horizontal directions, so that the foot can not only realize the pitch action (such as lifting the forefoot and landing the heel), but also complete the roll and side turning action (such as turning the foot inward and outward). This dual-axis linkage motion mode greatly improves the adaptability of the robot foot to terrain undulations, obstacle angles and posture adjustments. Therefore, the support assembly 45 cooperates with the first fisheye bearing member 452, the second fisheye bearing member 453 and the cross shaft 455 to form a stable and flexible multi-degree-of-freedom foot joint system, which not only improves the dynamic response accuracy of the foot, but also enhances the balance control ability, anti-interference ability and terrain adaptability of the bionic robot during the motion process. It is an important structural basis to realize the function of human ankle joint.

[0071] The first fish-eye bearing member 452 and the second fish-eye bearing member 453 are both spherical bearing structures that provide key support for multi-degree-of-freedom rotation, i.e., both include a fish-eye bearing and a fish-eye bearing seat. The fish-eye bearing is movably arranged in the fish-eye bearing seat on the foot plate 451 to form a load-bearing unit with a spherical contact surface, which can realize flexible and self-adaptive rotation and fine adjustment in multiple directions. The two fish-eye bearing members are arranged side by side on the foot plate 451 and distributed along the width direction to form a symmetrical support structure, which not only enhances the lateral stability of the foot but also ensures the movement flexibility of the connecting swing link. The fish-eye bearing seat, as a load-bearing and positioning base, is usually made of high-strength material and is precisely machined to ensure the secure installation and precise fitting of the bearing member, further improving the durability and response speed of the overall system. Further, the connecting rod and the crank rod in the first swing link 43 and the second swing link 44 are also preferably connected by a fish-eye ball bearing to realize high-degree-of-freedom relative rotation and avoid excessive stress concentration and movement resistance during swinging. Thus, four fish-eye ball bearings are arranged in the entire foot movement system, respectively arranged at both ends of the two connecting rods, used to connect the crank rods arranged on the output shaft of the first foot drive 41 and the output shaft of the second foot drive 42, and the two fish-eye bearing seats arranged on the foot plate 451, forming a stable and flexible rotating pair combination structure. This layout allows the foot bottom to adjust and adaptively swing in the pitch and roll two-degree-of-freedom directions, significantly improving the flexibility and reliability of the foot module on uneven ground or in complex postures.

[0072] The cross shaft 455 is composed of a horizontal shaft 4551 and a vertical shaft 4552 that are perpendicular to each other, forming a cross-shaped connection structure, and the horizontal shaft 4551 and the vertical shaft 4552 correspond to two different directions of foot movement, respectively. The limiting bearing seat 454 is arranged on the foot plate 451 and has a third open slot, and the opposite two side walls of the third open slot are provided with deep groove ball bearings for fixing the opposite two end portions of the cross shaft 455, i.e., the two end portions of the vertical shaft 4552, to realize longitudinal rotation support. The first swing link 43 and the second swing link 44 are connected to the other two opposite end portions of the cross shaft 455, i.e., the two end portions of the horizontal shaft 4551, through the respective configured deep groove ball bearings, ensuring the freedom of horizontal rotation. This structure makes the cross shaft 455 stable and flexible in the limiting bearing seat 454, capable of bearing multi-directional movement load while limiting the movement range to prevent excessive swinging.

[0073] For example, the foot plate 451 takes the human foot as a reference, defines the toe direction as front, the heel direction as back, and the width direction of the foot plate 451 corresponds to the left and right foot palm direction of the human body, and the length direction corresponds to the toe to heel direction. The first fisheye bearing member 452 and the second fisheye bearing member 453 are arranged side by side along the width direction of the foot plate 451 and located on the side close to the heel, and the limiting bearing seat 454 is arranged along the length direction of the foot plate 451 and located on the side close to the toe. The overall foot module 40 structure takes the limiting bearing seat 454 as a fixed fulcrum, the cross shaft 455 horizontal axis 4551 corresponds to the width direction of the foot plate 451, and the vertical axis 4552 corresponds to the length direction of the foot plate 451, and a multi-axis rotating platform is constructed. The design layout not only ensures that the foot can flexibly adapt to the complex dynamic movement requirements in the front-back and left-right directions, but also effectively guarantees the stability and balance of the whole foot, providing a solid mechanical foundation for the walking and posture adjustment of the bionic robot in various terrain environments. Based on the above structure arrangement, the actual working principle of the first foot movement driver 41 and the second foot movement driver 42 driving the foot plate 451 movement is:

[0074] During the movement of the foot plate 451, the first foot movement driver 41 and the second foot movement driver 42 drive the first swing link 43 and the second swing link 44 connected with the output shafts thereof to move, and the first swing link 43 and the second swing link 44 are flexibly connected with the fisheye bearing members, thereby accurately transmitting the driving force to the foot plate 451. Specifically, when the first swing link 43 and the second swing link 44 swing synchronously and cooperatively, the system takes the horizontal axis 4551 of the cross shaft 455 as a rotating fulcrum, drives the rear part of the foot plate 451 to complete the up-down pressing and lifting action, and forms the pitching movement of the foot, which simulates the natural gait of the human foot, such as the lifting of the forefoot palm and the landing of the heel, greatly meeting the needs of the bionic robot in gait adjustment and impact buffering, making the walking more stable and natural; on the contrary, when the first swing link 43 and the second swing link 44 swing relatively or only one side swing link moves, the foot plate 451 bears the corresponding moment in the width direction, and at this time the vertical axis 4552 of the cross shaft 455 is taken as the rotating axis, and the foot plate 451 is driven to realize the roll or roll-over action. Through this movement, the foot can simulate the complex posture of the human foot turning in or turning out, effectively enhancing the adaptability and stability of the robot on rough or inclined ground. Overall, the cooperative design of the multi-axis rotating structure and the driving mode makes the foot module 40 have excellent flexibility and stability, and provides the bionic robot with highly simulated motion performance and excellent environmental adaptability.

[0075] In another aspect, the embodiment of the present application also provides a bionic robot (not shown in the figure), comprising the aforementioned biped structure, and further comprising an upper limb structure arranged on the top of the biped structure, wherein the upper limb structure comprises a body module, an arm module and a head module, the body module is arranged on the top of the hip module 10, the arm module is movably arranged on the side wall of the body module, and the head module is movably arranged on the top of the body module.

[0076] The bionic robot provided by the embodiment of the present application realizes high integration and coordination of the overall human bionic system by reasonably arranging the upper limb structure on the top of the biped structure. The body module, as the core hinge connecting the hip module 10 and each part of the upper limb structure, stably bears and reasonably distributes the load from the lower limbs, and provides reliable mounting support for the arm module and the head module. The arm module is movably arranged on the side wall of the body module to simulate the multi-degree-of-freedom movement of the human arm, thereby enhancing the flexibility and adaptability of the robot when performing complex operations. The head module is movably arranged on the top of the body module, so that the robot has a wider field of view and sensing ability, which is conducive to environmental perception and autonomous decision-making. The overall structural layout is compact and consistent with the physiological structure characteristics of the human body, which not only improves the coordination and balance of the robot movement, but also enhances the environmental adaptability and task execution efficiency of the robot, realizes the organic unification of structural light weight and functional diversification, and lays a solid foundation for the efficient autonomous operation of the bionic robot in a complex environment.

[0077] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only for specific embodiments of the present application and is not intended to limit the protection scope of the present application. It is particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A bionic robot bipedal structure, characterized in that: The invention comprises a hip module and an upper bionic leg module movably arranged on the hip module, the hip module comprising a front swing drive, a side expansion drive, a turnover drive, a side expansion support and a turnover support, the output shaft of the front swing drive being connected to the side expansion support for driving the side expansion support to rotate along a first direction, the side expansion drive being arranged on the side expansion support and rotating along the first direction with the side expansion support, and the output shaft of the side expansion drive being connected to the turnover support for driving the turnover support to rotate along a second direction, the turnover drive being arranged on the turnover support and rotating along the second direction with the turnover support, and the output shaft of the turnover drive being connected to the top of the upper bionic leg module for driving the upper bionic leg module to rotate along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

2. The bionic robot biped structure according to claim 1, characterized in that: The upper bionic leg module includes a thigh shell with a first opening cavity and a thigh frame rotatably arranged in the first opening cavity. The bottom of the turnover support extends into and is fixed on the inner wall of the first opening cavity. The turnover drive is clamped in the first opening cavity. The thigh shell includes a thigh front shell with a first opening groove and a thigh rear shell with a second opening groove. The first opening groove and the second opening groove are relatively enclosed to form the first opening cavity. A plurality of limiting bosses are provided on the opposite side walls of the first opening groove. A plurality of locking bosses corresponding to the limiting bosses are provided on the opposite side walls of the second opening groove. The limiting bosses are fixedly connected to the locking bosses.

3. The bionic robot biped structure according to claim 2, characterized in that: The turnover support includes a fixed plate arranged on the inner wall of the first opening groove and a receiving plate arranged at the bottom of the fixed plate, the receiving plate is provided with a first output hole, the turnover driver is arranged on the top of the receiving plate, and the output shaft of the turnover driver passes through the first output hole and is connected to the thigh frame.

4. The bionic robot biped structure according to claim 3, characterized in that: The side expansion support includes a side expansion plate arranged on the side wall of the output shaft of the front swing driver, a second output hole is passed through the side expansion plate, a limiting hole is passed through the fixed plate and is arranged coaxially with the second output hole, a positioning piece adapted to the limiting hole is provided on the inner wall of the first opening groove, the positioning piece is passed through the limiting hole, the side expansion driver is arranged on the side wall of the side expansion plate, and the output shaft of the side expansion driver passes through the second output hole and is connected to the fixed plate, and the side expansion driver and the positioning piece are arranged coaxially.

5. The bionic robot biped structure according to claim 2, characterized in that: It also includes a lower bionic leg module, which includes a knee swing drive and a calf frame connected to the output shaft of the knee swing drive. The bottom of the thigh frame extends from the first open cavity and is provided with an annular mounting portion. A second open cavity is provided on the annular mounting portion. The knee swing drive is provided in the second open cavity for driving the calf frame to rotate along the first direction. The output shaft of the knee swing drive is arranged in the same direction as the output shaft of the front swing drive.

6. The bionic robot biped structure according to claim 5, characterized in that: The lower bionic leg module also includes an outer cover arranged on the end wall of the annular mounting portion and a radial bearing member rotatably arranged on the outer cover, the outer cover is located at one end of the annular mounting portion away from the output shaft of the knee swing drive, and the radial bearing member is coaxially arranged with the output shaft of the knee swing drive, the calf frame includes a first side plate and a second side plate arranged at a relative distance from the first side plate, the first side plate is connected to the output shaft of the knee swing drive, and the second side plate is rotatably connected to the radial bearing member.

7. The bionic robot biped structure according to claim 6, characterized in that: The calf frame also includes a third side plate, one end of the third side plate is connected to the first side plate, and the other end is connected to the second side plate. The top of the third side plate is provided with an arc surface adapted to the outer wall of the annular mounting portion. When the knee swing driver drives the calf frame to rotate along the first direction, the third side plate slides along the outer wall of the annular mounting portion through the arc surface.

8. The bionic robot biped structure according to claim 7, characterized in that: It also includes a foot module, the foot includes a first foot-driven driver, a second foot-driven driver, a first swing link, a second swing link and a support assembly, the first side panel, the second side panel and the third side panel form a third open slot, the first foot-driven driver is arranged on the inner wall of the first side panel, the second foot-driven driver is arranged on the inner wall of the first side panel, the first foot-driven driver and the second foot-driven driver are arranged side by side in the third open slot, and the output shaft of the first foot-driven driver and the output shaft of the second foot-driven driver are arranged in opposite directions, the bottom of the first swing link, the bottom of the second swing link, the bottom of the first side panel and the bottom of the second side panel are all movably connected to the top of the support assembly, the first swing link is connected to the output shaft of the first foot-driven driver, and the top of the second swing link is connected to the output shaft of the second foot-driven driver.

9. The bionic robot biped structure according to claim 8, characterized in that: The support assembly includes a foot plate, a first fisheye bearing component, a second fisheye bearing component, a limit bearing seat and a cross shaft. The first fisheye bearing component, the second fisheye bearing component and the limit bearing seat are all arranged on the top of the foot plate. A third open groove is provided on the limit bearing seat. The cross shaft is rotatably arranged on the two opposite side walls of the third open groove relative to the two axis ends. The cross shaft is movably connected to the first side plate and the second side plate relative to the two axis ends. The first fisheye bearing component and the second fisheye bearing component are arranged in parallel with a distance. The bottom of the first swing link is movably connected to the first fisheye bearing component, and the bottom of the second swing link is movably connected to the second fisheye bearing component.

10. A bionic robot, characterized in that: It comprises the bipedal structure according to any one of claims 1 to 9 and an upper limb structure arranged on the top of the bipedal structure, the upper limb structure comprising a torso module, an arm module and a head module, the torso module being arranged on the top of the hip module, the arm module being movably arranged on the side wall of the torso module, and the head module being movably arranged on the top of the torso module.

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