Mechanical leg structure and robot

Abstract

The application relates to the technical field of robots, and discloses a mechanical leg structure and a robot. The mechanical leg structure comprises a hip A-axis motor and a hip B-axis motor, which are suitable for rotating around A-axis and B-axis respectively; a two-axis motor adapter is connected between the hip A-axis motor and the hip B-axis motor, and the hip A-axis motor and the hip B-axis motor are suitable for rotating around the two-axis motor adapter respectively; a hip B-axis motor structural member is connected with the hip B-axis motor, the hip B-axis motor is suitable for driving the hip B-axis motor structural member to rotate relative to the two-axis motor adapter, and the hip B-axis motor structural member is provided with a thigh hinged part; a thigh structural member is hingedly connected with the thigh hinged part, and the thigh structural member is suitable for rotating around C-axis relative to the hip B-axis motor structural member; the A-axis, the B-axis and the C-axis are coaxial. The mechanical leg structure provided by the application enables the mechanical leg structure to freely rotate in multiple directions, and the rotating process has fewer interference points and a larger rotating angle.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a mechanical leg structure and a robot. Background Technology

[0002] Humanoid robots can mimic the shape and movement of the human body and have broad development prospects. Similar to the human body, the robot's torso and lower limbs are connected by hip joint components, which drive the lower limbs to perform multi-degree-of-freedom movements.

[0003] However, in related technologies, the structural design of the hip joint component is unreasonable, resulting in a small range of motion in the lower limb mechanism, which is not conducive to highly mimicking the human body. Summary of the Invention

[0004] In view of this, the present invention provides a mechanical leg structure and robot to solve the problem of limited range of motion of the lower limb mechanism.

[0005] In a first aspect, the present invention provides a mechanical leg structure, comprising:

[0006] The hip A-axis motor and hip B-axis motor are suitable for rotating around the A-axis and B-axis respectively, with the A-axis and B-axis perpendicular to each other;

[0007] A two-axis motor adapter is connected between the hip A-axis motor and the hip B-axis motor, and the hip A-axis motor and the hip B-axis motor are adapted to rotate around the two-axis motor adapter respectively;

[0008] The hip B-axis motor structure is connected to the hip B-axis motor. The hip B-axis motor is adapted to drive the hip B-axis motor structure to rotate relative to the two-axis motor adapter. The hip B-axis motor structure is provided with a thigh hinge.

[0009] The thigh structure is hinged to the thigh hinge, and the thigh structure is adapted to rotate about the C axis relative to the hip B-axis motor structure.

[0010] The C-axis is perpendicular to both the A-axis and the B-axis, and the A-axis, B-axis, and C-axis are concentric.

[0011] Beneficial effects: The concentricity of the A, B, and C axes allows the robotic leg structure to rotate more freely in multiple directions, with fewer interference points and a larger rotation angle, thus reaching a wider space. This avoids motion limitations caused by structural interference, resulting in better anthropomorphic performance and expanding the robotic leg structure's range of motion and workspace. It further enhances the robotic leg structure's motion coordination and control precision, enabling more flexible movement.

[0012] In one alternative implementation, it further includes:

[0013] The thigh push rod includes a thigh push rod body and a thigh push rod output shaft adapted to extend and retract relative to the thigh push rod body, with one end of the thigh push rod body away from the thigh push rod output shaft hinged to a thigh structural member;

[0014] The first hip link and the second hip link are hinged to the end of the thigh push rod output shaft away from the thigh push rod body.

[0015] The hip B-axis motor structure is also provided with a hip first link hinge, and the second end of the hip first link is hinged to the hip first link hinge.

[0016] The thigh structure is also provided with a second hip link hinge, and the second end of the second hip link is hinged to the second hip link hinge.

[0017] The thigh structural component, the hip B-axis motor structural component, the hip first link component, and the hip second link component together form a first four-bar linkage. The thigh push rod is adapted to drive the first four-bar linkage so that the thigh structural component is adapted to rotate relative to the hip B-axis motor structural component around the C-axis.

[0018] Beneficial effects: By forming the first four-bar linkage and driving it with the thigh push rod, precise rotation of the thigh structure is achieved, enhancing the flexibility and stability of the robotic leg. By rationally setting the hinge points and length ratios of each component, the linkages are ensured to work collaboratively during the drive process, thereby guaranteeing a larger rotation angle for the thigh structure relative to the hip B-axis motor structure around the C-axis.

[0019] In one alternative implementation, it further includes:

[0020] The lower leg structure includes a lower leg pivot portion, which is adapted to be hinged to the lower leg hinge portion of the thigh structure.

[0021] A knee push rod includes a knee push rod body and a knee push rod output shaft adapted to extend and retract relative to the knee push rod body, wherein one end of the knee push rod body away from the knee push rod output shaft is hinged to a knee push rod hinge portion on a thigh structure.

[0022] The first knee linkage and the second knee linkage are hinged to the end of the knee push rod output shaft away from the knee push rod body.

[0023] The thigh structure is also provided with a first knee link hinge, and the second end of the first knee link is hinged to the first knee link hinge.

[0024] The lower leg structure is also provided with a second knee link hinge, and the second end of the second knee link is hinged to the second knee link hinge.

[0025] The thigh structure, the lower leg structure, the first knee link, and the second knee link together form a second four-bar linkage. The knee push rod is adapted to drive the second four-bar linkage so that the lower leg structure is adapted to rotate relative to the thigh structure.

[0026] Beneficial effects: By forming a second four-bar linkage and driving it with the knee push rod, the lower leg structure can rotate flexibly. By reasonably setting the hinge points and length ratios of each component, the linkages can be coordinated during the driving process, thereby ensuring that the lower leg structure is suitable for the angle of rotation relative to the thigh structure, and achieving a larger rotation angle.

[0027] In one alternative implementation, it further includes:

[0028] The lower leg structural component has an ankle hinge at the end away from the thigh structural component.

[0029] Rearfoot structural components, including the rearfoot pivot;

[0030] Ankle cross axis, the ankle cross axis includes a first ankle axis with the rotation axis of D axis and a second ankle axis with the rotation axis of E axis, the D axis and the E axis are not parallel;

[0031] The first axis of the ankle is hinged to the ankle hinge, and the second axis of the ankle is hinged to the heel pivot.

[0032] Beneficial effects: By setting an ankle cross axis between the lower leg structure and the hindfoot structure, multi-axis rotation is achieved, enhancing the flexibility and adaptability of the ankle and improving the stability and walking efficiency of the robotic leg in complex terrain. The ankle cross axis includes a first ankle axis with the rotation axis of D and a second ankle axis with the rotation axis of E. The D and E axes are not parallel. Through this design, the robotic leg structure can better simulate the movement trajectory of a biological leg during walking. At the same time, the multi-axis rotation structure allows the robotic leg structure to flexibly adjust its posture when dealing with different slopes and obstacles, ensuring stability and adaptability.

[0033] In one alternative implementation, it further includes:

[0034] The inner lower leg push rod includes an inner lower leg push rod body and an inner lower leg push rod output shaft adapted to extend and retract relative to the inner lower leg push rod body. The end of the inner lower leg push rod body away from the inner lower leg push rod output shaft is hinged to the lower leg structural member.

[0035] The lower leg outer push rod includes a lower leg outer push rod body and a lower leg outer push rod output shaft adapted to extend and retract relative to the lower leg outer push rod body. The end of the lower leg outer push rod body away from the lower leg outer push rod output shaft is hinged to the lower leg structural member.

[0036] The outer and inner push rods of the lower leg are respectively installed on both sides of the lower leg structure along a direction parallel to the D-axis;

[0037] The heel structure also includes a heel hinge, the axis of which is parallel to the D-axis. The inner and outer calf push rod output shafts are respectively hinged to the two ends of the heel hinge along the D-axis.

[0038] The lateral lower leg push rod and the medial lower leg push rod extend and retract in the same direction to drive the rear foot structure to rotate around the D-axis relative to the lower leg structure; the lateral lower leg push rod and the medial lower leg push rod extend and retract in opposite directions to drive the rear foot structure to rotate around the E-axis relative to the lower leg structure.

[0039] Beneficial effects: Through the coordinated control of the inner and outer push rods of the lower leg, the multi-dimensional rotation of the rear foot structure on the D and E axes is realized, which further improves the dynamic balance ability and terrain adaptability of the mechanical leg, ensuring efficient and stable walking in various complex environments.

[0040] In one alternative implementation, it further includes:

[0041] The forefoot structure is hinged to the forefoot hinge portion provided on the rearfoot structure.

[0042] A toe damper is located between the forefoot structure and the rearfoot structure. The toe damper is adapted to provide damping and cushioning when the forefoot structure rotates relative to the rearfoot structure.

[0043] Beneficial effects: By incorporating a toe damper between the forefoot and heel structures, a passive degree of freedom is added to the forefoot structure. This damping provides cushioning during walking, achieving a degree of freedom similar to that of human toes. This design not only enhances the biomimetic performance of the robotic leg structure but also strengthens its ability to adapt to complex terrain, effectively absorbs impact forces, reduces vibration during walking, and improves overall walking stability.

[0044] In one alternative embodiment, the thigh push rod is adapted to drive the first four-bar linkage to adapt the thigh structure to rotate about the C-axis by an angle α relative to the hip B-axis motor structure, wherein α satisfies -20 degrees ≤ α ≤ 120 degrees.

[0045] In one alternative embodiment, the knee push rod is adapted to drive a second four-bar linkage to adapt the lower leg structure to rotate relative to the thigh structure by an angle β, wherein β satisfies 0 degrees ≤ β ≤ 135 degrees.

[0046] Secondly, the present invention also provides a robot, comprising: a robot body, and a mechanical leg structure as described above connected to the robot body.

[0047] In one alternative implementation, the robot body includes:

[0048] Lower waist motor;

[0049] The waist center structure includes a first motor mounting part, a second motor mounting part, and a third motor mounting part; the lower waist motor is mounted on the first motor mounting part, and the lower waist motor is adapted to drive the waist center structure to rotate around an axis parallel to the B axis;

[0050] The mechanical leg structure includes two sets, a second motor mounting part and a third motor mounting part, which are adapted to be connected to the hip A-axis motor of one set of mechanical leg structures respectively, so that the mechanical leg structure can rotate about the A-axis or an axis parallel to the A-axis relative to the waist center structure.

[0051] Beneficial effects: The lower back motor is suitable for driving the central waist structure to rotate around an axis parallel to the B-axis, thereby enabling the robot body to simulate the twisting motion of the human waist and enhancing the robot's movement flexibility. The mechanical leg structure includes two sets, each set of which is connected to the central waist structure through a hip A-axis motor, ensuring coordinated movement of both legs, simulating human walking posture, and improving the robot's dynamic balance ability. Attached Figure Description

[0052] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0053] Figure 1 This is a three-dimensional schematic diagram of the mechanical leg structure of the present invention;

[0054] Figure 2 This is an exploded view of the structure above the thigh component of the present invention;

[0055] Figure 3 This is a side view of the mechanical leg structure of the present invention;

[0056] Figure 4 for Figure 3 Local magnification Figure 1 ;

[0057] Figure 5 for Figure 3 Local magnification Figure 2 ;

[0058] Figure 6 for Figure 3 Local magnification Figure 3 ;

[0059] Figure 7 This is a schematic diagram showing the disassembled state of the foot and lower leg structural components of the mechanical leg structure of the present invention;

[0060] Figure 8 This is a front view of the mechanical leg structure of the present invention;

[0061] Figure 9 This is a rear view of the mechanical leg structure of the present invention;

[0062] Figure 10 This is a three-dimensional schematic diagram of the mechanical leg structure of the present invention in a bent state;

[0063] Figure 11 This is a side view of the mechanical leg structure of the present invention in a bent state;

[0064] Figure 12 This is an exploded view of the mechanical leg structure of the present invention.

[0065] Explanation of reference numerals in the attached figures:

[0066] 1. Lower back motor; 2. Hip A-axis motor; 3. Hip B-axis motor;

[0067] 4. Thigh push rod; 401. Thigh push rod body; 402. Thigh push rod output shaft;

[0068] 5. Knee push rod; 501. Knee push rod body; 502. Knee push rod output shaft;

[0069] 6. Lower leg inner side push rod; 601. Lower leg inner side push rod body; 602. Lower leg inner side push rod output shaft;

[0070] 7. Lower leg outer side push rod; 701. Lower leg outer side push rod body; 702. Lower leg outer side push rod output shaft;

[0071] 8. Toe damper;

[0072] 9. Waist center structural component; 901. First motor mounting part; 902. Second motor mounting part; 903. Third motor mounting part;

[0073] 10. Two-axis motor adapter;

[0074] 11. Hip B-axis motor structural component; 1101. Hip B-axis motor mounting part; 1102. Hip first link hinge part; 1103. Thigh hinge part;

[0075] 12. First link in the hip region; 14. Second link in the hip region;

[0076] 15. Thigh structural component; 1501. Hip second link hinge; 1502. Thigh pivot; 1503. Knee push rod hinge; 1504. Knee first link hinge; 1505. Lower leg hinge;

[0077] 16. First knee linkage; 17. Second knee linkage;

[0078] 18. Lower leg structural components; 1801. Lower leg pivot; 1802. Knee second link hinge; 1803. Lower leg push rod hinge; 1804. Ankle hinge;

[0079] 19. Ankle cross axis; 1901. First ankle axis; 1902. Second ankle axis;

[0080] 20. Rearfoot structural component; 2001. Heel hinge; 2002. Rearfoot pivot; 2003. Forefoot hinge;

[0081] 21. Forefoot structural components. Detailed Implementation

[0082] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0083] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0084] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0085] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0086] The following is combined with Figures 1 to 12 The following describes embodiments of the present invention.

[0087] According to an embodiment of the present invention, in one aspect, a mechanical leg structure is provided, comprising:

[0088] Hip A-axis motor 2 and hip B-axis motor 3 are adapted to rotate around the A-axis and B-axis respectively, with the A-axis and B-axis perpendicular to each other;

[0089] A two-axis motor adapter 10 is connected between the hip A-axis motor 2 and the hip B-axis motor 3, and the hip A-axis motor 2 and the hip B-axis motor 3 are adapted to rotate around the two-axis motor adapter 10 respectively.

[0090] The hip B-axis motor structure 11 is connected to the hip B-axis motor 3. The hip B-axis motor 3 is adapted to drive the hip B-axis motor structure 11 to rotate relative to the two-axis motor adapter 10. The hip B-axis motor structure 11 is provided with a thigh hinge part 1103.

[0091] Thigh structure 15 is hinged to thigh hinge 1103, and thigh structure 15 is adapted to rotate about C axis relative to hip B axis motor structure 11.

[0092] The C-axis is perpendicular to both the A-axis and the B-axis, and the A-axis, B-axis, and C-axis are concentric.

[0093] It should be noted that, taking the robot's upright position as a reference, the extension direction of the A-axis can be the robot's forward and backward direction, the extension direction of the B-axis can be the robot's up and down direction, and the C-axis can be the robot's left and right direction, ensuring that the robotic leg can move flexibly in three-dimensional space. Specifically, the A-axis corresponds to the degree of freedom Roll, realizing rotational motion around the robot's forward and backward axis; the B-axis corresponds to the degree of freedom Yaw, realizing rotational motion around the robot's vertical axis; and the C-axis corresponds to the degree of freedom Pitch, realizing rotational motion around the robot's left and right axes. Through the coordination of these three axes, the robotic leg structure can flexibly adjust its posture in complex terrain, improving the robot's stability and adaptability. Specifically, the hip A-axis motor 2 has a rotation axis direction that is the same as the A-axis axis direction; and the hip B-axis motor 3 has a rotation axis direction that is the same as the B-axis axis direction.

[0094] The mechanical leg structure provided in the embodiments of the present invention features concentric axes A, B, and C, allowing for freer rotation in multiple directions. This reduces interference points during rotation, provides a larger rotation angle, and thus allows access to a wider space. It avoids motion limitations caused by structural interference, resulting in better anthropomorphism and expanding the mechanical leg's range of motion and workspace. Furthermore, it enhances the motion coordination and control precision of the mechanical leg structure, enabling more flexible movement.

[0095] Combination Figure 2 As shown, the two-axis motor adapter 10 connects the hip A-axis motor 2 and the hip B-axis motor 3. The two-axis motor adapter 10 is angled and specifically includes two plate-like structures and a corner connector connecting the two plate-like structures. On the one hand, the corner connector acts as a reinforcing rib, forming a stable support frame to ensure the balance and stability of the motor rotation. On the other hand, it allows the hip A-axis motor 2 and the hip B-axis motor 3 to rotate independently within a limited space without interfering with each other. The angled design also effectively shortens the distance between the motors, improving the compactness of the mechanical leg structure.

[0096] The hip B-axis motor structure 11 is adapted to be hinged to the thigh structure 15, thereby allowing the thigh structure 15 to rotate relative to the hip B-axis motor structure 11 about the C-axis. The specific rotation process and drive structure are as follows.

[0097] In some embodiments, the mechanical leg structure further includes:

[0098] The thigh push rod 4 includes a thigh push rod body 401 and a thigh push rod output shaft 402 adapted to extend and retract relative to the thigh push rod body 401. The end of the thigh push rod body 401 away from the thigh push rod output shaft 402 is hinged to the thigh structure 15.

[0099] The first hip link 12 and the second hip link 14 are hinged to the end of the thigh push rod output shaft 402 away from the thigh push rod body 401.

[0100] The hip B-axis motor structure 11 is also provided with a hip first link hinge part 1102, and the second end of the hip first link 12 is hinged to the hip first link hinge part 1102.

[0101] The thigh structure 15 is also provided with a hip second link hinge 1501, and the second end of the hip second link 14 is hinged to the hip second link hinge 1501.

[0102] The thigh structure 15, the hip B-axis motor structure 11, the hip first link 12, and the hip second link 14 together form a first four-bar linkage. The thigh push rod 4 is adapted to drive the first four-bar linkage so that the thigh structure 15 is adapted to rotate relative to the hip B-axis motor structure 11 around the C-axis.

[0103] The thigh push rod 4 includes a thigh push rod body 401 and a thigh push rod output shaft 402 adapted to extend and retract relative to the thigh push rod body 401. The end of the thigh push rod body 401 away from the thigh push rod output shaft 402 is hinged to the thigh structure 15. In this embodiment, the thigh push rod body 401 can be hinged to the lower part of the thigh structure 15, thereby making reasonable use of the length of the thigh structure 15 and facilitating the arrangement of the thigh push rod 4.

[0104] Combination Figure 4 As shown, a portion of the thigh structure 15, a portion of the hip B-axis motor structure 11, the first hip link 12, and the second hip link 14 together form a first four-bar linkage. The portion of the thigh structure 15 includes the area between the hip second link hinge 1501 and the thigh pivot 1502, while the portion of the hip B-axis motor structure 11 covers the area between the hip first link hinge 1102 and the thigh hinge 1103. By forming this first four-bar linkage and driving it with the thigh push rod 4, precise rotation of the thigh structure 15 is achieved, enhancing the flexibility and stability of the robotic leg. By rationally setting the hinge points and length ratios of each component, the coordinated operation of each link during the driving process is ensured, thereby guaranteeing the angle of rotation of the thigh structure 15 relative to the hip B-axis motor structure 11 around the C-axis and ensuring a larger rotation angle.

[0105] In some embodiments, the thigh push rod 4 is adapted to drive the first four-bar linkage so that the thigh structure 15 is adapted to rotate about the C-axis relative to the hip B-axis motor structure 11 by an angle α, wherein α satisfies -20 degrees ≤ α ≤ 120 degrees.

[0106] In some embodiments, it also includes:

[0107] The lower leg structure 18 includes a lower leg pivot portion 1801, which is adapted to be hinged to the lower leg hinge portion 1505 of the thigh structure 15.

[0108] The knee push rod 5 includes a knee push rod body 501 and a knee push rod output shaft 502 adapted to extend and retract relative to the knee push rod body 501. One end of the knee push rod body 501 away from the knee push rod output shaft 502 is hinged to a knee push rod hinge portion 1503 on the thigh structure 15.

[0109] The first knee link 16 and the second knee link 17 are hinged to the end of the knee push rod output shaft 502 away from the knee push rod body 501.

[0110] The thigh structure 15 is also provided with a knee first link hinge portion 1504, and the second end of the knee first link member 16 is hinged to the knee first link hinge portion 1504.

[0111] The lower leg structure 18 is also provided with a second knee link hinge 1802, and the second end of the second knee link 17 is hinged to the second knee link hinge 1802.

[0112] The thigh structure 15, the lower leg structure 18, the first knee link 16, and the second knee link 17 together form a second four-bar linkage. The knee push rod 5 is adapted to drive the second four-bar linkage so that the lower leg structure 18 is adapted to rotate relative to the thigh structure 15.

[0113] The knee push rod 5 includes a knee push rod body 501 and a knee push rod output shaft 502 adapted to extend and retract relative to the knee push rod body 501. One end of the knee push rod body 501 away from the knee push rod output shaft 502 is hinged to a knee push rod hinge portion 1503 on the thigh structure 15. In this embodiment, the knee push rod body 501 can specifically be hinged to a relatively upper part of the thigh structure 15, thereby making reasonable use of the length of the thigh structure 15 and facilitating the arrangement of the knee push rod 5. Figure 3 As shown, the thigh push rod 4 and the knee push rod 5 are respectively arranged on the front and rear sides of the thigh structure 15, and the output shafts of the two extend in opposite directions. This symmetrical layout not only makes reasonable use of the space of the thigh structure 15, but also effectively balances the force on the mechanical leg and improves the overall motion performance.

[0114] Combination Figure 5 As shown, a portion of the thigh structure 15, a portion of the lower leg structure 18, the first knee link 16, and the second knee link 17 together form a second four-bar linkage. The portion of the thigh structure 15 includes the area between the first knee link hinge 1504 and the lower leg hinge 1505; the portion of the lower leg structure 18 includes the area between the second knee link hinge 1802 and the lower leg pivot 1801.

[0115] By forming a second four-bar linkage and driving it with the knee push rod 5, the lower leg structure 18 can rotate flexibly. By reasonably setting the hinge points and length ratios of each component, the linkages are ensured to work together during the driving process, thereby ensuring that the lower leg structure 18 is suitable for rotating at an angle relative to the thigh structure 15, and achieving a larger rotation angle.

[0116] In some embodiments, the knee push rod 5 is adapted to drive a second four-bar linkage to adapt the lower leg structure 18 to rotate relative to the thigh structure 15 by an angle β, wherein β satisfies 0 degrees ≤ β ≤ 135 degrees.

[0117] In some embodiments, combined with Figure 6 , Figure 7 As shown, it also includes:

[0118] Lower leg structural member 18, with an ankle hinge portion 1804 provided at the end of the lower leg structural member 18 away from the thigh structural member 15.

[0119] The rearfoot structural component 20 includes a rearfoot pivot portion 2002;

[0120] Ankle cross axis 19, the ankle cross axis 19 includes a first ankle axis 1901 with the rotation axis of D axis and a second ankle axis 1902 with the rotation axis of E axis, the D axis and the E axis are not parallel;

[0121] The first ankle axis 1901 is hinged to the ankle hinge 1804, and the second ankle axis 1902 is hinged to the heel pivot 2002.

[0122] By setting an ankle cross axis 19 between the lower leg structure 18 and the rear foot structure 20, multi-axis rotation is achieved, which enhances the flexibility and adaptability of the ankle and improves the stability and walking efficiency of the mechanical leg in complex terrain.

[0123] The ankle cross axis 19 includes a first ankle axis 1901 with a rotation axis of D and a second ankle axis 1902 with a rotation axis of E. The D and E axes are not parallel. With this design, the mechanical leg structure can better simulate the movement trajectory of a biological leg during walking. At the same time, the multi-axis rotation structure allows the mechanical leg structure to flexibly adjust its posture when dealing with different slopes and obstacles, ensuring stability and adaptability.

[0124] In some embodiments, combined with Figure 6 , Figure 7 As shown, it also includes:

[0125] The inner lower leg push rod 6 includes an inner lower leg push rod body 601 and an inner lower leg push rod output shaft 602 adapted to extend and retract relative to the inner lower leg push rod body 601. The end of the inner lower leg push rod body 601 away from the inner lower leg push rod output shaft 602 is hinged to the lower leg structure 18.

[0126] The lateral lower leg push rod 7 includes a lateral lower leg push rod body 701 and a lateral lower leg push rod output shaft 702 adapted to extend and retract relative to the lateral lower leg push rod body 701. The end of the lateral lower leg push rod body 701 away from the lateral lower leg push rod output shaft 702 is hinged to the lower leg structure 18.

[0127] The outer calf push rod 7 and the inner calf push rod 6 are respectively installed on both sides of the calf structure 18 in a direction parallel to the D axis;

[0128] The heel hinge component 20 also includes a heel hinge 2001, the axis of which is parallel to the D-axis. The inner calf push rod output shaft 602 and the outer calf push rod output shaft 702 are respectively hinged to the two ends of the heel hinge 2001 along the D-axis.

[0129] The lateral lower leg push rod 7 and the medial lower leg push rod 6 extend and retract in the same direction to drive the rear foot structure 20 to rotate relative to the lower leg structure 18 around the D axis; the lateral lower leg push rod 7 and the medial lower leg push rod 6 extend and retract in opposite directions to drive the rear foot structure 20 to rotate relative to the lower leg structure 18 around the E axis.

[0130] The lateral lower leg push rod 7 and the medial lower leg push rod 6 are respectively arranged on both sides of the lower leg structure 18 in a direction parallel to the D-axis. Taking the biological leg as a reference, the lateral lower leg push rod 7 can be located on the outside of the lower leg structure 18, while the medial lower leg push rod 6 is located on the inside of the lower leg structure 18. Through this symmetrical layout, the push rods can apply force evenly when they extend and retract, ensuring that the heel structure 20 is more stable when rotating around the D-axis and E-axis.

[0131] In some embodiments, it also includes:

[0132] The forefoot structure 21 is hinged to the forefoot hinge 2003 provided on the rearfoot structure 20.

[0133] A toe damper 8 is disposed between the forefoot structure 21 and the rearfoot structure 20. The toe damper 8 is adapted to provide damping and cushioning when the forefoot structure 21 rotates relative to the rearfoot structure 20.

[0134] By placing a toe damper 8 between the forefoot structure 21 and the rearfoot structure 20, a passive degree of freedom can be added to the forefoot structure 21. The damping provides cushioning for walking, achieving a degree of freedom similar to that of human toes during walking. This design not only improves the biomimetic performance of the mechanical leg structure but also enhances its ability to adapt to complex terrain, effectively absorbs impact forces, reduces vibration during walking, and improves overall walking stability.

[0135] According to an embodiment of the present invention, in another aspect, a robot is also provided, comprising:

[0136] The robot body, and the mechanical leg structure connected to the robot body as described above.

[0137] In some embodiments, the robot body includes:

[0138] Lower waist motor 1;

[0139] The waist center structure 9 includes a first motor mounting part 901, a second motor mounting part 902 and a third motor mounting part 903; the lower waist motor 1 is mounted on the first motor mounting part 901 and is adapted to drive the waist center structure 9 to rotate around an axis parallel to the B axis;

[0140] The mechanical leg structure includes two sets, with a second motor mounting part 902 and a third motor mounting part 903 adapted to be connected to the hip A-axis motor 2 of one set of mechanical leg structures respectively, so that the mechanical leg structure can rotate about the A-axis or an axis parallel to the A-axis relative to the waist center structure 9.

[0141] Combination Figure 1 , Figure 2 As shown, the lower waist motor 1 is adapted to drive the waist center structure 9 to rotate around an axis parallel to the B axis, thereby enabling the robot body to simulate the twisting motion of the human waist and enhance the robot's movement flexibility.

[0142] The mechanical leg structure consists of two sets. Each set of mechanical leg structures is connected to the waist center structure 9 via a hip A-axis motor 2, ensuring coordinated movement of both legs, simulating human walking posture, and improving the robot's dynamic balance ability.

[0143] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and all such modifications and variations fall within the scope defined by the present invention.

Claims

1. A mechanical leg structure, characterized in that, include: The hip A-axis motor (2) and the hip B-axis motor (3) are adapted to rotate around the A-axis and the B-axis respectively, wherein the A-axis is perpendicular to the B-axis; A two-axis motor adapter (10) is connected between the hip A-axis motor (2) and the hip B-axis motor (3), and the hip A-axis motor (2) and the hip B-axis motor (3) are adapted to rotate around the two-axis motor adapter (10) respectively; The hip B-axis motor structure (11) is connected to the hip B-axis motor (3). The hip B-axis motor (3) is adapted to drive the hip B-axis motor structure (11) to rotate relative to the two-axis motor adapter (10). The hip B-axis motor structure (11) is provided with a thigh hinge (1103). Thigh structure (15) is hinged to the thigh hinge (1103), and the thigh structure (15) is adapted to rotate about the C axis relative to the hip B-axis motor structure (11); The C-axis is perpendicular to the A-axis and the B-axis, and the A-axis, B-axis, and C-axis are concentric. The lower leg structure (18) has an ankle hinge (1804) at one end away from the thigh structure (15). The rearfoot structural component (20) includes a rearfoot pivot (2002). Ankle cross axis (19), the ankle cross axis (19) includes a first ankle axis (1901) with the rotation axis of D axis and a second ankle axis (1902) with the rotation axis of E axis, the D axis and the E axis are not parallel; The first ankle axis (1901) is hinged to the ankle hinge (1804), and the second ankle axis (1902) is hinged to the heel pivot (2002).

2. The mechanical leg structure according to claim 1, characterized in that, Also includes: The thigh push rod (4) includes a thigh push rod body (401) and a thigh push rod output shaft (402) adapted to extend and retract relative to the thigh push rod body (401), wherein one end of the thigh push rod body (401) away from the thigh push rod output shaft (402) is hinged to the thigh structure (15). The first hip link (12) and the second hip link (14) are hinged to the end of the thigh push rod output shaft (402) away from the thigh push rod body (401). The hip B-axis motor structure (11) is also provided with a hip first connecting rod hinge (1102), and the second end of the hip first connecting rod (12) is hinged to the hip first connecting rod hinge (1102). The thigh structure (15) is also provided with a hip second link hinge (1501), and the second end of the hip second link (14) is hinged to the hip second link hinge (1501). The thigh structure (15), the hip B-axis motor structure (11), the hip first link (12), and the hip second link (14) together form a first four-bar linkage. The thigh push rod (4) is adapted to drive the first four-bar linkage so that the thigh structure (15) is adapted to rotate relative to the hip B-axis motor structure (11) around the C-axis.

3. The mechanical leg structure according to claim 1, characterized in that, Also includes: The lower leg structure (18) includes a lower leg pivot (1801) which is adapted to be hinged to the lower leg hinge (1505) of the thigh structure (15). The knee push rod (5) includes a knee push rod body (501) and a knee push rod output shaft (502) adapted to extend and retract relative to the knee push rod body (501), wherein one end of the knee push rod body (501) away from the knee push rod output shaft (502) is hinged to a knee push rod hinge portion (1503) on the thigh structure (15); The first knee link (16) and the second knee link (17) are hinged to the end of the knee push rod output shaft (502) away from the knee push rod body (501). The thigh structure (15) is also provided with a knee first link hinge (1504), and the second end of the knee first link (16) is hinged to the knee first link hinge (1504). The lower leg structure (18) is also provided with a second knee link hinge (1802), and the second end of the second knee link (17) is hinged to the second knee link hinge (1802). The thigh structure (15), the lower leg structure (18), the first knee link (16), and the second knee link (17) together form a second four-bar linkage. The knee push rod (5) is adapted to drive the second four-bar linkage so that the lower leg structure (18) is adapted to rotate relative to the thigh structure (15).

4. The mechanical leg structure according to claim 1, characterized in that, Also includes: The inner calf push rod (6) includes an inner calf push rod body (601) and an inner calf push rod output shaft (602) adapted to extend and retract relative to the inner calf push rod body (601). The end of the inner calf push rod body (601) away from the inner calf push rod output shaft (602) is hinged to the calf structure (18). The lateral lower leg push rod (7) includes a lateral lower leg push rod body (701) and a lateral lower leg push rod output shaft (702) adapted to extend and retract relative to the lateral lower leg push rod body (701). The end of the lateral lower leg push rod body (701) away from the lateral lower leg push rod output shaft (702) is hinged to the lower leg structure (18). The outer calf push rod (7) and the inner calf push rod (6) are respectively disposed on both sides of the calf structure (18) in a direction parallel to the D axis; The heel structure (20) also includes a heel hinge (2001), the axis of which is parallel to the D-axis, and the inner calf push rod output shaft (602) and the outer calf push rod output shaft (702) are respectively hinged to the heel hinge (2001) at both ends of the D-axis. The lateral lower leg push rod (7) and the medial lower leg push rod (6) extend and retract in the same direction to drive the heel structure (20) to rotate relative to the lower leg structure (18) around the D axis; the lateral lower leg push rod (7) and the medial lower leg push rod (6) extend and retract in opposite directions to drive the heel structure (20) to rotate relative to the lower leg structure (18) around the E axis.

5. The mechanical leg structure according to claim 1, characterized in that, Also includes: Forefoot structure (21), the forefoot structure (21) is hinged to the forefoot hinge (2003) provided on the rearfoot structure (20); A toe damper (8) is disposed between the forefoot structure (21) and the rearfoot structure (20), and the toe damper (8) is adapted to provide damping buffer when the forefoot structure (21) rotates relative to the rearfoot structure (20).

6. The mechanical leg structure according to claim 2, characterized in that, The thigh push rod (4) is adapted to drive the first four-bar linkage so that the thigh structure (15) is adapted to rotate about the C-axis by an angle α relative to the hip B-axis motor structure (11), wherein α satisfies -20 degrees ≤ α ≤ 120 degrees.

7. The mechanical leg structure according to claim 3, characterized in that, The knee push rod (5) is adapted to drive the second four-bar linkage so that the lower leg structure (18) is adapted to rotate relative to the thigh structure (15) by an angle β, wherein β satisfies 0 degrees ≤ β ≤ 135 degrees.

8. A robot, characterized in that, include: The robot body, and the mechanical leg structure as described in any one of claims 1 to 7 connected to the robot body.

9. The robot according to claim 8, characterized in that, The robot body includes: Lower waist motor (1); The waist center structure (9) includes a first motor mounting part (901), a second motor mounting part (902) and a third motor mounting part (903); the lower waist motor (1) is mounted on the first motor mounting part (901), and the lower waist motor (1) is adapted to drive the waist center structure (9) to rotate about an axis parallel to the B axis; The mechanical leg structure includes two sets, and the second motor mounting part (902) and the third motor mounting part (903) are adapted to be connected to the hip A-axis motor (2) of one set of the mechanical leg structure respectively, so that the mechanical leg structure can rotate about the A-axis or an axis parallel to the A-axis relative to the waist center structure (9).

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