A robot lower limb device and a robot

Abstract

The application relates to a robot lower limb device and a robot, which comprises a thigh part, a shank part, a transmission assembly, a driving assembly and a foot part; the thigh part is rotationally connected with the shank part through the transmission assembly; the driving assembly is used for driving the transmission assembly to drive the thigh part and the shank part to bend or stretch oppositely; the foot part is connected to one end of the shank part far away from the thigh part; the robot further comprises an electromagnetic acceleration assembly, which is used for driving the transmission assembly to accelerate movement within a preset time, so as to drive the shank part to accelerate bending or accelerating stretching relative to the thigh part. The robot has the advantages of improving simulation accuracy and operation stability.

Description

TECHNICAL FIELD

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

[0002] With the rapid development of robot technology, people's functional requirements for bionic robots are gradually increasing, and they are no longer satisfied with single motion patterns.

[0003] The existing bionic robots usually make the ball hit the robot foot to achieve rebound in the process of walking, thereby simulating the process of kicking the ball. However, it cannot simulate the state that the calf is used to accelerate the ball when kicking the ball and bouncing, and cannot provide additional acceleration power when the calf of the robot needs explosive force. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the defects in the prior art, thereby providing a robot lower limb device and a robot.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0006] A robot lower limb device for connecting with the hip of a robot, comprising a thigh, a calf, a transmission assembly, a driving assembly and a foot;

[0007] The thigh and the calf are rotationally connected through the transmission assembly;

[0008] The driving assembly is used to drive the transmission assembly to drive the thigh and the calf to bend or stretch relative to each other;

[0009] The foot is connected to one end of the calf away from the thigh;

[0010] Further comprising an electromagnetic acceleration assembly, the electromagnetic acceleration assembly is used to drive the transmission assembly to accelerate movement within a preset time, so as to drive the calf to accelerate bending or accelerating stretching relative to the thigh.

[0011] Preferably, the transmission assembly comprises a connecting rod and a metal block;

[0012] One end of the connecting rod is connected between the thigh and the calf, and the other end is connected with the metal block;

[0013] The electromagnetic acceleration assembly comprises an electromagnetic coil, the electromagnetic coil is arranged on a local area on the running path of the metal block and located radially outside the metal block.

[0014] Preferably, the driving assembly comprises a lead screw;

[0015] The screw rod penetrates the metal block and is screwed with the metal block;

[0016] The magnetic attraction force applied to the metal block by the electromagnetic coil is greater than the sum of the resistance between the screw rod and the metal block and the gravity of the metal block.

[0017] Preferably, the connecting rod part comprises a first connecting rod, a second connecting rod and a third connecting rod which are sequentially hinged;

[0018] One end of the first connecting rod away from the second connecting rod is fixedly installed on the metal block;

[0019] The third connecting rod is rotationally connected with the thigh part and the shank part.

[0020] Preferably, the second connecting rod is provided as a circular arc rod;

[0021] and / or;

[0022] The third connecting rod is provided as a circular arc block, and a front side of the circular arc block protrudes from front side surfaces of the thigh part and the shank part;

[0023] and / or;

[0024] The third connecting rod is provided as a circular arc block, and a central angle of the circular arc block is not less than 180°;

[0025] and / or;

[0026] The third connecting rod is provided as a circular arc block, and the circular arc block is provided with a hollow groove.

[0027] Preferably, the driving assembly is installed on the thigh part;

[0028] and / or,

[0029] The robot lower limb device further comprises a first spherical joint, the foot part is connected to one end of the shank part away from the thigh part through the first spherical joint, the first spherical joint is driven by a first driving part, and the first driving part is located on the shank part.

[0030] and / or,

[0031] The robot lower limb device further comprises a second spherical joint, the thigh part is connected with the hip part through the second spherical joint, the second spherical joint is driven by a second driving part, and the second driving part is located on the thigh part.

[0032] Preferably, the foot part comprises a forefoot, a hind foot and a connecting seat;

[0033] The forefoot and the hind foot are in sliding connection, and the two can slide relative to each other by a preset distance.

[0034] The connecting seat connects the front instep and the lower leg part, the rear instep and the lower leg part;

[0035] The connecting seat and the front instep, the connecting seat and the rear instep are connected through a damping assembly.

[0036] Preferably, the damping assembly comprises a first connecting piece, a second connecting piece and a buffer piece;

[0037] The first connecting piece is rotationally connected with the front instep or the rear instep, the second connecting piece is rotationally connected with the connecting seat, and the buffer piece is connected between the first connecting piece and the second connecting piece.

[0038] A robot having a robot lower limb device as described above, and an abnormality detection linkage assembly, an abnormality detection trigger and a main controller;

[0039] The robot lower limb device comprises a thigh part, a lower leg part and a foot part;

[0040] One end of the abnormality detection linkage assembly is connected to the foot part or a joint between the foot part and the lower leg part, and the other end extends to the lower leg part and is connected with the abnormality detection trigger installed in the lower leg part;

[0041] The main controller is in communication connection with the abnormality detection trigger, so as to drive the robot to be in an anti-impact mode when the abnormality detection trigger detects that an alarm condition is met.

[0042] Preferably, the horizontal inclination angle of the lower leg part relative to the foot part is less than 20° for a preset number of times within a preset time interval;

[0043] The anti-impact mode at least comprises relative bending of the thigh part and the lower leg part to lower the center of gravity of the robot.

[0044] Compared with the prior art, the robot lower limb device has the following beneficial effects:

[0045] The robot lower limb device provided by the application can drive the transmission assembly to accelerate movement within a preset time through the setting of the electromagnetic acceleration assembly, so as to drive the lower leg part to accelerate bending or acceleration stretching relative to the thigh part, meet the demand for lower leg explosive force in some situations such as kicking a ball and jumping, and enable the robot to accurately simulate human actions such as kicking a ball and jumping. In daily use, the robot lower limb device can also be driven by the driving assembly to ensure the stability of the robot lower limb device. Correspondingly, the robot provided by the application can also improve the simulation accuracy and operation stability. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the drawings needed to be used in the specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0047] Figure 1 The structural schematic diagram of the robot lower limb device provided by the present application.

[0048] Figure 2 The partial cutaway schematic diagram of the robot lower limb device provided by the present application. Figure 1

[0049] Figure 3 The enlarged schematic diagram of the D1 position in the robot lower limb device provided by the present application. Figure 2

[0050] Figure 4 The connection schematic diagram of the transmission assembly and the driving assembly in the robot lower limb device provided by the present application. Figure 2

[0051] Figure 5 The structural schematic diagram of one of the third levers in the robot lower limb device provided by the present application. Figure 4

[0052] Figure 6 The enlarged schematic diagram of the D2 position in the robot lower limb device provided by the present application. Figure 1

[0053] Figure 7 The structural schematic diagram of the foot in the robot lower limb device provided by the present application. Figure 1

[0054] Figure 8 The structural schematic diagram of the foot in the robot lower limb device provided by the present application. Figure 7

[0055] Figure 9 The cutaway schematic diagram along the A-A section in the robot lower limb device provided by the present application. Figure 8

[0056] The structural schematic diagram of the foot in the robot lower limb device provided by the present application.

[0057] ​​​​​​​​100, hip; 200, abnormality detection linkage assembly; 1, thigh; 2, shank; 3, transmission assembly; 31, connecting rod part; 311, first connecting rod; 312, second connecting rod; 313, third connecting rod; 3131, first hinged position; 3132, second hinged position; 3133, third hinged position; 3134, hollow groove; 32, metal block; 4, driving assembly; 41, screw rod; 42, motor; 43, transmission gear set; 5, foot; 50, sliding assembly; 501, sliding groove; 502, guide rod 502; 51, forefoot; 52, hind foot; 53, connecting seat; 6, electromagnetic acceleration assembly; 61, electromagnetic coil; 7, first spherical joint; 70, first driving part; 8, second spherical joint; 80, second driving part; 9, damping assembly; 91, first connecting piece; 92, second connecting piece; 93, buffer piece; 94, support rod. DETAILED DESCRIPTION

[0058] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0059] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate 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 therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0060] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0061] Reference Figures 1 to 9 The embodiment of the present application provides a robot lower limb device for being connected with the hip 100 of the robot.

[0062] Specifically, the robot lower limb device comprises a thigh part 1, a shank part 2, a transmission assembly 3, a driving assembly 4 and a foot part 5; wherein the thigh part 1 is rotationally connected with the shank part 2 through the transmission assembly 3, the driving assembly 4 is used for driving the transmission assembly 3 to drive the thigh part 1 and the shank part 2 to bend or stretch, and the foot part 5 is connected to an end of the shank part 2 away from the thigh part 1. That is to say: the thigh part 1 and the shank part 2 are rotationally connected through the transmission assembly 3, so that the thigh part 1 and the shank part 2 can relatively rotate to realize bending or stretching, and the driving assembly 4 serves as a power input structure to drive the transmission assembly 3 to move and further drive the thigh part 1 and the shank part 2 to bend or stretch.

[0063] Further, the robot lower limb device further comprises an electromagnetic acceleration assembly 6, which is used for driving the transmission assembly 3 to accelerate movement within a preset time to drive the shank part 2 to accelerate bending or stretching relative to the thigh part 1.

[0064] It is not difficult to understand that, in the above scheme, the electromagnetic acceleration assembly 6 can drive the transmission assembly 3 to accelerate movement within a preset time to drive the shank part 2 to accelerate bending or stretching relative to the thigh part 1, so as to meet the demand for explosive power of the shank part 2 in some situations such as kicking a ball and jumping, so that the robot can accurately simulate human actions such as kicking a ball and jumping. In daily use and the moment of kicking a ball and jumping, the driving assembly 4 can be driven to ensure the stability of the robot lower limb device.

[0065] Referring to Figures 1 to 4 , the transmission assembly 3 comprises a connecting rod part 31 and a metal block 32; one end of the connecting rod part 31 is connected between the thigh part 1 and the shank part 2, and the other end is connected with the metal block 32; when the metal block 32 acts, the connecting rod part 31 can be driven to act, and further drive the thigh part 1 and the shank part 2 to relatively move.

[0066] Further, the electromagnetic acceleration assembly 6 comprises an electromagnetic coil 61, which is wound around a local area on a running path of the metal block 32 and located radially outside the metal block 32. That is to say: the central axis of the electromagnetic coil 61 can coincide with the movement path of the metal block 32, along the axial direction of the electromagnetic coil 61, the projection of the metal block 32 is located radially inside the projection of the electromagnetic coil 61, and there is no overlapping area, so that the electromagnetic coil 61 can accelerate the metal block 32 within a preset time and will not hinder the running of the metal block 32. When the electromagnetic coil 61 is energized, a magnetic attraction force can be applied to the metal block 32, which can attract the metal block 32 to accelerate movement, and further accelerate the connecting rod part 31 to drive the shank part 2 to accelerate stretching or bending relative to the thigh part 1.

[0067] It is worth mentioning that the "local area" of the electromagnetic coil 61 can be set according to actual needs, for example: set in the middle section of the movement path of the metal block 32, when the metal block 32 is located at the upper end or lower end of the electromagnetic coil 61, the electromagnetic coil 61 is energized, and the metal block 32 can be provided with magnetic attraction force, so that the metal block 32 accelerates through the electromagnetic coil 61 and is immediately de-energized to realize the acceleration of the metal block 32. It should be understood that the metal block 32 is made of magnetic material, such as iron, steel, silicon steel, nickel, etc. with high magnetic permeability, so that the electromagnetic coil 61 can drive the metal block 32 to move when the electromagnetic coil 61 generates magnetic attraction force.

[0068] Referring to Figures 1 to 4 The driving assembly 4 includes a lead screw 41, and the lead screw 41 penetrates the metal block 32 and is threadedly connected with the metal block 32.

[0069] Specifically, the driving assembly 4 is installed on the thigh part 1, the lead screw 41 is rotationally installed in the thigh part 1 in the axial direction, and the metal block 32 is connected with the connecting rod part 31 and is axially limited by the connecting rod part 31, so that the metal block 32 can linearly move along the lead screw 41 in the axial direction of the lead screw 41 during rotation of the lead screw 41.

[0070] Further, the driving assembly 4 further includes a motor 42 and a transmission gear set 43, the motor 42 can drive the transmission gear set 43 to rotate, thereby driving the lead screw 41 to rotate and further driving the metal block 32 to linearly move along the axial direction of the lead screw 41.

[0071] It is not difficult to understand that the "driving assembly 4 driving" is the main driving mode of the robot lower limb device, and the "driving assembly 4 driving" mode can ensure the stability of the robot during daily use, and can also ensure the stability of the foot part 5 and the lower leg part 2 during special working conditions, such as kicking the ball. The acceleration force of the metal block 32 is provided, that is, the two driving modes of the metal block 32 cooperate to realize the precise simulation of the human motion process. It is worth mentioning that only kicking the ball is taken as an example for description, and the process of jumping is also applicable.

[0072] Further, the magnetic attraction force of the electromagnetic coil 61 applied to the metal block 32 is greater than the sum of the resistance between the lead screw 41 and the metal block 32 and the gravity of the metal block 32. In this way, the distribution between the lead screw 41, the metal block 32 and the electromagnetic coil 61 can be more compact, and the lead screw 41 can not only actively rotate to drive the metal block 32 to linearly move, but also will not affect the acceleration of the metal block 32 by the electromagnetic coil 61.

[0073] It is worth noting that, in order to ensure that "the magnetic attraction force applied between the electromagnetic coil 61 and the metal block 32 is greater than the sum of the resistance between the lead screw 41 and the metal block 32 and the weight of the metal block 32", in this embodiment, the lead screw 41 is a large-stroke lead screw 41, that is, its thread span is large. For example, when the lead screw 41 rotates one revolution, the metal block 32 can run 5-10mm along the axial direction of the lead screw 41.

[0074] In other embodiments, the electromagnetic acceleration component 6 may also be configured as several solenoid valve structures, which generate magnetism by switching the solenoid valves on and off to drive the metal block 32 to move. The specific configuration can be tailored to actual needs.

[0075] Based on the aforementioned transmission component 3, drive component 4, and electromagnetic acceleration component 6, the specific movement of the robot's lower limb device is illustrated using a robot simulating a soccer kicking process as an example:

[0076] First, the motor 42 and transmission gear set 43 of the drive assembly 4 drive the lead screw 41 to rotate, which in turn drives the metal block 32 of the transmission assembly 3 to move downward along the axis of the lead screw 41 (i.e., along...). Figure 2 (Moving in the opposite direction of Y1), simultaneously, the connecting rod 31 of the transmission assembly 3 moves synchronously with the metal block 32 to drive the lower leg 2 to bend relative to the thigh 1 to its limit position. At this time, the metal block 32 also moves down to its lower limit position. Afterward, the motor 42 of the drive assembly 4 is turned off, and the electromagnetic coil 61 is energized so that the electromagnetic coil 61 can immediately generate a magnetic field and apply an upward (i.e., along) force to the metal block 32. Figure 2 The magnetic attraction in the Y1 direction causes the metal block 32 to move upward (i.e., along the direction of Y1). Figure 2 The movement in the Y1 direction (during which the metal block 32 is subjected to force, which drives the lead screw 41 to rotate, further converting the linear motion of the metal block 32) and causing the lower leg 2 to rotate relative to the thigh 1 (i.e., generating a linear motion along the Y1 direction). Figure 2 (as shown by the rotation in the R1 direction), so that the lower leg 2 extends rapidly relative to the thigh 1 (i.e., along the...) Figure 2 (As shown, the metal block 32 moves in the T1 direction). After the metal block 32 accelerates for a period of time (such as within 2 seconds before the foot 5 is about to contact the ball), the electromagnetic coil 61 is de-energized, and the drive component 4 continues to drive the metal block 32 to move upward (at this time, the motor 42 enters the maximum torque mode and provides maximum power), so that the lower leg 2 continues to drive the foot 5 to move in the T1 direction (which is perpendicular to the lower leg 2 direction, that is, the normal direction of R1) to kick the ball out.

[0077] It's worth noting that this explanation only uses kicking a ball as an example; the same principle applies to jumping (such as high jump, long jump, standing jump, etc.). The specific acceleration time period and frequency can be set according to the actual simulation needs.

[0078] SeeFigures 3 to 6 The connecting rod part 31 includes a first connecting rod 311, a second connecting rod 312 and a third connecting rod 313 that are hinged in sequence; wherein, the end of the first connecting rod 311 away from the second connecting rod 312 is fixedly installed on the metal block 32; the third connecting rod 313 rotatably connects the thigh part 1 and the lower leg 2.

[0079] It is easy to understand that the first link 311 is fixedly connected to the metal block 32, which can both limit the position of the metal block 32 and ensure the stability of the transmission between the two.

[0080] Specifically, the third link 313 has a first hinge position 3131, a second hinge position 3132, and a third hinge position 3133 spaced apart. The first hinge position 3131 is rotatably connected to the second link 312, the second hinge position 3132 is rotatably connected to the thigh 1 and the lower leg 2, and the third hinge position 3133 is rotatably engaged with the lower leg 2. That is, the third link 313 can actually form a lever structure. When its first hinge position 3131 is subjected to force, it can drive the third link 313 to rotate about the second hinge position 3132 as the rotation axis, and further drive the lower leg 2 to move through the third hinge position 3133.

[0081] Furthermore, the second link 312 is set as a circular arc rod. Compared with using multiple hinged links to replace the second link 312, this embodiment directly sets the second link 312 as a circular arc rod, which can not only achieve stable transmission, but also facilitate the installation of the second link 312.

[0082] Furthermore, the third link 313 is configured as an arc block, with the front side of the arc block protruding from the front side of the thigh 1 and the lower leg 2.

[0083] It's easy to understand that the arc-shaped block structure is equivalent to the robot's knee joint. When the robot falls or bumps itself (similar to a kneeling posture), the third link 313 (i.e., the arc-shaped block) bears the force, thus protecting the thigh 1 and lower leg 2. Furthermore, because it is detachably connected to the second link 312, thigh 1, and lower leg 2, it can be replaced individually, reducing maintenance costs.

[0084] To elaborate further, the third link 313 is configured as an arc block, and the central angle of the arc block is not less than 180° (i.e., Figure 3 The angle J shown is set to 180°, 200°, 220° or 240°. The arc block has a sufficiently large central angle to ensure that the arc has sufficient structural strength to ensure a stable connection between the thigh 1 and the lower leg 2 and to prevent deformation at the connection point between the thigh 1 and the lower leg 2.

[0085] Furthermore, the arc block is provided with a hollowed-out groove 3134.

[0086] It is not difficult to understand that the setting of the hollow groove 3134 on the arc block can cause a certain deformation of the arc block when it is subjected to a larger impact, thereby playing a human-like protection role. For example, when the lower leg part 2 is subjected to a larger force, the force is transmitted to the arc block and is offset by the moderate deformation of the arc block itself, thereby avoiding the direct transmission of the force acting on the lower leg part 2 to the transmission assembly 3 and the driving assembly 4, which affects the stability of the driving; and also avoiding the direct transmission of the force acting on the lower leg part 2 to the upper leg part 1, which causes excessive deformation of the upper leg part 1.

[0087] Referring to Figure 1 and Figure 2 , the driving assembly 4 is installed on the upper leg part 1; the robot lower limb device further comprises a first spherical joint 7, the foot part 5 is connected to the end of the lower leg part 2 away from the upper leg part 1 through the first spherical joint 7, the first spherical joint 7 is driven by a first driving part 70, and the first driving part 70 is located in the lower leg part 2; the robot lower limb device further comprises a second spherical joint 8, the upper leg part 1 is connected to the hip part 100 through the second spherical joint 8, the second spherical joint 8 is driven by a second driving part 80, and the second driving part 80 is located in the upper leg part 1.

[0088] It is not difficult to understand that through this setting, the driving assembly 4 and the first driving part 70 are distributed in the upper leg part 1, and the second driving part 80 is distributed in the lower leg part 2, which on the one hand can meet the installation requirements, avoid the existence of joint motors in the driving structure arranged at the joint positions (i.e. the connection position of the upper leg part 1 and the lower leg part, the connection position of the upper leg part 1 and the hip part 100, and the connection position of the lower leg part 2 and the foot part 5), and facilitate the relative rotation of the upper leg part 1 and the lower leg part 2; on the other hand, it can make the weight distribution of the entire robot lower limb device more uniform, and avoid excessive local stress leading to local bending deformation of the robot lower limb device.

[0089] In addition, the driving assembly 4 is installed close to the hip part 100 (i.e. closer to the torso), which is more conducive to the acceleration of the lower leg part 2 relative to the upper leg part 1 compared to the installation of the driving assembly 4 on the lower leg part 2.

[0090] Referring to Figure 2 and Figures 7 to 9 , the foot part 5 comprises a forefoot 51, a hind foot 52 and a connecting seat 53; wherein the forefoot 51 and the hind foot 52 are slidingly connected and can slide relative to each other by a preset distance; the connecting seat 53 connects the forefoot 51 and the lower leg part 2, and the hind foot 52 and the lower leg part 2; the connecting seat 53 and the forefoot 51, and the connecting seat 53 and the hind foot 52 are connected through a damping assembly 9.

[0091] It is easy to understand that in the above scheme, the front foot 51 and the rear foot 52 can be relatively slid within the preset distance, and the front foot 51 and the mounting seat and the rear foot 52 and the mounting seat are connected through the shock absorbing assembly 9, which can effectively reduce the impact and is beneficial to stabilize the gait, especially in the working conditions such as jumping and kicking, in which the foot 5 is subjected to a large impact force.

[0092] For example, when the robot is inclined forward by an external force, the shock absorbing assembly 9 connected between the front foot 51 and the connecting seat 53 is stressed and plays a buffering role, and at the same time, the front foot 51 as a whole moves within the preset distance to the direction of the rear foot 52, thereby realizing buffering and limiting. Similarly, when the robot is inclined backward by an external force, the shock absorbing assembly 9 connected between the rear foot 52 and the connecting seat 53 is stressed and plays a buffering role, and at the same time, the rear foot 52 as a whole moves within the preset distance to the direction of the front foot 51, thereby realizing buffering and limiting. That is, through the sliding connection of the front foot 51 and the rear foot 52 and the setting of the shock absorbing assembly 9, the overall load of the robot when suddenly tilted forward or backward can be borne by the joint (i.e., the first spherical joint 7), thereby reducing the impact and wear.

[0093] For another example, when the robot walks on uneven ground, the relative sliding connection of the front foot 51 and the rear foot 52 can automatically adjust the relative position of the front foot 51 and the rear foot 52 according to the ground, thereby facilitating the stable walking of the robot.

[0094] For another example, when the robot is jumping, the front foot 51 and the rear foot 52 fall and relatively move away, and at the same time, the shock absorbing assembly 9 connected between the connecting seat 53 and the front foot 51 and the connecting seat 53 and the rear foot 52 can realize buffering.

[0095] Specifically, the front foot 51 and the rear foot 52 are connected through the sliding assembly 50, and the sliding assembly 50 includes a sliding groove 501 and a guide rod 502, wherein the sliding groove 501 is arranged on the front foot 51, the guide rod 502 is installed (rotatably installed or fixedly installed) on the rear foot 52, and the guide rod 502 is slidably installed in the sliding groove 501.

[0096] Specifically, the shock absorbing assembly 9 includes a first connecting piece 91, a second connecting piece 92, and a buffer piece 93; wherein the first connecting piece 91 is rotatably connected with the front foot 51 or the rear foot 52, the second connecting piece 92 is rotatably connected with the connecting seat 53, and the buffer piece 93 is connected between the first connecting piece 91 and the second connecting piece 92. The buffer piece 93 can be arranged as an elastic rubber rod that can be stretched and contracted, or as a plurality of telescopic sleeve rods connected by elastic members.

[0097] Further, in order to further increase the supporting effect of the shock-absorbing assembly 9 and ensure the stability of the foot 5, the shock-absorbing assembly 9 further comprises a supporting rod 94 arranged in parallel with the buffer 93, one end of the supporting rod 94 being rotatably connected with the forefoot 51 or the hindfoot 52, and the other end being rotatably connected with the connecting seat 53.

[0098] The application further provides a robot having the robot lower limb device as described above, and an abnormality detection linkage assembly 200, an abnormality detection trigger and a main controller; wherein the robot lower limb device comprises a thigh part 1, a lower leg part 2 and a foot part 5; one end of the abnormality detection linkage assembly 200 is connected to the foot part 5 or a joint between the foot part 5 and the lower leg part 2, and the other end extends to the lower leg part 2 and is connected with the abnormality detection trigger installed in the lower leg part 2; the main controller is in communication connection with the abnormality detection trigger, so as to drive the robot to be in an anti-impact mode when the abnormality detection trigger detects that the alarm condition is met.

[0099] Further, the alarm condition comprises that the horizontal inclination angle of the lower leg part 2 relative to the foot part 5 is detected to be less than 20° for a preset number of times within a preset time interval; and the anti-impact mode at least comprises that the thigh part 1 and the lower leg part 2 are relatively bent to lower the center of gravity of the robot, so as to facilitate stable walking or structural protection.

[0100] Specifically, when the abnormality detection linkage assembly 200 detects that the horizontal inclination angle of the lower leg part 2 relative to the foot part 5 exceeds 20° for 3-5 times continuously within a short time (such as 2s), the abnormality detection trigger is triggered, and an abnormality signal is transmitted to the main controller; after receiving the signal, the main controller can drive the thigh part 1 and the lower leg part 2 to be relatively bent (which can be realized by using one or both of the driving assembly 4 and the electromagnetic acceleration assembly 6) to lower the center of gravity of the robot.

[0101] In addition, under the anti-impact mode, the main controller can also control the robot to quickly bend down, quickly tighten the hands or keep the head, so as to prevent the robot components from being damaged.

[0102] It is worth noting that the alarm condition can be set according to actual needs, and specific adjustments can be made by using the built-in program of the main controller, such as adjusting the inclination angle range, the number of continuous occurrences, and the time of the number of continuous occurrences.

[0103] The above embodiments are only preferred embodiments of the application, and cannot be used to limit the scope of protection of the application. Any non-essential changes and substitutions made by those skilled in the art on the basis of the application all belong to the scope of protection claimed by the application.

Claims

1. A robotic lower limb device for connection to the hip (100) of a robot, characterized in that, It includes the thigh (1), the lower leg (2), the transmission assembly (3), the drive assembly (4), and the foot (5); The thigh (1) and the lower leg (2) are rotatably connected by the transmission assembly (3); The drive assembly (4) is used to drive the transmission assembly (3) to cause the thigh (1) and the lower leg (2) to bend or extend relative to each other; The foot (5) is connected to the lower leg (2) at the end away from the thigh (1); It also includes an electromagnetic acceleration component (6), which is used to drive the transmission component (3) to accelerate within a preset time, so as to drive the lower leg (2) to accelerate bending or accelerating extension relative to the thigh (1). The transmission assembly (3) includes a connecting rod (31) and a metal block (32). One end of the connecting rod (31) is connected between the thigh (1) and the calf (2), and the other end is connected to the metal block (32); The electromagnetic acceleration component (6) includes an electromagnetic coil (61), which is wound around a local area on the running path of the metal block (32) and located on the radial outer side of the metal block (32). The drive assembly (4) includes a lead screw (41); The lead screw (41) passes through the metal block (32) and is threadedly connected to the metal block (32); The magnetic attraction force applied by the electromagnetic coil (61) to the metal block (32) is greater than the sum of the resistance between the lead screw (41) and the metal block (32) and the weight of the metal block (32).

2. The robotic lower limb device according to claim 1, characterized in that, The connecting rod part (31) includes a first connecting rod (311), a second connecting rod (312) and a third connecting rod (313) that are hinged in sequence. The end of the first connecting rod (311) away from the second connecting rod (312) is fixedly installed on the metal block (32); The third link (313) rotatably connects the thigh (1) and the lower leg (2).

3. The robotic lower limb device according to claim 2, characterized in that, The second link (312) is configured as a circular arc rod; and / or; The third link (313) is configured as an arc block, the front side of which protrudes from the front side of the thigh (1) and the lower leg (2); and / or; The third link (313) is configured as an arc block, and the central angle of the arc block is not less than 180°; and / or; The third link (313) is configured as an arc block, and the arc block is provided with a hollow groove (3134).

4. A robotic lower limb device according to any one of claims 1-3, characterized in that, The drive assembly (4) is installed on the thigh (1). And / or, The robot's lower limb device also includes a first ball joint (7), the foot (5) is connected to the end of the lower leg (2) away from the thigh (1) through the first ball joint (7), the first ball joint (7) is driven by a first drive unit (70), and the first drive unit (70) is located on the lower leg (2). And / or, The robot lower limb device also includes a second ball joint (8), the thigh (1) is connected to the hip (100) through the second ball joint (8), the second ball joint (8) is driven by a second drive unit (80), and the second drive unit (80) is located on the thigh (1).

5. A robotic lower limb device according to any one of claims 1-3, characterized in that, The foot (5) includes the forefoot (51), the heel (52) and the connecting seat (53); The forefoot (51) and the heel (52) are slidably connected, and the two can slide relative to each other by a preset distance; The connecting seat (53) connects the forefoot (51) to the lower leg (2) and the heel (52) to the lower leg (2). The connecting seat (53) is connected to the forefoot (51) and the connecting seat (53) is connected to the heel (52) via shock-absorbing components (9).

6. A robotic lower limb device according to claim 5, characterized in that, The shock absorption assembly (9) includes a first connector (91), a second connector (92), and a buffer (93); The first connector (91) is rotatably connected to the forefoot (51) or the heel (52), the second connector (92) is rotatably connected to the connecting seat (53), and the buffer (93) is connected between the first connector (91) and the second connector (92).

7. A robot, characterized in that, The device comprises a robot lower limb device as described in any one of claims 1-6, an anomaly detection link assembly (200), an anomaly detection trigger, and a main controller; The robot's lower limb device includes a thigh (1), a lower leg (2), and a foot (5). One end of the abnormality detection linkage assembly (200) is connected to the foot (5) or to the joint between the foot (5) and the lower leg (2), and the other end extends to the lower leg (2) and is connected to the abnormality detection trigger installed in the lower leg (2). The main controller is communicatively connected to the anomaly detection trigger so that when the anomaly detection trigger detects that the alarm conditions are met, it drives the robot into an anti-impact mode.

8. A robot according to claim 7, characterized in that, The alarm conditions include: continuously detecting a horizontal tilt angle of less than 20° between the lower leg (2) and the foot (5) for a preset number of times within a preset time interval; The shock-resistant mode includes at least the thigh (1) and lower leg (2) being relatively bent to lower the robot's center of gravity.

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