Biped robot

Abstract

The invention relates to the technical field of robots, in particular to a biped robot which comprises a hip joint component and a robot body component. The thigh component is rotationally connected to the hip joint component; the shank component is rotationally connected to the thigh component through a knee joint rotating shaft; the driving part is arranged on the thigh component and used for driving the hip joint to swing and driving the shank component to swing; the transmission part is arranged on the thigh component and used for distributing the torque output by the driving part to the hip joint component and the shank component. Through the arrangement, the power density of the driving part can be improved, enough instantaneous moment and speed can be provided for the hip joint component or the shank component according to the use scene, and the dynamic ability of the biped robot is improved. The size of a motor does not need to be additionally increased, a gear box does not need to provide large driving torque, the overall weight of the biped robot is reduced, inertia loads are reduced, movement flexibility is improved, the overall appearance is light, and the attractiveness degree is improved.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a bipedal robot. Background Technology

[0002] In related technologies, bipedal robots, as intelligent robots that mimic human appearance, form, and behavioral abilities, can integrate into human society and perform various complex tasks. However, at present, the driving capability of bipedal robot power joints is insufficient, and the power density of leg joint drive components is low, making it difficult to provide sufficient instantaneous torque and speed. This results in insufficient dynamic capabilities of bipedal robots, making it difficult to achieve high-burst movements such as jumping and running. Furthermore, if a larger driving torque is required, the size of the motor or gearbox needs to be increased, making the bipedal robot bulky, increasing inertial load, and reducing mobility.

[0003] Therefore, it is necessary to propose a bipedal robot to at least partially solve the problems existing in the prior art. Summary of the Invention

[0004] This disclosure aims to address at least one of the technical problems existing in the prior art or related technologies.

[0005] Therefore, this disclosure proposes a bipedal robot.

[0006] In view of this, a bipedal robot is proposed according to an embodiment of the present disclosure, comprising:

[0007] Hip joint components;

[0008] The thigh component is rotatably connected to the aforementioned hip joint component;

[0009] The lower leg component is rotatably connected to the thigh component via a knee joint pivot.

[0010] A drive unit is provided on the thigh member for driving the hip joint to swing and driving the lower leg member to swing.

[0011] A transmission unit, disposed on the thigh member, is used to distribute the torque output by the drive unit to the hip joint member and the lower leg member.

[0012] In one feasible implementation, the thigh component includes:

[0013] First side panel;

[0014] The second side plate is disposed on the opposite side of the first side plate, and the second side plate is provided with a mounting position for mounting the drive unit.

[0015] A first connecting plate, one end of which is connected to the first side plate and the other end of which is connected to the second side plate;

[0016] The first side plate, the second side plate, and the first connecting plate form an installation space, and the adjustment part is disposed within the installation space.

[0017] In one feasible implementation, the thigh component further includes:

[0018] The second connecting plate is rotatably connected to the first side plate and is located at the top of the first side plate. The hip joint component is connected to the second connecting plate.

[0019] In one feasible implementation, the drive unit includes:

[0020] First drive motor and second drive motor;

[0021] The output torque of the first drive motor and / or the output torque of the second drive motor are distributed to the hip joint component and the lower leg component via the transmission part.

[0022] In one feasible implementation, along the extending direction of the second side plate, the second side plate is provided with a first mounting hole and a second mounting hole, wherein the second mounting hole is further away from the second connecting plate than the first mounting hole.

[0023] The first drive motor is mounted in the first mounting hole, and the second drive motor is mounted in the second mounting hole.

[0024] In one possible implementation, a first link is provided, and the lower leg member is connected to the first link;

[0025] A spur gear differential, wherein the aforementioned hip joint component is connected to the aforementioned spur gear differential;

[0026] The first connecting rod is connected to the spur gear differential via the lower leg crank.

[0027] In one feasible implementation, the aforementioned spur gear differential includes:

[0028] case;

[0029] The first gear is rotatably connected to the first side inside the housing, and the first gear is connected to the output shaft of the first drive motor through the first gear flange;

[0030] The second gear meshes with the first gear, and the second gear is connected to the first side of the housing via the first shaft.

[0031] The third gear is disposed on the second side inside the aforementioned housing, and the third gear is connected to the output shaft of the aforementioned second drive motor via a double crank mechanism;

[0032] The fourth gear meshes with the second gear and the third gear respectively. The lower leg crank is connected to the fourth gear. The fourth gear is connected to the second side of the housing via the second shaft. The hip joint member is also connected to the second side of the housing.

[0033] The first side and the second side are arranged opposite to each other, the spur gear differential forms a planetary gear train, the first gear and the third gear constitute a sun gear, and the second gear and the third gear constitute planetary gears.

[0034] In one feasible implementation, the above-mentioned double-crank mechanism includes:

[0035] Transmission connecting rod;

[0036] The second link has one end rotatably connected to one end of the transmission link and the other end connected to the third gear.

[0037] The second gear flange is rotatably connected to the other end of the aforementioned transmission link, and the aforementioned transmission link is connected to the output shaft of the aforementioned second drive motor through the aforementioned second gear flange.

[0038] In one feasible implementation, when the first gear and the third gear rotate in the same direction and with the same torque, the second gear and the fourth gear are relatively stationary. The first drive motor and the second drive motor jointly drive the spur gear differential to rotate, thereby driving the hip joint mechanism to move, while the lower leg component remains stationary.

[0039] When the first gear and the third gear rotate in opposite directions with the same torque, the second gear and the fourth gear rotate relative to each other, the hip joint mechanism remains stationary, and the first drive motor and the second drive motor jointly drive the lower leg component to move.

[0040] In one feasible implementation, the bipedal robot further includes:

[0041] The foot mechanism is rotatably connected to the aforementioned lower leg mechanism;

[0042] The third drive motor is located in the lower leg mechanism and is used to drive the foot mechanism to rotate.

[0043] Compared to existing technologies, this disclosure offers at least the following advantages: The bipedal robot provided in this embodiment includes a hip joint component, a thigh component, a lower leg component, a drive unit, and a transmission unit. The thigh component is rotatably connected to the hip joint component, and the lower leg component is rotatably connected to the thigh component via a knee joint pivot. The drive unit is located on the thigh component, which has an internal mounting space. The transmission unit can be placed within this mounting space to optimize space allocation and prevent the bipedal robot from becoming bulky and cumbersome. The drive unit provides the driving torque for hip joint oscillation and the oscillation torque for the lower leg component. The transmission unit can distribute the total torque output by the drive unit to the torque of the hip joint component and the lower leg component according to the actual usage scenario, thereby increasing the power density of the drive unit. This allows for sufficient instantaneous torque and speed to be provided to the hip joint component or lower leg component based on the usage scenario, improving the dynamic capabilities of the bipedal robot. It enables the robot to perform high-burst movements such as jumping and running, and adapts to scenarios requiring high torque output, such as handling and climbing. Furthermore, it eliminates the need to increase the size of the motor and the gearbox to provide a larger driving torque, thereby reducing the overall weight of the bipedal robot, which in turn reduces inertial load and improves movement flexibility. The overall appearance is also lighter and more aesthetically pleasing. Attached Figure Description

[0044] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of exemplary embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0045] Figure 1 This is a schematic structural diagram of the legs of a bipedal robot according to an embodiment of this disclosure;

[0046] Figure 2 This is a schematic assembly diagram of a thigh component, a drive unit, and a transmission unit according to one embodiment of the present disclosure.

[0047] Figure 3 for Figure 2 A schematic sectional view of the assembly drawing shown;

[0048] Figure 4 for Figure 2 A schematic exploded view of the assembly drawing shown;

[0049] Figure 5 This is a schematic structural diagram of a spur gear differential according to an embodiment of the present disclosure;

[0050] Figure 6 This is a schematic structural diagram of a double crank structure according to an embodiment of the present disclosure;

[0051] Figure 7This is a schematic structural diagram of a lower leg component at one angle according to an embodiment of the present disclosure;

[0052] Figure 8 This is a schematic structural diagram of the lower leg component from another angle, according to one embodiment of the present disclosure.

[0053] in, Figures 1 to 8 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0054] 100 Bipedal robot, 110 Hip joint component, 120 Thigh component, 121 First side plate, 122 Second side plate, 1221 First mounting hole, 1222 Second mounting hole, 123 First connecting plate, 124 Second connecting plate, 130 Lower leg component, 140 Drive unit, 141 First drive motor, 142 Second drive motor, 150 Transmission unit, 151 First connecting rod, 152 Spur gear differential, 1521 Housing, 1522 First gear, 1523 Second gear, 1524 Third gear, 1525 Fourth gear, 1526 First gear flange, 153 Lower leg crank, 160 Double crank mechanism, 161 Transmission connecting rod, 162 Second connecting rod, 163 Second gear flange, 170 Foot mechanism. Detailed Implementation

[0055] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that the description of these embodiments is intended to aid in understanding the invention, but does not constitute a limitation thereof. The specific structural and functional details disclosed herein are merely for describing exemplary embodiments of the invention. However, the invention can be embodied in many alternative forms and should not be construed as being limited to the embodiments described herein.

[0056] like Figures 1 to 8 As shown, according to an embodiment of this disclosure, a bipedal robot 100 is provided, comprising: a hip joint component 110; a thigh component 120 rotatably connected to the hip joint component 110; a lower leg component 130 rotatably connected to the thigh component 120 via a knee joint pivot; a drive unit 140 disposed on the thigh component 120 for driving the hip joint to swing and driving the lower leg component 130 to swing; and a transmission unit 150 disposed on the thigh component 120 for distributing the torque output by the drive unit 140 to the hip joint component 110 and the lower leg component 130.

[0057] It is understood that the bipedal robot 100 provided in this embodiment can move through its leg structure, which may include a hip joint component 110, a thigh component 120, a lower leg component 130, a drive unit 140, and a transmission unit 150. The thigh component 120 is rotatably connected to the hip joint component 110, and the lower leg component 130 is rotatably connected to the thigh component 120 via a knee joint pivot. The drive unit 140 may be located at the thigh component 120, and an installation space is formed inside the thigh component 120, within which the transmission unit 150 can be placed to rationally allocate space and avoid the bipedal robot 100 becoming bulky and cumbersome. The drive unit 140 provides the driving torque for hip joint oscillation and the oscillation torque for lower leg component 130. The transmission unit 150 can distribute the total torque output by the drive unit 140 to the torque of the hip joint component 110 and the lower leg component 130 according to the actual usage scenario, thereby increasing the power density of the drive unit 140. This allows it to provide sufficient instantaneous torque and speed to the hip joint component 110 or the lower leg component 130 according to the usage scenario, improving the dynamic capabilities of the bipedal robot 100. This enables it to perform high-burst movements such as jumping and running, and adapts to scenarios requiring high torque output, such as handling and climbing. Furthermore, it eliminates the need to increase the size of the motor and the gearbox to provide a larger driving torque, reducing the overall weight of the bipedal robot 100, thereby reducing inertial load and improving motion flexibility. The overall appearance is also lighter and more aesthetically pleasing.

[0058] In some examples, such as Figures 1 to 4 As shown, the thigh component 120 includes: a first side plate 121; a second side plate 122 disposed on the opposite side of the first side plate 121, the second side plate 122 having a mounting position for mounting the drive unit 140; and a first connecting plate 123, one end of the first connecting plate 123 being connected to the first side plate 121 and the other end being connected to the second side plate 122; wherein the first side plate 121, the second side plate 122, and the connecting plate enclose an installation space, and the adjustment unit is disposed within the installation space.

[0059] It is understood that the thigh component 120 may be provided with a first side plate 121, a second side plate 122, and a first connecting plate 123. The first side plate 121 and the second side plate 122 are arranged opposite to each other, and the second side plate 122 is provided with a mounting position, through which the drive unit 140 can be fixedly mounted, ensuring the positional stability of the drive unit 140 and improving reliability. The first side plate 121 and the second side plate 122 can be connected and fixed through the first connecting plate 123 to maintain the relative positional stability of the first side plate 121 and the second side plate 122, thereby ensuring the stability of the mounting space formed by the first side plate 121, the second side plate 122, and the first connecting plate 123, and thus ensuring the stability of the adjustment unit disposed within the mounting space and improving the protection of the adjustment unit.

[0060] In some examples, such as Figures 1 to 4 As shown, the thigh component 120 further includes: a second connecting plate 124, which is rotatably connected to the first side plate 121 and located at the top of the first side plate 121; the hip joint component 110 is connected to the second connecting plate 124.

[0061] It is understood that the thigh component 120 may also be provided with a second connecting plate 124. Specifically, the second connecting plate 124 can be rotatably connected to the first side plate 121 via a rotating shaft, so that the second connecting plate 124 can rotate around the side of the first side plate 121, and the second connecting plate 124 can be located at the top of the first side plate 121. The hip joint component 110 is connected to the second connecting plate 124. With this configuration, the drive unit 140 can drive the hip joint component 110 to rotate via the transmission unit 150, thereby driving the second connecting plate 124 to rotate, thus simulating hip joint movement.

[0062] It should be noted that the transmission unit 150 can distribute the torque to the hip joint component 110 according to the actual use scenario, thereby ensuring that the hip joint component 110 can provide sufficient instantaneous torque and speed, thereby improving the dynamic capability of the hip joint component 110 of the bipedal robot 100 to adapt to scenarios that require high torque output, such as handling and climbing.

[0063] In some examples, such as Figures 1 to 4 As shown, the drive unit 140 includes a first drive motor 141 and a second drive motor 142; wherein the output torque of the first drive motor 141 and / or the output torque of the second drive motor 142 are distributed to the hip joint member 110 and the lower leg member 130 via the transmission unit 150.

[0064] It is understood that the drive unit 140 may be equipped with a first drive motor 141 and a second drive motor 142. The first drive motor 141 or the second drive motor 142 can be used alone to provide output torque, or the first drive motor 141 and the second drive motor 142 can be used together to provide output torque, and the torque can be distributed to the hip joint member 110 and the lower leg member 130 through the transmission unit 150. In this way, the total output torque of the drive unit 140 can be adjusted according to the actual use scenario. For example, when performing explosive movements, the first drive motor 141 and the second drive motor 142 can be used simultaneously to ensure that the drive unit 140 provides sufficient driving torque. Furthermore, the transmission unit 150 distributes the total torque output by the drive unit 140 to the torque of the hip joint component 110 and the torque of the lower leg component 130 according to the actual usage scenario, thereby increasing the power density of the drive unit 140. This allows the drive unit 140 to provide sufficient instantaneous torque and speed to the hip joint component 110 or the lower leg component 130 according to the usage scenario, thereby improving the dynamic capabilities of the bipedal robot 100. It enables the robot to perform high-burst actions such as jumping and running, and adapts to scenarios that require high torque output, such as handling and climbing.

[0065] In some examples, such as Figures 1 to 4 As shown, along the extending direction of the second side plate 122, the second side plate 122 is provided with a first mounting hole 1221 and a second mounting hole 1222. The second mounting hole 1222 is further away from the second connecting plate 124 than the first mounting hole 1221. The first drive motor 141 is mounted in the first mounting hole 1221, and the second drive motor 142 is mounted in the second mounting hole 1222.

[0066] It is understood that, along the extending direction of the second side plate 122, the second side plate 122 may be provided with a first mounting hole 1221 and a second mounting hole 1222. Wherein, Figure 4 As shown in the direction of the second side plate 122, the second mounting hole 1222 is located below the first mounting hole 1221. The first drive motor 141 can be installed in the first mounting hole 1221, and the second drive motor 142 can be installed in the second mounting hole 1222. Thus, the first drive motor 141 and the second drive motor 142 are fixed by the second side plate 122, improving stability. Furthermore, the first drive motor 141 and the second drive motor 142 are located on the same side of the thigh component 120, which avoids the two drive motors being located on opposite sides of the thigh component 120, resulting in a bulky thigh component 120. This ensures that the overall appearance of the thigh component 120 is relatively light, improving aesthetics and enhancing mobility.

[0067] In some examples, such as Figures 1 to 4As shown, the transmission unit 150 includes: a first connecting rod 151, to which the lower leg member 130 is connected; a spur gear differential 152, to which the hip joint member 110 is connected; and a lower leg crank 153, to which the first connecting rod 151 is connected to the spur gear differential 152.

[0068] Understandably, the transmission unit 150 may be equipped with a first connecting rod 151, a lower leg crank 153, and a spur gear differential 152. The lower leg component 130 can be connected to the first connecting rod 151, and the hip joint component 110 can be connected to the spur gear differential 152. The first connecting rod 151 can be connected to the spur gear differential 152 via the lower leg crank 153. With this configuration, the total torque output by the drive unit 140 can be distributed to the hip joint component 110 and the lower leg component 130 according to the actual usage scenario through the spur gear differential 152. This increases the power density of the drive unit 140, providing sufficient instantaneous torque and speed to the hip joint component 110 or the lower leg component 130 according to the usage scenario. This enhances the dynamic capabilities of the bipedal robot 100, enabling it to perform high-burst movements such as jumping and running, and adapting to scenarios requiring high torque output, such as handling and climbing. Furthermore, it eliminates the need to increase the size of the motor and the gearbox to provide a larger driving torque, thus reducing the overall weight of the bipedal robot 100, thereby reducing inertial load and improving motion flexibility. The overall appearance is also lighter and more aesthetically pleasing.

[0069] In some examples, such as Figure 4 and Figure 5 As shown, the housing is 1521; a first gear 1522 is rotatably connected to a first side inside the housing 1521, and the first gear 1522 is connected to the output shaft of the first drive motor 141 via a first gear flange 1526; a second gear 1523 meshes with the first gear 1522, and the second gear 1523 is connected to the first side of the housing 1521 via a first shaft; a third gear 1524 is disposed on a second side inside the housing 1521, and the third gear 1524 is connected to the output shaft of the second drive motor 142 via a double crank mechanism 160; a fourth gear 1... 525, respectively meshing with the second gear 1523 and the third gear 1524, the lower leg crank 153 is connected to the fourth gear 1525, the fourth gear 1525 is connected to the second side of the housing 1521 through the second shaft, and the hip joint member 110 is connected to the second side of the housing 1521; wherein, the first side and the second side are arranged opposite to each other, the spur gear differential 152 forms a planetary gear train, the first gear 1522 and the third gear 1524 constitute a sun gear, and the second gear 1523 and the third gear 1524 constitute planetary gears.

[0070] Understandably, the spur gear differential 152 may include a housing 1521, a first gear 1522, a second gear 1523, a third gear 1524, and a fourth gear 1525. Specifically, the housing 1521 can provide support and protection for the first gear 1522, second gear 1523, third gear 1524, and fourth gear 1525, improving reliability. The first gear 1522 is rotatably connected to the first side of the housing 1521, and can be connected to the output shaft of the first drive motor 141 via a first gear flange 1526, serving as the driving gear. The second gear 1523 meshes with the first gear 1522, serving as the driven gear, and can be connected to the first side of the housing 1521 via a first shaft. The first gear 1522 can drive the second gear 1523 to rotate. The third gear 1524 is disposed on the second side of the housing 1521, and is connected to the output shaft of the second drive motor 142 via a double crank mechanism 160. The double crank mechanism 160 adjusts the positions of the third gear 1524 and the second drive motor 142 to ensure that the second drive motor 142 can be located in the second mounting hole 1222 of the second side plate 122. At the same time, the third gear 1524 is close to the first side plate 121 and is rotatably disposed on the second side of the housing 1521, thereby making reasonable use of space and avoiding the two drive motors being disposed on the two sides of the thigh member 120 respectively, which would cause the thigh member 120 to be bulky. This ensures that the overall appearance of the thigh member 120 is relatively light, improves aesthetics, and enhances mobility. The fourth gear 1525 meshes with the second gear 1523 and the third gear 1524 respectively, and is connected to the second side of the housing 1521 via the second shaft. The third gear 1524 can drive the fourth gear 1525 to rotate, thereby causing the fourth gear 1525 to drive the second side of the housing 1521 to rotate synchronously. The first connecting rod 151 is connected to the fourth gear 1525 via the lower leg crank 153. At the same time, the hip joint component 110 is connected to the second side of the housing 1521, and when the second side of the housing 1521 rotates, it can drive the hip joint component 110 to rotate synchronously.

[0071] It should be noted that the spur gear differential 152 can form a planetary gear train. Specifically, the first gear 1522 and the third gear 1524 can serve as sun gears, and the first gear 1522 and the third gear 1524 have a symmetrical structure so that the first gear 1522 and the third gear 1524 can rotate around the axis between them. The second gear 1523 and the fourth gear 1525 can serve as planetary gears, wherein the second gear 1523 can drive the first side of the housing 1521 to rotate in a planetary manner; the third gear 1524 can drive the second side of the housing 1521 to rotate in a planetary manner, and the second gear 1523 and the third gear 1524 mesh with each other, which can reduce the torsional deformation of the first and second sides of the housing 1521, thereby ensuring the overall rotation of the housing 1521, so as to drive the hip joint component 110 to rotate while ensuring the stability of the housing 1521. Meanwhile, the lower leg crank 153 is located at the center of the fourth gear 1525. During its rotation, the fourth gear 1525 can drive the lower leg crank 153 to rotate synchronously, thereby driving the first connecting rod 151 to rotate, and in turn driving the lower leg component 130 to rotate. With this configuration, the hip joint component 110 can be made to rotate planetarily through the planetary gear train. The rotation of the planetary gears drives the lower leg component 130 to rotate, thereby realizing the free distribution of torque input from the first drive motor 141 and the second drive motor 142 to the hip joint component 110 and the lower leg component 130 through the spur gear differential 152.

[0072] For example, when the rotation direction and torque of the first gear 1522 and the third gear 1524 are different, the second gear 1523 and the fourth gear 1525 both rotate, and the second gear 1523 and the fourth gear 1525 drive the spur gear differential 152 to rotate as a whole, so as to drive the hip joint component 110 to rotate. At the same time, the fourth gear 1525 drives the lower leg component 130 to rotate. The specific speed and torque of the hip joint component 110 and the lower leg component 130 can be adjusted by the input of the first gear 1522 and the third gear 1524, and the force input to the hip joint component 110 and the lower leg component 130 by the first drive motor 141 and the second drive motor 142 can be freely distributed.

[0073] In some examples, such as Figure 6 As shown, the double crank mechanism 160 includes: a transmission link 161; a second link 162, one end of which is rotatably connected to one end of the transmission link 161, and the other end of which is connected to the third gear 1524; and a second gear flange 163, which is rotatably connected to the other end of the transmission link 161, and the transmission link 161 is connected to the output shaft of the second drive motor 142 through the second gear flange 163.

[0074] Understandably, the double-crank mechanism 160 may include a transmission connecting rod 161, a second connecting rod 162, and a second gear flange 163. Specifically, one end of the second connecting rod 162 is rotatably connected to one end of the transmission connecting rod 161, and the other end of the second connecting rod 162 is connected to the third gear 1524. The second gear flange 163 is rotatably connected to the other end of the transmission connecting rod 161, and the transmission connecting rod 161 is connected to the output shaft of the second drive motor 142 via the second gear flange 163. With this configuration, both the second connecting rod 162 and the second gear flange 163 are rotatably connected to the transmission connecting rod 161, thus forming the double-crank mechanism 160. When the second drive motor 142 rotates, it can drive the second gear flange 163 to rotate, which in turn drives the transmission connecting rod 161 to rotate, thereby driving the second connecting rod 162 to rotate. In this way, the second connecting rod 162 drives the third gear 1524 to rotate. The double crank mechanism 160 changes the power path from the second drive motor 142 to the third gear 1524, so that the second drive motor 142 and the first drive motor 141 can be set on the same side, making reasonable use of space.

[0075] In some examples, when the first gear 1522 and the third gear 1524 rotate in the same direction and with the same torque, the second gear 1523 and the fourth gear 1525 are relatively stationary. The first drive motor 141 and the second drive motor 142 jointly drive the spur gear differential 152 to rotate, thereby driving the hip joint mechanism to move, while the lower leg component 130 remains stationary. When the first gear 1522 and the third gear 1524 rotate in opposite directions with the same torque, the second gear 1523 and the fourth gear 1525 rotate relative to each other, the hip joint mechanism remains stationary, and the first drive motor 141 and the second drive motor 142 jointly drive the lower leg component 130 to move.

[0076] It is understandable that the spur gear differential 152 constitutes a planetary gear train. When the first gear 1522 and the third gear 1524 rotate in the same direction and with the same torque, the fourth gear 1525 rotates in a planetary manner, thereby driving the housing 1521 to rotate, which in turn drives the hip joint component 110 to rotate. Furthermore, since the second gear 1523 and the fourth gear 1525 remain relatively stationary, the lower leg crank 153 remains stationary. Thus, the first drive motor 141 and the second drive motor 142 jointly drive the hip joint mechanism to move, suitable for special scenarios, ensuring that the hip joint mechanism can output full power. When the first gear 1522 and the third gear 1524 rotate in opposite directions with the same torque, the second gear 1523 and the fourth gear 1525 rotate relative to each other. The fourth gear 1525 rotates, driving the lower leg crank 153 to rotate, while the housing 1521 remains stationary. Thus, the first drive motor 141 and the second drive motor 142 jointly drive the lower leg mechanism to swing, suitable for special scenarios, ensuring that the lower leg mechanism can output full power.

[0077] In some examples, such as Figure 1 As shown, the bipedal robot 100 further includes: a foot mechanism 170, rotatably connected to the lower leg mechanism; and a third drive motor, disposed on the lower leg mechanism, for driving the foot mechanism 170 to rotate.

[0078] Understandably, the bipedal robot 100 may also be equipped with a foot mechanism 170 and a third drive motor. Specifically, the foot mechanism 170 can be rotatably connected to the lower leg mechanism via a rotating shaft. The third drive motor can be located within the lower leg mechanism and can drive the rotating shaft to rotate, thereby causing the foot mechanism 170 to rotate.

[0079] It should be understood that the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. Although the terms "first," "second," etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit, without departing from the scope of the exemplary embodiments of the invention.

[0080] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" in this article describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the related objects before and after it are in an "or" relationship.

[0081] It should be understood that in the description of this invention, the terms "upper," "vertical," "inner," "outer," etc., indicate the orientation or positional relationship as commonly placed when the disclosed product is used, or the orientation or positional relationship commonly understood by those skilled in the art. They are only for the convenience of describing this invention and 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.

[0082] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" 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 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 based on the specific circumstances.

[0083] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the invention. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” “containing,” and / or “including” as used herein specify the presence of the stated features, integers, steps, operations, units, and / or components, and do not exclude the presence or addition of one or more other features, quantities, steps, operations, units, components, and / or combinations thereof.

[0084] Specific details are provided in the following description to provide a complete understanding of the exemplary embodiments. However, those skilled in the art will understand that the exemplary embodiments can be implemented without these specific details. In other embodiments, well-known processes, structures, and techniques may be omitted in the depiction of non-essential details to avoid obscuring the exemplary embodiments.

[0085] The above are merely specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

[0086] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art.

Claims

1. A bipedal robot, characterized in that, include: Hip joint components; The thigh component is rotatably connected to the hip joint component; The lower leg component is rotatably connected to the thigh component via a knee joint pivot. A drive unit, disposed on the thigh component, is used to drive the hip joint to swing and drive the lower leg component to swing. A transmission unit, disposed on the thigh member, is used to distribute the torque output by the drive unit to the hip joint member and the lower leg member.

2. The bipedal robot according to claim 1, characterized in that, The thigh component includes: First side panel; The second side plate is disposed on the opposite side of the first side plate, and the second side plate is provided with a mounting position for mounting the drive unit; A first connecting plate, one end of which is connected to the first side plate and the other end of which is connected to the second side plate; The first side plate, the second side plate, and the first connecting plate form an installation space, and the adjustment part is disposed within the installation space.

3. The bipedal robot according to claim 2, characterized in that, The thigh component also includes: The second connecting plate is rotatably connected to the first side plate and is located on top of the first side plate. The hip joint component is connected to the second connecting plate.

4. The bipedal robot according to claim 2, characterized in that, The drive unit includes: First drive motor and second drive motor; The output torque of the first drive motor and / or the output torque of the second drive motor are distributed to the hip joint component and the lower leg component via the transmission part.

5. The bipedal robot according to claim 4, characterized in that, Along the extending direction of the second side plate, the second side plate is provided with a first mounting hole and a second mounting hole, the second mounting hole being further away from the second connecting plate than the first mounting hole; The first drive motor is mounted in the first mounting hole, and the second drive motor is mounted in the second mounting hole.

6. The bipedal robot according to claim 4, characterized in that, The transmission unit includes: The first link, the lower leg component is connected to the first link; A spur gear differential, wherein the aforementioned hip joint component is connected to the aforementioned spur gear differential; The first connecting rod is connected to the spur gear differential via the lower leg crank.

7. The bipedal robot according to claim 6, characterized in that, The spur gear differential includes: case; The first gear is rotatably connected to the first side inside the housing, and the first gear is connected to the output shaft of the first drive motor through the first gear flange; The second gear meshes with the first gear, and the second gear is connected to the first side of the housing via the first shaft; The third gear is disposed on the second side inside the housing, and the third gear is connected to the output shaft of the second drive motor through a double crank mechanism; The fourth gear meshes with the second gear and the third gear respectively. The lower leg crank is connected to the fourth gear. The fourth gear is connected to the second side of the housing via the second shaft. The hip joint component is also connected to the second side of the housing. The first side and the second side are arranged opposite to each other, the spur gear differential forms a planetary gear train, the first gear and the third gear constitute a sun gear, and the second gear and the third gear constitute planetary gears.

8. The bipedal robot according to claim 7, characterized in that, The double crank mechanism includes: Transmission connecting rod; The second link has one end rotatably connected to one end of the transmission link and the other end connected to the third gear; The second gear flange is rotatably connected to the other end of the transmission link, and the transmission link is connected to the output shaft of the second drive motor through the second gear flange.

9. The bipedal robot according to claim 7, characterized in that, When the first gear and the third gear rotate in the same direction and with the same torque, the second gear and the fourth gear are relatively stationary. The first drive motor and the second drive motor together drive the spur gear differential to rotate, thereby driving the hip joint mechanism to move, while the lower leg component remains stationary. When the first gear and the third gear rotate in opposite directions with the same torque, the second gear and the fourth gear rotate relative to each other, the hip joint mechanism remains stationary, and the first drive motor and the second drive motor jointly drive the lower leg component to move.

10. The bipedal robot according to any one of claims 1 to 9, characterized in that, Also includes: The foot mechanism is rotatably connected to the lower leg mechanism; The third drive motor is located in the lower leg mechanism and is used to drive the foot mechanism to rotate.

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