Knee joint device, robot lower limb structure and robot

Abstract

This application provides a knee joint device, a robot lower limb structure, and a robot. The knee joint device controls the rotation of the lower leg relative to the thigh of a robot lower limb structure. The thigh has a first connecting end and a second connecting end opposite to each other. The first connecting end is used to connect to a robot body, and the second connecting end is connected to the lower leg. The knee joint device includes a drive unit, a knee joint unit, and a transmission unit. The drive unit is positioned in the thigh closer to the first connecting end than the second connecting end. The knee joint unit is rotatably connected between the second connecting end and the lower leg, allowing the second connecting end and the lower leg to be rotatably connected via the knee joint unit. The transmission unit is connected between the drive unit and the knee joint unit. When the drive unit is operating, the transmission unit drives the knee joint unit to rotate, causing the lower leg to rotate relative to the thigh. This application enables the robot lower limb structure to perform highly dynamic movements.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a knee joint device, a robot lower limb structure, and a robot. Background Technology

[0002] Currently, with the popularization of robots and the development of robotics technology, humanoid robots capable of walking, running, and jumping upright are receiving increasing attention. The knee joint is one of the key joints for humanoid robots to achieve dynamic movements such as walking, running, and jumping, and to bear the robot's own weight. The design level of the knee joint directly determines the performance limit of the humanoid robot. Therefore, how to provide a knee joint device that can support the robot's lower limb structure to complete highly dynamic movements has become a problem that needs to be considered. Summary of the Invention

[0003] This application provides a knee joint device, a robot lower limb structure, and a robot that can support the robot lower limb structure to perform highly dynamic movements.

[0004] In a first aspect, a knee joint device is provided for controlling the rotation of the lower leg relative to the thigh of a robot's lower limb structure. The thigh has a first connecting end and a second connecting end opposite to each other. The first connecting end is used to connect to a robot body, and the second connecting end is connected to the lower leg. The knee joint device includes a drive unit, a knee joint unit, and a transmission unit. The drive unit is positioned in the thigh closer to the first connecting end relative to the second connecting end. The knee joint unit is rotatably connected between the second connecting end and the lower leg, such that the second connecting end and the lower leg are rotatably connected via the knee joint unit. The transmission unit is connected between the drive unit and the knee joint unit. When the drive unit is operating, the transmission unit drives the knee joint unit to rotate, thereby causing the lower leg to rotate relative to the thigh.

[0005] In one possible implementation, the transmission unit includes at least two transmission rods, each transmission rod having a first transmission end and a second transmission end. The drive unit includes a first rotating wheel, and the knee joint unit includes a second rotating wheel. The first transmission end of each transmission rod is connected to the first rotating wheel, and the second transmission end of each transmission rod is connected to the second rotating wheel. The first rotating wheel is used to rotate in a first rotation plane to enable the drive unit to operate, and the second rotating wheel is used to rotate in a second rotation plane. The first rotation plane and the second rotation plane are parallel or coplanar. When the first rotating wheel rotates, it drives each transmission rod to move. The at least two transmission rods cooperate to drive the second rotating wheel of the knee joint unit to rotate, causing the lower leg to rotate relative to the thigh.

[0006] In one possible implementation, the extension direction of each transmission rod is parallel to the first rotation plane and the second rotation plane.

[0007] In one possible implementation, the first rotating wheel includes a first end face perpendicular to its rotational axis, and the second rotating wheel includes a second end face perpendicular to its rotational axis. The first transmission ends of the at least two transmission rods are fixedly connected to at least two connection points on the first end face, and the second transmission ends of the at least two transmission rods are fixedly connected to at least two connection points on the second end face. When the first rotating wheel rotates, it drives the first transmission end of each transmission rod to rotate within the first end face around the rotational axis of the first rotating wheel, so that the corresponding second transmission end rotates within the second end face around the rotational axis of the second rotating wheel. The first end face and the second end face are parallel to the first rotational plane.

[0008] In one possible implementation, the at least two transmission rods include a first connecting rod and a second connecting rod, wherein when the first rotating wheel rotates, the direction of motion of the first connecting rod is opposite to the direction of motion of the second connecting rod.

[0009] In one possible implementation, the connecting line between the first transmission end and the second transmission end of the first link is parallel to the connecting line between the first transmission end and the second transmission end of the second link.

[0010] In one possible implementation, when the axis of the thigh coincides with the axis of the lower leg, the acute angle formed by the connecting line between the first and second transmission ends of the first link and / or the connecting line between the first and second transmission ends of the second link and the axis of the lower leg is less than a first preset angle.

[0011] In one possible implementation, when the axis of the thigh coincides with the axis of the lower leg, the acute angle formed by the connecting line between the first transmission end of the first link and the first transmission end of the second link and the axis of the thigh is greater than the acute angle formed by the connecting line between the second transmission end of the first link and the second transmission end of the second link and the axis of the thigh.

[0012] In one possible implementation, the distance from the first transmission end of the first connecting rod to the rotation center axis of the first rotating wheel is equal to the distance from the first transmission end of the second connecting rod to the rotation center axis of the first rotating wheel, and the distance from the second transmission end of the first connecting rod to the rotation center axis of the second rotating wheel is equal to the distance from the second transmission end of the second connecting rod to the rotation center axis of the second rotating wheel.

[0013] In one possible implementation, the lengths of the first link and the second link are not the same.

[0014] In one possible implementation, the first link has a first clearance portion and the second link has a second clearance portion, wherein the first clearance portion is disposed at a position of the first link near the second transmission end of the second link and is used to clearance the second transmission end of the second link, and the second clearance portion is disposed at a position of the second link near the first transmission end of the first link and is used to clearance the first transmission end of the first link.

[0015] In one possible implementation, the lengths of the first link and / or the second link are variable. Specifically, as the first rotating wheel rotates, the first link and / or the second link extend or retract with the change in the rotation angle of the first rotating wheel, thereby causing the lengths of the first link and / or the second link to change.

[0016] In one possible implementation, the extension damping value of the first link and / or the second link is adjustable. The knee joint device further includes a controller for controlling the rotation of the first rotating wheel and adjusting the extension damping value of the first link and / or the second link according to the working state of the robot's lower limb structure.

[0017] In one possible implementation, the working states of the robot's lower limb structure include a stable state and a flexible state. Specifically, when the robot's lower limb structure is in the stable state, the controller controls and adjusts the extension and contraction damping value of the first link within a first damping range, and / or controls and adjusts the extension and contraction damping value of the second link within a second damping range; when the robot's lower limb structure is in the flexible state, the controller controls and adjusts the extension and contraction damping value of the first link within a third damping range, and / or controls and adjusts the extension and contraction damping value of the second link within a fourth damping range.

[0018] In one possible implementation, the minimum telescopic damping value in the first damping range is less than or equal to any telescopic damping value in the third damping range, and / or the minimum telescopic damping value in the second damping range is less than or equal to any telescopic damping value in the fourth damping range.

[0019] In one possible implementation, the controller is configured to determine whether the robot's lower limb structure is in the stable state or the flexible state based on one or more parameters, including the weight of the robot's lower limb structure, the pressure value between the second rotating wheel and the lower leg, the rotational speed of the first rotating wheel, and the rotational speed of the second rotating wheel.

[0020] Secondly, a robot lower limb structure is also provided, comprising a thigh, a lower leg, and a knee joint device. The thigh is used to connect to a robot body. The knee joint device is used to control the rotation of the lower leg relative to the thigh. The thigh has a first connecting end and a second connecting end opposite to each other; the first connecting end is used to connect to the robot body, and the second connecting end is used to connect to the lower leg. The knee joint device includes a drive unit, a knee joint unit, and a transmission unit. The drive unit is positioned in the thigh closer to the first connecting end relative to the second connecting end. The knee joint unit is rotatably connected between the second connecting end and the lower leg, such that the second connecting end and the lower leg are rotatably connected via the knee joint unit. The transmission unit is connected between the drive unit and the knee joint unit. When the drive unit is operating, the transmission unit drives the knee joint unit to rotate, causing the lower leg to rotate relative to the thigh.

[0021] Thirdly, a robot is also provided, comprising a robot body and a robot lower limb structure. The robot lower limb structure is used to drive the robot body to move. The robot lower limb structure includes a thigh, a lower leg, and a knee joint device. The thigh is used to connect to a robot body. The knee joint device is used to control the rotation of the lower leg relative to the thigh.

[0022] The knee joint device, robot lower limb mechanism, and robot of this application, by setting the drive unit in the thigh closer to the first connection end relative to the second connection end, can amplify the output torque when needed (such as squatting and standing up, pushing off the ground). The transmission unit is configured to drive the knee joint unit to rotate under the drive unit, which can efficiently transmit the power of the drive unit to the lower leg and significantly reduce the rotational inertia of the lower leg end. This allows the lower leg to swing rapidly like a pendulum, providing a basis for high stride frequency running and agile turning, thereby supporting the robot's lower limb structure to complete high dynamic movements. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0024] Figure 1 This is a schematic diagram of the structure of the knee joint device in some embodiments of this application, which cooperates with the thigh and lower leg.

[0025] Figure 2 This is a schematic diagram of the structure of the knee joint device in some embodiments of this application.

[0026] Figure 3 This is a schematic diagram of the transmission rod in some embodiments of this application.

[0027] Figure 4 This is another structural schematic diagram of the transmission rod in some embodiments of this application.

[0028] Figure 5 This is another structural schematic diagram of the knee joint device in some embodiments of this application.

[0029] Figure 6 This is a block diagram illustrating the lower limb structure of a robot in some embodiments of this application.

[0030] Figure 7 This is a block diagram of a robot in some embodiments of this application.

[0031] Explanation of reference numerals in the attached drawings: 1. Robot; 1000. Robot lower limb structure; 100. Knee joint device; 10. Drive unit; 11. First rotating wheel; 12. First end face; 20. Knee joint unit; 21. Second rotating wheel; 22. Second end face; 30. Transmission unit; 30a. First transmission end; 30b. Second transmission end; 31. Transmission rod; 32. First connecting rod; 32a. First clearance part; 33. Second connecting rod; 33a. Second clearance part; a1. First axis; a2. Second axis; a3. Third axis; a4. Fourth axis; a5. Fifth axis; j1. First angle; j2. Second angle; j3. Third angle; 40. Controller; 200. Thigh; 210. First connecting end; 220. Second connecting end; 300. Lower leg; 2000. Robot body. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0033] In the description of the embodiments of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] In the description of the embodiments of this application, it should be noted that the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0035] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or devices.

[0036] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating the structure of the knee joint device in some embodiments of this application, in conjunction with the thigh and lower leg. For example... Figure 1 As shown, this application provides a knee joint device 100, which controls the rotation of the lower leg 300 of a robot's lower limb structure 1000 relative to the thigh 200. The thigh 200 has a first connecting end 210 and a second connecting end 220 opposite to each other. The first connecting end 210 is used to connect to a robot body 2000, and the second connecting end 220 is connected to the lower leg 300. The knee joint device 100 includes a drive unit 10, a knee joint unit 20, and a transmission unit 30. The drive unit 10 is positioned in the thigh 200 closer to the first connecting end 210 than the second connecting end 220. The knee joint unit 20 is rotatably connected between the second connecting end 220 and the lower leg 300, such that the second connecting end 220 and the lower leg 300 are rotatably connected through the knee joint unit 20. The transmission unit 30 is connected between the drive unit 10 and the knee joint unit 20. The transmission unit 30 is used to drive the knee joint unit 20 to rotate under the drive of the drive unit 10 when the drive unit 10 is working, so that the lower leg 300 rotates relative to the thigh 200.

[0037] Therefore, the knee joint device 100 described above in this application, by setting the drive unit 10 in the thigh 200 closer to the first connection end 210 than the second connection end 220, can amplify the output torque when needed (such as squatting and standing up, pushing off the ground). The transmission unit 30 is configured to drive the knee joint unit 20 to rotate under the drive of the drive unit 10, which can efficiently transmit the power of the drive unit 10 to the lower leg 300 and significantly reduce the rotational inertia of the lower leg 300. This allows the lower leg 300 to swing rapidly like a pendulum, providing a basis for achieving high stride frequency running and agile turning, thereby supporting the robot's lower limb structure 1000 to complete high dynamic movements.

[0038] Please refer to the following: Figure 2 , Figure 2 This is a schematic diagram of the knee joint device in some embodiments of this application. For example... Figure 1 , Figure 2As shown, the transmission unit 30 includes at least two transmission rods 31, each transmission rod 31 having a first transmission end 30a and a second transmission end 30b. The drive unit 10 includes a first rotating wheel 11, and the knee joint unit 20 includes a second rotating wheel 21. The first transmission end 30a of each transmission rod 31 is connected to the first rotating wheel 11, and the second transmission end 30b of each transmission rod 31 is connected to the second rotating wheel 21. The first rotating wheel 11 is used to rotate in a first rotation plane to enable the drive unit 10 to operate, and the second rotating wheel 21 is used to rotate in a second rotation plane. The first rotation plane and the second rotation plane are parallel or coplanar. When the first rotating wheel 11 rotates, it drives each transmission rod 31 to move. At least two transmission rods 31 cooperate to drive the second rotating wheel 21 of the knee joint unit 20 to rotate, causing the lower leg 300 to rotate relative to the thigh 200.

[0039] Therefore, the knee joint device 100 described above in this application, through the transmission rod 31 between the first rotating wheel 11 and the second rotating wheel 21, can work together to drive the second rotating wheel 21 of the knee joint unit 20 to rotate, thereby realizing the rotation of the lower leg 300 relative to the thigh 200. And through at least two transmission rods 31, a high rigidity structural design can be achieved to prevent the knee joint unit 20 from deforming or shaking under load, ensuring the accuracy and stability of movement, and being able to withstand impact loads several times greater than the load during standing, landing and other stages.

[0040] In some embodiments, the first rotating wheel 11 may be a rotating motor.

[0041] In some embodiments, the extension direction of each transmission rod 31 is parallel to the first rotation plane and the second rotation plane.

[0042] Therefore, the knee joint device 100 described above in this application, by configuring the extension direction of each transmission rod 31 to be parallel to the first rotation plane and the second rotation plane, can ensure the structural stability of the transmission and improve the transmission efficiency.

[0043] Furthermore, the extension direction of each transmission rod 31 is parallel to the first rotation plane and the second rotation plane, that is, the extension direction of the main body of each transmission rod 31 is parallel to the first rotation plane and the second rotation plane, that is, the extension direction of the part of each transmission rod 31 other than the first transmission end 30a and the second transmission end 30b is parallel to the first rotation plane and the second rotation plane.

[0044] like Figure 1 , Figure 2As shown, the first rotating wheel 11 includes a first end face 12 perpendicular to the rotation center axis of the first rotating wheel 11, and the second rotating wheel 21 includes a second end face 22 perpendicular to the rotation center axis of the second rotating wheel 21. The first transmission ends 30a of at least two transmission rods 31 are fixedly connected to at least two connection positions on the first end face 12, and the second transmission ends 30b of at least two transmission rods 31 are fixedly connected to at least two connection positions on the second end face 22. When the first rotating wheel 11 rotates, it drives the first transmission end 30a of each transmission rod 31 to rotate within the first end face 12 around the rotation center axis of the first rotating wheel 11, so that the corresponding second transmission end 30b rotates within the second end face 22 around the rotation center axis of the second rotating wheel 21. The first end face 12 and the second end face 22 are parallel to the first rotation plane.

[0045] Therefore, the knee joint device 100 described above in this application, by configuring the first transmission end 30a of at least two transmission rods 31 to be fixedly connected to at least two connection positions of the first end face 12, and the second transmission end 30b of at least two transmission rods 31 to be fixedly connected to at least two connection positions of the second end face 22, can drive the second rotating wheel 21 to rotate when the first rotating wheel 11 rotates.

[0046] In some embodiments, the ratio of the distance between the rotation center axis of the first rotating wheel 11 and the second connecting end 220 to the distance between the rotation center axis of the first rotating wheel 11 and the first connecting end 210 is greater than a first distance threshold. This allows the heavier first rotating wheel 11 to be moved upwards as much as possible to optimize dynamic performance.

[0047] Furthermore, the first distance threshold can be set according to specific needs.

[0048] like Figure 1 , Figure 2 As shown, at least two transmission rods 31 include a first connecting rod 32 and a second connecting rod 33. When the first rotating wheel 11 rotates, the movement direction of the first connecting rod 32 is opposite to the movement direction of the second connecting rod 33.

[0049] Therefore, the knee joint device 100 described above in this application is configured such that when the first rotating wheel 11 rotates, the movement direction of the first connecting rod 32 is opposite to the movement direction of the second connecting rod 33, thereby achieving efficient transmission.

[0050] like Figure 1 , Figure 2 As shown, the connecting line between the first transmission end 30a and the second transmission end 30b of the first link 32 is parallel to the connecting line between the first transmission end 30a and the second transmission end 30b of the second link 33.

[0051] Therefore, the knee joint device 100 described above in this application can further achieve efficient transmission by configuring the first link 32 and the second link 33 to be arranged in a substantially parallel manner.

[0052] Among them, such as Figure 2 The first axis a1 shown is the connecting line between the first transmission end 30a and the second transmission end 30b of the first connecting rod 32, and the second axis a2 is the connecting line between the first transmission end 30a and the second transmission end 30b of the second connecting rod 33.

[0053] like Figure 1 , Figure 2 As shown, when the axis of the thigh 200 coincides with the axis of the calf 300, the acute angle formed by the connecting line between the first transmission end 30a and the second transmission end 30b of the first link 32 and / or the connecting line between the first transmission end 30a and the second transmission end 30b of the second link 33 and the axis of the calf 300 is less than the first preset angle.

[0054] Therefore, the knee joint device 100 described above in this application can achieve a larger angle of movement by configuring the first link 32 and / or the second link 33 at a first preset angle when the axis of the thigh 200 coincides with the axis of the lower leg 300, thereby improving the flexibility of the lower limb mechanism of the robot 1.

[0055] Among them, such as Figure 2 The third axis a3 shown is the axis of the thigh 200, and the first angle j1 is the acute angle formed by the connecting line between the first transmission end 30a and the second transmission end 30b of the first link 32 and / or the connecting line between the first transmission end 30a and the second transmission end 30b of the second link 33 and the axis of the lower leg 300.

[0056] In some embodiments, the first angle j1 can be between 2° and 10°. For example, the first angle j1 can be 4°.

[0057] like Figure 1 , Figure 2 As shown, when the axis of the thigh 200 coincides with the axis of the calf 300, the acute angle formed by the connecting line between the first transmission end 30a of the first link 32 and the first transmission end 30a of the second link 33 and the axis of the thigh 200 is greater than the acute angle formed by the connecting line between the second transmission end 30b of the first link 32 and the second transmission end 30b of the second link 33 and the axis of the thigh 200.

[0058] Therefore, the knee joint device 100 described above in this application can provide a better transmission effect by configuring the angle of the drive part to be greater than the angle of the transmission part.

[0059] Among them, such as Figure 2The fourth axis a4 shown is the connecting line between the first transmission end 30a of the first link 32 and the first transmission end 30a of the second link 33. The fifth axis a5 is the connecting line between the second transmission end 30b of the first link 32 and the second transmission end 30b of the second link 33. The second angle j2 is the acute angle formed by the connecting line between the first transmission end 30a of the first link 32 and the first transmission end 30a of the second link 33 and the axis of the thigh 200. The third angle j3 is the acute angle formed by the connecting line between the second transmission end 30b of the first link 32 and the second transmission end 30b of the second link 33 and the axis of the thigh 200.

[0060] In some embodiments, the second angle j2 can be between 50° and 80°, and the third angle j3 can be between 30° and 60°. For example, the second angle j2 can be 60°, and the third angle j3 can be 45°.

[0061] In some embodiments, the distance from the first transmission end 30a of the first connecting rod 32 to the rotation center axis of the first rotating wheel 11 is equal to the distance from the first transmission end 30a of the second connecting rod 33 to the rotation center axis of the first rotating wheel 11, and the distance from the second transmission end 30b of the first connecting rod 32 to the rotation center axis of the second rotating wheel 21 is equal to the distance from the second transmission end 30b of the second connecting rod 33 to the rotation center axis of the second rotating wheel 21. That is, the two first transmission ends 30a of the first connecting rod 32 and the second connecting rod 33 are fixedly connected to the two connection positions of the first end face 12, and the two connection positions are on the same ring with the rotation center axis of the first rotating wheel 11 as the center; the two second transmission ends 30b of the first connecting rod 32 and the second connecting rod 33 are fixedly connected to the two connection positions of the second end face 22, and the two connection positions are on the same ring with the rotation center axis of the second rotating wheel 21 as the center.

[0062] Therefore, the knee joint device 100 described above in this application can improve the stability of the structure by configuring the first link 32 and the second link 33 in a basically symmetrical manner.

[0063] In some embodiments, the lengths of the first link 32 and the second link 33 are not the same.

[0064] Therefore, the knee joint device 100 described above in this application can adjust the length of the lever according to specific needs by configuring the length of the first link 32 and the length of the second link 33 to be different.

[0065] Furthermore, the length of the first link 32 is less than the length of the second link 33, meaning the main body of the first link 32 is shorter than the main body of the second link 33. In other words, the length of the portion of the first link 32 excluding the first transmission end 30a and the second transmission end 30b is less than the length of the portion of the second link 33 excluding the first transmission end 30a and the second transmission end 30b. This design better conforms to the human skeletal structure, improving the motion adaptability of the robot's lower limb structure 1000.

[0066] Specifically, the main body of the aforementioned transmission rod 31, namely the transmission rod 31, may also include a rod body, the two ends of which are respectively connected to the first transmission end 30a and the second transmission end 30b.

[0067] In some embodiments, the first link 32 and / or the second link 33 may be straight rods or curved rods.

[0068] Please refer to the following: Figure 3 , Figure 3 This is a schematic diagram of the transmission rod structure in some embodiments of this application. For example... Figure 1 , Figure 2 , Figure 3 As shown, when both the first link 32 and the second link 33 are arc-shaped, the bending directions of the first link 32 and the second link 33 are different.

[0069] Please refer to the following: Figure 4 , Figure 4 This is another structural schematic diagram of the transmission rod in some embodiments of this application. For example... Figure 1 , Figure 2 , Figure 4 As shown, the first link 32 has a first clearance portion 32a, and the second link 33 has a second clearance portion 33a. The first clearance portion 32a is disposed at a position of the first link 32 near the second transmission end 30b of the second link 33, and is used to clear the second transmission end 30b of the second link 33. The second clearance portion 33a is disposed at a position of the second link 33 near the first transmission end 30a of the first link 32, and is used to clear the first transmission end 30a of the first link 32.

[0070] Therefore, the knee joint device 100 described above in this application, by providing a clearance part, can further improve the flexibility and mobility of the robot's lower limb structure 1000.

[0071] In some embodiments, both the first clearance portion 32a and the second clearance portion 33a can be polygonal.

[0072] In some embodiments, the lengths of the first link 32 and / or the second link 33 may vary. Specifically, when the first rotating wheel 11 rotates, the first link 32 and / or the second link 33 extend and retract with the change in the rotation angle of the first rotating wheel 11, thereby causing the lengths of the first link 32 and / or the second link 33 to change.

[0073] Therefore, the knee joint device 100 described above in this application, by configuring the length of the first link 32 and / or the second link 33 to be variable, enables the robot's lower limb structure 1000 to absorb and store impact energy when landing, and release the energy when squatting and standing up and pushing off the ground, which greatly improves energy utilization efficiency and protects precision components from impact damage.

[0074] In some embodiments, the minimum length of the first link 32 and / or the second link 33 is greater than a first length threshold.

[0075] In some embodiments, the first link 32 and / or the second link 33 may be a hydraulic rod, a spring rod, or other rod that can extend and retract with changes in the rotation angle of the first rotating wheel 11. That is, the first link 32 and / or the second link 33 may include a first sub-rod, a second sub-rod, and an elastic element, with the elastic element connected between the first sub-rod and the second sub-rod.

[0076] In some embodiments, the length of the first link 32 can be varied. Specifically, when the first rotating wheel 11 rotates, the first link 32 extends or retracts with the change in the rotation angle of the first rotating wheel 11, thereby changing the length of the first link 32. This maintains a balance between structural strength and structural cushioning, better conforming to human skeletal design.

[0077] Please refer to the following: Figure 5 , Figure 5 This is another structural schematic diagram of the knee joint device in some embodiments of this application. For example... Figure 1 , Figure 5 As shown, the extension and damping values ​​of the first link 32 and / or the second link 33 are adjustable. The knee joint device 100 also includes a controller 40, which controls the rotation of the first rotating wheel 11 and adjusts the extension and damping values ​​of the first link 32 and / or the second link 33 according to the working state of the robot lower limb structure 1000.

[0078] Therefore, the knee joint device 100 described above in this application, by configuring the extension and contraction damping values ​​of the first link 32 and / or the second link 33 to be adjustable, can not only adjust the length of the first link 32 and / or the second link 33, but also controllably adjust the rate of change of the length of the first link 32 and / or the second link 33. Thus, when a stable state is required, the rate of change of the length of the first link 32 and / or the second link 33 is relatively small, while when a flexible state such as running and jumping is required, the rate of change of the length of the first link 32 and / or the second link 33 is relatively large.

[0079] In some embodiments, the controller 40 can be used to control the extension and contraction damping value of the elastic element of the first link 32 and / or the second link 33, so as to control the extension and contraction damping value of the first link 32 and / or the second link 33.

[0080] In some embodiments, the extension damping value of the first link 32 is adjustable. The knee joint device 100 also includes a controller 40, which controls the rotation of the first rotating wheel 11 and adjusts the extension damping value of the first link 32 according to the working state of the robot lower limb structure 1000.

[0081] In some embodiments, the working states of the robot lower limb structure 1000 include a stable state and a flexible state. Specifically, the controller 40 is configured to, when the robot lower limb structure 1000 is in a stable state, control the extension and retraction damping value of the first link 32 to vary within a first damping range, and / or control the extension and retraction damping value of the second link 33 to vary within a second damping range; and when the robot lower limb structure 1000 is in a flexible state, control the extension and retraction damping value of the first link 32 to vary within a third damping range, and / or control the extension and retraction damping value of the second link 33 to vary within a fourth damping range.

[0082] Therefore, the knee joint device 100 described above in this application can adjust different damping ranges according to different working conditions.

[0083] Furthermore, the minimum expansion damping value within the first damping range is less than or equal to any expansion damping value within the third damping range, and / or the minimum expansion damping value within the second damping range is less than or equal to any expansion damping value within the fourth damping range.

[0084] In some embodiments, the controller 40 is configured to determine whether the robot lower limb structure 1000 is in a stable or flexible state based on one or more parameters, including the weight of the robot lower limb structure 1000, the pressure value between the second rotating wheel 21 and the lower leg 300, the rotation speed of the first rotating wheel 11, and the rotation speed of the second rotating wheel 21.

[0085] Furthermore, the controller 40 is used to determine whether the robot's lower limb structure 1000 is in a stable or flexible state based on the pressure value between the second rotating wheel 21 and the lower leg 300 and the rotation speed of the first rotating wheel 11.

[0086] In some embodiments, the controller 40 may also work in conjunction with data from the six-dimensional force sensor on the sole of the lower leg 300 and the inertial sensor of the robot body 2000 to jointly determine whether the robot's lower limb structure 1000 is in a stable or flexible state.

[0087] In some embodiments, the controller 40 may be a general-purpose processor such as a central processing unit (CPU), or a digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate logic devices, transistor logic devices, or other logic control devices. It may also be a microprocessor such as a micro control unit (MCU).

[0088] The knee joint device 100 of this application, through the above-described structure, uses a high-rigidity drive unit 10, a knee joint unit 20, and a transmission unit 30 as the skeleton of the robot's lower limb structure 1000. Specifically, at least two transmission rods 31 with elastic elements in the transmission unit 30 serve as the muscles and tendons of the robot's lower limb structure 1000, and cooperate with the controller 40 as the intelligent control brain of the robot's lower limb structure 1000, thus obtaining a knee joint device 100 that combines high load, high dynamics, high energy efficiency, and high safety.

[0089] Please see Figure 6 , Figure 6 This is a block diagram illustrating the lower limb structure of a robot in some embodiments of this application. For example... Figure 6 As shown, this application also provides a robot lower limb structure 1000, which includes a thigh 200, a lower leg 300, and a knee joint device 100. The thigh 200 is used to connect to a robot body 2000. The knee joint device 100 is used to control the rotation of the lower leg 300 relative to the thigh 200.

[0090] Please refer to it again. Figure 1 .like Figure 1As shown, the thigh 200 has a first connecting end 210 and a second connecting end 220. The first connecting end 210 is used to connect to the robot body 2000, and the second connecting end 220 is used to connect to the lower leg 300. The knee joint device 100 includes a drive unit 10, a knee joint unit 20, and a transmission unit 30. The drive unit 10 is positioned in the thigh 200 closer to the first connecting end 210 than the second connecting end 220. The knee joint unit 20 is rotatably connected between the second connecting end 220 and the lower leg 300, so that the second connecting end 220 and the lower leg 300 are rotatably connected through the knee joint unit 20. The transmission unit 30 is connected between the drive unit 10 and the knee joint unit 20. When the drive unit 10 is working, the transmission unit 30 drives the knee joint unit 20 to rotate under the drive of the drive unit 10, so that the lower leg 300 rotates relative to the thigh 200.

[0091] For a more detailed description of the knee joint device 100, please refer to the relevant content of the knee joint device 100 in any of the foregoing embodiments, which will not be repeated here.

[0092] The knee joint device 100 and the robot lower limb structure 1000 of this application, through the above structure, use a high-rigidity drive unit 10, knee joint unit 20 and transmission unit 30 as the skeleton of the robot lower limb structure 1000, specifically use at least two transmission rods 31 with elastic elements in the transmission unit 30 as the muscles and tendons of the robot lower limb structure 1000, and cooperate with the controller 40 as the intelligent control brain of the robot lower limb structure 1000, so that a knee joint device 100 with high load, high dynamics, high energy efficiency and high safety can be obtained.

[0093] Please see Figure 7 , Figure 7 This is a block diagram illustrating the robot in some embodiments of this application. For example... Figure 7 As shown, this application also provides a robot 1, which includes a robot body 2000 and a robot lower limb structure 1000. The robot lower limb structure 1000 is used to drive the robot body 2000 to move.

[0094] Please refer to it again. Figure 6 .like Figure 6 As shown, the robot's lower limb structure 1000 includes a thigh 200, a lower leg 300, and a knee joint device 100. The thigh 200 is used to connect to a robot body 2000. The knee joint device 100 is used to control the rotation of the lower leg 300 relative to the thigh 200.

[0095] For a more detailed description of the robot's lower limb structure 1000, please refer to the relevant content of the robot's lower limb structure 1000 in any of the foregoing embodiments, which will not be repeated here.

[0096] In some embodiments, robot 1 may include two robotic lower limb structures 1000.

[0097] The knee joint device 100, the robot lower limb structure 1000, and the robot 1 of this application, through the above-mentioned structure, use a high-rigidity drive unit 10, a knee joint unit 20, and a transmission unit 30 as the skeleton of the robot lower limb structure 1000. Specifically, at least two transmission rods 31 with elastic elements in the transmission unit 30 serve as the muscles and tendons of the robot lower limb structure 1000, and cooperate with the controller 40 as the intelligent control brain of the robot lower limb structure 1000, so that a knee joint device 100 with high load, high dynamics, high energy efficiency, and high safety can be obtained.

[0098] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Where there is no conflict, the embodiments and features in the embodiments of this application can be combined with each other. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A knee joint device characterized by comprising: The application relates to a knee joint device for controlling the rotation of a lower limb structure of a robot, wherein the lower limb structure comprises a thigh having a first connecting end and a second connecting end, the first connecting end is used for connecting with a main body of the robot, and the second connecting end is connected with a shank. The knee joint device comprises: a driving unit arranged in the thigh and closer to the second connecting end than to the first connecting end; a knee joint unit rotatably connected between the second connecting end and the shank, so that the second connecting end and the shank are rotatably connected through the knee joint unit; a transmission unit connected between the driving unit and the knee joint unit; when the driving unit works, the transmission unit drives the knee joint unit to rotate under the driving of the driving unit, so that the shank rotates relative to the thigh. The transmission unit comprises at least two transmission rods, the at least two transmission rods comprise a first connecting rod and a second connecting rod, the length of the first connecting rod and / or the second connecting rod is changeable, and the extension damping value of the first connecting rod and / or the second connecting rod is adjustable, and the knee joint device further comprises a controller used for controlling the adjustment of the extension damping value of the first connecting rod and / or the second connecting rod according to the working state of the lower limb structure of the robot. The working state of the lower limb structure of the robot comprises a stable state and a flexible state, the controller is used for controlling the adjustment of the extension damping value of the first connecting rod to change in a first damping range and / or controlling the adjustment of the extension damping value of the second connecting rod to change in a second damping range when the lower limb structure of the robot is in the stable state, and the controller is used for controlling the adjustment of the extension damping value of the first connecting rod to change in a third damping range and / or controlling the adjustment of the extension damping value of the second connecting rod to change in a fourth damping range when the lower limb structure of the robot is in the flexible state.

2. The knee joint device according to claim 1, characterized by Each transmission rod has a first transmission end and a second transmission end. The driving unit comprises a first rotating wheel, the knee joint unit comprises a second rotating wheel, the first transmission end of each transmission rod is connected with the first rotating wheel, the second transmission end of each transmission rod is connected with the second rotating wheel, the first rotating wheel is used for rotating in a first rotating plane to make the driving unit work, and the second rotating wheel is used for rotating in a second rotating plane, the first rotating plane is parallel or coplanar with the second rotating plane. When the first rotating wheel rotates, each transmission rod is driven to move, and the at least two transmission rods cooperatively drive the second rotating wheel of the knee joint unit to rotate, so that the shank rotates relative to the thigh.

3. The knee joint device according to claim 2, characterized by The extension direction of each transmission rod is parallel to the first rotating plane and the second rotating plane.

4. The knee joint device according to claim 3, characterized by The first rotating wheel comprises a first end surface perpendicular to a rotating central axis of the first rotating wheel, the second rotating wheel comprises a second end surface perpendicular to a rotating central axis of the second rotating wheel, the first transmission end of each of the at least two transmission rods is fixedly connected to at least two connection positions of the first end surface respectively, and the second transmission end of each of the at least two transmission rods is fixedly connected to at least two connection positions of the second end surface respectively. When the first rotating wheel rotates, the first transmission end of each transmission rod rotates around the rotating central axis of the first rotating wheel in the first end surface, so that the corresponding second transmission end rotates around the rotating central axis of the second rotating wheel in the second end surface, and the first end surface and the second end surface are parallel to the first rotating plane.

5. The knee joint device according to claim 2, characterized by When the first rotating wheel rotates, the movement direction of the first connecting rod is opposite to the movement direction of the second connecting rod.

6. The knee joint device according to claim 5, characterized by The connecting line between the first transmission end and the second transmission end of the first connecting rod is parallel to the connecting line between the first transmission end and the second transmission end of the second connecting rod.

7. The knee joint device according to claim 5, characterized by When the axis of the thigh coincides with the axis of the calf, the acute angle formed by the connecting line between the first transmission end and the second transmission end of the first connecting rod and / or the connecting line between the first transmission end and the second transmission end of the second connecting rod and the axis of the calf is less than a first preset angle.

8. The knee joint device according to claim 5, characterized by When the axis of the thigh coincides with the axis of the calf, the acute angle formed by the connecting line between the first transmission end of the first connecting rod and the first transmission end of the second connecting rod and the axis of the thigh is greater than the acute angle formed by the connecting line between the second transmission end of the first connecting rod and the second transmission end of the second connecting rod and the axis of the thigh.

9. The knee joint device according to claim 5, characterized by The distance from the first transmission end of the first connecting rod to the rotating central axis of the first rotating wheel is equal to the distance from the first transmission end of the second connecting rod to the rotating central axis of the first rotating wheel, and the distance from the second transmission end of the first connecting rod to the rotating central axis of the second rotating wheel is equal to the distance from the second transmission end of the second connecting rod to the rotating central axis of the second rotating wheel.

10. The knee joint device according to claim 5, characterized by The length of the first connecting rod is not equal to the length of the second connecting rod.

11. The knee joint device according to claim 5, characterized by The first connecting rod has a first avoiding part, and the second connecting rod has a second avoiding part, wherein the first avoiding part is arranged at a position close to the second transmission end of the second connecting rod and is used for avoiding the second transmission end of the second connecting rod, and the second avoiding part is arranged at a position close to the first transmission end of the first connecting rod and is used for avoiding the first transmission end of the first connecting rod.

12. The knee joint device according to claim 2, characterized by When the first rotating wheel rotates, the first connecting rod and / or the second connecting rod stretch and contract with the change of the rotating angle of the first rotating wheel, so that the length of the first connecting rod and / or the second connecting rod changes.

13. The knee joint device according to claim 2, characterized by, The controller is further used for controlling the rotation of the first rotating wheel.

14. The knee joint device according to claim 1, characterized by, The minimum extension damping value in the first damping range is less than or equal to any extension damping value in the third damping range, and / or the minimum extension damping value in the second damping range is less than or equal to any extension damping value in the fourth damping range.

15. The knee joint device according to claim 2, characterized by The controller is configured to determine that the robot lower limb structure is in the stable state or the flexible state according to one or more parameters selected from the group consisting of the weight of the robot lower limb structure, the pressure value between the second rotating wheel and the lower leg, the rotating speed of the first rotating wheel, and the rotating speed of the second rotating wheel.

16. A robotic lower leg structure, characterized by, The knee joint device according to any one of claims 1-15, wherein the knee joint device is configured to control the rotation of the lower leg relative to the upper leg. The knee joint device according to any one of claims 1-15, wherein the knee joint device is configured to control the rotation of the lower leg relative to the upper leg. The robot lower limb structure according to claim 16, wherein the robot lower limb structure is configured to drive the robot body to move. The robot lower limb structure according to claim 16, wherein the robot lower limb structure is configured to drive the robot body to move.

17. A robot, characterized in that ​ ​ ​

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