Driving mechanism and leg structure of humanoid robot and humanoid robot

Abstract

The invention discloses a driving mechanism and a leg structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, and solves the problems of poor impact resistance and short service life of a transmission driving mechanism. According to the technical scheme, the driving mechanism comprises a motor fixed to the first limb and a hinge base arranged on the second limb, an adapter is arranged at the output end of the motor and provided with a torque output end, the hinge base is provided with a torque input end, and the torque output end is provided with a torque output end. The adapter transmits the torque of the motor to the hinge seat through the concave-convex matching of the torque output end and the torque input end, a buffer pad is arranged on a torque transmission path between the torque output end and the torque input end, and the buffer pad is used for filtering the mutual impact between the adapter and the hinge seat in the torque transmission process. Impact force between the adapter and the hinge seat can be relieved mainly through the buffer pad, and the abrasion degree of the adapter and the hinge seat is reduced.

Description

TECHNICAL FIELD

[0001] The application discloses a driving mechanism of a humanoid robot, a leg structure of the humanoid robot and the humanoid robot, and belongs to the technical field of humanoid robots. BACKGROUND

[0002] With the rapid development of artificial intelligence technology and its deep integration with traditional robot industry, humanoid robots have higher simulation degree, and the leg structure of the humanoid robot, as the most important supporting component and moving component of the robot, has attracted more and more attention and research. The research on the leg structure not only has great scientific significance, but also has great potential in practical application.

[0003] The operation of each component of the robot is driven by a driving motor. The driving motor outputs torque to the corresponding component to enable the corresponding component to realize rotation, swing and other actions to simulate the limb action of the human body. In the existing robot, the output end of the driving motor is directly and rigidly connected with a transmission mechanism. In actual use, there is a large impact force at the connection of each component of the robot during operation, especially the leg structure of the humanoid robot. Because the two leg structures of the humanoid robot are in phase contact with the ground during operation of the humanoid robot, especially when the humanoid robot runs, a large impact force is applied to the joint of the leg structure. The traditional rigid connection accelerates the wear of the driving motor and the transmission mechanism, thereby reducing the service life of the leg structure and reducing the impact resistance. SUMMARY

[0004] The application aims to solve the problems of poor impact resistance and low service life of the transmission driving mechanism. To this end, the driving mechanism of the humanoid robot, the leg structure of the humanoid robot and the humanoid robot are provided. The impact force between the adapter and the hinge seat can be reduced by the buffer pad, and the wear degree of the adapter and the hinge seat can be reduced.

[0005] To solve the above technical problems, the application adopts the following technical solutions: The driving mechanism of the humanoid robot, the humanoid robot comprising a first limb and a second limb hingedly connected to each other, the driving mechanism comprising a motor fixed to the first limb and a hinge seat arranged on the second limb, the motor being provided with an adapter at the output end, the adapter having a torque output end, the hinge seat having a torque input end, the adapter transmitting the torque of the motor to the hinge seat through the concave-convex cooperation of the torque output end and the torque input end, and a buffer pad being arranged on the torque transmission path of the torque output end and the torque input end, the buffer pad being used to filter the mutual impact between the adapter and the hinge seat during torque transmission.

[0006] The application has the following beneficial effects: The adapter has a torque output end, the hinged seat has a torque input end, and a buffer pad is arranged on the torque transmission path between the torque output end and the torque input end. The buffer pad can reduce the impact force between the adapter and the hinged seat, reduce the wear degree of the adapter and the hinged seat caused by the impact force, and thus can significantly prolong the service life of the adapter and the hinged seat, so that the humanoid robot has better operation performance. In addition, the buffer pad is arranged between the torque output end of the adapter and the torque input end of the hinged seat, and the buffer pad can absorb the impact force between the adapter and the hinged seat caused by torque transmission, so that the connection between the first limb and the second limb can withstand greater impact force, and the impact resistance of the humanoid robot can be significantly improved, providing a basis for high-frequency and high-speed operation of the humanoid robot, and thus the performance of the humanoid robot can be comprehensively improved. Secondly, the adapter transmits torque to the hinged seat through the buffer pad, without the need to set up a connecting rod or other transmission structure, which can greatly shorten the transmission distance of torque, reduce energy loss in the power transmission process, make the transmission of torque more accurate and reliable, help to improve the control performance of the motor on the second limb, and make the movement of the second limb more flexible and accurate.

[0007] Preferably, the buffer pad separates the direct contact between the torque output end and the torque input end, and the adapter acts on the hinged seat through the buffer pad and transmits torque to the hinged seat. By adopting the foregoing technical solution, the adapter and the hinged seat are connected in transmission through the buffer pad, and in the torque transmission path, the adapter and the hinged seat do not produce direct contact, which can further reduce the wear degree of the adapter and the hinged seat caused by the impact force, and can significantly prolong the service life of the adapter and the hinged seat.

[0008] Preferably, one of the adapter and the hinged seat is provided with a plurality of outwardly protruding protrusions, the protrusions are distributed in a circumferential interval, the other is provided with a positioning groove for embedding the protrusions, the adapter and the hinged seat are connected in rotation-stopping cooperation through the concave-convex cooperation of the protrusions and the positioning groove, and the buffer pad is filled between the side walls of the protrusions and the positioning groove. By adopting the foregoing technical solution, in the process of rotation of the adapter, the hinged seat is driven to rotate through the abutting cooperation of the protrusions and the side walls of the positioning groove. By utilizing the cooperation of the protrusions and the positioning groove, the contact area between the adapter and the hinged seat can be increased, and thus the acting force between the adapter and the hinged seat can be dispersed, so that the stress of the adapter and the hinged seat is more uniform, and the possibility of damage caused by stress concentration is reduced. In addition, the adapter and the hinged seat mainly transmit power through the protrusions and the positioning groove, and therefore the buffer pad is filled between the side walls of the protrusions and the positioning groove, which can effectively reduce the impact force on the protrusions and the positioning groove, reduce the possibility of damage of the protrusions and the positioning groove, and significantly prolong the service life of the adapter and the hinged seat.

[0009] As preferred, the buffer pad comprises a plurality of buffer blocks, the two sides of the protruding block are fixed with buffer blocks in the rotation direction of the adapter, and the buffer blocks are limited between the protruding block and the side wall of the positioning groove after the adapter is embedded in the positioning groove. By using the foregoing technical scheme, the torque transmission of the adapter and the hinged seat is mainly generated between the side wall of the protruding block and the side wall of the positioning groove, the buffer pad is arranged between the side wall of the protruding block and the side wall of the positioning groove, the impact force transmitted between the adapter and the hinged seat can be effectively absorbed, the utilization rate of the buffer pad can be significantly improved, and the buffering effect of the buffer pad can be improved; in addition, the distance between the protruding block and the positioning groove in the axial direction can be reduced, the assembly between the adapter and the hinged seat is more compact, and the assembly stability of the adapter and the hinged seat can be improved.

[0010] As preferred, the buffer pad further comprises a connecting ring, the connecting ring is coaxially arranged with the adapter, the buffer blocks are circumferentially and spacedly arranged on the outer periphery of the connecting ring, and the connecting ring and the buffer blocks are in an integral structure. By using the foregoing technical scheme, the connecting ring and the buffer blocks are in an integral structure, the entire buffer pad is a whole, the assembly difficulty of the buffer pad can be reduced, and the assembly efficiency of the buffer pad can be improved; in addition, all the buffer blocks are connected with the connecting ring, the connecting ring can disperse the force received by the buffer blocks, the stress of all the buffer blocks is more uniform, one of the buffer blocks is prevented from being damaged due to excessive stress, and the buffering performance of the buffer pad can be improved.

[0011] As preferred, the buffer pad is wrapped on the outer surface of the protruding block, and the buffer pad is attached to the groove wall of the positioning groove after the protruding block is embedded in the positioning groove. By using the foregoing technical scheme, the protruding block is wrapped by the buffer pad, direct contact between the protruding block and the positioning groove can be avoided, the wear degree of the protruding block and the positioning groove can be effectively reduced, and the service life of the protruding block and the positioning groove can be further improved.

[0012] As preferred, the protruding block is arranged on the end face of the adapter facing the hinged seat, the positioning groove is arranged on the end face of the hinged seat facing the adapter, the protruding block is provided with a connecting hole in the axial direction of the adapter, and the protruding block is connected with the hinged seat through a fastener. By using the foregoing technical scheme, the fastener can improve the connection stability of the adapter and the hinged seat, reduce the possibility of relative shaking of the adapter and the hinged seat, make the connection of the adapter and the hinged seat more stable, and make the torque transmission more accurate and reliable; in addition, the fastener connects the protruding block and the hinged seat in the axial direction, the adapter drives the hinged seat to rotate through circumferential rotation, therefore, the external force received by the fastener is small in the torque transmission process, the possibility of damage of the fastener is reduced; secondly, the connecting hole is arranged on the protruding block, the protruding block has better strength due to the larger thickness, therefore, the protruding block can provide reliable support for the fastener, the possibility of damage of the connecting hole is reduced, so that the adapter and the hinged seat can form a reliable connection.

[0013] Preferably, the buffer pad is made of rubber, polyurethane or silicone with elasticity.

[0014] Preferably, the motor comprises a motor body and a gear box, the adapter is coaxially arranged at one end of the gear box, and the gear box is rotatably connected to the hinge seat through the adapter at one end and rotatably connected to the hinge seat at the other end.

[0015] Preferably, the hinge seat comprises a bottom plate and first and second side plates arranged on both sides of the bottom plate, the adapter is fixedly connected to the first side plate, the gear box is provided with a groove at the end away from the adapter, the side wall of the groove is annular and close to the edge of the gear box, the second side plate is provided with a convex ring extending along the axial direction of the gear box, the convex ring is embedded in the groove and rotatably matched with the groove, and a shaft sleeve is assembled between the convex ring and the groove. By the foregoing technical solution, the side wall of the groove is close to the edge of the gear box, that is, the inner diameter of the groove is close to the diameter of the gear box, so that the groove has a larger inner diameter, the gear box is rotatably connected to the hinge seat through the cooperation of the groove and the convex ring, the shaft formed by the gear box has a larger diameter, and the larger the diameter of the shaft, the smaller the force acting on the gear box, so that the gear box can withstand a larger external force, reducing the possibility of damage to the gear box, thereby improving the strength of the hinge joint between the first and second limbs.

[0016] Preferably, the first side plate and the bottom plate are in an integrated structure, the bottom plate is provided with an assembly groove on the side away from the first side plate, the second side plate is detachably mounted in the assembly groove, and the bottom wall of the assembly groove supports the second side plate. By the foregoing technical solution, the adapter is fixedly connected to the first side plate, and the adapter transmits torque to the first side plate, so the first side plate is subjected to a larger force. The integrated structure of the first side plate and the bottom plate can enhance the strength of the first side plate, reduce the possibility of damage to the first side plate, and enable the first side plate to withstand a larger torque. In addition, the detachable connection between the second side plate and the bottom plate can facilitate the assembly of the gear box and the hinge seat, improve the assembly efficiency of the gear box and the hinge seat, make the assembly of the first and second side plates and the gear box more compact, and further improve the assembly stability of the gear box and the hinge seat, and can also avoid deformation or breakage of the first and second side plates due to forced installation of the gear box. Furthermore, the assembly groove supports the second side plate, which can improve the load-bearing performance of the second side plate and further increase the connection stability of the hinge seat and the gear box.

[0017] Preferably, the gear box is provided with a rotating shaft, the rotating shaft is in transmission connection with the output end of the motor body through a bevel gear, one end of the rotating shaft is in transmission connection with an inertia disc through a speed reduction mechanism, and the adapter is coaxially arranged and fixedly connected to the inertia disc.

[0018] The application further discloses a leg structure of a humanoid robot, which comprises a thigh mechanism, a shank mechanism, a foot end and a plurality of driving mechanisms for driving the thigh mechanism, the shank mechanism and the foot end to move, wherein the driving mechanisms are the driving mechanisms as any one of the above.

[0019] The application further discloses a humanoid robot, which comprises a trunk and a leg structure rotationally connected to the trunk, wherein the leg structure is the leg structure as any one of the above.

[0020] Other features and advantages of the application will be illustrated in the following specific embodiments and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] The application will be further described below in combination with the drawings: Figure 1 Fig. 1 is a structural schematic view of a driving mechanism of a humanoid robot according to the application; Figure 2 Fig. 2 is an exploded view of a first limb and a second limb in the driving mechanism of the humanoid robot according to the application; Figure 3 Fig. 3 is a structural schematic view of the first limb in the driving mechanism of the humanoid robot according to the application; Figure 4 Fig. 4 is a structural schematic view of a buffer pad in the driving mechanism of the humanoid robot according to the application; Figure 5 Fig. 5 is a structural schematic view of a hinge seat in the driving mechanism of the humanoid robot according to the application; Figure 6 Fig. 6 is an exploded view of the hinge seat in the driving mechanism of the humanoid robot according to the application; Figure 7 Fig. 7 is a structural schematic view of a leg structure according to the application; Figure 8 Fig. 8 is a structural schematic view of a humanoid robot according to the application.

[0022] Fig. 1 is a structural schematic view of a driving mechanism of a humanoid robot according to the application; DETAILED DESCRIPTION

[0023] The technical solutions of the embodiments of the present application are explained and described below in combination with the drawings of the embodiments of the present application. The following embodiments are only preferred embodiments of the present application, and are not all. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present application.

[0024] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0025] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0026] Embodiment one: As Figures 1 to 6As shown in the figure, this embodiment illustrates a drive mechanism for a humanoid robot. The humanoid robot includes a first limb 11 and a second limb 21 that are hinged together. The drive mechanism includes a motor 10 fixed to the first limb 11 and a hinge seat 20 disposed at the end of the second limb 21. The motor 10 and the hinge seat 20 are rotatably connected, thereby realizing the hinge between the first limb 11 and the second limb 21. The output end of the motor 10 is provided with a converter 103 for outputting torque. The converter 103 has a torque output end, and the hinge seat 20 has a torque input end. The converter 103 is connected to the torque input end through a concave-convex fit between the torque output end and the torque input end. The hinge seat 20 transmits the torque of the motor 10. After the motor 10 starts, it drives the adapter 103 to rotate, so as to realize the torque output of the adapter 103. A buffer pad 104 is provided on the torque transmission path between the torque output end and the torque input end. The buffer pad 104 filters the mutual impact between the adapter 103 and the hinge seat 20 during the torque transmission process. When the motor body 101 drives the adapter 103 to rotate, the adapter 103 outputs torque and drives the hinge seat 20 to rotate through the buffer pad 104. During the process of the adapter 103 driving the buffer pad 104 to rotate, the buffer pad 104 is squeezed between the adapter 103 and the hinge seat 20.

[0027] In this embodiment, the adapter 103 has a torque output end, and the hinge seat 20 has a torque input end. A buffer pad 104 is provided on the torque transmission path between the torque output end and the torque input end. The buffer pad 104 can reduce the impact force between the adapter 103 and the hinge seat 20, reduce the wear caused by the impact force, and thus significantly extend the service life of the adapter 103 and the hinge seat 20, giving the humanoid robot better operating performance. In addition, the buffer pad 104 is disposed between the torque output end of the adapter 103 and the torque input end of the hinge seat 20, and the buffer pad 104 can absorb the impact force between the adapter 103 and the hinge seat 20. The impact force generated by the torque transmission between the two limbs enables the connection between the first limb 11 and the second limb 21 to withstand greater impact force, which can significantly improve the impact resistance of the humanoid robot and provide a foundation for the high-frequency and high-speed operation of the humanoid robot, thereby comprehensively improving the performance of the humanoid robot. Secondly, the adapter 103 transmits torque to the hinge seat 20 through the buffer pad 104, eliminating the need for transmission structures such as linkages. This can significantly shorten the torque transmission distance, reduce energy loss during power transmission, and make the torque transmission more accurate and reliable. This helps to improve the control performance of the motor 10 on the second limb 21, making the movement of the second limb 21 more flexible and precise.

[0028] Regarding the specific structure of the first limb 11 and the second limb 21, as follows: Figure 1 and Figure 2As shown, in this embodiment, the first limb 11 is the thigh mechanism 1 of the humanoid robot, and the second limb 21 is the lower leg mechanism 2 of the humanoid robot. It includes a thigh body and a motor 10. The motor 10 is fixed to the bottom end of the thigh body. The overall size of the motor 10 is similar to that of the thigh body. The motor 10 serves as an extension of the thigh body. That is, the thigh body and the motor 10 are connected to form the thigh mechanism 1. The thigh mechanism 1 is rotatably connected to the top end of the lower leg mechanism 2 through the gearbox 102 of the motor 10. The structure of the lower leg mechanism 2 is similar to that of the thigh mechanism 1. The lower leg mechanism 2 also includes a lower leg body and a motor 10. The top end of the lower leg body forms a hinge seat 20 that is rotatably connected to the gearbox 102. The motor 10 of the lower leg mechanism 2 is fixed to the bottom end of the lower leg body. The motor 10 of the lower leg mechanism 2 also serves as an extension of the lower leg body. The thigh mechanism 1 and the lower leg mechanism 2 use the same motor 10.

[0029] It should be noted that in this embodiment, the drive mechanism is located at the connection between the thigh mechanism 1 and the lower leg mechanism 2. It is understood that in other embodiments, the drive mechanism may also be located at the connection between other components and the motor 10. For example, the drive mechanism may be located at the connection between the humanoid robot's hip 41 and the thigh mechanism 1, where the first limb 11 is the humanoid robot's hip 41 and the second limb 21 is the humanoid robot's thigh mechanism 1. Alternatively, the drive mechanism may be located at the connection between the humanoid robot's lower leg mechanism 2 and the foot end 3, where the first limb 11 is the humanoid robot's lower leg mechanism 2 and the second limb 21 is the humanoid robot's foot end 3. Alternatively, the drive mechanism may be located at the connection between the humanoid robot's torso 4 and the upper arm, where the first limb 11 is the humanoid robot's torso 4 and the second limb 21 is the humanoid robot's upper arm. Alternatively, the drive mechanism may be located at the connection between the humanoid robot's upper arm and forearm, where the first limb 11 is the humanoid robot's upper arm and the second limb 21 is the humanoid robot's forearm.

[0030] Specifically, in this embodiment, the motor 10 includes a motor body 101 and a gearbox 102. The gearbox 102 includes a housing, inside which a rotating shaft and a reduction mechanism are provided. The housing and the rotating shaft are coaxially arranged. One end of the housing is coaxially provided with a torque output adapter 103. The rotating shaft is connected to the adapter 103 via the reduction mechanism. The rotation of the rotating shaft drives the adapter 103 to rotate, allowing the adapter 103 to rotate relative to the housing, thereby achieving torque output from the adapter 103. The gearbox 102 is fixed to the motor body 101. At the bottom, the overall structure of the housing is cylindrical. The output end of the motor body 101 extends into the gearbox 102 and is connected to the rotating shaft for transmission. The axial direction of the rotating shaft is perpendicular to the axial direction of the output end of the motor body 101. The output end is connected to the rotating shaft for transmission through a bevel gear. The rotating shaft is connected to an inertia disk through a reduction mechanism. The adapter 103 is fixedly connected to the inertia disk. The adapter 103 rotates synchronously with the inertia disk. One end of the gearbox 102 is rotatably connected to one side of the hinge seat 20 through the adapter 103, and the other end is directly rotatably connected to the hinge seat 20.

[0031] Specifically, such as Figure 1 and Figure 2 As shown, the hinge seat 20 in this embodiment includes a base plate 201 and a first side plate 202 and a second side plate 203 disposed on both sides of the base plate 201. When the first limb 11 and the second limb 21 are assembled, the housing of the gearbox 102 is rotatably installed between the first side plate 202 and the second side plate 203. The adapter 103 at one end of the gearbox 102 is fixedly connected to the first side plate 202, and the other end of the gearbox 102 is rotatably connected to the second side plate 203. When the motor 10 is started, the adapter 103 rotates relative to the housing under the drive of the motor 10. The adapter 103 drives the entire hinge seat 20 to rotate around the gearbox 102 through the first side plate 202, thereby realizing the swing of the second limb 21 relative to the first limb 11.

[0032] Specifically, such as Figure 3 and Figure 5As shown, in this embodiment, the adapter 103 has several protruding protrusions 1031 on the side facing away from the gearbox 102. These protrusions 1031 are the torque output ends, and are spaced circumferentially. The first side plate 202 has a positioning groove 2021 on the side facing the second side plate 203. This positioning groove 2021 is the torque input end. The size of the protrusions 1031 is smaller than the size of the positioning groove 2021. After the protrusions 1031 are embedded in the positioning groove 2021, there is a gap between the sidewalls of the protrusions 1031 and the positioning groove 2021. A buffer pad 104 fills the gap between the protrusions 1031 and the groove wall of the positioning groove 2021. The protrusions 1031 and the buffer pad 104, combined with the positioning groove 2021, achieve a concave-convex fit, so that the adapter 103 and the first side plate 202 form an anti-rotation fit. During the rotation of the adapter 103, the protrusions 1031 and the... The sidewall of the positioning groove 2021 engages to drive the hinge seat 20 to rotate. The engagement of the protrusion 1031 with the positioning groove 2021 increases the contact area between the adapter 103 and the hinge seat 20, thereby dispersing the force between them and making the stress distribution more uniform. This reduces the possibility of stress concentration leading to damage to the adapter 103 and hinge seat 20. Furthermore, since the adapter 103 and hinge seat 20 primarily transmit power through the protrusion 1031 and positioning groove 2021, filling the space between the protrusion 1031 and the sidewall of the positioning groove 2021 with the buffer pad 104 effectively reduces the impact force on the protrusion 1031 and positioning groove 2021, lowering the likelihood of damage and significantly extending the service life of the adapter 103 and hinge seat 20.

[0033] It should be noted that the buffer pad 104 described in this embodiment is made of elastic rubber, polyurethane, or silicone.

[0034] It is understandable that in other embodiments, the protrusion 1031 may also be disposed on the end face of the hinge seat 20 facing the adapter 103, and the corresponding positioning groove 2021 may be disposed on the end face of the adapter 103 facing the hinge seat 20.

[0035] Specifically, in this embodiment, the buffer pad 104 includes several buffer blocks 1041. Buffer blocks 1041 are fixed on both sides of the protrusion 1031 in the rotation direction of the adapter 103. After the adapter 103 is inserted into the positioning groove 2021, the buffer blocks 1041 are confined between the protrusion 1031 and the sidewalls of the positioning groove 2021. That is, there are two buffer blocks 1041 in the same positioning groove 2021, and the two buffer blocks 1041 are respectively located on both sides of the protrusion 1031 and abut against the two sidewalls of the positioning groove 2021. The torque transmission between the adapter 103 and the hinge seat 20 is mainly... If the impact occurs between the sidewall of the protrusion 1031 and the sidewall of the positioning groove 2021, placing the buffer pad 104 between the sidewall of the protrusion 1031 and the sidewall of the positioning groove 2021 can effectively absorb the impact force transmitted between the adapter 103 and the hinge seat 20, significantly improving the utilization rate of the buffer pad 104 and enhancing its buffering effect. In addition, it can also reduce the axial distance between the protrusion 1031 and the positioning groove 2021, making the assembly between the adapter 103 and the hinge seat 20 more compact and helping to improve the assembly stability of the adapter 103 and the hinge seat 20.

[0036] Regarding the specific structure of the buffer pad 104, as follows: Figure 4 As shown, in this embodiment, the buffer pad 104 includes a connecting ring 1042 and buffer blocks 1041. The buffer blocks 1041 are distributed at intervals along the circumference of the connecting ring 1042 on the outer periphery of the connecting ring 1042, and the buffer blocks 1041 and the connecting ring 1042 are an integral structure. The buffer pad 104 has a plum blossom-shaped structure. When the buffer pad 104 is installed on the adapter 103, the connecting ring 1042 and the adapter 103 are coaxially arranged, and the connecting ring 1042 and the buffer blocks 1041 are... The integrated structure makes the entire buffer pad 104 a single unit, which reduces the assembly difficulty of the buffer pad 104 and helps to improve the assembly efficiency of the buffer pad 104. In addition, all buffer blocks 1041 are connected to the connecting ring 1042. The connecting ring 1042 can distribute the force on the buffer block 1041, making the force on all buffer blocks 1041 more even, preventing one buffer block 1041 from being damaged due to excessive force, and helping to improve the buffering performance of the buffer pad 104.

[0037] It is understandable that in other embodiments, the buffer pad 104 may also be wrapped around the outer surface of the protrusion 1031. After the protrusion 1031 is embedded in the positioning groove 2021, the buffer pad 104 fits against the groove wall of the positioning groove 2021. The buffer pad 104 wraps around the protrusion 1031, which can prevent the protrusion 1031 from having direct contact with the positioning groove 2021, thereby effectively reducing the wear of the protrusion 1031 and the positioning groove 2021, and further improving the service life of the protrusion 1031 and the positioning groove 2021.

[0038] To improve the connection stability between the adapter 103 and the first side plate 202, in this embodiment, the protrusion 1031 is provided with a connecting hole 1032 in the axial direction of the adapter 103. The protrusion 1031 is connected to the hinge seat 20 by a fastener. The fastener can improve the connection stability between the adapter 103 and the first side plate 202, reduce the possibility of relative wobbling between the adapter 103 and the first side plate 202, and make the connection between the adapter 103 and the first side plate 202 more stable and the torque transmission more accurate and reliable. In addition, the fastener provides support to the protrusion in the axial direction. Block 1031 is connected to the first side plate 202, and the adapter 103 drives the first side plate 202 to rotate by circumferential rotation. Therefore, during torque transmission, the torque on the fastener is small, reducing the possibility of fastener damage. Secondly, the connecting hole 1032 is set on the protrusion 1031. The protrusion 1031 itself has better strength due to its larger thickness. Therefore, the protrusion 1031 can provide reliable support for the fastener, reducing the possibility of connecting hole 1032 damage, so that the adapter 103 and the first side plate 202 can form a reliable connection.

[0039] Specifically, such as Figure 5 As shown, in this embodiment, the gearbox 102 has a groove at one end away from the adapter 103. The sidewall of the groove is annular and close to the edge of the gearbox 102. The second side plate 203 has a protruding ring 2031 on the side facing the first side plate 202. The protruding ring 2031 extends along the axial direction of the gearbox 102. After the gearbox 102 is assembled with the hinge seat 20, the protruding ring 2031 extends into the groove and forms a rotational fit with the groove through the bushing. The sidewall of the groove is close to the edge of the gearbox 102, that is, the inner diameter of the groove is close to the diameter of the gearbox 102, so that the groove has a larger inner diameter. The gearbox 102 is rotatably connected to the hinge seat 20 through the fit between the groove and the protruding ring 2031. The rotating shaft formed by the gearbox 102 has a larger diameter. The larger the diameter of the rotating shaft, the smaller the force on the gearbox 102, so that the gearbox 102 can withstand greater external force, reduce the possibility of damage to the gearbox 102, and thus improve the strength of the hinge joint between the first limb 11 and the second limb 21.

[0040] Specifically, such as Figure 6As shown, in this embodiment, the first side plate 202 and the bottom plate 201 are an integral structure. The bottom plate 201 has an assembly groove 2013 on the side facing away from the first side plate 202. The second side plate 203 is detachably connected to the assembly groove 2013 by bolts. After the second side plate 203 is installed into the assembly groove 2013, the bottom wall of the assembly groove 2013 provides support for the second side plate 203. During the assembly process of the gearbox 102 and the hinge seat 20, the second side plate 203 is first disassembled so that one end of the gearbox 102 is fixedly connected to the first side plate 202 through the adapter 103. Then, the second side plate 203 is installed into the assembly groove 2013 so that the convex ring 2031 of the second side plate 203 forms a rotational fit with the groove of the gearbox 102. Since the adapter 103 transmits torque to the first side plate 202, the force on the first side plate 202 is relatively large. The base plate 201 is an integral structure, which can enhance the strength of the first side plate 202, reduce the possibility of damage to the first side plate 202, and enable the first side plate 202 to withstand greater torque. In addition, the second side plate 203 is detachably connected to the base plate 201, which can facilitate the assembly of the gearbox 102 and the hinge seat 20, help improve the assembly efficiency of the gearbox 102 and the hinge seat 20, and at the same time make the assembly of the first side plate 202, the second side plate 203 and the gearbox 102 more compact, thereby improving the assembly stability of the gearbox 102 and the hinge seat 20, and also preventing the first side plate 202 and the second side plate 203 from deforming or breaking due to the forced installation of the gearbox 102. Secondly, the assembly groove 2013 provides support for the second side plate 203, which can improve the load-bearing capacity of the second side plate 203, thereby increasing the connection stability between the hinge seat 20 and the gearbox 102.

[0041] Example 2: like Figure 7 As shown in the figure, this embodiment illustrates a leg structure, including a thigh mechanism 1, a calf mechanism 2, and a foot end 3. Motors 10 are installed in each of the thigh mechanism 1, calf mechanism 2, and foot end 3. The thigh mechanism 1 is hinged to the top of the calf mechanism 2 via the motor 10. The motor 10 of the thigh mechanism 1 drives the calf mechanism 2 to swing relative to the thigh mechanism 1. The calf mechanism 2 is hinged to the top of the foot end 3 via the motor 10. The motor 10 of the calf mechanism 2 drives the foot end 3 to swing relative to the calf mechanism 2. The motor 10 of the foot end 3 drives the foot plate of the foot end 3 to swing laterally. In this embodiment, a driving mechanism is provided at the connection between the thigh mechanism 1 and the calf mechanism 2, and at the connection between the calf mechanism 2 and the foot end 3. The driving mechanism is the same as that described in Embodiment 1.

[0042] Example 3: like Figure 8As shown in the figure, this embodiment illustrates a humanoid robot, which includes a torso 4, a hip 41 at the bottom of the torso 4, and leg structures rotatably connected to both sides of the hip 41. The leg structures adopt the leg structure described in Embodiment 2.

[0043] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. A drive mechanism for a humanoid robot, the humanoid robot comprising a first limb and a second limb hinged together, characterized in that, The drive mechanism includes a motor fixed to the first limb and a hinge seat disposed on the second limb. The output end of the motor is provided with an adapter, which has a torque output end. The hinge seat has a torque input end. The adapter transmits the motor torque to the hinge seat through the concave-convex fit between the torque output end and the torque input end. A buffer pad is provided on the torque transmission path between the torque output end and the torque input end. The buffer pad filters the mutual impact between the adapter and the hinge seat during the torque transmission process.

2. The driving mechanism of the humanoid robot according to claim 1, characterized in that, The buffer pad isolates the torque output end from direct contact with the torque input end, and the adapter acts on the hinge seat through the buffer pad and transmits the torque to the hinge seat.

3. The drive mechanism for the humanoid robot according to claim 2, characterized in that, One of the adapter and the hinge seat is provided with several protruding protrusions, which are circumferentially spaced. The other is provided with a positioning groove for the protrusions to be inserted. The adapter and the hinge seat achieve anti-rotation fit through the convex-concave fit between the protrusions and the positioning groove. The buffer pad is filled between the sidewalls of the protrusions and the positioning groove.

4. The drive mechanism for the humanoid robot according to claim 3, characterized in that, The buffer pad includes several buffer blocks. In the rotation direction of the adapter, buffer blocks are fixed on both sides of the protrusion. After the protrusion is embedded in the positioning groove, the buffer blocks are restricted between the protrusion and the side wall of the positioning groove.

5. The drive mechanism for the humanoid robot according to claim 4, characterized in that, The buffer pad also includes a connecting ring, which is coaxially arranged with the adapter. The buffer blocks are circumferentially spaced on the outer periphery of the connecting ring, and the connecting ring and the buffer blocks are an integral structure.

6. The drive mechanism for the humanoid robot according to claim 3, characterized in that, The buffer pad is wrapped around the outer surface of the protrusion, and after the protrusion is embedded in the positioning groove, the buffer pad fits against the groove wall of the positioning groove.

7. The drive mechanism for the humanoid robot according to claim 3, characterized in that, The protrusion is disposed on the end face of the adapter facing the hinge seat, the positioning groove is disposed on the end face of the hinge seat facing the adapter, the protrusion has a connecting hole in the axial direction of the adapter, and the protrusion is connected to the hinge seat by fasteners.

8. The drive mechanism for the humanoid robot according to claim 1, characterized in that, The cushioning pad is made of elastic rubber, polyurethane, or silicone.

9. The drive mechanism for the humanoid robot according to claim 1, characterized in that, The motor includes a motor body and a gearbox. An adapter is coaxially disposed at one end of the gearbox. One end of the gearbox is rotatably connected to the hinge seat through the adapter, and the other end of the gearbox is rotatably connected to the hinge seat.

10. The drive mechanism for the humanoid robot according to claim 9, characterized in that, The hinge base includes a base plate and a first side plate and a second side plate disposed on both sides of the base plate. The adapter is fixedly connected to the first side plate. The gearbox has a groove at the end away from the adapter. The side wall of the groove is annular and close to the edge of the gearbox. The second side plate has a convex ring extending along the axial direction of the gearbox. The convex ring is embedded in the groove and rotates with the groove. A bushing is assembled between the convex ring and the groove.

11. The drive mechanism for the humanoid robot according to claim 10, characterized in that, The first side plate and the bottom plate are an integral structure. The bottom plate has an assembly groove on the side facing away from the first side plate. The second side plate can be detachably installed in the assembly groove, and the bottom wall of the assembly groove supports the second side plate.

12. The drive mechanism for the humanoid robot according to claim 9, characterized in that, The gearbox is equipped with a rotating shaft, which is connected to the output end of the motor body via a bevel gear transmission. One end of the rotating shaft is connected to an inertia disk via a reduction mechanism. The adapter is coaxially arranged with the inertia disk and fixedly connected.

13. The leg structure of a humanoid robot, characterized in that, It includes a thigh mechanism, a lower leg mechanism, a foot end, and several drive mechanisms, wherein the drive mechanisms are used to drive the thigh mechanism, the lower leg mechanism, and the foot end to perform actions, and the drive mechanisms are the drive mechanisms described in any one of claims 1 to 12.

14. A humanoid robot, characterized in that, The humanoid robot includes a torso and a leg structure rotatably connected to the torso, wherein the leg structure adopts the leg structure as described in claim 13.

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