A thigh assembly and leg assembly of a humanoid robot

Abstract

This application provides a thigh assembly for a humanoid robot, including a thigh body and a rocker arm structure. The thigh body includes a thigh support, a first connector, and a second connector. The first connector is rotatably connected to a first side of the thigh support, and the second connector is rotatably connected to a second side of the thigh support. The rocker arm structure includes a first rocker arm and a second rocker arm. The first rocker arm includes a first connecting end and a second connecting end, and the second rocker arm includes a third connecting end and a fourth connecting end. The first connecting end of the first rocker arm is rotatably connected to the first connector, the third connecting end of the second rocker arm is rotatably connected to the second connector, and the second connecting end of the first rocker arm is rotatably connected to the fourth connecting end of the second rocker arm. When the first connector and the second connector are subjected to tensile force, the rocker arm structure can transmit and share the force between the first connector and the second connector, thereby reducing the lateral load on the first connector and the second connector and preventing deformation of the first connector and the second connector.

Description

Technical Field

[0001] This application relates primarily to the field of humanoid robots, and more particularly to a thigh assembly and leg assembly for a humanoid robot. Background Technology

[0002] Existing thigh assemblies typically include a first connector and a second connector. The first connector is located on a first side of the thigh support and is rotatably connected to the thigh support; the second connector is located on a second side of the thigh support and is also rotatably connected to the thigh support. A linear push rod is connected to the first connector via a universal joint, and another linear push rod is connected to the second connector via a universal joint. Driven by the two linear push rods, the first and second connectors rotate around their respective axes of rotation. In this structure, the first and second connectors are each connected to the thigh support through only one fulcrum; when the humanoid robot's thigh assembly is subjected to an external impact, the first and second connectors are prone to deformation, shortening their service life.

[0003] In addition, the thigh assembly includes two connecting rods, which are connected to the first and second connecting members respectively via universal joints. The universal joints of the two connecting rods are coaxially aligned with the universal joints of the linear push rod. A pin can pass through the universal joints of one connecting rod and the linear push rod to connect the connecting rod to the linear push rod. The other ends of the two connecting rods are rotatably connected to the hip-to-hip connection structure. The connecting rods and the linear push rod, configured in this way, are not collinear in their projections onto the planes of the first and second directions. When the linear push rod moves, the thrust is transmitted upwards through the pins to the connecting rods. Since forces are mutual, an overturning moment is generated at the center of the linear push rod and connecting rod during this thrust transmission process, potentially damaging the connecting members and reducing their reliability and stability. During this thrust transmission process, the connecting rods also sway laterally and form an angle with the linear push rod. At this angle, through force decomposition, the connecting rod will generate a component force along the pin axis. This component force may exert tension or thrust on the first or second connecting member, thereby causing deformation of the first and second connecting members and shortening their service life.

[0004] Therefore, there is an urgent need for a new type of thigh assembly to prevent deformation of the first and second connectors and extend their service life. Summary of the Invention

[0005] This application addresses the technical problem of easy deformation of the first and second connecting members by providing a thigh assembly for a humanoid robot. The humanoid robot includes a hip and a lower leg, and the thigh assembly can be connected to both the hip and the lower leg. The thigh assembly includes a thigh body and a rocker arm structure. The thigh body includes a thigh support, a first connecting member, and a second connecting member. The first connecting member is rotatably connected to a first side of the thigh support, and the second connecting member is rotatably connected to a second side of the thigh support. The rocker arm structure includes a first rocker arm and a second rocker arm. The first rocker arm includes a first connecting end and a second connecting end, and the second rocker arm includes a third connecting end and a fourth connecting end. The rocker arm structure is disposed between the first and second connecting members. The first connecting end of the first rocker arm is rotatably connected to the first connecting member, the third connecting end of the second rocker arm is rotatably connected to the second connecting member, and the second connecting end of the first rocker arm is rotatably connected to the fourth connecting end of the second rocker arm.

[0006] In one embodiment of this application, the first connecting end has a first rotation axis, and the third connecting end has a second rotation axis, wherein the first rotation axis and the second rotation axis are not collinear.

[0007] In one embodiment of this application, the first connector and the second connector are symmetrically arranged, and both the first connector and the second connector include a first fork-shaped connecting portion; the first fork-shaped connecting portion includes a first ear plate and a second ear plate arranged opposite to each other, a first mounting groove is formed between the first ear plate and the second ear plate, the first ear plate is provided with a first mounting hole and a second mounting hole, and the first mounting hole and the second mounting hole are provided with a preset distance; the first connecting end is rotatably connected to the second mounting hole of the first connector, and the third connecting end is rotatably connected to the first mounting hole of the second connector.

[0008] In one embodiment of this application, the thigh body further includes a first push rod and a second push rod. The first push rod includes a first push rod body and a first output rod. The first push rod body is provided with a first universal joint. The second push rod includes a second push rod body and a second output rod. The second push rod body is provided with a second universal joint. The first universal joint and the second universal joint are rotatably connected to the thigh bracket through a first fastener.

[0009] In one embodiment of this application, the first output rod includes a third universal joint, and the second output rod includes a fourth universal joint; the third universal joint is disposed in the first mounting groove of the first connector, and the third universal joint is coaxially disposed with the second mounting hole of the first connector, and the third universal joint is rotatably mounted in the first mounting groove of the first connector by a second fastener; the fourth universal joint is disposed in the first mounting groove of the second connector, and the fourth universal joint is rotatably mounted in the first mounting groove of the second connector by a third fastener.

[0010] In one embodiment of this application, the thigh body further includes a hip connection structure, which is also connected to the hip. The hip connection structure is disposed on the upper side of the thigh support, and the hip connection structure and the thigh support are rotatably connected by a cross shaft. The hip connection structure includes a second fork-shaped connection portion, which includes a third ear plate and a fourth ear plate disposed opposite to each other. The third ear plate is provided with a third mounting hole, and the fourth ear plate is provided with a fourth mounting hole. The third mounting hole and the fourth mounting hole are coaxially disposed.

[0011] In one embodiment of this application, the thigh body further includes a first connecting rod and a second connecting rod. The projection of the first connecting rod onto the plane containing the first and second directions is collinear with the projection of the first output rod onto the plane containing the first and second directions. The projection of the second connecting rod onto the plane containing the first and second directions is collinear with the projection of the second output rod onto the plane containing the first and second directions. One end of the first connecting rod is rotatably connected to the first connecting member, and the other end of the first connecting rod is rotatably connected to the third mounting hole. One end of the second connecting rod is rotatably connected to the second connecting member, and the other end of the second connecting rod is rotatably connected to the fourth mounting hole.

[0012] In one embodiment of this application, the first link includes a fifth universal joint and a sixth universal joint disposed opposite to each other, and the second link includes a seventh universal joint and an eighth universal joint disposed opposite to each other; the fifth universal joint is disposed in the first mounting groove of the first connector, and the fifth universal joint is coaxially disposed with the first mounting hole of the first connector, and the fifth universal joint is rotatably connected to the first connector through a fourth fastener; the seventh universal joint is disposed in the first mounting groove of the second connector, and the seventh universal joint is coaxially disposed with the first mounting hole of the second connector, and the seventh universal joint is rotatably connected to the second connector through a fifth fastener; the sixth universal joint is rotatably connected to the third mounting hole, and the eighth universal joint is rotatably connected to the fourth mounting hole; the hip connection structure can rotate around the cross axis by the drive of the first link and the second link.

[0013] In one embodiment of this application, the first connector is further provided with a first rolling support member, which abuts against the thigh support. When the first connector rotates, the first rolling support member can roll on the thigh support. The second connector is further provided with a second rolling support member, which abuts against the thigh support. When the second connector rotates, the second rolling support member can roll on the thigh support.

[0014] The thigh assembly of the humanoid robot provided in this application forms a linked support structure between the first and second connecting members through a rocker arm structure. When the first and second connecting members are subjected to tension, the rocker arm structure can act as a buffer, and can even offset the tension on both, without affecting the rotation of the first and second connecting members. This avoids deformation of the first and second connecting members and extends their service life.

[0015] To address the aforementioned technical problems, this application also provides a leg assembly for a humanoid robot. The leg assembly includes the thigh assembly as described above, and the leg assembly also includes a lower leg, with the thigh assembly connected to the lower leg.

[0016] The leg assembly of the humanoid robot provided in this application has a stable structure and a long service life because the thigh assembly is not easily deformed and the force transmission structure is stable. Attached Figure Description

[0017] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of this application. In the drawings: Figure 1 This is a perspective view of a thigh assembly provided in an embodiment of this application; Figure 2 This is another perspective view of the thigh assembly provided in one embodiment of this application; Figure 3 This is a perspective view of the first connector provided in an embodiment of this application; Figure 4 This is a perspective view of a rocker arm structure provided in an embodiment of this application; Figure 5 This is another perspective view of the thigh assembly provided in one embodiment of this application; Figure 6 This is a perspective view of the linkage, connector, hip connection structure and thigh support connection provided in an embodiment of this application; Figure 7 This is another perspective view of the linkage, connector, hip connection structure and thigh support connection provided in one embodiment of this application.

[0018] Figure label: Thigh assembly, 100; Thigh body, 110; Rocker arm structure, 120; Thigh bracket, 111; First connector, 112; Second connector, 113; First fork-shaped connector, 116; First ear plate, 117; Second ear plate, 118; First mounting groove, 119; First mounting hole, 130; Second mounting hole, 131; First bearing, 132; Fourth bearing, 133; Protective cover plate, 134; First fastener, 135; First side of thigh bracket, 114; Second side of thigh bracket, 115; First rocker arm, 121; First connecting end, 122; Second connecting end, 123; Second rocker arm, 124; Third connecting end, 125; Fourth connecting end, 126; First push rod, 140; First Push rod body, 141; First output rod, 142; First universal joint, 143; Third universal joint, 144; Second push rod, 150; Second push rod body, 151; Second output rod, 152; Second universal joint, 153; Fourth universal joint, 154; First connecting rod, 160; Fifth universal joint, 161; Sixth universal joint, 162; Second connecting rod, 170; Seventh universal joint, 171; Eighth universal joint, 172; Hip connection structure, 180; Cross shaft, 181; Second fork-shaped connection, 182; Third ear plate, 183; Fourth ear plate, 184; Third mounting hole, 185; Fourth mounting hole, 186; First rolling support, 190; First direction, z; Second direction, y; Third direction, x. Detailed Implementation

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0020] As indicated in this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0021] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0022] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0023] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0024] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0025] This application provides a thigh assembly 100 for a humanoid robot, the humanoid robot including a lower leg and a hip, the thigh assembly 100 being capable of connecting to the hip and the lower leg. Figure 1 As shown, the thigh assembly 100 includes a thigh body 110 and a rocker arm structure 120. (As indicated...) Figures 1-2 and Figure 4 As shown, the thigh body 110 includes a thigh support 111, a first connector 112, and a second connector 113. The first connector 112 is rotatably connected to a first side 114 of the thigh support 111, and the second connector 113 is rotatably connected to a second side 115 of the thigh support 111. A rocker arm structure 120 is disposed between the first connector 112 and the second connector 113. The rocker arm structure 120 includes a first rocker arm 121 and a second rocker arm 124. The first rocker arm 121 includes a first connecting end 122 and a second connecting end 123, and the second rocker arm 124 includes a third connecting end 125 and a fourth connecting end 126. The first connecting end 122 of the first rocker arm 121 is rotatably connected to the first connector 112, the third connecting end 125 of the second rocker arm 124 is rotatably connected to the second connector 113, and the second connecting end 123 of the first rocker arm 121 is rotatably connected to the fourth connecting end 126 of the second rocker arm 124. In some embodiments, a bearing is provided on the first connecting end 122 and a bearing is also provided on the third connecting end 125. With the bearings provided, the first connecting end 122 can be stably rotatably connected to the first connecting member 112, and the third connecting end 125 can be stably rotatably connected to the second connecting member 113.

[0026] In some embodiments, such as Figures 1-3 As shown, the first connector 112 and the second connector 113 are symmetrically arranged. The first end of the first connector 112 is provided with a first bearing 132; the first end of the second connector 113 is provided with a second bearing (not shown). A pin passes through the first bearing 132, the thigh support 111, and the second bearing, rotatably connecting the first connector 112 to the first side 114 of the thigh support 111, and rotatably connecting the second connector 113 to the second side 115 of the thigh support 111.

[0027] In some embodiments, such as Figure 2 and Figure 4 As shown, the second connecting end 123 of the first rocker arm 121 is provided with a third bearing (not shown), and the fourth connecting end 126 of the second rocker arm 124 is provided with a fourth bearing 133. The third bearing and the fourth bearing 133 are coaxially arranged. The second connecting end 123 and the fourth connecting end 126 are rotatably connected by a pin, which passes through the third bearing and the fourth bearing.

[0028] The humanoid robot thigh assembly 100 provided in this application forms a linkage support structure between the first connector 112 and the second connector 113 via a rocker arm structure 120. When the first connector 112 and the second connector 113 are subjected to tension, the rocker arm structure 120 can transmit and share the force between the first connector 112 and the second connector 113, thereby reducing the lateral load on the first connector 112 and the second connector 113 without affecting their rotation. This avoids deformation of the first connector 112 and the second connector 113, extending their service life.

[0029] In some embodiments, such as Figure 2 and Figure 4 As shown, the first rocker arm 121 and the second rocker arm 124 are not symmetrically arranged. The first connecting end 122 has a first rotation axis, and the third connecting end 125 has a second rotation axis; the first and second rotation axes are not collinear. For example, the first connecting end 122 and the third connecting end 125 can be staggered. It should be noted that the first and second rotation axes are not collinear during at least part of the movement of the first connecting end 122 and the third connecting end 125. By staggering the first connecting end 122 and the third connecting end 125, the risk of the first and second rotation axes moving to a collinear state can be reduced. The advantage of this arrangement is that it prevents the first rocker arm 121 and the second rocker arm 124 from getting stuck during rotation, increasing the stability of the rocker arm structure 120. The rotation process of the first rocker arm 121 and the second rocker arm 124 will be described later.

[0030] In some embodiments, such as Figures 1-4As shown, the first connector 112 and the second connector 113 are symmetrically arranged. Both the first connector 112 and the second connector 113 include a first fork-shaped connecting portion 116. The first fork-shaped connecting portion 116 includes a first ear plate 117 and a second ear plate 118 arranged opposite to each other, forming a first mounting groove 119 between the first ear plate 117 and the second ear plate 118. The first ear plate 117 is provided with a first mounting hole 130 and a second mounting hole 131, and the first mounting hole 130 and the second mounting hole 131 are provided with a preset distance. The first connecting end 122 is rotatably connected to the second mounting hole 131 of the first connector 112, and the third connecting end 125 is rotatably connected to the first mounting hole 130 of the second connector 113. In some embodiments, the first connector 112 and the second connector 113 can be two components with the same structure. It should be noted that the preset distance between the first mounting hole 130 and the second mounting hole 131 is to allow the first connecting end 122 and the third connecting end 125 to be misaligned, that is, the first rotation axis and the second rotation axis are not collinear.

[0031] In some embodiments, such as Figure 2 As shown, the thigh body 110 also includes a first push rod 140 and a second push rod 150. The first push rod 140 includes a first push rod body 141 and a first output rod 142. The first push rod body 141 is provided with a first universal joint 143. The second push rod 150 includes a second push rod body 151 and a second output rod 152. The second push rod body 151 is provided with a second universal joint 153. The first push rod body 141 and the second push rod body 151 are rotatably connected to the thigh support 111 by a first fastener 135. The first push rod 140 and the second push rod 150 can be linear push rods. A linear push rod typically includes a drive motor, a transmission assembly, a push rod body, and an output rod. The drive motor and the transmission assembly are disposed within the linear push rod body, and the output rod is at least partially disposed within the linear push rod body. The drive motor is drively connected to the transmission assembly, and the transmission assembly is connected to the output rod. The drive motor can drive the output rod to extend or retract relative to the push rod body through the transmission assembly.

[0032] In some embodiments, continue to refer to Figure 2 and Figure 3As shown, the first output rod 142 includes a third universal joint 144, and the second output rod 152 includes a fourth universal joint 154. The third universal joint 144 is disposed in the first mounting groove 119 of the first connector 112, and the third universal joint 144 is coaxially disposed with the second mounting hole 131 of the first connector 112. The third universal joint 144 is rotatably connected to the first mounting groove 119 of the first connector 112 by a second fastener (not shown). The fourth universal joint 154 is disposed in the first mounting groove 119 of the second connector 113, and the fourth universal joint 154 is coaxially disposed with the second mounting hole 131 of the second connector 113. The fourth universal joint 154 is rotatably mounted in the first mounting groove 119 of the second connector 113 by a third fastener (not shown).

[0033] In some embodiments, such as Figures 1-3 As shown, the first ear plate 117 and the second ear plate 118 of the first connector 112 are symmetrically arranged. The second ear plate 118 is also provided with a first mounting hole 130 and a second mounting hole 131. The first mounting hole 130 of the second ear plate 118 is coaxially arranged with the first mounting hole 130 of the first ear plate 117; the second mounting hole 131 of the second ear plate 118 is coaxially arranged with the second mounting hole 131 of the first ear plate 117. Similarly, the first ear plate 117 and the second ear plate 118 of the second connector 113 are also symmetrically arranged. The structure of the second connector 113 is the same as that of the first connector 112, and will not be described in detail here. The second fastener (not shown in the figure) is sequentially inserted through the second mounting hole 131 of the second ear plate 118 on the first connector 112, the third universal joint 144, the second mounting hole 131 of the first ear plate 117 on the first connector 112, and the first connecting end 122. The third universal joint 144 is rotatably mounted in the first mounting groove 119 of the first connector 112, and the first connecting end 122 is rotatably connected to the second mounting hole 131 of the first ear plate 117 on the first connector 112. A third fastener (not shown) passes through the second mounting hole 131 of the second ear plate 118, the fourth universal joint 154, and the second mounting hole 131 of the first ear plate 117 on the second connector 113. The fourth universal joint 154 is rotatably mounted in the first mounting groove 119. The second and third fasteners can be pins. Driven by the first push rod 140, the first connector 112 can rotate relative to the thigh support 111 about the rotation axis of the first bearing. Similarly, driven by the second push rod 150, the second connector 113 can rotate relative to the thigh support 111 about the rotation axis of the second bearing.

[0034] Continue to refer to Figures 1-3As the first connecting member 112 and the second connecting member 113 rotate relative to the thigh support 111 during movement, the connection angles at both ends of the first push rod 140 and the first connecting member 112 will change accordingly, as will the connection angles at both ends of the second push rod 150 and the second connecting member 113. By providing universal joints at the ends of the first push rod body 141 and the first output rod 142, the first push rod 140 can be deflected at an angle relative to the thigh support 111 or the first connecting member 112, thereby adapting to angle changes during movement, reducing the lateral load on the first push rod 140, reducing jamming, and improving transmission stability. Similarly, by providing universal joints at the ends of the second push rod body 151 and the second output rod 152, the second push rod 150 can be deflected at an angle relative to the thigh support 111 or the second connecting member 113, thereby adapting to angle changes during movement, reducing the lateral load on the second push rod 150, reducing jamming, and improving transmission stability.

[0035] Continue to refer to Figures 1-3 Since the first connecting end 122 of the first rocker arm 121 is rotatably connected to the second mounting hole 131 of the first ear plate 117 on the first connecting member 112, the first connecting member 112 will drive the first rocker arm 121 to move when it rotates relative to the thigh support 111. Assuming the first push rod 140 pushes the first connecting member 112 upwards to rotate, and the second push rod 150 remains stationary, the first connecting member 112 will drive the first connecting end 122 to move, and the first connecting end 122 will drive the second connecting end 123 to move. Since the second connecting end 123 is rotatably connected to the fourth connecting end 126, the second connecting end 123 drives the fourth connecting end 126 to move upwards, and the fourth connecting end 126 in turn drives the third connecting end 125 to rotate.

[0036] When the first push rod 140 is stationary, and the second push rod 150 pushes the second connecting member 113 upward to rotate, the second connecting member 113 drives the third connecting end 125 to move, the third connecting end 125 drives the fourth connecting end 126 to move, the fourth connecting end 126 drives the second connecting end 123 to move, and the second connecting end 123 drives the first connecting end 122 to rotate. In other words, the movement of the first push rod 140 will ultimately only drive the third connecting end 125 to rotate, without affecting the movement of the second push rod 150; similarly, the movement of the second push rod 150 will ultimately only drive the first connecting end 122 to rotate, without affecting the movement of the first push rod 140. When the first connecting member 112 and the second connecting member 113 rotate in the same direction, the rocker arm structure 120 follows the first connecting member 112 to move upward or downward.

[0037] With the rocker arm structure 120 connected, the first push rod 140 and the second push rod 150 can drive the first connecting member 112 and the second connecting member 113 to move respectively, and the rocker arm structure 120 can transmit and balance the force between them, thereby reducing the impact of force on one side on the other side of the structure. When the first connecting member 112 and the second connecting member 113 are subjected to external force impact, the rocker arm structure 120 can transmit and share the force between the first connecting member 112 and the second connecting member 113, thereby reducing the lateral load on the first connecting member 112 and the second connecting member 113, reducing the risk of deformation of the first connecting member 112 and the second connecting member 113, and extending the service life of the thigh assembly 100.

[0038] In some embodiments, such as Figures 5-7 As shown, the thigh body 110 also includes a hip connection structure 180, which is also connected to the hip. The hip connection structure 180 is disposed on the upper side of the thigh support 111, and the hip connection structure 180 and the thigh support 111 are rotatably connected by a cross shaft 181. The hip connection structure 180 includes a second fork-shaped connection portion 182, which includes a third ear plate 183 and a fourth ear plate 184 disposed opposite to each other. The third ear plate 183 is provided with a third mounting hole 185, and the fourth ear plate 184 is provided with a fourth mounting hole 186. The third mounting hole 185 and the fourth mounting hole 186 are coaxially disposed.

[0039] In some embodiments, such as Figures 1-2 as well as Figure 5As shown, the thigh body also includes a first link 160 and a second link 170. The projection of the first link 160 onto the plane containing the first direction z and the second direction y is collinear with the projection of the first output rod 142 onto the plane containing the first direction z and the second direction y. The projection of the second link 170 onto the plane containing the first direction z and the second direction y is collinear with the projection of the second output rod 152 onto the plane containing the first direction z and the second direction y. One end of the first link 160 is rotatably connected to the first connector 112, and the other end of the first link 160 is rotatably connected to the third mounting hole 185. One end of the second link 170 is rotatably connected to the second connector 113, and the other end of the second link 170 is rotatably connected to the fourth mounting hole 186. The first direction z refers to the up-down direction when the thigh assembly 100 is in a standing state, the second direction y refers to the left-right direction, and the third direction x refers to the front-back direction. The first direction z, the second direction y, and the third direction x are all perpendicular to each other, forming an orthogonal coordinate system. This configuration prevents an overturning moment at the center of the connection point between the first link 160 and the first output rod 142, thus avoiding damage to the first connector 112 and improving its reliability and stability. Similarly, no overturning moment is generated at the center of the connection point between the second link 170 and the second output rod 152, preventing damage to the second connector 113 and improving its reliability and stability.

[0040] In some embodiments, such as Figures 5-7As shown, the first connecting rod 160 includes a fifth universal joint 161 and a sixth universal joint 162 arranged opposite to each other, and the second connecting rod 170 includes a seventh universal joint 171 and an eighth universal joint 172 arranged opposite to each other; the fifth universal joint 161 is disposed in the first mounting groove 119 of the first connector 112, and the fifth universal joint 161 is coaxially disposed with the first mounting hole 130 of the first connector 112. The fifth universal joint 161 is rotatably connected to the first connector 112 through a fourth fastener (not shown in the figure); the seventh universal joint 171 is disposed in the first mounting groove 119 of the second connector 113, and the seventh universal joint 171 is coaxially disposed with the first mounting hole 130 of the second connector 113. The seventh universal joint 171 is rotatably connected to the second connector 113 through a fifth fastener (not shown in the figure). The sixth universal joint 162 is rotatably connected to the third mounting hole 185, and the eighth universal joint 172 is rotatably connected to the fourth mounting hole 186; the hip connection structure 180 can rotate around the cross axis 181 through the drive of the first connecting rod 160 and the second connecting rod 170. In some embodiments, the first mounting hole 130 and the second mounting hole 131 of the first ear plate 117 are spaced apart along the third direction x. The fifth universal joint 161 is coaxially arranged with the first mounting hole 130 of the first connector 112, while the first output rod 142 is coaxially arranged with the second mounting hole 131 of the first connector 112. In this arrangement, the projections of the first connecting rod 160 and the first output rod 142 in the plane containing the first direction z and the second direction y are collinear. Similarly, the projections of the second connecting rod 170 and the second output rod 152 in the plane containing the first direction z and the second direction y are collinear. With a collinear configuration, no overturning moment will be generated at the center of the connection point between the first connecting rod 160 and the first output rod 142, which can improve the reliability and stability of the first connecting member 112. Similarly, the reliability and stability of the second connecting member 113 can also be improved.

[0041] In some embodiments, such as Figures 5-7 The fourth fastener passes through the first mounting hole 130 of the second ear plate 118, the first mounting groove 119 of the first connector 112, the fifth universal joint 161, and the first mounting hole 130 of the first ear plate 117 on the first connector 112, rotatably mounting the fifth universal joint 161 into the first mounting groove 119 of the first connector 112. The fifth fastener passes through the first mounting hole 130 of the second ear plate 118, the first mounting groove 119 of the second connector 113, the seventh universal joint 171, the first mounting hole 130 of the first ear plate 117, and the third connecting end 125 on the second connector 113, rotatably mounting the seventh universal joint 171 into the first mounting groove 119 of the second connector 113, and rotatably connecting the third connecting end 125 to the first mounting hole 130 of the first ear plate 117 on the second connector 113.

[0042] In some embodiments, such as Figures 5-7As shown, the sixth universal joint 162 is located on the outer side of the third ear plate 183, and the eighth universal joint 172 is located on the outer side of the fourth ear plate 184. A pin passes through the sixth universal joint 162, the third mounting hole 185, the fourth mounting hole 186, and the eighth universal joint 172, connecting the sixth universal joint 162 to the third mounting hole 185 in a rotatable manner, and the eighth universal joint 172 to the fourth mounting hole 186 in a rotatable manner. Since the hip connection structure 180 can rotate around the cross shaft 181, the included angles formed between the two ends of the first connecting rod 160 and the first connecting member 112 and the hip connection structure 180 will change accordingly; similarly, the included angles formed between the two ends of the second connecting rod 170 and the second connecting member 113 and the hip connection structure 180 will also change accordingly. By setting the universal joints, the first connecting rod 160 and the second connecting rod 170 can be deflected at different angles, thereby adapting to angle changes during the process, reducing link jamming, and improving transmission stability.

[0043] When the first connector 112 and the second connector 113 rotate, the first connector 112 pushes and pulls the first link 160, and the second connector 113 pushes and pulls the second link 170. The first link 160 and the second link 170 can in turn push and pull the hip connection structure 180, causing the hip connection structure 180 to rotate around the cross axis 181. During this movement, the first link 160 and the second link 170 will deflect at an angle, and the two links will generate a component force along the axial direction of the fastener. This component force may apply tension or thrust to the first connector 112 or the second connector 113, thereby causing deformation of the first connector 112 and the second connector 113. By setting up the rocker arm structure 120, the rocker arm structure 120 can transmit and share the force between the first connecting member 112 and the second connecting member 113, thereby reducing the lateral load on the first connecting member 112 and the second connecting member 113, reducing the risk of deformation of the first connecting member 112 and the second connecting member 113, and extending the service life of the thigh assembly 100.

[0044] In some embodiments, such as Figure 2 and Figure 3As shown, the first connecting member 112 is further provided with a first rolling support member 190, which abuts against the thigh support 111. When the first connecting member 112 rotates, the first rolling support member 190 can roll on the thigh support 111. The second connecting member 113 is further provided with a second rolling support member, which abuts against the thigh support 111. When the second connecting member 113 rotates, the second rolling support member can roll on the thigh support 111. In some embodiments, the first rolling support member 190 can be a universal ball assembly, which includes a mounting base and a ball. The mounting base is disposed on the first connecting member 112, and the ball is rotatably disposed within the mounting base, with at least a portion of the ball protruding from the mounting base and abutting against the thigh support 111. When the first connecting member 112 rotates relative to the thigh support 111, the ball can roll relative to the mounting base and along the surface of the thigh support 111 to reduce the frictional resistance between the first connecting member 112 and the thigh support 111. Furthermore, the first rolling support 190 can also support the first connecting member 112, preventing deformation of the first connecting member 112. The structure and function of the second rolling support are the same as those of the first rolling support 190, and will not be described in detail here.

[0045] In some embodiments, such as Figures 1-4 As shown, the first connecting member 112 is also provided with a protective cover plate 134, which is disposed above the first connecting member 112 and fixed to the first connecting member 112 by screws. The protective cover plate 134 can prevent external contaminants from entering the first bearing 132 and affecting the normal operation of the first bearing 132. Similarly, the second connecting member 113 is also provided with a protective cover plate 134, which is disposed above the second connecting member 113 and fixed to the second connecting member 113 by screws. Similarly, protective cover plates 134 can be provided at other bearing or pin locations in the thigh assembly 100, and the size of the protective cover plate 134 can vary depending on its location. For example, the second connecting end 123 and the fourth connecting end 126 are respectively provided with protective cover plates 134, which are fixedly connected to the second connecting end 123 and the fourth connecting end 126 by screws. The protective cover 134 can cover the third bearing and the fourth bearing 133 to prevent external contaminants from entering the third bearing or the fourth bearing 133. The fasteners mentioned in this application can be pins, screws, or hinged shafts.

[0046] The humanoid robot thigh assembly 100 provided in this application forms a linked support structure between the first connector 112 and the second connector 113 via a rocker arm structure 120. When the first connector 112 and the second connector 113 are subjected to tension, the rocker arm structure 120 can act as a buffer, transmitting and distributing the force between the first connector 112 and the second connector 113, thereby reducing the lateral load on the first connector 112 and the second connector 113 without affecting their rotation. This avoids deformation of the first connector 112 and the second connector 113, extending their service life.

[0047] This application also provides a leg assembly for a humanoid robot, the leg assembly including the thigh assembly 100 as described above, the leg assembly also including a lower leg, and the thigh assembly 100 being connected to the lower leg.

[0048] The leg assembly of the humanoid robot provided in this application has a stable structure and a long service life because the thigh assembly 100 is not easily deformed and the force transmission structure is stable.

[0049] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the scope of the exemplary embodiments of this application.

[0050] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0051] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0052] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used to describe embodiments are sometimes modified by the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in this application are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

Claims

1. A thigh assembly for a humanoid robot, characterized in that, The humanoid robot includes a hip and a lower leg, and the thigh assembly can be connected to the hip and the lower leg. The thigh assembly includes a thigh body and a rocker arm structure. The thigh body includes a thigh support, a first connector and a second connector, wherein the first connector is rotatably connected to a first side of the thigh support and the second connector is rotatably connected to a second side of the thigh support. The rocker arm structure is disposed between the first connector and the second connector. The rocker arm structure includes a first rocker arm and a second rocker arm. The first rocker arm includes a first connecting end and a second connecting end. The second rocker arm includes a third connecting end and a fourth connecting end. The first connecting end of the first rocker arm is rotatably connected to the first connecting member, the third connecting end of the second rocker arm is rotatably connected to the second connecting member, and the second connecting end of the first rocker arm is rotatably connected to the fourth connecting end of the second rocker arm.

2. The thigh assembly as claimed in claim 1, characterized in that, The first connecting end has a first rotation axis, and the third connecting end has a second rotation axis, wherein the first rotation axis and the second rotation axis are not collinear.

3. The thigh assembly as claimed in claim 2, characterized in that, The first connector and the second connector are symmetrically arranged, and both the first connector and the second connector include a first fork-shaped connecting portion; The first fork-shaped connecting part includes a first ear plate and a second ear plate disposed opposite to each other, a first mounting groove is formed between the first ear plate and the second ear plate, the first ear plate is provided with a first mounting hole and a second mounting hole, and the first mounting hole and the second mounting hole are provided with a preset distance; The first connecting end is rotatably connected to the second mounting hole of the first connector, and the third connecting end is rotatably connected to the first mounting hole of the second connector.

4. The thigh assembly as claimed in claim 2, characterized in that, The thigh body also includes a first push rod and a second push rod. The first push rod includes a first push rod body and a first output rod. The first push rod body is provided with a first universal joint. The second push rod includes a second push rod body and a second output rod. The second push rod body is provided with a second universal joint. The first universal joint and the second universal joint are rotatably connected to the thigh support via a first fastener.

5. The thigh assembly as claimed in claim 4, characterized in that, The first output rod includes a third universal joint, and the second output rod includes a fourth universal joint; The third universal joint is disposed in the first mounting groove of the first connector, and the third universal joint is coaxially disposed with the second mounting hole of the first connector. The third universal joint is rotatably mounted in the first mounting groove of the first connector by means of the second fastener. The fourth universal joint is disposed in the first mounting groove of the second connector, and the fourth universal joint is coaxially disposed with the second mounting hole of the second connector. The fourth universal joint is rotatably mounted in the first mounting groove of the second connector by a third fastener.

6. The thigh assembly as claimed in claim 5, characterized in that, The thigh body also includes a hip connection structure, which is connected to the hip and is located on the upper side of the thigh support. The hip connection structure and the thigh support are rotatably connected via a cross shaft. The hip connection structure includes a second fork-shaped connection portion, which includes a third ear plate and a fourth ear plate disposed opposite to each other. The third ear plate is provided with a third mounting hole, and the fourth ear plate is provided with a fourth mounting hole. The third mounting hole and the fourth mounting hole are coaxially disposed.

7. The thigh assembly as claimed in claim 6, characterized in that, The thigh body also includes a first link and a second link, wherein the projection of the first link onto the plane containing the first and second directions is collinear with the projection of the first output rod onto the plane containing the first and second directions. The projection of the second connecting rod onto the plane containing the first and second directions is collinear with the projection of the second output rod onto the plane containing the first and second directions. One end of the first connecting rod is rotatably connected to the first connecting member, and the other end of the first connecting rod is rotatably connected to the third mounting hole; One end of the second connecting rod is rotatably connected to the second connecting member, and the other end of the second connecting rod is rotatably connected to the fourth mounting hole.

8. The thigh assembly as claimed in claim 7, characterized in that, The first link includes a fifth universal joint and a sixth universal joint arranged opposite each other, and the second link includes a seventh universal joint and an eighth universal joint arranged opposite each other; The fifth universal joint is disposed in the first mounting groove of the first connector, and the fifth universal joint is coaxially disposed with the first mounting hole of the first connector. The fifth universal joint is rotatably connected to the first connector through the fourth fastener. The seventh universal joint is disposed in the first mounting groove of the second connector, and the seventh universal joint is coaxially disposed with the first mounting hole of the second connector. The seventh universal joint is rotatably connected to the second connector through the fifth fastener. The sixth universal joint is rotatably connected to the third mounting hole, and the eighth universal joint is rotatably connected to the fourth mounting hole; The hip connection structure can rotate around the cross axis through the drive of the first link and the second link.

9. The thigh assembly as claimed in claim 1, characterized in that, The first connector is further provided with a first rolling support member, which abuts against the thigh support. When the first connector rotates, the first rolling support member can roll on the thigh support. The second connector is further provided with a second rolling support member, which abuts against the thigh support. When the second connector rotates, the second rolling support member can roll on the thigh support.

10. A leg assembly for a humanoid robot, characterized in that, The leg assembly includes a thigh assembly as described in any one of claims 1-9, and the leg assembly further includes a lower leg portion, the thigh assembly being connected to the lower leg portion.

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