Lower limb structure of biped robot

Abstract

The utility model relates to the technical field of biped humanoid robots, in particular to a biped robot lower limb structure which comprises a hip joint assembly 2, a thigh assembly 3 and a shank and foot assembly 4 which are sequentially connected, the hip joint assembly 2 comprises a left hip joint and a right hip joint which are symmetrical, and the thigh assembly 3 comprises two symmetrical thighs. The shank and foot assembly 4 comprises two sets of symmetrical shanks and feet, the left hip joint and the right hip joint are each provided with an integrated joint motor with the freedom degree in the three-dimensional direction, each thigh is provided with a knee joint motor with the freedom degree, and each shank and foot is provided with shank motors with the two freedom degrees. The lower limb structure of the biped robot has the advantages of being simple in structure, flexible to control, stable in dynamic performance and the like, can quickly respond to humanoid leg movement, and can be used in the lower limb structure of the humanoid robot through walking gait planning of the biped robot so as to promote technical development of the humanoid robot.

Description

Technical Field

[0001] The utility model relates to the technical field of bipedal humanoid robots, in particular to a lower limb structure of a bipedal robot. Background Art

[0002] Compared with other types of robots, the main features of bipedal humanoid robots are: 1) They can adapt to complex and rugged ground and various terrains such as stairs and slopes. 2) They have flexible structural dimensions, large movement space, can be equipped with dexterous hands and mechanical arms, and can adapt to more complex working environments. Bipedal humanoid robots have human appearance characteristics and human-like walking methods. Due to their unique performance advantages, they can be applied to human living and working environments, replacing humans to complete related work, and have broad application prospects.

[0003] The lower limb structures of existing bipedal robots are diverse, including the bipedal robot with authorization publication number CN112046639B and the bipedal robot with authorization publication number CN115123423B. However, different structures are required to realize complex movements of the legs, which results in the bipedal robot having a more complex mechanical structure, thereby leading to complex problems in the movement and control of the bipedal robot, hindering the flexible use of the bipedal robot in application scenarios. Utility Model Content

[0004] In view of the problems of complex control of the lower limbs of existing bipedal robots, the utility model provides a bipedal robot lower limb structure to achieve a simple structure, flexible control, complete the leg movement function of the lower limbs of the humanoid robot, and enrich the different structural forms of the humanoid robot.

[0005] The utility model is realized by the following technical solutions:

[0006] A biped robot lower limb structure comprises a hip joint assembly, a thigh assembly, a calf and foot assembly connected in sequence, wherein the hip joint assembly comprises a symmetrical left hip joint and a right hip joint, the thigh assembly comprises two symmetrical thighs, the calf and foot assembly comprises two groups of symmetrical calves and feet, the left hip joint and the right hip joint are both provided with an integrated joint motor having a degree of freedom in three-dimensional directions, each thigh is provided with a knee joint motor having a degree of freedom, and each calf and foot is provided with a calf motor having two degrees of freedom.

[0007] Further preferably, the integrated joint motors in the left hip joint and the right hip joint include a hip deflection motor, a hip roll motor and a hip leg lifting motor, the central axis of the hip deflection motor is 45 degrees to the horizontal direction, the central axis of the hip roll motor is 90 degrees to the central axis of the hip deflection motor, and the central axis of the hip leg lifting motor is 90 degrees to the central axis of the hip roll motor.

[0008] Further preferably, the output end of the hip deflection motor is connected to the deflection motor flange, the hip roll motor is installed on the deflection motor flange, the output end of the hip roll motor is connected to the roll motor flange, the hip leg lifting motor is installed on the roll motor flange, and the output end of the hip leg lifting motor is connected to the thigh connecting shaft.

[0009] Further preferably, each of the thighs also includes a thigh shell, a knee joint swing arm and a knee joint connecting rod, the thigh shell is connected to the thigh connecting shaft, the knee joint motor is fixedly connected to the thigh shell, the knee joint swing arm is connected to the output end of the knee joint motor, and the knee joint connecting rod is connected to the knee joint swing arm through a ball joint bearing.

[0010] Further preferably, each group of calves and feet also includes a calf shell, two calf swing arms, a long pull rod, a short pull rod, a foot pin, an ankle cross axis and a foot plate, the calf shell is connected to the knee joint connecting rod, the two calf motors are fixed on the calf shell, the two calf swing arms are respectively connected to the output ends of the two calf motors, the long pull rod and the short pull rod are respectively connected to the adjacent calf swing arms through ball joint bearings, the two ends of the foot pin are respectively connected to the long pull rod and the short pull rod through ball joint bearings, the ankle cross axis is fixedly installed on the bottom of the calf shell, and the foot plate is connected to the ankle cross axis.

[0011] The lower limb structure of the biped robot of the utility model includes a hip joint component, a thigh component, a calf and a foot component. The hip joint simulates the human hip freedom structure, has a left-right symmetrical form, has a total of 6 degrees of freedom, is divided into a left hip joint and a right hip joint, and mainly includes an integrated joint motor, a joint flange, and a drive shaft. The thigh component includes two left and right thighs, which are symmetrical structures. Each thigh has one degree of freedom and is mainly composed of a thigh shell, a knee joint motor, a knee joint swing arm, and a knee joint connecting rod. The calf and foot components also include two groups of symmetrical structures on the left and right. Each calf and foot has two degrees of freedom. Each calf and foot is mainly composed of two calf motors, two calf swing arms, a long pull rod, a short pull rod, a foot pin, an ankle cross shaft, a calf shell, and a foot plate.

[0012] Beneficial effects of the utility model:

[0013] 1) The lower limb structure of the bipedal robot of the utility model has the characteristics of simple structure, flexible control, stable dynamic performance, etc. It can quickly respond to humanoid leg movements and complete bipedal walking, crossing, obstacle avoidance and other actions through the walking gait planning of the bipedal robot. It can be used in the lower limb structure of a humanoid robot to promote the technical development of humanoid robots and expand the use of humanoid robots in different scenarios.

[0014] 2) The utility model is mainly aimed at the lower limb structure design of a bipedal robot, with an emphasis on providing a mechanical structure, number of degrees of freedom and motor motion form layout of a bipedal robot. Each hip joint has 3 degrees of freedom, each thigh has 1 degree of freedom, and each calf and foot has 2 degrees of freedom, so that the bipedal robot can realize walking and other motion functions, greatly promoting the application scope of robot automation equipment.

[0015] The specific implementation of the utility model is further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the accompanying drawings:

[0017] Figure 1 It is a schematic diagram of the overall structure of the lower limb structure of the biped robot of the utility model.

[0018] Figure 2 It is a structural schematic diagram of the hip joint component in the utility model.

[0019] Figure 3 It is a structural schematic diagram of the thigh component in the utility model.

[0020] Figure 4 It is a structural schematic diagram of the lower leg and foot components of the utility model.

[0021] In the figure, 1 is the torso, 2 is the hip joint assembly, 2-1 is the hip deflection motor, 2-2 is the deflection motor flange, 2-3 is the hip roll motor, 2-4 is the roll motor flange, 2-5 is the hip leg lifting motor, 2-6 is the thigh connecting shaft, 3 is the thigh assembly, 3-1 is the thigh shell, 3-2 is the knee joint motor, 3-3 is the knee joint swing arm, 3-4 is the knee joint connecting rod, 4 is the calf and foot assembly, 4-1 is the calf shell, 4-2 is the calf motor, 4-3 is the calf swing arm, 4-4 is the long pull rod, 4-5 is the short pull rod, 4-6 is the foot pin, 4-7 is the ankle cross axis, and 4-8 is the foot plate. DETAILED DESCRIPTION

[0022] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0023] A biped robot lower limb structure includes a hip joint component 2, a thigh component 3, and a calf and foot component 4 connected in sequence. The lower limb structure is bilaterally symmetrical and anthropomorphizes the freedom structure of a human hip, thigh, calf and foot. The hip joint component 2 is connected to a trunk 1, and the hip joint component 2 includes a symmetrical left hip joint and a right hip joint. The thigh component 3 includes two symmetrical thighs on the left and right sides. Similarly, the calf and foot component 4 also includes two groups of symmetrical structures on the left and right sides.

[0024] The left hip joint and the right hip joint in the hip joint assembly 2 mainly include a hip deflection motor 2-1, a deflection motor flange 2-2, a hip roll motor 2-3, a roll motor flange 2-4, a hip leg lifting motor 2-5 and a thigh connecting shaft 2-6, wherein the hip deflection motor 2-1 is fixed on the trunk 1, and the central axis of the hip deflection motor 2-1 is 45 degrees to the horizontal direction; the output end of the hip deflection motor 2-1 is connected to the deflection motor flange 2-2, and the hip roll motor 2-3 is connected to the hip roll motor 2-4. -3 is installed on the deflection motor flange 2-2, and the central axis of the hip roll motor 2-3 is arranged at 90° to the central axis of the hip deflection motor 2-1; the output end of the hip roll motor 2-3 is connected to the roll motor flange 2-4, the hip leg lifting motor 2-5 is installed on the roll motor flange 2-4, and the central axis of the hip leg lifting motor 2-5 is arranged at 90° to the central axis of the hip roll motor 2-3, and the output end of the hip leg lifting motor 2-5 is connected to the thigh connecting shaft 2-6.

[0025] The two thighs in the thigh assembly 3 each include a thigh housing 3-1, a knee joint motor 3-2, a knee joint swing arm 3-3 and a knee joint connecting rod 3-4, the other end of the thigh connecting shaft 2-6 is connected to the thigh housing 3-1, the knee joint motor 3-2 is fixed to the thigh housing 3-1, the knee joint swing arm 3-3 is fixed to the output end of the knee joint motor 3-2, and the knee joint swing arm 3-3 can rotate with the knee joint motor 3-2. The knee joint connecting rod 3-4 is fixedly connected to the knee joint swing arm 3-3 through a ball joint bearing.

[0026] The symmetric groups of shanks and feet in the shank and foot assembly 4 include a shank shell 4-1, two shank motors 4-2, two shank swing arms 4-3, a long pull rod 4-4, a short pull rod 4-5, a foot pin 4-6, an ankle cross shaft 4-7 and a foot plate 4-8. The shank shell 4-1 is connected to the knee joint connecting rod 3-4, and the two shank motors 4-2 are fixed on the shank shell 4-1. The two shank swing arms 4-3 are respectively fixed to the output end of a shank motor 4-2, and the long pull rod 4-4 and the short pull rod 4-5 are respectively fixed to an adjacent shank swing arm 4-3 through a ball joint bearing. The two ends of the foot pin 4-6 are respectively fixed to the long pull rod 4-4 and the short pull rod 4-5 through a ball joint bearing. The ankle cross shaft 4-7 is fixedly installed at the bottom of the shank shell 4-1. The foot plate 4-8 is connected to the shank shell 4-1 through the ankle cross shaft 4-7.

[0027] The working principle of the utility model is as follows:

[0028] 1) The hip joint assembly 2 is a bilaterally symmetrical structure, each set of hip joints has three degrees of freedom, and includes three hip joint motors. Specifically, the hip deflection motor 2-1 rotates, while driving the deflection motor flange 2-2, so that the entire hip joint will deflect, and also drive the entire thigh, calf and foot to deflect. The hip roll motor 2-3 rotates, while driving the roll motor flange 2-4 to roll, so that the entire hip joint will roll, and also drive the entire thigh, calf and foot to roll. The hip leg lifting motor 2-5 rotates, and is fixedly connected to the thigh shell 3-1 through the thigh connecting shaft 2-6, driving the thigh shell 3-1 to rotate, thereby realizing the leg lifting action of the thigh assembly 3.

[0029] 2) The thigh assembly 3 is also a symmetrical structure, and each thigh assembly has one degree of freedom, including a knee joint motor 3-2. The knee joint motor 3-2 rotates, driving the knee joint swing arm 3-3 to rotate, and at the same time driving the knee joint connecting rod 3-4 to move. The end of the knee joint connecting rod 3-4 is connected to the calf shell 4-1 through a hinge axis, and the knee joint connecting rod 3-4 drives the calf shell 4-1 to swing.

[0030] 3) The calf and foot components 4 are also symmetrical structures. Each group of calf and foot has two degrees of freedom, including two calf motors 4-2, two calf swing arms 4-3, long pull rods 4-4, short pull rods 4-5, and foot pins 4-6 to form a parallel mechanism. This parallel mechanism can ultimately achieve two degrees of freedom movement of the foot plate 4-8. The calf motor 4-2 rotates, driving the calf swing arm 4-3 to rotate. At the same time, the calf swing arm 4-3 drives the movement of the long pull rod 4-4 and the short pull rod 4-5, and drives the ball joint bearings at both ends of the foot pin 4-6 to move. Control the rotation angle of the calf motor 4-2, so that the ball joint bearings at both ends of the foot pin 4-6 move upward or downward with the same displacement, and the foot plate 4-8 will have a pitch degree of freedom movement. Control the rotation angle of the calf motor 4-2, so that the ball joint bearings at both ends of the foot pin 4-6 move upward or downward with different displacements, and the foot plate 4-8 will have a rolling degree of freedom movement. The ankle cross shaft 4-7 connects the calf shell 4-1 and the foot plate 4-8, and the ankle cross shaft 4-7 plays a role of fixing and supporting.

[0031] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A biped robot lower limb structure, characterized in that: The invention comprises a hip joint assembly (2), a thigh assembly (3), and a calf and foot assembly (4) which are connected in sequence, wherein the hip joint assembly (2) comprises a symmetrical left hip joint and a right hip joint, the thigh assembly (3) comprises two symmetrical thighs, and the calf and foot assembly (4) comprises two groups of symmetrical calves and feet, the left hip joint and the right hip joint are both provided with an integrated joint motor having a degree of freedom in three-dimensional directions, each thigh is provided with a knee joint motor having a degree of freedom, and each calf and foot is provided with a calf motor having two degrees of freedom.

2. A biped robot lower limb structure according to claim 1, characterized in that: The integrated joint motors in the left hip joint and the right hip joint include a hip deflection motor (2-1), a hip rolling motor (2-3) and a hip leg lifting motor (2-5). The central axis of the hip deflection motor (2-1) is 45 degrees to the horizontal direction, the central axis of the hip rolling motor (2-3) is 90 degrees to the central axis of the hip deflection motor (2-1), and the central axis of the hip leg lifting motor (2-5) is 90 degrees to the central axis of the hip rolling motor (2-3).

3. A biped robot lower limb structure according to claim 2, characterized in that: The output end of the hip deflection motor (2-1) is connected to the deflection motor flange (2-2), the hip rolling motor (2-3) is installed on the deflection motor flange (2-2), the output end of the hip rolling motor (2-3) is connected to the rolling motor flange (2-4), the hip leg lifting motor (2-5) is installed on the rolling motor flange (2-4), and the output end of the hip leg lifting motor (2-5) is connected to the thigh connecting shaft (2-6).

4. A biped robot lower limb structure according to claim 3, characterized in that: Each thigh comprises a thigh shell (3-1), a knee joint motor (3-2), a knee joint swing arm (3-3) and a knee joint connecting rod (3-4); the thigh shell (3-1) is connected to the thigh connecting shaft (2-6); the knee joint motor (3-2) is fixedly connected to the thigh shell (3-1); the knee joint swing arm (3-3) is connected to the output end of the knee joint motor (3-2); and the knee joint connecting rod (3-4) is connected to the knee joint swing arm (3-3) via a ball joint bearing.

5. The lower limb structure of a biped robot according to claim 4, characterized in that: Each group of calf and foot comprises a calf shell (4-1), two calf motors (4-2), two calf swing arms (4-3), a long pull rod (4-4), a short pull rod (4-5), a foot pin (4-6), an ankle cross shaft (4-7) and a foot plate (4-8), wherein the calf shell (4-1) is connected to the knee joint connecting rod (3-4), the two calf motors (4-2) are fixed on the calf shell (4-1), and the two calf swing arms (4-3) are respectively connected to the two The output end of each calf motor (4-2) is connected, the long pull rod (4-4) and the short pull rod (4-5) are respectively connected to the adjacent calf swing arm (4-3) through a ball joint bearing, the two ends of the foot pin (4-6) are respectively connected to the long pull rod (4-4) and the short pull rod (4-5) through a ball joint bearing, the ankle cross shaft (4-7) is installed at the bottom of the calf shell (4-1), and the foot plate (4-8) is connected to the ankle cross shaft (4-7).

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