Lower limb structure of biped robot

Abstract

The utility model provides a lower limb structure of a biped robot, and belongs to the technical field of robots. The biped robot lower limb structure comprises two walking foot devices installed at the bottom end of a biped robot, each walking foot device is composed of a quick release mechanism, a reinforcing part, a base mechanism and a foot sole, the bottom end of each quick release mechanism is fixedly connected with the top end of the corresponding base mechanism, the top end of each quick release mechanism is fixedly connected with the corresponding foot sole, and the reinforcing parts are installed between the quick release mechanisms and the foot sole connecting positions. The surface of the base mechanism is tightly attached to the bottoms of soles, and the soles are installed at the foot ends of the biped robot. Through the design of the walking foot device, when the base mechanism is damaged, the whole lower limb structure does not need to be replaced, only damaged parts need to be replaced, and the maintenance cost and time are reduced. Meanwhile, the biped robot is endowed with excellent terrain adaptability. The biped robot can easily cope with complex and changeable terrain environments by quickly detaching and replacing the foot ends with different functions.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a lower limb structure of a bipedal robot. Background Art

[0002] In recent years, with the rapid development of science and technology and the continuous advancement of artificial intelligence technology, bipedal robots, as an important branch of the robotics field, have attracted widespread attention and in-depth research. As the name suggests, the uniqueness of bipedal robots lies in their ability to imitate the bipedal walking style of humans. This feature makes bipedal robots have broad application prospects in many fields, including but not limited to special environment operations, helping the elderly and the disabled, entertainment services, and scientific research exploration. However, in order to achieve efficient, stable and humanized movement of bipedal robots, the design and optimization of the lower limb structure is particularly critical. The lower limb structure of a bipedal robot not only directly determines its walking stability and flexibility, but is also closely related to its energy consumption, movement speed, and working life.

[0003] At present, the traditional lower limb structure design of bipedal robots is often based on a simple mechanical structure, such as the lower limb assembly of a bipedal robot with the existing publication number CN116605329A, which includes at least a hip joint, a knee joint, an ankle joint and a plurality of actuators; the first actuator is arranged at a preset position of the hip joint, and is used to drive the hip joint movement in series; the second actuator is arranged on the opposite side of the preset position of the hip joint, and is used to drive the knee joint movement in series; the third actuator is arranged between the knee joint and the ankle joint, and is used to drive the ankle joint movement in parallel; wherein, when the lower limb assembly is in a standing state, the longitudinal coordinates of the first actuator and the second actuator are higher than the longitudinal coordinates of the third actuator. The use of this lower limb assembly can improve the center of mass of the lower limb assembly and reduce the control difficulty of the lower limb assembly. Although the lower limb assembly of the above-mentioned bipedal robot can realize a stable walking function, the simplicity of its foot end mechanism often limits its adaptability and execution ability when facing complex environments and complex tasks. At the same time, the sole structure is often in friction contact with the ground. Once damaged, the lower limb structure needs to be replaced as a whole, thereby increasing the maintenance cost. Utility Model Content

[0004] In order to make up for the above deficiencies, the present application provides a biped robot lower limb structure to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model to solve its technical problems is:

[0006] A bipedal robot lower limb structure comprises two walking foot devices installed at the bottom end of the bipedal robot, wherein the walking foot devices are composed of a quick-release mechanism, a reinforcement member, a base mechanism and a sole, wherein the bottom end of the quick-release mechanism is fixedly connected to the top end of the base mechanism, and the top end is fixedly connected to the sole, the reinforcement member is installed between the quick-release mechanism and the sole connection position, the surface of the base mechanism is tightly fitted with the bottom of the sole, and the sole is installed at the foot end of the bipedal robot.

[0007] Furthermore, the quick-release mechanism includes two rows of through holes, two rows of threaded heads and two rows of locking nuts. Two rows of through holes are respectively opened on both sides of the sole surface. The bottom ends of the two rows of threaded heads are respectively fixedly connected to the two sides of the base mechanism surface, and the top ends pass through the inside of the two rows of threaded heads, and are threadedly connected to the inner circles of the two rows of locking nuts through the reinforcement.

[0008] Furthermore, the two rows of locking nuts are locked in pairs at the top ends of the two rows of threaded heads and fit tightly with the surface of the reinforcement member.

[0009] Furthermore, the reinforcement includes two gaskets and two rows of through holes, and the two rows of through holes are respectively opened on both sides of the surface of the two gaskets, and the bottom is tightly fitted with both sides of the sole surface, the surface is fitted with the bottom ends of the two rows of locking nuts, and the inside of the two rows of through holes is fitted with the outer walls of the two rows of threaded heads.

[0010] Furthermore, the base mechanism includes a connecting block and an anti-slip bottom film, two rows of thread heads are fixedly connected to both sides of the surface of the connecting block and fit tightly with the bottom of the sole, and the surface of the anti-slip bottom film is fixedly connected to the bottom end of the connecting block.

[0011] Furthermore, the connecting block is integrally formed with the anti-slip bottom sheet and the two rows of threaded heads, and has a surface provided with protrusions, and fits with the bottom of the sole.

[0012] Furthermore, a groove is provided at the bottom of the sole and is tightly fitted with the top of the connecting block, and the groove and the protrusion are correspondingly fitted with each other.

[0013] Furthermore, the bipedal robot includes a crotch, two thighs, two calves, two groups of reinforcing ribs and a driving unit, the two thighs are respectively installed on both sides of the crotch, the two calves are respectively installed on the bottom ends of the two thighs, the two groups of reinforcing ribs are installed on the outer walls of the two thighs and the two calves, and the driving unit is installed at the connection between the crotch and the two thighs and the two calves.

[0014] The utility model has the following beneficial effects:

[0015] 1. The utility model adopts the design of quick-release mechanism, so that the walking foot device can be quickly removed and installed from the bipedal robot, which greatly improves the efficiency of maintenance and replacement. When the base mechanism is damaged, it is not necessary to replace the entire lower limb structure, but only the damaged parts, which reduces the maintenance cost and time.

[0016] 2. The utility model effectively enhances the connection strength between the sole and the quick-release mechanism by setting the reinforcement piece, and improves the stability and reliability of the walking foot device in complex environments. The design of two gaskets and two rows of through holes ensures the close fit between the reinforcement piece and the locking nut and the threaded head, further improving the stability of the structure. It helps the robot's balance ability during walking.

[0017] 3. The anti-slip bottom plate design in the base mechanism of the utility model effectively increases the friction with the ground, improves the walking stability of the bipedal robot on different ground surfaces, especially on wet or uneven ground, and can significantly reduce the risk of slipping.

[0018] 4. The utility model uses the quick-disassembly design of the walking foot device to make the bipedal robot have better terrain adaptability. By quickly disassembling and replacing the foot ends with different functions, the bipedal robot can easily cope with complex and changing terrain environments, demonstrating its excellent environmental adaptability and flexibility. This innovative design not only improves the working efficiency of the bipedal robot, but also expands its application scope, laying a solid foundation for the further development of robotics technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the drawings required for use in the implementation methods will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the lower limb structure of a bipedal robot provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the connection structure of the quick-release mechanism, the reinforcement member and the base mechanism provided in the embodiment of the present application;

[0022] Figure 3 A schematic diagram of the structure of the reinforcement member provided in the embodiment of the present application;

[0023] Figure 4 A schematic diagram of a top view of a foot provided in an embodiment of the present application;

[0024] Figure 5A schematic diagram of a set of locking nuts provided in an embodiment of the present application;

[0025] Figure 6 A schematic diagram of the foot structure from an upward perspective provided in an embodiment of the present application;

[0026] Figure 7 This is a schematic diagram of the structure of the robot after the foot end is replaced provided in an embodiment of the present application.

[0027] In the figure: 1-biped robot; 2-walking foot device; 21-quick release mechanism; 22-reinforcement member; 23-base mechanism; 24-sole; 211-through hole; 212-threaded head; 213-locking nut; 221-gasket; 222-through hole; 231-connecting block; 232-anti-slip bottom plate; 233-protrusion; 241-groove; 11-crotch; 12-thigh; 13-calf; 14-reinforcement rib; 15-driving unit. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0029] Example:

[0030] See also Figure 1 , Figure 7 A bipedal robot lower limb structure includes two walking foot devices 2 installed at the bottom of a bipedal robot 1, wherein the bipedal robot 1 includes a hip portion 11, two thigh portions 12, two calf portions 13, two sets of reinforcing ribs 14 and a driving portion 15.

[0031] The main body of the bipedal robot 1 is composed of a crotch 11, two thighs 12, two calfs 13, two sets of reinforcing ribs 14 and a driving unit 15. The crotch 11 is the core of the entire body, and the two sides are connected to the two thighs 12, and the bottom of the thigh 12 is further connected to the two calfs 13. In order to enhance the stability and carrying capacity of the lower limb structure, two sets of reinforcing ribs 14 are installed on the outer walls of the thighs 12 and the calfs 13. The driving unit 15 is installed at the joint where the crotch 11 is connected to the thighs 12 and the calfs 13, and is responsible for providing power for the robot's walking and movement. The bipedal robot 1 is a prior art, so it will not be described in detail here.

[0032] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7The walking foot device 2 is composed of a quick-release mechanism 21, a reinforcement member 22, a base mechanism 23 and a sole 24; the quick-release mechanism 21 includes two rows of through holes 211, two rows of threaded heads 212 and two rows of locking nuts 213; the reinforcement member 22 includes two washers 221 and two rows of through holes 222; the base mechanism 23 includes a connecting block 231, an anti-slip bottom sheet 232 and a protrusion 233; a groove 241 is provided at the bottom of the sole 24.

[0033] Among them, the design of the quick-release mechanism 21 is particularly suitable for bipedal robots 1 that need to frequently replace the foot end or work on a variety of different terrains. Two rows of through holes 211 are provided on both sides of the sole 24 for the subsequent installation of threaded heads 212 and locking nuts 213. The bottom ends of the two rows of threaded heads 212 are fixedly connected to the two sides of the surface of the base mechanism 23 to ensure stable support. The top passes through the two rows of through holes 211 to provide a connection point for the locking nuts 213. The sole 24 and the base mechanism 23 are fixed by the cooperation of the two rows of threaded heads 212 and the two rows of locking nuts 213. By simply rotating the locking nuts 213 with tools, the foot end can be quickly disassembled and installed, greatly improving the efficiency of maintenance and replacement. The robot can quickly replace the appropriate foot end according to different terrain environments, improving the adaptability and flexibility of the robot.

[0034] Among them, the two rows of locking nuts 213 are each grouped in pairs, and are respectively locked at the top of the two rows of threaded heads 212 to form a double lock. This design increases the connection points, making the connection between the sole 24 and the base mechanism 23 more secure. When subjected to external force, the two locking nuts 213 can share the force together, avoiding the phenomenon of single-point force. This method of dispersing force can significantly reduce the risk of deformation or loosening of the connection due to uneven force. As the contact area between the two locking nuts 213 and the threaded head 212 increases, the friction between them also increases accordingly. This helps to improve the stability and reliability of the connection and prevent loosening due to vibration or impact.

[0035] The design of the reinforcement 22 fully considers the stability and strength requirements of the quick release mechanism 21. Through the design of two washers 221 and two rows of through holes 222, the reinforcement 22 not only increases the stability of the connection, but also effectively prevents wear and damage between the locking nut 213 and the sole 24. At the same time, the close fit between the reinforcement 22 and the threaded head 212 ensures the firmness and reliability of the connection, providing a more solid foundation for the bipedal robot 1 in complex terrain and environment.

[0036] Among them, the base mechanism 23 provides a stable foundation and connection point for the bipedal robot 1 through the design of the connecting block 231 and the anti-skid bottom film 232. The connecting block 231 is firmly connected to the sole 24 through the cooperation of two rows of threaded heads 212 and the locking nut 213; the anti-skid bottom film 232 provides additional friction to prevent the robot from slipping. This design ensures that the bipedal robot 1 can stand stably on the ground when walking or performing tasks, and improves its overall stability and reliability. The main function of the connecting block 231 is to serve as a connecting bridge between the sole 24 and the anti-skid bottom film 232. The top of the connecting block 231 fits tightly with the bottom of the sole 24. This fitting design enables the sole 24 to be effectively supported and transmitted when subjected to force. The anti-skid bottom film 232 is usually made of a material with a high friction coefficient to ensure that the robot can stand stably on the ground when walking or performing tasks. The main function of the anti-skid bottom sheet 232 is to provide additional friction to prevent the robot from slipping or losing stability due to factors such as slippery or uneven ground when walking or performing tasks.

[0037] The connection block 231, the anti-slip bottom sheet 232 and the two rows of thread heads 212 are integrally formed, which significantly improves the stability and reliability of the overall structure. The integrated design of the connection block 231, the anti-slip bottom sheet 232 and the two rows of thread heads 212 reduces assembly errors and loosening risks.

[0038] Among them, the fitting design of the sole 24 and the connecting block 231 is further optimized. By providing a groove 241 at the bottom of the sole 24 and correspondingly fitting with the protrusion 233 provided at the top of the connecting block 231, a more stable and reliable connection between the sole 24 and the base mechanism 23 is achieved. The shape and size of the groove 241 match the protrusion 233 at the top of the connecting block 231 to ensure that the two can fit tightly. Accurate positioning and stable connection between the sole 24 and the connecting block 231 are achieved.

[0039] The working principle of the lower limb structure of the bipedal robot: The stability of the bipedal robot 1 is achieved through the mechanical design of the lower limb structure. The groove 241 at the bottom of the sole 24 and the protrusion 233 at the top of the base mechanism 23 correspond to each other, and the design of the reinforcement 22 and the quick release mechanism 21 ensures a stable connection between the sole 24 and the base mechanism 23. The anti-slip bottom plate 232 increases the friction between the robot and the ground, and improves the grip on smooth or unstable ground. The bipedal robot 1 needs to maintain dynamic balance during walking. This is achieved by the control system adjusting the angles and torques of the lower limb joints such as the hip joint, knee joint and ankle joint in real time. The control system adjusts the drive of the lower limb joints according to the robot's center of gravity position, ground reaction force and expected step pattern to maintain balance. The robot's step pattern is controlled by a built-in gait generation algorithm. These algorithms generate appropriate steps according to the current state of the robot such as speed, direction and terrain. The control system sends instructions to the drive unit 15 based on the output of the step generation algorithm to drive the lower limb joints to move according to the established step pattern. The lower limb structure design of the biped robot 1 enables it to adapt to different terrains. Through the quick-release mechanism 21, the foot end suitable for different terrains can be quickly replaced, thereby improving the adaptability of the robot.

[0040] It should be noted that the specific model and specifications of the bipedal robot 1 need to be selected and determined according to the actual specifications of the device, and the specific selection calculation method adopts the existing technology in the field, so it will not be described in detail.

[0041] The power supply and principle of the biped robot 1 are clear to those skilled in the art and will not be described in detail here.

[0042] It is obvious to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A biped robot lower limb structure, characterized in that: The invention comprises two walking foot devices (2) installed at the bottom end of a bipedal robot (1), wherein the walking foot device (2) is composed of a quick-release mechanism (21), a reinforcement member (22), a base mechanism (23) and a sole (24); the bottom end of the quick-release mechanism (21) is fixedly connected to the top end of the base mechanism (23), and the top end is fixedly connected to the sole (24); the reinforcement member (22) is installed between the connection position between the quick-release mechanism (21) and the sole (24); the surface of the base mechanism (23) is tightly fitted to the bottom of the sole (24); and the sole (24) is installed at the foot end of the bipedal robot (1).

2. A biped robot lower limb structure according to claim 1, characterized in that: The quick-release mechanism (21) comprises two rows of through holes (211), two rows of threaded heads (212) and two rows of locking nuts (213). Two rows of through holes (211) are respectively provided on both sides of the surface of the sole (24). The bottom ends of the two rows of threaded heads (212) are respectively fixedly connected to both sides of the surface of the base mechanism (23), and the top ends respectively pass through the inside of the two rows of threaded heads (212) and are threadedly connected to the inner circles of the two rows of locking nuts (213) through the reinforcement member (22).

3. A biped robot lower limb structure according to claim 2, characterized in that: The two rows of locking nuts (213) are locked in pairs at the top ends of the two rows of threaded heads (212) and fit tightly against the surface of the reinforcement member (22).

4. A biped robot lower limb structure according to claim 3, characterized in that: The reinforcing member (22) comprises two gaskets (221) and two rows of through holes (222); the two gaskets (221) are provided with two rows of through holes (222) on both sides of the surface, respectively; the bottom is tightly fitted with both sides of the surface of the sole (24); the surface is fitted with the bottom ends of the two rows of locking nuts (213); and the inside of the two rows of through holes (222) is fitted with the outer walls of the two rows of threaded heads (212).

5. The lower limb structure of a biped robot according to claim 4, characterized in that: The base mechanism (23) comprises a connecting block (231) and an anti-skid bottom sheet (232); two rows of threaded heads (212) are fixedly connected to both sides of the surface of the connecting block (231) and are tightly fitted to the bottom of the sole (24); and the surface of the anti-skid bottom sheet (232) is fixedly connected to the bottom end of the connecting block (231).

6. A biped robot lower limb structure according to claim 5, characterized in that: The connecting block (231), the anti-slip bottom sheet (232) and the two rows of threaded heads (212) are integrally formed, and a protrusion (233) is provided on the surface thereof, and fits with the bottom of the sole (24).

7. A biped robot lower limb structure according to claim 6, characterized in that: The bottom of the sole (24) is provided with a groove (241) which fits tightly with the top of the connecting block (231), and the groove (241) and the protrusion (233) fit correspondingly with each other.

8. The lower limb structure of a biped robot according to claim 7, characterized in that: The bipedal robot (1) comprises a crotch (11), two thighs (12), two calfs (13), two groups of reinforcing ribs (14) and a driving unit (15); the two thighs (12) are respectively installed on both sides of the crotch (11); the two calfs (13) are respectively installed at the bottom ends of the two thighs (12); the two groups of reinforcing ribs (14) are installed on the outer walls of the two thighs (12) and the two calfs (13); and the driving unit (15) is installed at the connection between the crotch (11) and the two thighs (12) and the two calfs (13).

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