Thigh assembly and humanoid robot

Abstract

The utility model relates to the technical field of robots, in particular to a thigh assembly and a humanoid robot. The first driving part is fixedly connected with the upper end of the outer side of the first web plate; the upper end of the supporting piece is fixedly connected with the upper end of the inner side of the first web plate; the lower end of the supporting piece is suitable for being connected with a knee joint. According to the technical scheme, the first driving piece and the supporting piece are arranged on the two sides of the first web, double-side supporting is formed, and the thigh assembly has higher structural rigidity, the structure is simple, and reliability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a thigh component and a humanoid robot. Background Art

[0002] The existing humanoid robots have complex structures and heavy overall weight, making it difficult to achieve high dynamic performance movements of humanoid robots. When the weight of humanoid robots is reduced, there is a risk of structural elastic deformation of the humanoid robots, which seriously affects the motion control accuracy of the humanoid robots, and thus causes deviations between the motion trajectory of the humanoid robots and the trajectory in the simulation model. Utility Model Content

[0003] Therefore, the technical problem to be solved by the utility model is to overcome the risk of structural elastic deformation of the humanoid robot after the humanoid robot is reduced in weight, which seriously affects the motion control accuracy of the humanoid robot and further causes the motion trajectory of the humanoid robot to deviate from the trajectory in the simulation model.

[0004] In order to solve the above technical problems, the utility model provides a thigh assembly, comprising:

[0005] a first web, the lower end of which is adapted to be connected to the knee joint;

[0006] A first driving member, fixedly connected to the outer upper end of the first web;

[0007] A support member, the upper end of which is fixedly connected to the inner upper end of the first web; and the lower end of the support member is suitable for connection with the knee joint.

[0008] Optionally, it also includes:

[0009] The first rocker has an upper end connected to the first driving member, and the lower end of the first rocker is suitable for being connected to the knee joint; the first driving member is suitable for driving the first rocker to swing back and forth, thereby driving the knee joint to swing back and forth.

[0010] Optionally, the knee joint is a crossed roller bearing.

[0011] Optionally, the first driving member is a motor.

[0012] The utility model also provides a humanoid robot, comprising:

[0013] Two of the thigh assemblies.

[0014] Optionally, it also includes:

[0015] Two calf components, the upper ends of which are respectively connected to the lower ends of the two thigh components through knee joints;

[0016] The hip joint, which connects to the upper ends of the two thigh components;

[0017] The two foot structural components are connected to the two calf components respectively.

[0018] Optionally, the calf assembly comprises:

[0019] The lower end of the second belly plate is rotatably connected to a position near the middle of the instep of the foot structure through a rotation joint; the rotation is a pitch rotation;

[0020] a second driving member, disposed on the second web near an upper end;

[0021] A second rocker, an inner end of which is connected to a second driving member, wherein the second driving member is adapted to drive the second rocker to rock;

[0022] A connecting rod, the upper end of which is rotatably connected to the outer end of the second rocker; the connecting rod is arranged in a vertical direction, and the lower end of the connecting rod is connected to a position near the heel of the foot structure through an ankle joint;

[0023] The calf assembly is suitable for driving the connecting rod to move up and down when the second rocker arm swings, thereby driving the foot structure to perform a pitching motion.

[0024] Optionally, the ankle joint is a cross-axis universal joint.

[0025] Optionally, the rotary joint comprises:

[0026] A cross universal joint bearing is provided with a first bearing arm and a second bearing arm intersecting perpendicularly;

[0027] Two first supports are arranged at intervals on the foot structure near the middle of the instep; first bearing holes are respectively provided on the two first supports along the symmetry axis of the foot structure; two ends of the first bearing arm are respectively rotatably connected to the two first bearing holes;

[0028] Two second supports are spaced apart at the bottom end of the second web; the two second supports are respectively provided with second bearing holes along a direction perpendicular to the symmetry axis of the foot structure; the two ends of the second bearing arm are respectively rotatably connected to the two second bearing holes.

[0029] Optionally, the second driving member is a motor.

[0030] The above technical solution of the utility model has the following advantages compared with the prior art:

[0031] 1. The thigh assembly provided by the utility model includes: a first web, the lower end of which is suitable for connecting to the knee joint; a first driving member, which is fixedly connected to the outer upper end of the first web; a supporting member, the upper end of which is fixedly connected to the inner upper end of the first web; the lower end of the supporting member is suitable for connecting to the knee joint; the present application adopts the above technical solution, by arranging the first driving member and the supporting member on both sides of the first web to form a bilateral support, the thigh assembly has higher structural rigidity, simple structure and high reliability.

[0032] 2. The knee joint described in the utility model is a crossed roller bearing; the present application adopts the above technical solution, using a crossed roller bearing to bear the impact force and overturning moment transmitted upward by the knee joint, providing greater resistance to bending moment and impact.

[0033] 3. The humanoid robot provided by the utility model comprises: two thigh assemblies as described above; the application adopts the above technical solution, and the thigh assembly has higher structural rigidity, so that the humanoid robot obtains high dynamic motion performance, improves the motion control accuracy of the humanoid robot, and thus makes the motion trajectory of the humanoid robot consistent with the trajectory in the simulation model. The thigh assembly ensures the structural rigidity of the humanoid robot in motion scenes such as fast walking, running and jumping, and ensures the structural rigidity of the humanoid robot while ensuring the lightweight structure of the humanoid robot, reduces the elastic deformation of the humanoid robot, and provides a reliable structural platform for the algorithm development of the humanoid robot.

[0034] 4. The calf assembly of the utility model comprises: a second web, the lower end of which is rotatably connected to a position near the middle of the instep of the foot structure through a rotating joint; the rotation is a pitch rotation; a second driving member, which is arranged on the second web near the upper end; a second rocker, the inner end of which is connected to the second driving member, and the second driving member is suitable for driving the second rocker to swing; a connecting rod, the upper end of which is rotatably connected to the outer end of the second rocker; the connecting rod is arranged in a vertical direction, and the lower end of the connecting rod is connected to a position near the heel of the foot structure through an ankle joint; the calf assembly is suitable for driving the connecting rod to move up and down when the second rocker swings, thereby driving the foot structure to perform a pitch motion; the application adopts the above technical solution, and the spatial four-bar connecting rod structure frame formed by the second rocker, the connecting rod, the foot structure and the second web provides the foot structure with a pitch motion, while assisting in bearing the impact force and overturning moment from the ground transmitted through the ankle joint; reduces the elastic deformation of the calf assembly, and reduces the influence of the elastic deformation of the calf assembly on the motion control accuracy of the humanoid robot.

[0035] 5. The rotary joint described in the utility model includes: a cross universal joint bearing, which is provided with a first bearing arm and a second bearing arm that intersect vertically; two first supports, which are spaced apart and are located near the middle of the instep of the foot structure; first bearing holes along the direction of the symmetry axis of the foot structure are respectively provided on the two first supports; the two ends of the first bearing arm are respectively rotatably connected to the two first bearing holes; two second supports, which are spaced apart and are located at the bottom ends of the second webs; second bearing holes along the direction perpendicular to the symmetry axis of the foot structure are respectively provided on the two second supports; the two ends of the second bearing arm are respectively rotatably connected to the two second bearing holes; the present application adopts the above-mentioned technical scheme to specifically define the structure of the rotary joint, so that the rotation between the foot structure and the second web is more flexible, and the pitch movement of the foot structure can be flexibly and reliably realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of a partial three-dimensional structure of a humanoid robot provided in an embodiment of the utility model;

[0038] Figure 2 It is a schematic diagram of the three-dimensional structure of the calf assembly provided in an embodiment of the utility model.

[0039] Description of reference numerals:

[0040] 1. Thigh assembly; 2. Calf assembly; 3. First rocker; 4. First belly plate; 5. First driving member; 6. Support member; 7. Second belly plate; 8. Second driving member; 9. First support; 10. Foot structure; 11. Knee joint; 12. Ankle joint; 13. Second rocker; 14. Connecting rod; 15. Hip joint; 16. Rotational joint; 17. Second support. DETAILED DESCRIPTION

[0041] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] After the humanoid robot loses weight, the thigh belly structure on one side is close to the humanoid robot, and there is a risk of structural elastic deformation. Therefore, the present application proposes an improved thigh component.

[0046] like Figure 1 A specific embodiment of the thigh assembly shown includes: a first belly plate 4 , a first driving member 5 , a supporting member 6 and a first rocker 3 .

[0047] The lower end of the first web 4 is suitable for connecting with the knee joint 11. Specifically, the knee joint 11 is a cross roller bearing. The first driving member 5 is fixedly connected to the outer upper end of the first web 4. Specifically, the first driving member 5 is a motor. The upper end of the support member 6 is fixedly connected to the inner upper end of the first web 4; the lower end of the support member 6 is suitable for connecting with the knee joint 11. The upper end of the first rocker 3 is connected to the first driving member 5, and the lower end of the first rocker 3 is suitable for connecting with the knee joint 11; the first driving member 5 is suitable for driving the first rocker 3 to swing back and forth, thereby driving the knee joint 11 to swing back and forth.

[0048] like Figure 1 to Figure 2 A specific embodiment of the humanoid robot shown includes: two thigh components 1 , two calf components 2 , a hip joint 15 and two foot structures 10 .

[0049] like Figure 1 As shown, the upper ends of the two calf components 2 are connected to the lower ends of the two thigh components 1 through knee joints 11, and the hip joints 15 are connected to the upper ends of the two thigh components 1. The two foot structures 10 are connected to the two calf components 2, respectively.

[0050] like Figure 1 and Figure 2 As shown, the calf assembly 2 includes: a second web 7 , a second driving member 8 , a second rocker arm 13 and a connecting rod 14 .

[0051] The lower end of the second web 7 is rotatably connected to the foot structure 10 near the middle of the instep through a rotary joint 16; the rotation is a pitch rotation. The hip joint 15 is provided with a drive motor, which is suitable for driving the thigh component 1 to perform a lateral swing rotation.

[0052] Specifically, Figure 2 As shown, the rotary joint 16 includes: a cross universal joint bearing, two first supports 9 and two second supports 17. The cross universal joint bearing is provided with a first bearing arm and a second bearing arm that intersect vertically; the two first supports 9 are arranged at intervals on the foot structure 10 near the middle of the instep; the two first supports 9 are respectively provided with a first bearing hole along the symmetry axis of the foot structure 10; the two ends of the first bearing arm are respectively rotatably connected to the two first bearing holes. The two second supports 17 are arranged at intervals at the bottom end of the second web 7; the two second supports 17 are respectively provided with a second bearing hole along the direction perpendicular to the symmetry axis of the foot structure 10; the two ends of the second bearing arm are respectively rotatably connected to the two second bearing holes.

[0053] like Figure 1 and Figure 2 As shown, the second driving member 8 is arranged on the second web 7 near the upper end. The inner end of the second rocker 13 is connected to the second driving member 8, and the second driving member 8 is suitable for driving the second rocker 13 to swing. Specifically, the second driving member 8 is a motor. The upper end of the connecting rod 14 is rotatably connected to the outer end of the second rocker 13; the connecting rod 14 is arranged in the vertical direction, and the lower end of the connecting rod 14 is connected to the position near the heel on the foot structure 10 through the ankle joint 12; specifically, the ankle joint 12 is a cross-axis universal joint. The calf assembly 2 is suitable for driving the connecting rod 14 to move up and down when the second rocker 13 swings, thereby driving the foot structure 10 to perform pitch motion.

[0054] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A thigh assembly, characterized in that: include: A first web (4), the lower end of which is suitable for connection with the knee joint (11); A first driving member (5) fixedly connected to the outer upper end of the first web (4); The upper end of the support member (6) is fixedly connected to the inner upper end of the first web (4); the lower end of the support member (6) is suitable for being connected to the knee joint (11).

2. The thigh assembly according to claim 1, characterized in that: Also includes: The first rocker (3) has an upper end connected to the first driving member (5), and the lower end of the first rocker (3) is suitable for being connected to the knee joint (11); the first driving member (5) is suitable for driving the first rocker (3) to swing back and forth, thereby driving the knee joint (11) to swing back and forth.

3. The thigh assembly according to claim 1 or 2, characterized in that: The knee joint (11) is a cross roller bearing.

4. The thigh assembly according to claim 1 or 2, characterized in that: The first driving member (5) is a motor.

5. A humanoid robot, characterized in that: include: A thigh component (1) as claimed in any one of claims 1 to 4.

6. The humanoid robot according to claim 5, characterized in that: Also includes: The upper ends of the two calf components (2) are respectively connected to the lower ends of the two thigh components (1) via knee joints (11); A hip joint (15) connected to the upper ends of the two thigh components (1); The two foot structural members (10) are respectively connected to the two calf components (2).

7. The humanoid robot according to claim 6, characterized in that: The lower leg assembly (2) comprises: The lower end of the second web (7) is rotatably connected to a position on the foot structure (10) near the middle of the instep through a swivel joint (16); the rotation is a pitch rotation; A second driving member (8) is arranged on the second web (7) at a position close to the upper end; A second rocking arm (13), the inner end of which is connected to a second driving member (8), wherein the second driving member (8) is adapted to drive the second rocking arm (13) to rock; A connecting rod (14), the upper end of which is rotatably connected to the outer end of the second rocker (13); the connecting rod (14) is arranged in a vertical direction, and the lower end of the connecting rod (14) is connected to a position close to the heel of the foot structure (10) through an ankle joint (12); The calf component (2) is suitable for driving the connecting rod (14) to move up and down when the second rocker (13) swings, thereby driving the foot structure (10) to perform a pitching movement.

8. The humanoid robot according to claim 7, characterized in that: The ankle joint (12) is a cross-axis universal joint.

9. The humanoid robot according to claim 7, characterized in that: The rotary joint (16) comprises: A cross universal joint bearing is provided with a first bearing arm and a second bearing arm intersecting perpendicularly; Two first supports (9) are arranged at intervals on the foot structure (10) near the middle of the instep; first bearing holes are respectively provided on the two first supports (9) along the symmetry axis of the foot structure (10); and the two ends of the first bearing arm are respectively rotatably connected to the two first bearing holes; Two second supports (17) are arranged at intervals at the bottom end of the second web (7); second bearing holes are respectively provided on the two second supports (17) along a direction perpendicular to the symmetry axis of the foot structure (10); and the two ends of the second bearing arm are respectively rotatably connected to the two second bearing holes.

10. The humanoid robot according to any one of claims 7 to 9, characterized in that: The second driving member (8) is a motor.

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