A leg motion structure and humanoid robot

Abstract

The utility model provides a leg motion structure and a humanoid robot, wherein the leg motion structure is used for the humanoid robot. The leg motion structure includes a mounting assembly, a cantilever assembly and a leggings assembly. The cantilever assembly can be rotatably mounted on the mounting assembly. The leggings assembly can be slidably arranged on the cantilever assembly. The leggings assembly includes a fixing seat and a support plate, wherein the support plate can be rotatably mounted on the fixing seat; the fixing seat can be slidably mounted on the cantilever assembly, and the support plate is used to fix the user's legs. The leg motion structure provided by the utility model enables users of any age and any body shape to comfortably and appropriately fix their legs on the support plate, and to exercise and rehabilitate their legs under the drive of the humanoid robot, thereby improving the applicability and practicality of the utility model.

Description

Technical Field

[0001] The utility model relates to the medical field, in particular to a leg movement structure and a humanoid robot. Background Art

[0002] Humanoid robots, also known as humanoid robots or humanoid robots, refer to robots with human form and functions, anthropomorphic limbs, movement and operation skills, as well as perception, learning and cognitive abilities. Humanoid robots are built on a multidisciplinary basis, using a combination of mechanics, electrical, materials, sensing, control and computers to achieve anthropomorphic functions. They are more versatile in environmental adaptation, more diverse in task operations, and more friendly in human-machine interaction. They are an important manifestation of the comprehensive level of science and technology.

[0003] The main force of domestic humanoid robot research comes from universities, research institutions and high-tech companies, which have cultivated multiple research teams and technical talents, and have made important progress in basic devices, new materials and new structures, control theory, recognition algorithms, and intelligent theory. A variety of humanoid robot prototypes have been developed, and the overall technical level has basically reached the international advanced level. Through support and increased investment, reasonable layout and key investment, my country's humanoid robots are expected to be the first to be applied in real scenes and occupy the market opportunity.

[0004] In the related art, when a humanoid robot is used in the field of leg exercise and leg rehabilitation, the leg structure of the humanoid robot is limited by structural constraints and cannot adapt to users of different body shapes, resulting in many inconveniences in the use of the humanoid robot. Utility Model Content

[0005] In order to overcome the defects existing in the related art, the utility model provides a leg movement structure.

[0006] The embodiment of the utility model is achieved as follows:

[0007] A leg motion structure is used for a humanoid robot. The leg motion structure comprises a mounting assembly, a cantilever assembly and a legging assembly. The cantilever assembly can be rotatably mounted on the mounting assembly. The legging assembly can be slidably arranged on the cantilever assembly. The legging assembly comprises a fixing seat and a support plate, wherein the support plate can be rotatably mounted on the fixing seat; the fixing seat can be slidably mounted on the cantilever assembly, and the support plate is used to fix the user's legs.

[0008] In some embodiments, exemplarily, the support plate is hingedly mounted on the fixing seat, the hinge axis of the support plate is arranged parallel to the cantilever assembly, and the sliding direction of the fixing seat is arranged perpendicular to the rotation direction of the hinge axis.

[0009] In some embodiments, exemplarily, two support plates are provided, both of the two support plates are hingedly mounted on the fixing seat, and the two support plates are symmetrically arranged along the cantilever assembly.

[0010] In some embodiments, exemplarily, the support plate is configured as a rectangular plate, and a bent portion is provided at an end of the rectangular plate, and a through hole is provided on the bent portion, and the through hole is used to pass a binding strap.

[0011] In some embodiments, the cantilever assembly is provided with a slide rail element, the slide rail element includes a slide rail and a slider, the slide rail is provided on the cantilever assembly, and the slider is slidably provided in the slide rail. The legging assembly is slidably mounted on the slider.

[0012] In some embodiments, exemplarily, a clamping assembly is disposed in the mounting assembly, and when the cantilever assembly rotates to the first position or the second position, the clamping assembly can limit the position of the cantilever assembly.

[0013] In some embodiments, exemplarily, when the axis of the cantilever assembly is arranged parallel to the mounting assembly, the cantilever assembly is located at the first position; when the axis of the cantilever assembly is arranged perpendicular to the mounting assembly, the cantilever assembly is located at the second position.

[0014] In some embodiments, exemplarily, a contact sensor is provided between the mounting assembly and the cantilever assembly, the contact sensor is capable of sensing the position of the cantilever assembly, and a wireless transmission module is provided on the contact sensor.

[0015] In some embodiments, exemplarily, a pressure sensor is provided between the mounting assembly and the cantilever assembly, the pressure sensor is capable of detecting the force applied by the cantilever assembly, and a wireless transmission module is provided on the pressure sensor.

[0016] A humanoid robot comprises the leg motion structure and a data processing module described in any one of the above embodiments, wherein the data processing module is capable of receiving data signals transmitted by the leg motion structure.

[0017] The beneficial effects of the embodiments of the utility model are:

[0018] The leg movement structure provided by the utility model, when in use, the user's legs are placed on a support plate and fixed on the support plate, and after the fixation is completed, the user can cooperate with the humanoid robot to perform leg movement, training, and rehabilitation.

[0019] During the fixing process, the shape and position of the legs will be different due to the different body shapes and body structures of the users. In the specific fixing process, after the leggings assembly is slid to a suitable position on the cantilever assembly, the user's legs are placed on the support plate of the leggings assembly. According to the body shape of the user and the shape of the legs, after the legs are placed on the support plate, the support plate is further adjusted to rotate relative to the fixing seat until it rotates to a comfortable angle for the user, and then the user's legs are fixed on the support plate.

[0020] The leg movement structure provided by the utility model enables users of any age and any body shape to fix their legs on the support plate comfortably and appropriately, and to exercise and rehabilitate their legs under the drive of the humanoid robot, thereby improving the applicability and practicality of the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a structural schematic diagram of a leg movement structure from one perspective of an embodiment of the utility model;

[0023] Figure 2 This is a structural schematic diagram of the leg movement structure of an embodiment of the utility model from another perspective.

[0024] icon:

[0025] 100-installation assembly; 110-clamping assembly; 200-cantilever assembly; 300-legging assembly; 310-support plate; 311-connecting pin; 312-bending portion; 313-through hole; 320-fixing seat; 321-connecting portion; 400-contact sensor; 500-sleeve. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply 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 a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0030] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0031] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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.

[0032] Example 1

[0033] This embodiment provides a leg movement structure to solve the problem in the related art that the leggings assembly cannot adapt to users of different body shapes.

[0034] See also Figure 1 , Figure 2, a leg motion structure, used for a humanoid robot. The leg motion structure includes a mounting assembly 100, a cantilever assembly 200 and a legging assembly 300. The cantilever assembly 200 can be rotatably mounted on the mounting assembly 100. The legging assembly 300 can be slidably arranged on the cantilever assembly 200. The legging assembly 300 includes a fixing seat 320 and a support plate 310, the support plate 310 can be rotatably mounted on the fixing seat 320; the fixing seat 320 can be slidably mounted on the cantilever assembly 200, and the support plate 310 is used to fix the user's legs.

[0035] Specifically, when using the leg movement structure of the present embodiment, the position of the leggings assembly 300 is adjusted according to factors such as the user's body shape and age, and the leggings assembly 300 is controlled to slide along the cantilever assembly 200. After sliding to a suitable position, the user can place the leg on the support plate 310 in the leggings assembly 300. Afterwards, due to the different fatness and sitting postures of the users, the contact positions of the legs and the support plate 310 are also different, and the shape of the legs is usually curved. After the legs contact the support plate 310, according to the bending direction of the legs, the support plate 310 can be adaptively rotated, and the support plate 310 and the fixing seat 320 rotate relative to each other, so that the support plate 310 can be better fitted to the user's legs. When the user's legs fit the support plate 310 appropriately, the leggings assembly 300 is used to fix the user's legs on the support plate 310, and the support plate 310 can be driven by the humanoid robot to exercise and rehabilitate the user's legs.

[0036] In some embodiments, for example, Figure 1 , Figure 2 As shown, the fixing seat 320 is configured as a rigid plate, and a connecting portion 321 is provided on the rigid plate. Correspondingly, a connecting pin 311 is provided on the side of the support plate 310 facing the fixing seat 320. The support plate 310 is relatively connected to the fixing seat 320 through the connecting pin 311 and the connecting portion 321 to ensure a reliable connection. In addition, the connection method of the connecting pin 311 and the connecting portion 321 will not affect the normal rotation of the support plate 310, so that the structural design of this embodiment is reasonable.

[0037] In some embodiments, for example, Figure 1 , Figure 2As shown, the support plate 310 is hingedly mounted on the fixed seat 320, the hinge axis of the support plate 310 is arranged parallel to the cantilever assembly 200, and the sliding direction of the fixed seat 320 is arranged perpendicular to the rotation direction of the hinge axis. The sliding direction of the fixed seat 320 is arranged perpendicular to the rotation direction of the hinge axis. In this way, when the user's legs are fixed on this embodiment, the sliding direction of the fixed seat 320, that is, the distance between the two legs of the user, can make the user's legs both be fixed on the legging assembly 300 of this embodiment by changing the position of the fixed seat 320. The rotation direction of the hinge axis is arranged perpendicular to the sliding direction of the fixed seat 320, that is, the rotation direction of the hinge axis is the direction of the user's leg bending. The angle between the support plate 310 and the fixed seat 320 is adjusted by the hinge axis, so that the support plate 310 can better fit the user's legs, so that this embodiment can adapt to users of different body shapes and improve the comfort of the user when using this embodiment.

[0038] In some embodiments, for example, Figure 1 As shown in Figure 2, two support plates 310 are provided, and both support plates 310 are hingedly mounted on the fixing seat 320, and the two support plates 310 are symmetrically arranged along the cantilever assembly 200. There are two support plates 310, which can expand the contact area between the user and the support plate 310. When the pressure between the user's legs and the support plate 310 remains unchanged, the larger the contact area between the user's legs and the support plate 310, the smaller the pressure at the contact part, that is, the better the user experience.

[0039] Furthermore, the two support plates 310 are symmetrically arranged along the cantilever assembly 200, so that when the user's legs are fixed, the support plates 310 can better fit the legs. Specifically, when the user's legs are fixed, one support plate 310 can be fixed on the thigh part, and the other support plate 310 can be fixed on the calf part, and the leg bend corresponds to the gap between the two support plates 310. At this time, the two support plates 310 can be adaptively deflected in different directions, thereby improving the reliability and comfort of the leggings assembly 300 fixing the user's legs. Of course, the user can also fix both support plates 310 on the thigh part or the calf part, and the support plates 310 can be deflected to effectively and comfortably fit the user's legs, making this embodiment easy to use.

[0040] In some embodiments, for example, Figure 1As shown in Figure 2, the support plate 310 is set as a rectangular plate, and a curved portion 312 is provided at the end of the rectangular plate, and a through hole 313 is provided on the curved portion 312, and the through hole 313 is used to pass the strap. The support plate 310 is set as a rectangle, and the curved portion 312 is provided at the end of the rectangular plate. In this way, the shape of the support plate 310 can be more closely matched with the shape of the user's leg, further expanding the contact area between the support plate 310 and the user's leg, thereby improving the comfort of the support plate 310 when it is fixed. The through hole 313 is provided on the curved portion 312, that is, after the user's leg is placed on the support plate 310, the user's leg can be fixed on the support plate 310 through the through hole 313 through a strap or other connecting piece. It can be understood that the strap can be set as a wider cloth strip or elastic strip, etc., which cooperates with the support plate 310 to expand the contact area with the user's leg, avoid abnormal feelings of the user's leg, and improve the user's comfort and use experience.

[0041] In some embodiments, for example, Figure 1 As shown in Figure 2, a slide rail element is provided on the cantilever assembly 200, and the slide rail element includes a slide rail and a slider. The slide rail is provided on the cantilever assembly 200, and the slider can be slidably provided in the slide rail. The leggings assembly 300 can be slidably mounted on the slider. Through the cooperation of the slide rail and the slider, the leggings assembly 300 can slide relative to the cantilever assembly 200 smoothly and reliably. After the slider slides to any position, the slider can be fixed relative to the slide rail, that is, after the leggings assembly 300 slides to any position, it can be fixed relative to the cantilever assembly 200, and the leggings assembly 300 can stay at any position for use by the user.

[0042] It should be noted that the relative fixing method of the slider and the slide rail is not limited in this embodiment, and the slider and the slide rail can be fixed by any existing and mature relative fixing method. For example, the slider is provided with a threaded hole, and the slide rail is provided with a clamping groove along the sliding direction of the slider. The limit screw passes through the clamping groove and extends into the threaded hole to cooperate with the thread of the threaded hole. When the slider slides to any suitable position and needs to be fixed, the limit screw is tightened so that the limit screw abuts against the clamping groove to complete the fixation.

[0043] In some embodiments, for example, Figure 1As shown in Figure 2, a clamping assembly 110 is provided in the mounting assembly 100. When the cantilever assembly 200 rotates to the first position or the second position, the clamping assembly 110 can limit the position of the cantilever assembly 200. When the user performs leg exercise or rehabilitation training through this embodiment, the user's legs are fixed on the leggings assembly 300, and the cantilever assembly 200 is driven to rotate through the leggings assembly 300. During this process, when the cantilever assembly 200 rotates to the first position or the second position, the clamping assembly 110 can limit the position of the cantilever assembly 200, so that the cantilever assembly 200 stays at the first position or the second position. In this way, the cantilever assembly 200 can stop moving at a suitable position, and it is convenient for the user to fix or detach the leggings assembly 300, further making this embodiment easy to use.

[0044] It is understandable that in this embodiment, the structure of the clamping assembly 110 is not limited, as long as the clamping assembly 110 can limit the relative position between the cantilever assembly 200 and the mounting assembly 100. Exemplarily, the clamping assembly 110 can be configured as a limit pin and a limit hole.

[0045] In some embodiments, for example, Figure 1 As shown in Figure 2, when the axis of the cantilever assembly 200 is parallel to the mounting assembly 100, the cantilever assembly 200 is located in the first position; when the axis of the cantilever assembly 200 is perpendicular to the mounting assembly 100, the cantilever assembly 200 is located in the second position. When the cantilever assembly 200 and the mounting assembly 100 are located in the same horizontal plane, or when there is a right angle between the cantilever assembly 200 and the mounting assembly 100, the cantilever assembly 200 can be relatively fixed to the mounting assembly 100, and both positions are the extreme positions of the swing of the cantilever assembly 200, which further facilitates the user to fix or detach the legging assembly 300 at a suitable position, making this embodiment easy to use.

[0046] In some embodiments, for example, a contact sensor 400 is provided between the mounting assembly 100 and the cantilever assembly 200, and the contact sensor 400 can sense the position of the cantilever assembly 200, and a wireless transmission module is provided on the contact sensor 400. The current position of the cantilever assembly 200 is sensed through the contact sensor 400, and the position information of the cantilever assembly 200 is transmitted to the data processing module of the humanoid robot through the wireless transmission module, so that when the user starts to use this embodiment, the humanoid robot can rotate the cantilever assembly 200 to the correct and appropriate direction, thereby driving the user's legs to exercise and perform rehabilitation training.

[0047] It should be noted that since the position where the cantilever assembly 200 stops moving is the first position or the second position, and the first position and the second position are both the extreme positions of the movement of the cantilever assembly 200, after the position information of the cantilever assembly 200 is transmitted to the humanoid robot, it can prevent the humanoid robot from controlling the cantilever assembly 200 to rotate in an inappropriate direction, thereby causing damage to the cantilever assembly 200 and affecting the stability and reliability of this embodiment.

[0048] In some embodiments, for example, Figure 1 As shown in Figure 2, a pressure sensor is provided between the mounting assembly 100 and the cantilever assembly 200. The pressure sensor can detect the force applied by the cantilever assembly 200, and a wireless transmission module is provided on the pressure sensor. The pressure sensor is provided to sense the pressure applied to the cantilever assembly 200, that is, the user transmits the pressure to the leggings assembly 300 through the legs, and then the leggings assembly 300 transmits the pressure to the cantilever assembly 200. In other words, the pressure sensor can sense the pressure applied by the user when using this embodiment. In this way, the pressure sensor transmits the pressure data to the data processing module of the humanoid robot through the wireless transmission module. The data processing module determines how much force is used to drive the cantilever assembly 200 to move, as well as the speed and frequency of the cantilever assembly 200 movement, so that this embodiment is more suitable for users to perform leg exercises and rehabilitation.

[0049] For example, the greater the force applied by the user's legs detected by the pressure sensor, the smaller the force used by the humanoid robot to control the cantilever assembly 200, so that the user's legs can gradually recover during exercise.

[0050] In some embodiments, for example, Figure 1 As shown, a sleeve 500 is provided between the pressure sensor and the mounting assembly 100, the sleeve 500 can be rotatably mounted on the mounting assembly 100, and the pressure sensor is mounted in the sleeve 500. In this way, when the cantilever assembly 200 drives the pressure sensor to rotate, that is, when the pressure sensor and the mounting assembly 100 rotate relative to each other, the sleeve 500 can reduce the rotational friction between the pressure sensor and the mounting assembly 100, and the rotation process is more stable, thereby making the detection result of the pressure sensor more accurate, and the pressure sensor can also be protected by the sleeve 500.

[0051] It should be noted that the sleeve 500 can be configured as any structure as long as the pressure sensor and the mounting assembly 100 can rotate smoothly. Exemplarily, the sleeve 500 is configured as an oil-free bearing, and the oil-free bearing is installed between the mounting assembly 100 and the pressure sensor, so that the pressure sensor and the mounting assembly 100 can rotate smoothly and stably.

[0052] Example 2

[0053] A humanoid robot comprises the leg motion structure and a data processing module in any one of the above embodiments, wherein the data processing module is capable of receiving data signals transmitted by the leg motion structure.

[0054] The humanoid robot of this embodiment includes the leg movement structure of any one of the above embodiments, and thus possesses all the beneficial effects of the leg movement structure, which will not be elaborated here.

[0055] It should be noted that the leg motion structure is arranged on the legs of the humanoid robot, and two leg motion structures are symmetrically arranged on the humanoid robot. In this way, when using the humanoid robot of this embodiment, the two legs of the user can be fixed on the two leg motion structures respectively, and the leg motion structures are driven by the humanoid robot, so that the user can exercise and perform rehabilitation training on both legs at the same time, further improving the practicality of this embodiment.

[0056] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A leg motion structure for a humanoid robot, characterized in that: include: Installing assembly (100); a cantilever assembly (200), the cantilever assembly (200) being rotatably mounted on the mounting assembly (100); A leggings assembly (300), wherein the leggings assembly (300) is slidably disposed on the cantilever assembly (200); The leggings assembly (300) comprises a fixing seat (320) and a support plate (310), wherein the support plate (310) can be rotatably mounted on the fixing seat (320); the fixing seat (320) can be slidably mounted on the cantilever assembly (200), and the support plate (310) is used to fix the user's legs.

2. The leg exercise structure according to claim 1, characterized in that: The support plate (310) is hingedly mounted on the fixing seat (320), the hinge axis of the support plate (310) is arranged parallel to the cantilever assembly (200), and the sliding direction of the fixing seat (320) is arranged perpendicular to the rotation direction of the hinge axis.

3. The leg exercise structure according to claim 2, characterized in that: Two support plates (310) are provided, and both support plates (310) are hingedly mounted on the fixing seat (320), and the two support plates (310) are symmetrically arranged along the cantilever assembly (200).

4. The leg exercise structure according to any one of claims 1 to 3, characterized in that: The support plate (310) is configured as a rectangular plate, and a bent portion (312) is provided at the end of the rectangular plate. A through hole (313) is provided on the bent portion (312), and the through hole (313) is used to pass a binding strap.

5. The leg exercise structure according to claim 1, characterized in that: The cantilever assembly (200) is provided with a slide rail element, the slide rail element comprising a slide rail and a slider, the slide rail is provided on the cantilever assembly (200), and the slider is slidably provided in the slide rail; The legging assembly (300) can be slidably mounted on the slider.

6. The leg exercise structure according to claim 1, characterized in that: A clamping assembly (110) is arranged in the installation assembly (100), and when the cantilever assembly (200) rotates to a first position or a second position, the clamping assembly (110) can limit the position of the cantilever assembly (200).

7. The leg exercise structure according to claim 6, characterized in that: When the axis of the cantilever assembly (200) is arranged parallel to the mounting assembly (100), the cantilever assembly (200) is located at the first position; when the axis of the cantilever assembly (200) is arranged perpendicular to the mounting assembly (100), the cantilever assembly (200) is located at the second position.

8. The leg exercise structure according to claim 7, characterized in that: A contact sensor (400) is arranged between the mounting assembly (100) and the cantilever assembly (200); the contact sensor (400) is capable of sensing the position of the cantilever assembly (200); and a wireless transmission module is arranged on the contact sensor (400).

9. The leg exercise structure according to claim 1, characterized in that: A pressure sensor is arranged between the mounting assembly (100) and the cantilever assembly (200), the pressure sensor being capable of detecting the force applied by the cantilever assembly (200), and a wireless transmission module being arranged on the pressure sensor.

10. A humanoid robot, characterized in that: It comprises the leg motion structure and data processing module as described in any one of claims 1 to 9, and the data processing module is capable of receiving the data signal transmitted by the leg motion structure.

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