Lower limb structure of humanoid robot

Abstract

The utility model discloses a humanoid robot lower limb structure which comprises a bearing piece, a mechanical thigh is rotationally connected to an inner cavity in the bottom of the bearing piece, a knee bearing piece is rotationally connected to the bottom of the mechanical thigh, and a mechanical shank is rotationally connected to an inner cavity in the bottom of the knee bearing piece. The bottom of the mechanical shank is rotationally connected with an ankle bearing piece, a mechanical foot is arranged below the mechanical shank, the inner wall of the mechanical foot is fixedly connected with a bearing shaft, and the surface of the bearing shaft is rotationally connected with an inner cavity in the bottom of the ankle bearing piece. The stability of the mechanical thighs, the mechanical shanks and the mechanical feet can be improved, and the purpose that in the operation process of the robot, the knee parts of the robot are prevented from being reversely bent, and consequently the robot is unstable is achieved.

Description

Technical Field

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

[0002] The purpose of designing the lower limbs of humanoid robots is to enable the robots to work in the environment where humans work and live, operate tools and equipment designed for humans, and communicate with humans conveniently.

[0003] Among them, the lower limb structure of the humanoid robot with knees bent is mainly suitable for home services and disability assistance. Therefore, there are high requirements for its stability. In order to avoid reverse bending of the robot's knees during the operation of the robot, which may cause instability of the robot, a humanoid robot lower limb structure is designed. The structure can improve the overall stability of the robot's lower limb structure through the restrictions of multiple supporting parts and the support and limitation of multiple hydraulic telescopic rods, so as to avoid reverse bending of the robot's knees during the operation of the robot, which may cause instability of the robot. Utility Model Content

[0004] The utility model aims to provide a humanoid robot lower limb structure, which can avoid reverse bending of the robot's knee during the operation of the robot, thereby preventing the robot from becoming unstable, so as to solve the above-mentioned background technical problems.

[0005] The technical solution of the utility model for solving the above technical problems is as follows: a humanoid robot lower limb structure, which includes a receiving part: the inner cavity at the bottom of the receiving part is rotatably connected to a mechanical thigh, the bottom of the mechanical thigh is rotatably connected to a knee receiving part, the inner cavity at the bottom of the knee receiving part is rotatably connected to a mechanical calf, the bottom of the mechanical calf is rotatably connected to an ankle receiving part, a mechanical foot is arranged below the mechanical calf, the inner wall of the mechanical foot is fixedly connected to a receiving shaft, and the surface of the receiving shaft is rotatably connected to the inner cavity at the bottom of the ankle receiving part.

[0006] Preferably, an auxiliary connecting shaft is fixedly connected to the inner wall of the mechanical foot, a driven connecting member is rotatably connected to the surface of the auxiliary connecting shaft, and a connecting member 1 is rotatably connected to the inner cavity at the top of the driven connecting member.

[0007] Preferably, the inner cavity at the bottom of the mechanical thigh is rotatably connected to a second connector, and an auxiliary hydraulic telescopic rod is rotatably connected between the first connector and the second connector.

[0008] Preferably, the inner cavities on the left and right sides of the receiving member are both rotatably connected with connecting shafts, and the inner cavities on the left and right sides of the knee receiving member are both rotatably connected with knee connecting shafts.

[0009] Preferably, the inner cavities on the left and right sides of the ankle receiving component are rotatably connected to ankle connecting shafts, and an upper hydraulic telescopic rod is rotatably connected between the connecting shaft and the knee connecting shaft.

[0010] Preferably, a lower half hydraulic telescopic rod is rotatably connected between the knee connecting shaft and the ankle connecting shaft, and a crotch connecting shaft is rotatably connected to the inner cavity at the top of the receiving member.

[0011] The beneficial effects of the utility model are:

[0012] 1. The utility model can improve the stability of the mechanical thigh, mechanical calf and mechanical foot through the upper hydraulic telescopic rod and the lower hydraulic telescopic rod, so as to achieve the purpose of avoiding the reverse bending of the robot's knee during the operation of the robot, which would cause the robot to become unstable;

[0013] 2. The utility model can make the connection between the mechanical calf and the mechanical foot more stable by setting an auxiliary hydraulic telescopic rod, and at the same time obtain auxiliary supporting force, which can improve the stability of the mechanical calf, ankle receiving part and mechanical foot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] in:

[0015] Figure 1 A schematic diagram of a front view of an embodiment of the utility model;

[0016] Figure 2 This is a schematic diagram of the main view splitting of an embodiment of the utility model;

[0017] Figure 3 This is a schematic diagram of the main body disassembly of an embodiment of the utility model;

[0018] Figure 4 This is a schematic diagram of the disassembly of the mechanical foot of an embodiment of the utility model.

[0019] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0020] 1. Socket, 2. Mechanical thigh, 3. Knee socket, 4. Mechanical calf, 5. Ankle socket, 6. Mechanical foot, 7. Socket shaft, 8. Auxiliary connecting shaft, 9. Driven connecting part, 10. Connecting part 1, 11. Connecting part 2, 12. Auxiliary hydraulic telescopic rod, 13. Connecting shaft, 14. Knee connecting shaft, 15. Ankle connecting shaft, 16. Upper hydraulic telescopic rod, 17. Lower hydraulic telescopic rod, 18. Hip connecting shaft. DETAILED DESCRIPTION

[0021] Hereinafter, embodiments of the humanoid robot lower limb structure of the present invention will be described with reference to the accompanying drawings. Example

[0022] Figure 1-4 The lower limb structure of a humanoid robot according to an embodiment of the utility model is shown, which includes: a receiving part 1: the inner cavity at the bottom of the receiving part 1 is rotatably connected to a mechanical thigh 2, the bottom of the mechanical thigh 2 is rotatably connected to a knee receiving part 3, the inner cavity at the bottom of the knee receiving part 3 is rotatably connected to a mechanical shank 4, the bottom of the mechanical shank 4 is rotatably connected to an ankle receiving part 5, a mechanical foot 6 is arranged below the mechanical shank 4, the inner wall of the mechanical foot 6 is fixedly connected to a receiving shaft 7, the surface of the receiving shaft 7 is rotatably connected to the inner cavity at the bottom of the ankle receiving part 5, and the inner wall of the mechanical foot 6 is fixedly connected to the inner cavity of the bottom of the ankle receiving part 5. An auxiliary connecting shaft 8 is connected, and a driven connecting member 9 is rotatably connected to the surface of the auxiliary connecting shaft 8. A connecting member 10 is rotatably connected to the inner cavity of the top of the driven connecting member 9. A connecting member 2 11 is rotatably connected to the inner cavity of the bottom of the mechanical thigh 2. An auxiliary hydraulic telescopic rod 12 is rotatably connected between the connecting member 10 and the connecting member 2 11. By setting the auxiliary hydraulic telescopic rod 12, the connection between the mechanical calf 4 and the mechanical foot 6 can be made more stable, and auxiliary supporting force can be obtained at the same time, which can improve the stability of the mechanical calf 4, ankle receiving member 5 and mechanical foot 6. Example

[0023] Figure 1-4 The lower limb structure of a humanoid robot according to an embodiment of the utility model is shown, which includes: a receiving part 1: the inner cavity at the bottom of the receiving part 1 is rotatably connected to a mechanical thigh 2, the bottom of the mechanical thigh 2 is rotatably connected to a knee receiving part 3, the inner cavity at the bottom of the knee receiving part 3 is rotatably connected to a mechanical shank 4, the bottom of the mechanical shank 4 is rotatably connected to an ankle receiving part 5, a mechanical foot 6 is arranged below the mechanical shank 4, the inner wall of the mechanical foot 6 is fixedly connected to a receiving shaft 7, the surface of the receiving shaft 7 is connected to the inner cavity at the bottom of the ankle receiving part 5 Rotational connection: the inner cavities on the left and right sides of the receiving part 1 are rotationally connected with the connecting shaft 13, the inner cavities on the left and right sides of the knee receiving part 3 are rotationally connected with the knee connecting shaft 14, the inner cavities on the left and right sides of the ankle receiving part 5 are rotationally connected with the ankle connecting shaft 15, the upper hydraulic telescopic rod 16 is rotationally connected between the connecting shaft 13 and the knee connecting shaft 14, the lower hydraulic telescopic rod 17 is rotationally connected between the knee connecting shaft 14 and the ankle connecting shaft 15, and the inner cavity at the top of the receiving part 1 is rotationally connected with the crotch connecting shaft 18.

[0024] Working principle: When the utility model is used, the user starts the robot, thereby starting the entire lower limb of the robot. When the mechanical thigh 2 drives the mechanical calf 4 and the mechanical foot 6 to move, the mechanical foot 6 can improve the stability of the mechanical calf 4, the ankle support 5 and the mechanical foot 6 under the support connection of the connecting piece 10, the connecting piece 2 11 and the auxiliary hydraulic telescopic rod 12. At the same time, when the mechanical calf 4 is forwardly bent under the restriction of the knee support 3, the support and pulling restriction of the upper hydraulic telescopic rod 16 and the lower hydraulic telescopic rod 17 can prevent the mechanical calf 4 from reverse bending when standing upright, thereby improving the stability of the mechanical thigh 2, the mechanical calf 4 and the mechanical foot 6, that is, during the operation of the robot, the reverse bending of the robot's knee can be avoided, which would cause the robot to become unstable.

[0025] To sum up: the lower limb structure of the humanoid robot, through the upper hydraulic telescopic rod 16 and the lower hydraulic telescopic rod 17, can improve the stability of the mechanical thigh 2, the mechanical calf 4 and the mechanical foot 6, thereby achieving the purpose of avoiding reverse bending of the robot's knee during the operation of the robot, which would cause the robot to become unstable.

Claims

1. A humanoid robot lower limb structure, characterized in that: The invention comprises a receiving part (1): the inner cavity at the bottom of the receiving part (1) is rotatably connected to a mechanical thigh (2), the bottom of the mechanical thigh (2) is rotatably connected to a knee receiving part (3), the inner cavity at the bottom of the knee receiving part (3) is rotatably connected to a mechanical calf (4), the bottom of the mechanical calf (4) is rotatably connected to an ankle receiving part (5), a mechanical foot (6) is arranged below the mechanical calf (4), the inner wall of the mechanical foot (6) is fixedly connected to a receiving shaft (7), and the surface of the receiving shaft (7) is rotatably connected to the inner cavity at the bottom of the ankle receiving part (5).

2. The humanoid robot lower limb structure according to claim 1, characterized in that: The inner wall of the mechanical foot (6) is fixedly connected to an auxiliary connecting shaft (8), the surface of the auxiliary connecting shaft (8) is rotatably connected to a driven connecting member (9), and the inner cavity at the top of the driven connecting member (9) is rotatably connected to a connecting member 1 (10).

3. The humanoid robot lower limb structure according to claim 2, characterized in that: The inner cavity at the bottom of the mechanical thigh (2) is rotatably connected to a second connecting piece (11), and an auxiliary hydraulic telescopic rod (12) is rotatably connected between the first connecting piece (10) and the second connecting piece (11).

4. The humanoid robot lower limb structure according to claim 3, characterized in that: The inner cavities on the left and right sides of the receiving component (1) are both rotatably connected to connecting shafts (13), and the inner cavities on the left and right sides of the knee receiving component (3) are both rotatably connected to knee connecting shafts (14).

5. The humanoid robot lower limb structure according to claim 4, characterized in that: The inner cavities on the left and right sides of the ankle receiving member (5) are both rotatably connected to ankle connecting shafts (15), and an upper hydraulic telescopic rod (16) is rotatably connected between the connecting shaft (13) and the knee connecting shaft (14).

6. The humanoid robot lower limb structure according to claim 5, characterized in that: A lower hydraulic telescopic rod (17) is rotatably connected between the knee connection shaft (14) and the ankle connection shaft (15), and a crotch connection shaft (18) is rotatably connected to the inner cavity at the top of the receiving member (1).

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