Leg structure of robot, robot, biped robot and humanoid robot

Abstract

The utility model discloses a robot leg structure, a robot, a biped robot and a humanoid robot, the robot leg structure comprises a shank, the shank comprises an upper hinge end, an extension section and a lower hinge end, and the shank is integrally processed; the lower mounting part is detachably connected with the lower hinge end; an outer ring of the first bearing is arranged at the lower hinged end; an outer ring of the second bearing is arranged on the lower mounting piece, and the central axis of the first bearing and the central axis of the second bearing are collinear; a foot; the foot connecting shaft is arranged on the foot, the foot connecting shaft is located between the lower hinged end and the lower installation piece, the first end of the foot connecting shaft is arranged on an inner ring of the first bearing, and the second end of the foot connecting shaft is arranged on an inner ring of the second bearing. Therefore, the number of parts can be reduced, the first bearing, the second bearing and the foot connecting shaft can be conveniently mounted and dismounted, and maintenance and replacement can be facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot leg structure, a machine, a biped robot and a humanoid robot. Background Art

[0002] In the prior art, a sleeve shaft is generally provided on the lower leg of the robot, which increases the number of parts of the robot's leg. The robot's leg needs to move through multiple parts during operation, which not only increases the cost but also reduces the movement efficiency of the robot's leg. Moreover, during the installation process, due to the increase in the number of robot leg parts, the robot's leg assembly efficiency is low and it is not easy to install. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a robot leg structure, which can reduce the number of parts and components, and can also facilitate the installation and disassembly of the first bearing, the second bearing and the foot connecting shaft, so as to facilitate maintenance and replacement.

[0004] The utility model further provides a robot.

[0005] The utility model also provides a biped robot.

[0006] The utility model also provides a humanoid robot.

[0007] According to the leg structure of the robot of the embodiment of the first aspect of the utility model, it includes: a calf, the calf includes an upper hinge end, an extension section and a lower hinge end, and the calf is made in one piece; a lower mounting member, the lower mounting member is detachably connected to the lower hinge end; a first bearing, the outer ring of the first bearing is arranged at the lower hinge end; a second bearing, the outer ring of the second bearing is arranged at the lower mounting member, and the central axis of the first bearing is colinear with the central axis of the second bearing; a foot; a foot connecting shaft, the foot connecting shaft is arranged at the foot, the foot connecting shaft is located between the lower hinge end and the lower mounting member, the first end of the foot connecting shaft is arranged at the inner ring of the first bearing, and the second end of the foot connecting shaft is arranged at the inner ring of the second bearing.

[0008] Therefore, the leg structure of the robot can reduce the number of parts and components, and can also facilitate the installation and disassembly of the first bearing, the second bearing and the foot connecting shaft, thereby facilitating maintenance and replacement.

[0009] According to some embodiments of the utility model, the lower hinged end includes: a first hinged part, the first hinged part is provided with a first bearing hole, and the outer ring of the first bearing is arranged in the first bearing hole; a first mounting part, the first mounting part is connected between the extension section and the first hinged part; the lower mounting part includes: a second hinged part, the second hinged part is provided with a second bearing hole, and the outer ring of the second bearing is arranged in the second bearing hole; a second mounting part, the second mounting part is connected to the second hinged part, and the first mounting part and the second mounting part are arranged opposite to each other and are detachably connected.

[0010] According to some embodiments of the present invention, the first mounting portion and the extension section together form a mounting groove, and the second mounting portion is mounted in the mounting groove.

[0011] According to some embodiments of the present invention, a partial surface of the first mounting portion away from the second mounting portion is coplanar with a side surface of the extension section, and a partial surface of the second mounting portion away from the first mounting portion is coplanar with another side surface of the extension section.

[0012] According to some embodiments of the utility model, one of the first mounting part and the second mounting part is provided with a positioning block, and the other of the first mounting part and the second mounting part is provided with a positioning groove, and the positioning block cooperates with the positioning groove to make the first mounting part and the second mounting part cooperate in the upper limit position in the width direction of the first mounting part.

[0013] According to some embodiments of the utility model, the first mounting portion is provided with a positioning block and the second mounting portion is provided with a positioning groove, the positioning block is located in the mounting groove, a first transition arc is provided between the upper end of the positioning block and the extension section, a second transition arc is provided at the upper end of the positioning groove, and the first transition arc matches the second transition arc.

[0014] According to some embodiments of the present invention, the top surface of the installation groove is configured as a first arcuate surface protruding upward, and the top surface of the second installation portion is configured as a second arcuate surface protruding upward, and the first arcuate surface matches the second arcuate surface.

[0015] According to some embodiments of the utility model, a first hinged part is provided with a first limiting ring at one end of the first bearing hole away from the second bearing hole, and the first limiting ring cooperates with the outer ring of the first bearing in the upper limit position in the thickness direction of the first hinged part; a second hinged part is provided with a second limiting ring at one end of the second bearing hole away from the first bearing hole, and the second limiting ring cooperates with the outer ring of the second bearing in the upper limit position in the thickness direction of the second hinged part.

[0016] According to some embodiments of the utility model, the lower hinged end also includes: a first arc transition portion, the first arc transition portion is connected between the first mounting portion and the first hinged portion, so that the first hinged portion is protruded in a direction away from the second hinged portion; the lower mounting member also includes: a second arc transition portion, the second arc transition portion is connected between the second mounting portion and the second hinged portion, so that the second hinged portion is protruded in a direction away from the first hinged portion.

[0017] According to some embodiments of the utility model, the foot includes: a sole; an axle seat, which is installed on the sole; a third bearing, the outer ring of the third bearing is arranged on the axle seat, and the third end of the foot connecting shaft is arranged on the inner ring of the third bearing; a fourth bearing, the outer ring of the fourth bearing is arranged on the axle seat, and the fourth end of the foot connecting shaft is arranged on the inner ring of the fourth bearing.

[0018] According to some embodiments of the utility model, the foot connecting shaft includes: a first shaft body, the first end of the first shaft body is arranged on the inner ring of the first bearing, the second end of the first shaft body is arranged on the inner ring of the second bearing, and the middle part of the first shaft body is provided with a through hole; a second shaft body, the second shaft body is provided with the through hole and the first shaft body is rotatable relative to the second shaft body, the first end of the second shaft body is arranged on the inner ring of the third bearing, the second end of the second shaft body is arranged on the inner ring of the fourth bearing, and the central axis of the first shaft body is perpendicular to the central axis of the second shaft body.

[0019] According to some embodiments of the present invention, the cross-section of the portion of the first shaft body located between the first bearing and the second bearing perpendicular to the central axis of the first shaft body is rectangular, and the cross-section of the second shaft body perpendicular to its central axis is circular.

[0020] According to some embodiments of the utility model, the first shaft body includes: a first main shaft section, the cross-section of the first main shaft section perpendicular to the central axis of the first shaft body is rectangular, the first main shaft section is provided with a through hole, the first main shaft section and the shaft seat are matched with the circumferential upper limit position of the first main shaft section; a first shaft end and a second shaft end, the first shaft end and the second shaft end are respectively connected to the two ends of the first main shaft section, the cross-section of the first shaft end and the second shaft end perpendicular to the central axis of the first shaft body is circular, the first shaft end is arranged on the inner ring of the first bearing, and the second shaft end is arranged on the inner ring of the second bearing.

[0021] According to some embodiments of the utility model, the leg structure of the robot also includes: a first stopper, which is arranged at an end of the first bearing away from the first main shaft section; a first fastener, which is connected to the first shaft end after passing through the first stopper; a second stopper, which is arranged at an end of the second bearing away from the first main shaft section; and a second fastener, which is connected to the second shaft end after passing through the second stopper.

[0022] According to some embodiments of the utility model, the second shaft body includes: a second main shaft section, the second main shaft section is passed through the inner ring of the third bearing, the through hole and the inner ring of the fourth bearing, and the cross-section of the second main shaft section perpendicular to the central axis of the second shaft body is circular; a third shaft end, the third shaft end is connected to the first end of the second main shaft section; the leg structure of the robot also includes: a third stopper, the second main shaft section is passed through the third stopper, and the third stopper cooperates with the third shaft end stopper; a fourth stopper, the second main shaft section is passed through the fourth stopper; a third fastener, the third fastener is connected to the second end of the second main shaft section after passing through the fourth stopper.

[0023] According to some embodiments of the present invention, the extension section is configured with a third axis; the leg structure of the robot further includes:

[0024] Thigh, the lower end of the thigh is connected to the upper hinge end; a first pull rod, one end of the first pull rod is connected to the thigh, and the other end of the first pull rod is arranged on the third shaft; a fixing member, the fixing member is detachably connected to the extension section, and the end of the third shaft away from the extension section is connected to the fixing member; a first joint module, the first joint module is arranged on the calf and is transmission-connected to the foot; a second joint module, the second joint module is arranged on the calf and is radially spaced from the first joint module on the calf, and the second joint module is transmission-connected to the foot; a second pull rod, the second pull rod is arranged between the first joint module and the foot; a third pull rod, the third pull rod is arranged between the second joint module and the foot.

[0025] A robot according to an embodiment of the second aspect of the utility model includes: the above-mentioned robot leg structure.

[0026] The bipedal robot according to the third aspect of the utility model includes: a body; a first lower limb assembly and a second lower limb assembly, the first lower limb assembly and the second lower limb assembly are connected to the lower part of the body, the first lower limb assembly and the second lower limb assembly are arranged at intervals, and at least one of the first lower limb assembly and the second lower limb assembly is the leg structure of the above-mentioned robot.

[0027] The humanoid robot according to the fourth aspect of the utility model embodiment includes: a head; a torso, the torso is connected to the lower part of the head; an upper limb assembly, the upper limb assembly is connected to both sides of the torso; a first lower limb assembly and a second lower limb assembly, the first lower limb assembly and the second lower limb assembly are connected to the lower part of the torso, the first lower limb assembly and the second lower limb assembly are arranged side by side, and at least one of the first lower limb assembly and the second lower limb assembly is the leg structure of the above-mentioned robot.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0030] Figure 1 is a schematic structural diagram of a leg structure of a robot according to an embodiment of the utility model;

[0031] Figure 2 yes Figure 1 Enlarged view of area A in the middle;

[0032] Figure 3 It is a schematic structural diagram of a robot leg structure including a foot connecting shaft according to an embodiment of the utility model;

[0033] Figure 4 It is a structural schematic diagram of a robot leg structure including a mounting groove according to an embodiment of the utility model;

[0034] Figure 5 It is a schematic diagram of the structure in which the lower mounting member is separated from the lower leg in one embodiment of the utility model;

[0035] Figure 6 It is a schematic diagram of a structure in which a positioning block is contained in a mounting groove according to an embodiment of the utility model;

[0036] Figure 7 It is a structural schematic diagram of a robot leg structure including a first stopper according to an embodiment of the utility model;

[0037] Figure 8 It is a schematic structural diagram of a robot leg structure including a second stopper according to an embodiment of the utility model;

[0038] Fig. 9 is a schematic structural diagram of a robot leg structure including a fourth stopper according to an embodiment of the utility model;

[0039] Fig.10 is a schematic structural diagram of a first shaft body according to an embodiment of the utility model;

[0040] Fig.11 is a schematic structural diagram of a second shaft according to an embodiment of the utility model;

[0041] Fig.12 It is a structural schematic diagram of a first bearing hole provided in a first hinged portion according to an embodiment of the utility model;

[0042] Fig.13 It is a structural schematic diagram of a first hinged portion including a first limiting ring according to an embodiment of the utility model;

[0043] Fig.14It is a structural schematic diagram of a second hinged portion including a second limiting ring according to an embodiment of the utility model;

[0044] Fig.15 It is a structural schematic diagram of the connection between the first pull rod and the thigh according to one embodiment of the utility model;

[0045] Fig.16 This is a schematic diagram of a structure in which one end of a first pull rod is connected to a fixing member according to an embodiment of the utility model;

[0046] Fig.17 It is a structural schematic diagram of a fixing member in one embodiment of the utility model;

[0047] Fig.18 It is a schematic diagram of a structure in which the outer ring of the first bearing is arranged at the lower hinge end according to an embodiment of the utility model;

[0048] Fig.19 It is a schematic diagram of the structure in which the outer ring of the second bearing is arranged on the lower mounting member according to one embodiment of the utility model;

[0049] Fig. 20 It is a structural schematic diagram of a lower leg including a first joint module and a second joint module according to one embodiment of the utility model.

[0050] Reference numerals:

[0051] 100. The leg structure of the robot;

[0052] 10. lower leg; 11. upper hinge end; 12. extension section;

[0053] 13. lower hinge end; 131. first hinge part; 1311. first bearing hole; 1312. first limiting ring;

[0054] 132. a first mounting portion; 133. a first arc transition portion;

[0055] 20. Lower mounting member; 21. Second hinged portion; 211. Second limiting ring;

[0056] 22. Second mounting portion; 221. Second arc-shaped surface; 23. Second arc transition portion;

[0057] 30. First bearing;

[0058] 40. second bearing; 41. second bearing hole;

[0059] 50, foot; 51, sole; 52, axle seat; 53, third bearing; 54, fourth bearing;

[0060] 60, foot connecting shaft; 61, first shaft body; 611, first main shaft section; 612, first shaft end; 613, second shaft end;

[0061] 62, second shaft body; 621, second main shaft section; 622, third shaft end; 623, third stopper; 624, fourth stopper; 625, third fastener; 63, perforation;

[0062] 70. mounting groove; 71. first arc-shaped surface;

[0063] 80, positioning block; 801, first transition arc; 81, positioning groove; 811, second transition arc;

[0064] 90. first stopper; 91. first fastener; 92. second stopper; 93. second fastener;

[0065] 94. Thigh; 95. First tie rod; 96. Fixing piece; 97. Third axis; 98. First joint module; 981. Second tie rod; 99. Second joint module; 991. Third tie rod. DETAILED DESCRIPTION

[0066] The embodiments of the present utility model are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present utility model are described in detail below.

[0067] Reference below Figure 1-Figure 20 A leg structure 100 of a robot according to an embodiment of the present invention is described.

[0068] Reference Figure 1-Figure 5 As shown, the leg structure 100 of the robot of the first embodiment of the utility model includes: a calf 10, a lower mounting member 20, a first bearing 30, a second bearing 40, a foot 50 and a foot connecting shaft 60. The calf 10 includes an upper hinge end 11, an extension section 12 and a lower hinge end 13. The calf 10 is integrally processed, and the lower mounting member 20 and the lower hinge end 13 are detachably connected. The outer ring of the first bearing 30 is arranged on the lower hinge end 13, and the outer ring of the second bearing 40 is arranged on the lower mounting member 20. The central axis of the first bearing 30 is colinear with the central axis of the second bearing 40. The foot connecting shaft 60 is arranged on the foot 50, and the foot connecting shaft 60 is located between the lower hinge end 13 and the lower mounting member 20. The first end of the foot connecting shaft 60 is arranged on the inner ring of the first bearing 30, and the second end of the foot connecting shaft 60 is arranged on the inner ring of the second bearing 40.

[0069] Specifically, the leg structure of a conventional robot generally has a sleeve shaft member on the calf, which increases the number of parts of the leg structure of the robot. The leg structure of the robot needs to move through multiple parts during operation, which not only increases the cost but also reduces the movement efficiency of the leg structure of the robot. Moreover, during the installation process, due to the increase in the number of calf parts, the assembly efficiency of the leg structure of the robot is low and it is not easy to install.

[0070] Therefore, the lower leg 10 in the leg structure 100 of the robot is mainly composed of the upper hinge end 11, the extension section 12 and the lower hinge end 13. The lower leg 10 is processed and manufactured in one piece, so that the strength of the lower leg 10 can be increased and the number of parts of the lower leg 10 can be reduced. In addition, the lower mounting member 20 is detachably connected to the lower hinge end 13, so that the lower mounting member 20 and the lower hinge end 13 can be easily installed and removed.

[0071] like Fig.18 and Fig.19 As shown, the outer ring of the first bearing 30 is arranged at the lower hinge end 13, which can facilitate the rotation of the lower hinge end 13. The outer ring of the second bearing 40 is arranged at the lower mounting member 20, which can facilitate the rotation of the lower mounting member 20. The central axis of the first bearing 30 is colinear with the central axis of the second bearing 40, so that the lower hinge end 13 and the lower mounting member 20 can be rotated on the same central axis. Moreover, the lower mounting member 20 and the lower hinge end 13 can be detachably connected, which can also facilitate the installation and removal of the first bearing 30 and the second bearing 40, thereby facilitating maintenance.

[0072] In addition, the foot connecting shaft 60 is located between the lower hinge end 13 and the lower mounting member 20, so that the lower hinge end 13 and the lower mounting member 20 can be connected as a whole. Further, the first end of the foot connecting shaft 60 is arranged on the inner ring of the first bearing 30, and the inner ring of the first bearing 30 can provide a mounting position for the first end of the foot connecting shaft 60, and the first end of the foot connecting shaft 60 can rotate relative to the inner ring of the first bearing 30, and the second end of the foot connecting shaft 60 is arranged on the inner ring of the second bearing 40, and the inner ring of the second bearing 40 can provide a mounting position for the second end of the foot connecting shaft 60, and the second end of the foot connecting shaft 60 can rotate relative to the inner ring of the second bearing 40, so that the lower hinge end 13 and the lower mounting member 20 can be ensured to rotate synchronously.

[0073] Therefore, the leg structure 100 of the robot can reduce the number of parts and components, and can also facilitate the installation and disassembly of the first bearing 30, the second bearing 40 and the foot connecting shaft 60, thereby facilitating maintenance and replacement.

[0074] According to some embodiments of the present invention, Figure 2 and Figure 3As shown, the lower hinged end 13 includes: a first hinged portion 131 and a first mounting portion 132, the first hinged portion 131 is provided with a first bearing hole 1311, the outer ring of the first bearing 30 is arranged in the first bearing hole 1311, and the first mounting portion 132 is connected between the extension section 12 and the first hinged portion 131.

[0075] The first hinged portion 131 is provided with a first bearing hole 1311, and the outer ring of the first bearing 30 can extend into the first bearing hole 1311. The first bearing hole 1311 can provide an installation space for the outer ring of the first bearing 30. In addition, the first mounting portion 132 is connected between the extension section 12 and the first hinged portion 131, and the first mounting portion 132 can provide an installation space, thereby facilitating the installation of the calf 10.

[0076] Also, if Figure 2 and Figure 3 As shown, the lower mounting member 20 includes: a second hinged portion 21 and a second mounting portion 22, the second hinged portion 21 is provided with a second bearing hole 41, the outer ring of the second bearing 40 is arranged in the second bearing hole 41, the second mounting portion 22 is connected to the second hinged portion 21, the first mounting portion 132 and the second mounting portion 22 are arranged opposite to each other, and the first mounting portion 132 and the second mounting portion 22 can be detachably connected.

[0077] The second hinged portion 21 is provided with a second bearing hole 41, and the outer ring of the second bearing 40 can extend into the second bearing hole 41, and the second bearing hole 41 can provide an installation space for the outer ring of the second bearing 40. In addition, the first mounting portion 132 and the second mounting portion 22 are arranged opposite to each other, so that an installation space for the first bearing 30 and the second bearing 40 can be formed. The first mounting portion 132 and the second mounting portion 22 can be detachably connected, so that the installation space of the first bearing 30, the second bearing 40 and the foot connecting shaft 60 can be further increased, and it can also be convenient for maintenance and replacement.

[0078] According to some embodiments of the present invention, Figure 3 and Figure 4 As shown, the first mounting portion 132 and the extension section 12 together form a mounting groove 70 , and the second mounting portion 22 is mounted in the mounting groove 70 .

[0079] The first mounting portion 132 is fixedly connected to the second mounting portion 22 via the mounting groove 70 , and the mounting groove 70 can provide a receiving space for the second mounting portion 22 , so that the mounting groove 70 and the second mounting portion 22 can cooperate more closely and firmly.

[0080] According to some embodiments of the present invention, Figure 3As shown, a portion of the surface of the first mounting portion 132 away from the second mounting portion 22 is coplanar with one side surface of the extension section 12 , and a portion of the surface of the second mounting portion 22 away from the first mounting portion 132 is coplanar with the other side surface of the extension section 12 .

[0081] Among them, the partial surface of the first mounting portion 132 on the side away from the second mounting portion 22 is coplanar with the surface of one side of the extension section 12, which can facilitate the connection between the first mounting portion 132 and the extension section 12, ensure that the surfaces of the first mounting portion 132 and the extension section 12 are smoother, and prevent the stress at the connection between the first mounting portion 132 and the extension section 12 from being too large.

[0082] Similarly, the partial surface of the second mounting portion 22 on the side away from the first mounting portion 132 is coplanar with the other side surface of the extension section 12. This can facilitate the connection between the second mounting portion 22 and the extension section 12, ensure that the surfaces of the second mounting portion 22 and the extension section 12 are smoother, and prevent high stress at the connection between the second mounting portion 22 and the extension section 12.

[0083] According to some embodiments of the present invention, Figure 5 As shown, one of the first mounting portion 132 and the second mounting portion 22 is provided with a positioning block 80, and the other of the first mounting portion 132 and the second mounting portion 22 is provided with a positioning groove 81. The positioning block 80 cooperates with the positioning groove 81, so that the first mounting portion 132 and the second mounting portion 22 can be matched in the upper limit position in the width direction of the first mounting portion 132.

[0084] The first mounting portion 132 and the second mounting portion 22 are limited by the positioning block 80 and the positioning groove 81 , which can facilitate the installation and removal of the first mounting portion 132 and the second mounting portion 22 and also increase the installation and removal speed of the first mounting portion 132 and the second mounting portion 22 .

[0085] According to some embodiments of the present invention, Figure 5 and Figure 6 As shown, the first mounting portion 132 is provided with a positioning block 80, and the second mounting portion 22 is provided with a positioning groove 81, the positioning block 80 is located in the mounting groove 70, a first transition arc 801 is provided between the upper end of the positioning block 80 and the extension section 12, and a second transition arc 811 is provided at the upper end of the positioning groove 81, and the first transition arc 801 matches the second transition arc 811.

[0086] Among them, when the first mounting part 132 is provided with a positioning block 80, the second mounting part 22 is correspondingly provided with a positioning groove 81, and the positioning block 80 of the first mounting part 132 extends into the positioning groove 81 of the second mounting part 22 for cooperation, which can not only realize the accurate positioning and installation of the first mounting part 132 and the second mounting part 22, but also improve the installation speed of the first mounting part 132 and the second mounting part 22.

[0087] Furthermore, the first transition arc 801 at the upper end of the positioning block 80 cooperates with the second transition arc 811 at the upper end of the positioning groove 81 , so that the upper end of the positioning block 80 and the upper end of the positioning groove 81 can be connected more tightly and firmly.

[0088] According to some embodiments of the present invention, Figure 5 and Figure 6 As shown, the top surface of the mounting groove 70 is constructed as a first curved surface 71 protruding upward, and the top surface of the second mounting portion 22 is constructed as a second curved surface 221 protruding upward. The first curved surface 71 cooperates with the second curved surface 221, so that the top surface of the mounting groove 70 and the top surface of the second mounting portion 22 can be connected more tightly and firmly.

[0089] According to some embodiments of the present invention, Figure 12-14 As shown, the first hinged part 131 is provided with a first limiting ring 1312 at one end of the first bearing hole 1311 away from the second bearing hole 41, and the first limiting ring 1312 cooperates with the outer ring of the first bearing 30 in the upper limit position in the thickness direction of the first hinged part 131, and the second hinged part 21 is provided with a second limiting ring 211 at one end of the second bearing hole 41 away from the first bearing hole 1311, and the second limiting ring 211 cooperates with the outer ring of the second bearing 40 in the upper limit position in the thickness direction of the second hinged part 21.

[0090] Among them, Fig.13 As shown, the first limiting ring 1312 can limit the outer ring of the first bearing 30, and can prevent the first bearing 30 from shifting during operation. Similarly, the second limiting ring 211 cooperates with the outer ring of the second bearing 40 in the thickness direction of the second hinge 21 to prevent the second bearing 40 from shifting during operation, thereby ensuring the stable operation of the first bearing 30 and the second bearing 40.

[0091] According to some embodiments of the present invention, Figure 3As shown, the lower hinge end 13 further includes: a first arc transition portion 133, the first arc transition portion 133 is connected between the first mounting portion 132 and the first hinge portion 131, so that the first hinge portion 131 can be protruded in a direction away from the second hinge portion 21. In this way, the strength between the first mounting portion 132 and the first hinge portion 131 can be increased, and the distance between the first hinge portion 131 and the second hinge portion 21 can also be increased.

[0092] Also, if Figure 3 As shown, the lower mounting member 20 further includes: a second arc transition portion 23, which is connected between the second mounting portion 22 and the second hinge portion 21, so that the second hinge portion 21 can be protruded in a direction away from the first hinge portion 131. In this way, the strength between the second mounting portion 22 and the second hinge portion 21 can be increased, and the distance between the first hinge portion 131 and the second hinge portion 21 can be further increased.

[0093] According to some embodiments of the present invention, Figure 2 As shown, the foot 50 includes: a sole 51, an axle seat 52, a third bearing 53 and a fourth bearing 54, the axle seat 52 is installed on the sole 51, the outer ring of the third bearing 53 is arranged on the axle seat 52, the third end of the foot connecting shaft 60 is arranged on the inner ring of the third bearing 53, the outer ring of the fourth bearing 54 is arranged on the axle seat 52, and the fourth end of the foot connecting shaft 60 is arranged on the inner ring of the fourth bearing 54.

[0094] The shaft seat 52 is mounted on the sole 51, and the sole 51 can provide a mounting position for the shaft seat 52. The inner ring of the third bearing 53 can provide support for the third end of the foot connecting shaft 60, and the third end of the foot connecting shaft 60 can rotate relative to the inner ring of the third bearing 53. The inner ring of the fourth bearing 54 can provide support for the fourth end of the foot connecting shaft 60, and the fourth end of the foot connecting shaft 60 can rotate relative to the inner ring of the fourth bearing 54.

[0095] According to some embodiments of the present invention, Figure 3 As shown, the foot connecting shaft 60 includes: a first shaft body 61 and a second shaft body 62, the first end of the first shaft body 61 is arranged on the inner ring of the first bearing 30, the second end of the first shaft body 61 is arranged on the inner ring of the second bearing 40, a through hole 63 is arranged in the middle of the first shaft body 61, the second shaft body 62 is penetrated by the through hole 63, and the first shaft body 61 can rotate relative to the second shaft body 62, the first end of the second shaft body 62 is arranged on the inner ring of the third bearing 53, the second end of the second shaft body 62 is arranged on the inner ring of the fourth bearing 54, and the central axis of the first shaft body 61 is perpendicular to the central axis of the second shaft body 62.

[0096] Among them, the first shaft body 61 is arranged perpendicular to the thickness direction of the first hinge part 131, the inner ring of the first bearing 30 can provide support for the first end of the first shaft body 61, and the first shaft body 61 can rotate relative to the inner ring of the first bearing 30. Moreover, the inner ring of the third bearing 53 can provide support for the first end of the second shaft body 62, and the first end of the second shaft body 62 can rotate relative to the inner ring of the third bearing 53. The inner ring of the fourth bearing 54 can provide support for the second end of the second shaft body 62, and the second end of the second shaft body 62 can rotate relative to the inner ring of the fourth bearing 54. A through hole 63 is opened in the middle of the first shaft body 61 to facilitate the penetration of the second shaft body 62, so that the second shaft body 62 can rotate relative to the first shaft body 61.

[0097] In addition, the central axis of the first shaft body 61 is perpendicular to the central axis of the second shaft body 62 , thereby avoiding interference between the first shaft body 61 and the second shaft body 62 during rotation.

[0098] According to the specific embodiment of the utility model, Figure 3 As shown, the section of the first shaft body 61 between the first bearing 30 and the second bearing 40 perpendicular to the central axis of the first shaft body 61 is rectangular, and the section of the second shaft body 62 perpendicular to the central axis thereof is circular.

[0099] Specifically, the rectangular cross-section has better strength and stability when subjected to torsion and bending forces. In this way, opening a hole in the first shaft body 61 can also ensure that the first shaft body 61 has higher strength, and can facilitate the limiting cooperation between the first shaft body 61 and the shaft seat 52 to avoid the rotation of the first shaft body 61, which can further ensure the working stability of the first shaft body 61.

[0100] In addition, the cross section of the second shaft body 62 perpendicular to the central axis thereof is circular, and the circular cross section can distribute the force more evenly when subjected to pressure, thereby improving the stability of the second shaft body 62 during rotation.

[0101] According to the specific embodiment of the utility model, Fig.10 and Fig.11 As shown, the first shaft body 61 includes: a first main shaft section 611, a first shaft end 612 and a second shaft end 613. The cross-section of the first main shaft section 611 perpendicular to the central axis of the first shaft body 61 is rectangular. The first main shaft section 611 is provided with a through hole 63. The first main shaft section 611 and the shaft seat 52 are matched at the circumferential upper limit of the first main shaft section 611. The first shaft end 612 and the second shaft end 613 are respectively connected to the two ends of the first main shaft section 611. The cross-section of the first shaft end 612 and the second shaft end 613 perpendicular to the central axis of the first shaft body 61 is circular. The first shaft end 612 is arranged on the inner ring of the first bearing 30, and the second shaft end 613 is arranged on the inner ring of the second bearing 40.

[0102] Specifically, the first main shaft section 611 is provided with a through hole 63, which can facilitate the installation of the second shaft body 62. The first main shaft section 611 cooperates with the shaft seat 52 at the circumferential upper limit of the first main shaft section 611, so that the shaft seat 52 can provide support force for the first main shaft section 611. The first shaft end 612 and the second shaft end 613 are respectively connected to the two ends of the first main shaft section 611, and the cross-sections of the first shaft end 612 and the second shaft end 613 are both circular, so that the first shaft end 612 can be easily rotated on the inner ring of the first bearing 30, and the second shaft end 613 can be easily rotated on the inner ring of the second bearing 40.

[0103] According to some embodiments of the present invention, Figure 7-Figure 9 As shown, the leg structure 100 of the robot also includes: a first stopper 90, a first fastener 91, a second stopper 92 and a second fastener 93. The first stopper 90 is arranged at an end of the first bearing 30 away from the first main shaft section 611, and the first fastener 91 is connected to the first shaft end 612 after passing through the first stopper 90. The second stopper 92 is arranged at an end of the second bearing 40 away from the first main shaft section 611, and the second fastener 93 is connected to the second shaft end 613 after passing through the second stopper 92.

[0104] The first stopper 90 is disposed at one end of the first bearing 30 away from the first main shaft section 611, so that the first stopper 90 stops the first bearing 30, thereby preventing the first bearing 30 from sliding out. Furthermore, the first fastener 91 passes through the first stopper 90 and is connected to the first shaft end 612, so that the first stopper 90 and the first shaft end 612 can be more firmly connected.

[0105] Similarly, if Figure 8 As shown, the second stopper 92 is disposed at one end of the second bearing 40 away from the first main shaft section 611, so that the second stopper 92 stops the second bearing 40, thereby preventing the second bearing 40 from sliding out. Furthermore, the second fastener 93 passes through the second stopper 92 and is connected to the second shaft end 613, so that the second stopper 92 and the second shaft end 613 can be more firmly connected.

[0106] According to some embodiments of the present invention, Fig.11 As shown, the second shaft body 62 includes: a second main shaft section 621 and a third shaft end 622, the second main shaft section 621 passes through the inner ring of the third bearing 53, the through hole 63 and the inner ring of the fourth bearing 54, the cross-section of the second main shaft section 621 perpendicular to the central axis of the second shaft body 62 is circular, and the third shaft end 622 is connected to the first end of the second main shaft section 621.

[0107] The second main shaft section 621 passes through the inner ring of the third bearing 53, the through hole 63 and the inner ring of the fourth bearing 54, so that the second main shaft section 621 can rotate relative to the first shaft body 61. The cross section of the second main shaft section 621 perpendicular to the central axis of the second shaft body 62 is circular, so that the friction between the second main shaft section 621 and the through hole 63 can be reduced during the rotation process.

[0108] Also, if Figure 2 and Fig. 9 As shown, the leg structure 100 of the robot also includes: a third stopper 623, a fourth stopper 624 and a third fastener 625. The second main shaft section 621 passes through the third stopper 623, the third stopper 623 cooperates with the third shaft end 622 for stopping, the second main shaft section 621 passes through the fourth stopper 624, and the third fastener 625 passes through the fourth stopper 624 and then is connected to the second end of the second main shaft section 621.

[0109] The third stopper 623 cooperates with the third shaft end 622 to stop the third shaft end 622 , and the third stopper 623 can stop the third shaft end 622 , thereby preventing the third shaft end 622 from sliding out.

[0110] Furthermore, the third fastener 625 passes through the fourth stopper 624 and is connected to the second end of the second main shaft section 621 , so that the fourth stopper 624 and the second end of the second main shaft section 621 can be more firmly connected.

[0111] According to some embodiments of the present invention, Fig.15 and Fig.16 As shown, the extension section 12 is constructed with a third axis 97, and the leg structure 100 of the robot also includes: a thigh 94, a first pull rod 95 and a fixing member 96, the lower end of the thigh 94 is connected to the upper hinge end 11, one end of the first pull rod 95 is connected to the thigh 94, and the other end of the first pull rod 95 is arranged on the third axis 97, the fixing member 96 and the extension section 12 can be detachably connected, and the end of the third axis 97 away from the extension section 12 is connected to the fixing member 96.

[0112] The lower end of the thigh 94 is connected to the upper hinge end 11, so that the lower end of the thigh 94 can rotate around the upper hinge end 11, one end of the first pull rod 95 is connected to the thigh 94, and the other end of the first pull rod 95 is set on the third shaft 97, so that the position of the thigh 94 can be adjusted. In addition, the fixing member 96 and the extension section 12 can be detachably connected, which can provide an installation space for the installation of the third shaft 97, thereby facilitating the installation of the third shaft 97.

[0113] Furthermore, if Fig. 20As shown, the leg structure 100 of the robot also includes: a first joint module 98, a second joint module 99, a second pull rod 981 and a third pull rod 991. The first joint module 98 is arranged on the calf 10, and the first joint module 98 is transmission-connected to the foot 50. The second pull rod 981 is arranged between the first joint module 98 and the foot 50.

[0114] Among them, the first joint module 98 is mainly composed of a first motor and a first reducer. In this way, the first joint module 98 can provide power for the foot 50. The second pull rod 981 is arranged between the first joint module 98 and the foot 50, so that the power of the first joint module 98 can be transmitted to the foot 50 through the second pull rod 981.

[0115] The second joint module 99 is arranged on the calf 10, and the second joint module 99 and the first joint module 98 are arranged radially spaced from each other on the calf 10, the second joint module 99 is transmission-connected with the foot 50, and the third pull rod 991 is arranged between the second joint module 99 and the foot 50. The second joint module 99 is mainly composed of a second motor and a second reducer, so that the power of the second joint module 99 can be transmitted to the foot 50 through the third pull rod 991.

[0116] The robot according to the embodiment of the second aspect of the utility model includes: the leg structure 100 of the robot of the above embodiment.

[0117] According to an embodiment of the third aspect of the present invention, a bipedal robot includes: a body, a first lower limb assembly and a second lower limb assembly, the first lower limb assembly and the second lower limb assembly are connected to the lower part of the body, the first lower limb assembly and the second lower limb assembly are arranged at intervals, and at least one of the first lower limb assembly and the second lower limb assembly is the leg structure 100 of the robot of the above-mentioned embodiment.

[0118] Among them, the bipedal robot is mainly composed of a body, a first lower limb assembly and a second lower limb assembly, and at least one of the first lower limb assembly and the second lower limb assembly is a leg structure 100 of the robot. In this way, the radial dimensions of the first lower limb assembly and the second lower limb assembly of the bipedal robot can be smaller, and the radial dimensions of the first lower limb assembly and the second lower limb assembly can also be larger.

[0119] According to an embodiment of the fifth aspect of the present invention, a humanoid robot includes: a head, a torso, an upper limb assembly, a first lower limb assembly and a second lower limb assembly, the torso is connected to the lower part of the head, the upper limb assembly is connected to both sides of the torso, the first lower limb assembly and the second lower limb assembly are connected to the lower part of the torso, the first lower limb assembly and the second lower limb assembly are arranged side by side, and at least one of the first lower limb assembly and the second lower limb assembly is the leg structure 100 of the robot of the above embodiment.

[0120] Among them, the humanoid robot is mainly composed of a head, a torso, an upper limb assembly, a first lower limb assembly and a second lower limb assembly. The torso is connected below the head, the upper limb assembly is connected to both sides of the torso, and the first lower limb assembly and the second lower limb assembly are connected to the lower part of the torso, thereby forming a humanoid robot.

[0121] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0122] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0123] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A robot leg structure, characterized in that: include: A calf, the calf comprising an upper hinged end, an extension section and a lower hinged end, the calf being integrally formed; a lower mounting member, the lower mounting member being detachably connected to the lower hinged end; a first bearing, an outer ring of which is disposed at the lower hinge end; a second bearing, wherein an outer ring of the second bearing is disposed on the lower mounting member, and a central axis of the first bearing is collinear with a central axis of the second bearing; foot; A foot connecting shaft, wherein the foot connecting shaft is arranged on the foot, the foot connecting shaft is located between the lower hinge end and the lower mounting member, the first end of the foot connecting shaft is arranged on the inner ring of the first bearing, and the second end of the foot connecting shaft is arranged on the inner ring of the second bearing.

2. The leg structure of the robot according to claim 1, characterized in that: The lower hinged end comprises: A first hinged portion, wherein the first hinged portion is provided with a first bearing hole, and an outer ring of the first bearing is arranged in the first bearing hole; a first mounting portion, the first mounting portion being connected between the extension section and the first hinge portion; The lower mounting member comprises: a second hinged portion, wherein the second hinged portion is provided with a second bearing hole, and an outer ring of the second bearing is arranged in the second bearing hole; The second mounting portion is connected to the second hinge portion, and the first mounting portion and the second mounting portion are arranged opposite to each other and are detachably connected.

3. The leg structure of the robot according to claim 2, characterized in that: The first mounting portion and the extending section together form a mounting groove, and the second mounting portion is mounted in the mounting groove.

4. The robot leg structure according to claim 3, characterized in that: A portion of the surface of the first mounting portion away from the second mounting portion is coplanar with one side surface of the extension section, and a portion of the surface of the second mounting portion away from the first mounting portion is coplanar with another side surface of the extension section.

5. The robot leg structure according to claim 3, characterized in that: One of the first mounting part and the second mounting part is provided with a positioning block, and the other of the first mounting part and the second mounting part is provided with a positioning groove, and the positioning block cooperates with the positioning groove to make the first mounting part and the second mounting part cooperate in the upper limit position in the width direction of the first mounting part.

6. The leg structure of the robot according to claim 5, characterized in that: The first mounting portion is provided with the positioning block and the second mounting portion is provided with the positioning groove, the positioning block is located in the mounting groove, a first transition arc is provided between the upper end of the positioning block and the extension section, a second transition arc is provided at the upper end of the positioning groove, and the first transition arc matches the second transition arc.

7. The robot leg structure according to claim 3, characterized in that: The top surface of the mounting groove is configured as a first arc-shaped surface protruding upward, and the top surface of the second mounting portion is configured as a second arc-shaped surface protruding upward, and the first arc-shaped surface matches the second arc-shaped surface.

8. The robot leg structure according to claim 2, characterized in that: The first hinged portion is provided with a first limiting ring at one end of the first bearing hole away from the second bearing hole, and the first limiting ring cooperates with the outer ring of the first bearing in a thickness direction of the first hinged portion; The second hinged portion is provided with a second limiting ring at one end of the second bearing hole away from the first bearing hole, and the second limiting ring cooperates with the outer ring of the second bearing for limiting positioning in the thickness direction of the second hinged portion.

9. The robot leg structure according to claim 2, characterized in that: The lower hinged end also includes: A first arc transition portion, wherein the first arc transition portion is connected between the first mounting portion and the first hinge portion so that the first hinge portion protrudes in a direction away from the second hinge portion; The lower mounting member also includes: A second arc transition portion, wherein the second arc transition portion is connected between the second mounting portion and the second hinge portion, so that the second hinge portion protrudes in a direction away from the first hinge portion.

10. The robot leg structure according to claim 1, characterized in that: The foot comprises: soles of feet; An axle seat, the axle seat being mounted on the sole of the foot; A third bearing, the outer ring of the third bearing is arranged on the shaft seat, and the third end of the foot connecting shaft is arranged on the inner ring of the third bearing; A fourth bearing, the outer ring of the fourth bearing is arranged on the shaft seat, and the fourth end of the foot connecting shaft is arranged on the inner ring of the fourth bearing.

11. The robot leg structure according to claim 10, characterized in that: The foot connecting shaft comprises: A first shaft body, wherein a first end of the first shaft body is disposed on an inner ring of the first bearing, a second end of the first shaft body is disposed on an inner ring of the second bearing, and a through hole is disposed in the middle of the first shaft body; A second shaft body, wherein the second shaft body passes through the through hole and the first shaft body is rotatable relative to the second shaft body, the first end of the second shaft body is arranged on the inner ring of the third bearing, the second end of the second shaft body is arranged on the inner ring of the fourth bearing, and the central axis of the first shaft body is perpendicular to the central axis of the second shaft body.

12. The robot leg structure according to claim 11, characterized in that: The cross section of the portion of the first shaft body located between the first bearing and the second bearing perpendicular to the central axis of the first shaft body is rectangular, and the cross section of the second shaft body perpendicular to the central axis thereof is circular.

13. The robot leg structure according to claim 12, characterized in that: The first shaft body comprises: A first main shaft section, wherein the cross section of the first main shaft section perpendicular to the central axis of the first shaft body is rectangular, the first main shaft section is provided with the through hole, and the first main shaft section and the shaft seat are matched at the circumferential upper limit position of the first main shaft section; A first shaft end and a second shaft end, the first shaft end and the second shaft end are respectively connected to the two ends of the first main shaft section, the cross-sections of the first shaft end and the second shaft end perpendicular to the central axis of the first shaft body are circular, the first shaft end is arranged on the inner ring of the first bearing, and the second shaft end is arranged on the inner ring of the second bearing.

14. The robot leg structure according to claim 13, characterized in that: Also includes: a first stopper, the first stopper being arranged at an end of the first bearing away from the first main shaft section; a first fastener, the first fastener passing through the first stopper and connected to the first shaft end; a second stopper, the second stopper being arranged at an end of the second bearing away from the first main shaft section; A second fastener is connected to the second shaft end after passing through the second stopper.

15. The robot leg structure according to claim 12, characterized in that: The second shaft comprises: a second main shaft section, wherein the inner ring of the third bearing, the through hole and the inner ring of the fourth bearing are passed through the second main shaft section, and a cross section of the second main shaft section perpendicular to the central axis of the second shaft body is circular; a third shaft end, the third shaft end being connected to the first end of the second main shaft section; The leg structure of the robot also includes: A third stopper, the second main shaft section is provided with the third stopper, and the third stopper cooperates with the third shaft end stopper; a fourth stopper, wherein the second main shaft section passes through the fourth stopper; A third fastener is connected to the second end of the second main shaft section after passing through the fourth stopper.

16. The robot leg structure according to claim 1, characterized in that: The extension section is configured with a third shaft body; The leg structure of the robot also includes: A thigh, the lower end of which is connected to the upper hinged end; a first pull rod, one end of which is connected to the thigh, and the other end of which is disposed on the third shaft; A fixing member, wherein the fixing member is detachably connected to the extension section, and an end of the third shaft body away from the extension section is connected to the fixing member; A first joint module, the first joint module is arranged on the lower leg and is transmission-connected to the foot; a second joint module, the second joint module being arranged on the calf and spaced apart from the first joint module in the radial direction of the calf, and the second joint module being transmission-connected to the foot; A second pull rod, the second pull rod is disposed between the first joint module and the foot; A third pull rod is disposed between the second joint module and the foot.

17. A robot, characterized in that: include: The leg structure of the robot according to any one of claims 1 to 16.

18. A bipedal robot, characterized in that: include: body; A first lower limb assembly and a second lower limb assembly, wherein the first lower limb assembly and the second lower limb assembly are connected to the lower part of the fuselage, the first lower limb assembly and the second lower limb assembly are arranged at intervals, and at least one of the first lower limb assembly and the second lower limb assembly is the leg structure of the robot described in any one of claims 1-16.

19. A humanoid robot, characterized in that: include: head; a torso connected to a lower portion of the head; An upper limb assembly, the upper limb assembly being connected to both sides of the trunk; A first lower limb assembly and a second lower limb assembly, wherein the first lower limb assembly and the second lower limb assembly are connected to the lower part of the torso, the first lower limb assembly and the second lower limb assembly are arranged side by side, and at least one of the first lower limb assembly and the second lower limb assembly is the leg structure of the robot described in any one of claims 1-16.

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