Biped robot leg structure and humanoid robot

Abstract

The utility model discloses a leg structure of a biped robot and a humanoid robot. The biped robot leg structure comprises a hip joint assembly, a thigh assembly, a shank assembly and a foot which are connected in sequence. The hip joint driving motor is connected with the knee joint driving motor through a connecting assembly, and the hip joint driving motor and the knee joint driving motor are coaxially arranged; the shank assembly and the thigh assembly are connected through a first ankle joint rotating motor, and the first ankle joint rotating motor serves as a knee joint rotating shaft. The first ankle joint rotating motor is located at the root of the shank assembly, and the knee joint driving motor is located at the root of the thigh assembly so as to reduce inertia of the tail ends of robot limbs. The leg structure of the biped robot is improved, inertia is made to move upwards by moving the driving motor upwards, and the flexibility and the dynamic performance of the robot are improved; the compactness of the leg structure of the biped humanoid robot is improved, the transmission angle is effectively limited, the transmission stability is improved, and the encoder and the like are convenient to maintain.

Description

Technical Field

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

[0002] At present, the leg joint motors of humanoid robots, as actuators, account for a relatively large proportion of the total mass of the lower limbs. Especially for direct drive joint motors that require high burst and large torque, their mass accounts for more than 70% of the entire leg.

[0003] For the high-dynamic motion of humanoid robots, the smaller the mass at the end of the limb, the better the flexibility and dynamic performance of the system. However, existing humanoid robots generally have drive motors corresponding to the hip, knee, and ankle joints. The drive motors are generally arranged on the thigh and calf rods. The inertia at the end of the robot leg joints is large, and the load of the hip side swing joint is asymmetric. In the existing link transmission method, the link displacement is on the outside, and it is easily damaged during actual movement. This motor arrangement method can only achieve relatively slow position control, severely restricting the high-dynamic motion performance of the robot. Content of the Utility Model

[0004] The main purpose of the utility model is to provide a leg structure of a biped robot and a humanoid robot, aiming to improve the flexibility and dynamic performance of the robot.

[0005] To achieve the above purpose, the utility model proposes a leg structure of a biped robot, including a hip joint assembly, a thigh assembly, a calf assembly, and a foot connected in sequence;

[0006] The hip joint assembly includes a connection assembly, a hip joint drive motor, and a knee joint drive motor. The hip joint drive motor and the knee joint drive motor are connected through the connection assembly and jointly form a U-shaped bracket structure, and the hip joint drive motor and the knee joint drive motor are coaxially arranged. The hip joint drive motor is used to drive the swing of the thigh assembly, and the knee joint drive motor is used to drive the swing of the calf assembly;

[0007] The calf assembly and the thigh assembly are connected by a first ankle rotation motor and use the first ankle rotation motor as the knee rotation axis. The first ankle rotation motor is used to drive the swing of the foot;

[0008] Wherein, the first ankle rotation motor is at the root of the calf assembly, and the knee joint drive motor is at the root of the thigh assembly to reduce the inertia at the end of the robot limb.

[0009] Optionally, the thigh component is provided with a knee joint pull rod, the calf component includes a calf body and a first pull rod, the first ankle rotation motor is arranged at one end of the calf body, one end of the calf body is connected to the knee joint drive motor through the knee joint pull rod, and the first ankle rotation motor is connected to the foot through the first pull rod.

[0010] Optionally, the knee joint pull rod, the knee joint drive motor and the calf body together form a spatial four-bar linkage mechanism for controlling the rotation of the knee joint along the knee joint rotation axis.

[0011] Optionally, the calf component further includes a second ankle rotation motor and a second pull rod, the second ankle rotation motor is connected to the foot through the second pull rod, and the second ankle rotation motor is used to drive the foot to swing.

[0012] Optionally, the second ankle rotation motor is connected to and located directly below the first ankle rotation motor, and the length of the first pull rod is greater than the length of the second pull rod.

[0013] Optionally, the output shaft of the first ankle rotation motor is connected to the first pull rod through a first swing arm, and the output shaft of the second ankle rotation motor is connected to the first pull rod through a second swing arm to jointly form a parallel spatial quadrilateral mechanism for controlling the pitch and roll movements of the ankle joint.

[0014] Optionally, both the first pull rod and the foot, and the second pull rod and the foot are hinged through universal ball hinges.

[0015] Optionally, the thigh component includes a thigh web and a thigh swing rod, one end of the thigh swing rod is connected to the hip joint drive motor, the other end of the thigh swing rod is connected to the knee joint rotation axis, and the knee joint pull rod is located between the thigh web and the thigh swing rod.

[0016] Optionally, the thigh web, the knee joint pull rod and the thigh swing rod are parallel to each other, the first ankle rotation motor is arranged directly below the hip joint component, and the knee joint pull rod is on the center line of the hip joint component.

[0017] To achieve the above object, the present invention further provides a humanoid robot, including the biped robot leg structure as described above, the biped robot leg structure including a hip joint component, a thigh component, a calf component and a foot connected in sequence;

[0018] The hip joint assembly includes a connecting assembly, a hip joint driving motor, and a knee joint driving motor. The hip joint driving motor and the knee joint driving motor are connected by the connecting assembly and jointly form a U-shaped bracket structure. The hip joint driving motor and the knee joint driving motor are coaxially arranged. The hip joint driving motor is used to drive the thigh assembly to swing, and the knee joint driving motor is used to drive the calf assembly to swing.

[0019] The calf assembly and the thigh assembly are connected by a first ankle joint rotating motor and use the first ankle joint rotating motor as the knee joint rotation axis. The first ankle joint rotating motor is used to drive the foot to swing.

[0020] Wherein, the first ankle joint rotating motor is located at the root of the calf assembly, and the knee joint driving motor is located at the root of the thigh assembly to reduce the inertia at the end of the robot limb.

[0021] In the technical solution of the present invention, the leg structure of the biped robot includes a hip joint assembly, a thigh assembly, a calf assembly, and a foot connected in sequence. The hip joint assembly includes a connecting assembly, a hip joint driving motor, and a knee joint driving motor. The hip joint driving motor and the knee joint driving motor are connected by the connecting assembly and jointly form a U-shaped bracket structure. The hip joint driving motor and the knee joint driving motor are coaxially arranged. The hip joint driving motor is used to drive the thigh assembly to swing, and the knee joint driving motor is used to drive the calf assembly to swing. The calf assembly and the thigh assembly are connected by a first ankle joint rotating motor and use the first ankle joint rotating motor as the knee joint rotation axis. The first ankle joint rotating motor is used to drive the foot to swing. Wherein, the first ankle joint rotating motor is located at the root of the calf assembly, and the knee joint driving motor is located at the root of the thigh assembly to reduce the inertia at the end of the robot limb. It can be understood that by moving the first ankle joint rotating motor up to the root of the calf assembly and the knee joint driving motor up to the root of the thigh assembly, the present invention effectively reduces the inertia at the end of the robot limb, realizes a compact design of the leg structure of the biped humanoid robot, and greatly improves the flexibility and dynamic performance of the robot. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0023] Figure 1 It is a schematic structural diagram of an embodiment of the leg structure of the biped robot of the present invention.

[0024] Explanation of the attached reference numerals:

[0025] 10. Hip joint assembly; 20. Thigh assembly; 30. Calf assembly; 40. Foot; 111. Connection assembly; 112. Hip joint drive motor; 113. Knee joint drive motor; 50. First ankle rotation motor; 211. Knee joint pull rod; 311. Calf body; 312. First pull rod; 313. Second ankle rotation motor; 314. Second pull rod; 315. Universal ball hinge.

[0026] The realization, functional features and advantages of the purpose of the present utility model will be further described in conjunction with the embodiments with reference to the accompanying drawings. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0028] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present utility model, then the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, then the directional indications will also change accordingly.

[0029] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0030] In addition, if the embodiments of the present utility model involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or the solution where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or is unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0031] In existing humanoid robots, driving motors corresponding to the hip, knee, and ankle joints are generally configured. The driving motors are usually arranged on the thigh and calf rods. The inertia at the end of the robot's leg joints is large, and the load of the hip side swing joint is asymmetric. In the existing connecting rod transmission method, the connecting rod displacement is on the outside, and it is easily damaged during actual movement. This motor arrangement method can only achieve relatively slow position control, severely limiting the high dynamic motion performance of the robot. In addition, due to the limited structural space of the ankle joint, it is difficult to layout the driving motor. Even if a motor can be installed on the ankle joint, it will look very bulky and not similar to the shape of a human foot.

[0032] In response to this, the present utility model proposes a leg structure for a bipedal robot, which can be applicable to humanoid robots, etc., without limitation here.

[0033] Referring to Figure 1 , in an embodiment of the present utility model, the leg structure of the bipedal robot includes a hip joint assembly 10, a thigh assembly 20, a calf assembly 30, and a foot 40 connected in sequence; the hip joint assembly 10 includes a connecting component 111, a hip joint driving motor 112, and a knee joint driving motor 113. The hip joint driving motor 112 and the knee joint driving motor 113 are connected through the connecting component 111 and jointly form a U-shaped bracket structure, forming a reliable connection structure, which helps to improve the stability of the robot's movement. Moreover, the hip joint driving motor 112 and the knee joint driving motor 113 are coaxially arranged. The hip joint driving motor 112 is used to drive the thigh assembly 20 to swing, and the knee joint driving motor 113 is used to drive the calf assembly 30 to swing; the calf assembly 30 and the thigh assembly 20 are connected by a first ankle rotation motor 50 and use the first ankle rotation motor 50 as the knee rotation axis. The first ankle rotation motor 50 is used to drive the foot 40 to swing; among them, the first ankle rotation motor 50 is at the root of the calf assembly 30, and the knee joint driving motor 113 is at the root of the thigh assembly 20 to reduce the inertia at the end of the robot's limb.

[0034] In this embodiment, in order to ensure the flexibility of the robot's movement, a hip joint drive motor 112 and a knee joint drive motor 113 of the same size can be selected, which has a more stable center of gravity and is more convenient to install.

[0035] In this embodiment, the calf assembly 30 further includes a second ankle joint rotating motor 313 and a second pull rod 314, the second ankle joint rotating motor 313 is connected to the foot 40 through the second pull rod 314, and the second ankle joint rotating motor 313 is used to drive the foot 40 to swing. The second ankle joint rotating motor 313 is connected to the first ankle joint rotating motor 50 and is located directly below it, and the length of the first pull rod 312 is greater than the length of the second pull rod 314. The output shaft of the first ankle joint rotating motor 50 is connected to the first pull rod 312 through a first swing arm, and the output shaft of the second ankle joint rotating motor 313 is connected to the second pull rod 314 through a second swing arm, so as to jointly form a parallel spatial quadrilateral mechanism, which can effectively control the ankle joint of the robot to move more flexibly in the pitch direction and the roll direction.

[0036] It can be understood that the utility model effectively reduces the inertia of the robot's limb ends by moving the first ankle joint rotation motor 50 up to the root of the calf assembly 30 and the knee joint drive motor 113 up to the root of the thigh assembly 20, thereby achieving a compact bipedal humanoid robot leg structure design and greatly improving the robot's flexibility and dynamic performance.

[0037] Reference Figure 1 In one embodiment, a knee joint pull rod 211 is provided in the thigh component 20, the calf component 30 includes a calf body 311 and a first pull rod 312, a first ankle joint rotation motor 50 is provided at one end of the calf body 311, one end of the calf body 311 is connected to the knee joint drive motor 113 through the knee joint pull rod 211, and the first ankle joint rotation motor 50 is connected to the foot 40 through the first pull rod 312. The knee joint pull rod 211, the knee joint drive motor 113 and the calf body 311 together constitute a spatial four-bar linkage mechanism for controlling the knee joint to rotate along the knee joint rotation axis.

[0038] The bipedal robot leg structure of this embodiment utilizes the upward movement of the drive motor and the spatial linkage transmission method to achieve a compact bipedal humanoid robot leg structure design; one end of the knee joint pull rod 211 is located between the hip and knee drive motors, which helps to improve the stability of the transmission and limit the transmission angle; the maintenance of the motor encoder and the like is also more convenient.

[0039] In this embodiment, the first pull rod 312 and the foot 40, the second pull rod 314 and the foot 40 are hinged via a universal ball hinge 315. In this way, the flexibility of the foot 40 can be further improved.

[0040] ReferenceFigure 1 , in one embodiment, the thigh assembly 20 includes a thigh web and a thigh swing rod. One end of the thigh swing rod is connected to the hip joint drive motor 112, and the other end of the thigh swing rod is connected to the knee joint rotation axis. The knee joint pull rod 211 is located between the thigh web and the thigh swing rod. In this embodiment, the thigh web, the knee joint pull rod 211, and the thigh swing rod are parallel to each other. The first ankle joint rotation motor 50 is provided directly below the hip joint assembly 10, and the knee joint pull rod 211 is on the center line of the hip joint assembly 10. Such an arrangement can not only improve the flexibility and stability of the robot's movement, but also maximize the compactness of the leg structure, making the layout more reasonable and convenient for installation.

[0041] The present utility model also proposes a humanoid robot, which includes a biped robot leg structure. The specific structure of the biped robot leg structure refers to the above embodiment. Since the humanoid robot proposed by the present utility model includes all the solutions of all the embodiments of the above biped robot leg structure, therefore, it has at least the same technical effects as the biped robot leg structure, and will not be elaborated one by one here.

[0042] The above are only optional embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made by using the description and drawings of the present utility model under the inventive concept of the present utility model, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present utility model.

Claims

1. A bipedal robot leg structure, characterized in that: It includes a hip joint component, a thigh component, a calf component and a foot connected in sequence; The hip joint assembly includes a connecting assembly, a hip joint drive motor, and a knee joint drive motor. The hip joint drive motor and the knee joint drive motor are connected through the connecting assembly and together form a U-shaped bracket structure. The hip joint drive motor and the knee joint drive motor are coaxially arranged. The hip joint drive motor is used to drive the thigh assembly to swing, and the knee joint drive motor is used to drive the calf assembly to swing. The calf component is connected to the thigh component via a first ankle joint rotating motor and the first ankle joint rotating motor is used as a knee joint rotating axis, and the first ankle joint rotating motor is used to drive the foot to swing; Wherein, the first ankle joint rotation motor is located at the root of the calf component, and the knee joint drive motor is located at the root of the thigh component, so as to reduce the inertia of the limb end of the robot.

2. The biped robot leg structure according to claim 1, characterized in that: The thigh component is provided with a knee joint pull rod, the calf component includes a calf body and a first pull rod, the first ankle joint rotating motor is arranged at one end of the calf body, one end of the calf body is connected to the knee joint driving motor through the knee joint pull rod, and the first ankle joint rotating motor is connected to the foot through the first pull rod.

3. The biped robot leg structure according to claim 2, characterized in that: The knee joint pull rod, the knee joint drive motor and the calf body together form a spatial four-bar linkage mechanism, which is used to control the knee joint to perform rotational movement along the knee joint rotation axis.

4. The biped robot leg structure according to claim 2, characterized in that: The calf assembly further includes a second ankle joint rotating motor and a second pull rod, wherein the second ankle joint rotating motor is connected to the foot via the second pull rod, and the second ankle joint rotating motor is used to drive the foot to swing.

5. The biped robot leg structure according to claim 4, characterized in that: The second ankle joint rotating motor is connected to the first ankle joint rotating motor and is located directly below the first ankle joint rotating motor, and the length of the first pull rod is greater than the length of the second pull rod.

6. The biped robot leg structure according to claim 5, characterized in that: The output shaft of the first ankle joint rotating motor is connected to the first pull rod through a first swing arm, and the output shaft of the second ankle joint rotating motor is connected to the first pull rod through a second swing arm, so as to jointly form a parallel spatial quadrilateral mechanism for controlling the ankle joint to perform pitch and roll movements.

7. The biped robot leg structure according to claim 6, characterized in that: The first pull rod and the foot, and the second pull rod and the foot are both hinged via a universal ball hinge.

8. The biped robot leg structure according to claim 2, characterized in that: The thigh assembly includes a thigh ventral plate and a thigh swing rod, one end of the thigh swing rod is connected to the hip joint drive motor, the other end of the thigh swing rod is connected to the knee joint rotation axis, and the knee joint pull rod is located between the thigh ventral plate and the thigh swing rod.

9. The biped robot leg structure according to claim 8, characterized in that: The thigh ventral plate, the knee joint pull rod and the thigh swing rod are parallel to each other, the first ankle joint rotating motor is arranged directly below the hip joint assembly, and the knee joint pull rod is located on the center line of the hip joint assembly.

10. A humanoid robot, characterized in that: It comprises the biped robot leg structure as claimed in any one of claims 1 to 9.

Images