Walking mechanism and humanoid robot

Abstract

The utility model discloses a walking mechanism and a humanoid robot, and relates to the technical field of humanoid robots. The walking mechanism comprises a hip joint assembly, a thigh assembly and a shank assembly; the hip joint driving motor and the knee joint driving motor are coaxially arranged; one end of the thigh body is connected with the hip joint driving motor, and the hip joint driving motor is used for driving the thigh body to swing; the first ankle joint rotating motor is arranged at one end of the shank body and connected with the knee joint driving motor through a knee joint pull rod, and the knee joint driving motor is used for driving the shank body to swing. One end of the shank body is connected with the other end of the thigh body through a first ankle joint rotating motor, the first ankle joint rotating motor serves as a knee joint rotating shaft, the first ankle joint rotating motor is connected with the foot through a first pull rod, and the first ankle joint rotating motor is used for driving the foot to swing. According to the utility model, the transmission conversion complexity of the legs of the robot is reduced, the algorithm solution is simplified, and the division boundary of the rod piece is clearer.

Description

Technical Field

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

[0002] In the prior art, the humanoid robot has many degrees of freedom in the legs and a complex structure. In order to quickly bring the inertia at the end of the leg close to the fuselage, generally, the drive motor and the joint are placed at different positions and connected by transmission mechanisms such as connecting rods and synchronous belts. However, due to the great difficulty in the structural design of the rotation of the joint axis and the layout of the drive motor, the position of the motor is usually fixedly installed on the thigh and calf rods according to the convenience of the structural design.

[0003] However, although the existing motor layout form is relatively easy in structural design and layout, there is no correlation between the rotation angles and angular velocities of each drive motor and the rotating shaft, resulting in complex joint algorithm calculation and unclear dividing boundaries of the rods. Content of the Utility Model

[0004] The main purpose of the utility model is to provide a walking mechanism and a humanoid robot, aiming to reduce the complexity of the transmission conversion of the walking mechanism, simplify the algorithm calculation, and make the dividing boundaries of the rods clear.

[0005] To achieve the above object, the utility model proposes a walking mechanism, including:

[0006] A hip joint assembly, including a fixed seat and a hip joint drive motor and a knee joint drive motor arranged on the fixed seat, wherein the hip joint drive motor and the knee joint drive motor are coaxially arranged;

[0007] A thigh assembly, including a thigh body and a knee joint pull rod, one end of the thigh body is connected to the hip joint drive motor, and the hip joint drive motor is used to drive the thigh body to swing; and

[0008] A calf assembly, including a calf body, a first ankle rotation motor, a first pull rod and a foot, 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, the knee joint drive motor is used to drive the calf body to swing, one end of the calf body is connected to the other end of the thigh body through the first ankle rotation motor and uses the first ankle rotation motor as the knee joint rotation axis, the first ankle rotation motor is connected to the foot through the first pull rod, and the first ankle rotation motor is used to drive the foot to swing.

[0009] Optionally, the hip joint drive motor and the knee joint drive motor have the same size.

[0010] Optionally, the thigh body includes a thigh web and a thigh swing rod. One end of the thigh swing rod is connected to the hip joint drive motor, and the other end of the thigh swing rod is connected to the knee joint rotation axis. The knee joint pull rod is located between the thigh web and the thigh swing rod.

[0011] Optionally, the thigh web, the knee joint pull rod, and the thigh swing rod are parallel to each other.

[0012] Optionally, the first ankle joint rotation motor is disposed directly below the hip joint assembly and on its center line.

[0013] Optionally, the knee joint pull rod is on the center line of the hip joint assembly.

[0014] Optionally, the calf assembly further includes a second ankle joint rotation motor and a second pull rod. The second ankle joint rotation motor is connected to the foot through the second pull rod, and the second ankle joint rotation motor is used to drive the foot to swing.

[0015] Optionally, the second ankle joint rotation motor is connected to the first ankle joint rotation motor and is located directly below it. The length of the first pull rod is greater than the length of the second pull rod.

[0016] Optionally, the output shaft of the first ankle joint rotation motor is connected to the first pull rod through a first swing arm, and the output shaft of the second ankle joint rotation motor is connected to the second pull rod through a second swing arm, so as to jointly form a parallel spatial quadrilateral mechanism for controlling the movement of the ankle joint in the pitch direction and the roll direction.

[0017] To achieve the above object, the present utility model further provides a humanoid robot, including the walking mechanism as described above. The walking mechanism includes:

[0018] A hip joint assembly, including a fixed seat and a hip joint drive motor and a knee joint drive motor disposed on the fixed seat. The hip joint drive motor and the knee joint drive motor are coaxially arranged;

[0019] A thigh assembly, including a thigh body and a knee joint pull rod. One end of the thigh body is connected to the hip joint drive motor, and the hip joint drive motor is used to drive the thigh body to swing; and

[0020] The calf assembly includes a calf body, a first ankle rotation motor, a first pull rod, and a foot. The first ankle rotation motor is disposed 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. The knee joint drive motor is used to drive the calf body to swing. One end of the calf body is connected to the other end of the thigh body through the first ankle rotation motor and uses the first ankle rotation motor as the knee joint rotation axis. The first ankle rotation motor is connected to the foot through the first pull rod. The first ankle rotation motor is used to drive the foot to swing.

[0021] In the technical solution of the present invention, the walking mechanism includes a hip joint assembly, a thigh assembly, and a calf assembly. The hip joint assembly includes a fixed seat and a hip joint drive motor and a knee joint drive motor disposed on the fixed seat. The hip joint drive motor and the knee joint drive motor are coaxially arranged. The thigh assembly includes a thigh body and a knee joint pull rod. One end of the thigh body is connected to the hip joint drive motor. The hip joint drive motor is used to drive the thigh body to swing. The calf assembly includes a calf body, a first ankle rotation motor, a first pull rod, and a foot. The first ankle rotation motor is disposed 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. The knee joint drive motor is used to drive the calf body to swing. One end of the calf body is connected to the other end of the thigh body through the first ankle rotation motor and uses the first ankle rotation motor as the knee joint rotation axis. The first ankle rotation motor is connected to the foot through the first pull rod. The first ankle rotation motor is used to drive the foot to swing. It can be understood that the present invention improves the walking mechanism of the humanoid robot. By coaxially arranging the knee joint drive motor and the hip joint drive motor and moving the ankle rotation motor up to the axis position of the knee joint rotation axis, the calf movement of the robot uses the first ankle rotation motor as the knee joint rotation axis, so as to ensure that the ankle motor can move up the inertia to the maximum extent. The rotation angles and angular velocities of each drive motor and the rotation axis are the same, without complex transmission conversion, reducing the complexity of the transmission conversion of the legs of the humanoid robot, helping to simplify the algorithm calculation, making the division boundary of the rods clearer, the structure simpler, and the reliability better. 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 also be obtained based on the structures shown in these drawings.

[0023] Figure 1This is a schematic structural diagram of an embodiment of the walking mechanism of the humanoid robot of the present utility model.

[0024] Explanation of the reference numerals in the drawings:

[0025] 10. Hip joint assembly; 20. Thigh assembly; 30. Calf assembly; 11. Fixed seat; 12. Hip joint drive motor; 13. Knee joint drive motor; 21. Thigh body; 22. Knee joint pull rod; 31. Calf body; 32. First ankle rotation motor; 33. First pull rod; 34. Foot; 35. Second ankle rotation motor; 36. Second pull rod; 37. First swing arm; 38. Second swing arm.

[0026] The realization, functional features and advantages of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to 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 the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0028] It should be noted that all directional indications (such as up, down, left, right, front, back,...) in the embodiments of the present utility model are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, 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, the descriptions involving "first", "second", etc. in the present utility model are for descriptive purposes only, 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 cannot 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] The present utility model provides a walking mechanism, which can be applied to bipedal robots, and is not limited here.

[0032] Referring to Figure 1 , in an embodiment of the present utility model, the walking mechanism includes a hip joint assembly 10, a thigh assembly 20, and a calf assembly 30; the hip joint assembly 10 includes a fixed seat 11 and a hip joint drive motor 12 and a knee joint drive motor 13 provided on the fixed seat 11, and the hip joint drive motor 12 and the knee joint drive motor 13 are coaxially arranged; the thigh assembly 20 includes a thigh body 21 and a knee joint pull rod 22, one end of the thigh body 21 is connected to the hip joint drive motor 12, and the hip joint drive motor 12 is used to drive the thigh body 21 to swing; the calf assembly 30 includes a calf body 31, a first ankle rotation motor 32, a first pull rod 33, and a foot 34, the first ankle rotation motor 32 is provided at one end of the calf body 31, one end of the calf body 31 is connected to the knee joint drive motor 13 through the knee joint pull rod 22, the knee joint drive motor 13 is used to drive the calf body 31 to swing, one end of the calf body 31 is connected to the other end of the thigh body 21 through the first ankle rotation motor 32 and uses the first ankle rotation motor 32 as the knee joint rotation axis, and the first ankle rotation motor 32 is connected to the foot 34 through the first pull rod 33, and the first ankle rotation motor 32 is used to drive the foot 34 to swing.

[0033] In this embodiment, the fixed seat 11 connects the hip joint drive motor 12 and the knee joint drive motor 13 and forms a U-shaped bracket structure, forming a reliable connection structure, which helps to improve the stability of the robot's movement.

[0034] Preferably, the hip joint drive motor 12 and the knee joint drive motor 13 with the same size can be selected, which is beneficial to better achieve coaxial arrangement and is also more convenient for installation.

[0035] In this embodiment, the calf assembly 30 further includes a second ankle rotation motor 35 and a second pull rod 36. The second ankle rotation motor 35 is connected to the foot 34 through the second pull rod 36. The second ankle rotation motor 35 is configured to drive the foot 34 to swing. The second ankle rotation motor 35 is connected to the first ankle rotation motor 32 and is located directly below it. The length of the first pull rod 33 is greater than the length of the second pull rod 36.

[0036] Wherein, the output shaft of the first ankle rotation motor 32 is connected to the first pull rod 33 through a first swing arm 37, and the output shaft of the second ankle rotation motor 35 is connected to the second pull rod 36 through a second swing arm 38, so as to jointly form a parallel spatial quadrilateral mechanism, which can effectively control the movement of the robot's ankle joint in the pitch direction and roll direction, that is, the pitching motion and the rolling motion.

[0037] It can be understood that the present utility model improves the walking mechanism of the humanoid robot. By coaxially arranging the knee joint drive motor 13 and the hip joint drive motor 12, and moving the first ankle rotation motor 32 upward to the axis position of the knee joint rotation axis, the movement of the robot's calf is centered around the first ankle rotation motor 32 as the knee joint rotation axis, thereby ensuring that the inertia of the ankle joint motor can be maximally shifted upward. The rotation angles and angular velocities of each drive motor and the rotation axis are the same, without complex transmission conversion, reducing the complexity of the transmission conversion of the humanoid robot's leg and helping to simplify the algorithm solution. Moreover, the first ankle rotation motor 32 and the second ankle rotation motor 35 are connected to form a four-bar linkage mechanism, which can further simplify the transmission structure and further reduce the complexity of the transmission conversion.

[0038] In addition, in the prior art, the rocker arm of the drive motor of the knee joint is subjected to a large force, preventing the pull rod from being unstable. The two sides of the motor rocker arm are restricted by planar pairs to prevent the motor rocker arm from moving along non-rotation axes. This structure is relatively complex and costly. However, by adopting the above-mentioned solution in the present utility model, the dividing line of the rod members can be made clearer, with fewer components, a simpler structure, better reliability, and lower costs.

[0039] To further improve the flexibility and stability of the robot's movement, referring to Figure 1 , in one embodiment, the thigh body 21 may include a thigh web and a thigh swing rod. One end of the thigh swing rod is connected to the hip joint drive motor 12, and the other end of the thigh swing rod is connected to the knee joint rotation axis. The knee joint pull rod 22 is located between the thigh web and the thigh swing rod.

[0040] In this embodiment, the thigh web, the knee joint rod 22 and the thigh swing rod are parallel to each other. The first ankle rotation motor 32 is disposed directly below the hip joint assembly 10 and on its center line. The knee joint rod 22 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 structure, make the layout more reasonable, and at the same time facilitate installation.

[0041] The present utility model also provides a humanoid robot, which includes a walking mechanism. The specific structure of the walking mechanism refers to the above embodiment. Since the humanoid robot provided by the present utility model includes all the solutions of all the embodiments of the above walking mechanism, therefore, it has at least the same technical effects as the above walking mechanism, 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. Any equivalent structural transformation made by using the specification and drawings of the present utility model under the inventive concept of the present utility model, or direct / indirect application in other related technical fields are included in the patent protection scope of the present utility model.

Claims

1. A walking mechanism, characterized in that: include: A hip joint assembly comprises a fixing seat and a hip joint drive motor and a knee joint drive motor arranged on the fixing seat, wherein the hip joint drive motor and the knee joint drive motor are arranged coaxially; A thigh assembly, comprising a thigh body and a knee joint pull rod, one end of the thigh body being connected to the hip joint drive motor, and the hip joint drive motor being used to drive the thigh body to swing; and A calf assembly includes a calf body, a first ankle joint rotating motor, a first pull rod and a foot, wherein 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 pulling rod, and the knee joint driving motor is used to drive the calf body to swing, one end of the calf body is connected to the other end of the thigh body through the first ankle joint rotating motor and the first ankle joint rotating motor is used as the knee joint rotating axis, the first ankle joint rotating motor is connected to the foot through the first pulling rod, and the first ankle joint rotating motor is used to drive the foot to swing.

2. The walking mechanism according to claim 1, characterized in that: The hip joint drive motor has the same size as the knee joint drive motor.

3. The walking mechanism according to claim 1, characterized in that: The thigh body 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.

4. The walking mechanism according to claim 3, characterized in that: The thigh ventral plate, the knee joint pull rod and the thigh swing rod are parallel to each other.

5. The walking mechanism according to claim 3, characterized in that: The first ankle joint rotating motor is arranged directly below the hip joint component and on the center line thereof.

6. The walking mechanism according to claim 5, characterized in that: The knee joint tie rod is located on the center line of the hip joint assembly.

7. The walking mechanism according to claim 1, 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.

8. The walking mechanism according to claim 7, 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.

9. The walking mechanism according to claim 8, 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 second pull rod through a second swing arm, so as to jointly form a parallel spatial quadrilateral mechanism for controlling the movement of the ankle joint in the pitch direction and the roll direction.

10. A humanoid robot, characterized in that: It comprises a walking mechanism as described in any one of claims 1 to 9.

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