Shank mechanism, leg mechanism, lower limb structure and robot

Abstract

The utility model discloses a shank mechanism, a leg mechanism, a lower limb structure and a robot. The cross shaft is rotationally connected with the foot bottom assembly, and the cross shaft rotates around a first direction relative to the foot bottom assembly; the framework assembly is rotationally connected with the cross shaft, and the framework assembly rotates around a second direction relative to the framework assembly; the two first motor modules are arranged on the framework assembly, and the two first motor modules are arranged on the framework assembly; one end of each connecting rod assembly is connected with the output end of the corresponding first motor module, and the other end of each connecting rod assembly is rotationally connected with the sole assembly through a first fisheye bearing; the first direction intersects with the second direction. According to the technical scheme, actions of the shank mechanism of the robot can be more diversified and flexible.

Description

Technical Field

[0001] This application belongs to the technical field of robots, and particularly relates to a calf mechanism, a leg mechanism, a lower limb structure, and a robot. Background Art

[0002] In the design of humanoid robots, the calf mechanism is crucial for the flexibility and stability of the robot.

[0003] In the prior art, when the calf mechanism of a humanoid robot faces a complex and variable environment, there are deficiencies in its movement flexibility and stability, resulting in poor performance and insufficient flexibility of the robot when performing complex tasks. Summary of the Utility Model

[0004] The purpose of the embodiments of this application is to provide a calf mechanism, a leg mechanism, a lower limb structure, and a robot.

[0005] According to the first aspect of the embodiments of this application, a calf mechanism is provided, including:

[0006] A sole assembly;

[0007] A cross-axis, the cross-axis is rotationally connected to the sole assembly, and the cross-axis rotates relative to the sole assembly around a first direction;

[0008] A skeleton assembly, the skeleton assembly is rotationally connected to the cross-axis, and the skeleton assembly rotates relative to the skeleton assembly around a second direction;

[0009] Two first motor modules, both of the two first motor modules are arranged on the skeleton assembly;

[0010] Two link assemblies, one end of each link assembly is connected to the output end of the corresponding first motor module, and the other end of the link assembly is rotationally connected to the sole assembly through a first spherical bearing;

[0011] The first direction intersects with the second direction.

[0012] Optionally, the cross-axis includes a first connecting shaft and a second connecting shaft, the first connecting shaft and the second connecting shaft are concentric and symmetrically arranged along the first direction;

[0013] The skeleton assembly includes a first connecting portion and a second connecting portion, the first connecting portion is connected to the first connecting shaft through a bearing, and the second connecting portion is connected to the second connecting shaft through a bearing.

[0014] Optionally, the cross-axis further includes a third connecting shaft and a fourth connecting shaft, the third connecting shaft and the fourth connecting shaft are concentric and symmetrically arranged along the second direction;

[0015] The sole assembly further includes a first mounting seat and a second mounting seat, the first mounting seat and the second mounting seat are arranged at intervals, the third connecting shaft is connected to the first mounting seat through a bearing, and the fourth connecting shaft is connected to the second mounting seat through a bearing.

[0016] Optionally, the link assembly includes a swing arm and a connecting rod. The swing arm includes a first connection end and a second connection end, and the first connection end is connected to the output end of the first motor module; the connecting rod includes a third connection end and a fourth connection end, the second connection end is connected to the third connection end through a second spherical bearing, and the fourth connection end is connected to the sole assembly through the first spherical bearing.

[0017] Optionally, the connection between the first connection end and the output end of the first motor module is a first connection point, the connection between the second connection end and the third connection end is a second connection point, the connection between the fourth connection end and the sole assembly is a third connection point, and the connection between the frame assembly and the sole assembly is a fourth connection point;

[0018] The connecting lines of the first connection point, the second connection point, the third connection point and the fourth connection point in the same plane form a parallelogram.

[0019] Optionally, the sole assembly further includes a third mounting seat and a fourth mounting seat, the third mounting seat and the fourth mounting seat are arranged at intervals in the second direction, the connecting rod of one of the link assemblies is rotatably connected to the third mounting seat, and the connecting rod of the other link assembly is rotatably connected to the fourth mounting seat.

[0020] Optionally, the two first motor modules are arranged adjacent to each other in the third direction;

[0021] The third direction intersects with the first direction, and the third direction intersects with the second direction.

[0022] Optionally, the axis direction of the output end of the first motor module is the same as the first direction.

[0023] According to the second aspect of the embodiments of the present application, a leg mechanism is provided, including:

[0024] The above-mentioned calf mechanism;

[0025] A thigh mechanism, the thigh mechanism includes a second motor module and a third motor module, the output end of the second motor module is connected to the calf mechanism, the second motor module can drive the calf mechanism to rotate around the axis of the output end of the second motor module, and the third motor module is used to connect to the hip joint;

[0026] The axis of the output end of the second motor module intersects with the axis of the output end of the third motor module.

[0027] According to the third aspect of the embodiments of the present application, a lower limb structure is provided, including:

[0028] A waist mechanism, the waist mechanism includes a fourth motor module and a fifth motor module, and the included angle between the axis of the output end of the fourth motor module and the axis of the output end of the fifth motor module is less than or equal to 90°;

[0029] Two of the above-mentioned leg mechanisms, one of the leg mechanisms is connected to the output end of the fourth motor module through a first hip joint module, and the other leg mechanism is connected to the output end of the fifth motor module through a second hip joint module.

[0030] Optionally, the included angle between the axis of the output end of the fourth motor module and the axis of the third direction is 45°, and the included angle between the axis of the output end of the fifth motor module and the axis of the third direction is 45°.

[0031] Optionally, both the first hip joint module and the second hip joint module include a sixth motor module and a connecting bracket, the connecting bracket includes a fifth connecting end and a sixth connecting end, the fifth connecting end is connected to the third motor module, and the sixth connecting end is connected to the output end of the sixth motor module;

[0032] The sixth motor module of the first hip joint module is connected to the output end of the fourth motor module, and the sixth motor module of the second hip joint is connected to the output end of the fifth motor module.

[0033] According to the fourth aspect of the embodiments of the present application, a robot is provided, including:

[0034] The above-mentioned calf mechanism; or

[0035] The above-mentioned leg mechanism; or

[0036] The above-mentioned lower limb structure.

[0037] One technical effect of the embodiments of the present application is that through two first motor modules and a cross-axis, the front-back and left-right swinging of the calf mechanism can be realized, so that the calf mechanism can realize compound movements, and thus can complete movements at more angles.

[0038] Through the following detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings, other features and advantages of the present application will become clear. Description of the Drawings

[0039] The accompanying drawings incorporated in and forming a part of the specification illustrate embodiments of the present application and, together with the description thereof, are used to explain the principles of the present application.

[0040] Figure 1 It is a schematic structural diagram of the calf mechanism in an embodiment of the present application;

[0041] Figure 2 It is a schematic structural diagram of the calf mechanism in an embodiment of the present application;

[0042] Figure 3 It is a schematic structural diagram of the calf mechanism in an embodiment of the present application;

[0043] Figure 4 It is a schematic structural diagram of the connecting rod assembly in an embodiment of the present application;

[0044] Figure 5 It is a schematic structural diagram of the skeleton assembly in an embodiment of the present application;

[0045] Figure 6 It is a schematic structural diagram of the cross shaft in an embodiment of the present application;

[0046] Figure 7 It is a schematic structural diagram of the sole assembly in an embodiment of the present application;

[0047] Figure 8 It is a schematic structural diagram of the waist mechanism and the leg mechanism in an embodiment of the present application;

[0048] Figure 9 It is an exploded schematic diagram of the waist mechanism and the leg mechanism in an embodiment of the present application;

[0049] Figure 10 It is a schematic structural diagram of the lower limb structure in an embodiment of the present application;

[0050] Figure 11 It is a schematic structural diagram of the lower limb structure in an embodiment of the present application.

[0051] Explanation of reference numerals: Calf mechanism 100;

[0052] Sole assembly 1; First mounting seat 11; First mounting hole 111; Second mounting seat 12; Second mounting hole 121; Third mounting seat 13; Fourth mounting seat 14;

[0053] Cross shaft 2; First connecting shaft 21; Second connecting shaft 22; Third connecting shaft 23; Fourth connecting shaft 24;

[0054] Skeleton assembly 3; First connecting portion 31; Second connecting portion 32;

[0055] The first motor module 4; the first sub-motor module 4a; the second sub-motor module 4b;

[0056] The link assembly 5; the first link assembly 5a; the second link assembly 5b; the swing arm 51; the first connection end 511; the second connection end 512; the connecting rod 52; the third connection end 521; the fourth connection end 522;

[0057] The first spherical bearing 6; the second spherical bearing 7; the first connection point A; the second connection point B; the third connection point C; the fourth connection point D;

[0058] The leg mechanism 200;

[0059] The thigh mechanism 8; the second motor module 81; the third motor module 82;

[0060] The lower limb structure 300;

[0061] The waist mechanism 9; the fourth motor module 91; the fifth motor module 92;

[0062] The first hip joint module 93; the second hip joint module 94; the sixth motor module 95; the connecting bracket 96; the fifth connection end 961; the sixth connection end 962. Detailed implementation

[0063] Now, various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0064] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way a limitation on the present application or its application or use.

[0065] Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be regarded as part of the specification.

[0066] In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0067] It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0068] First, it should be noted that the first direction, the second direction, and the third direction mentioned in the embodiments of the present application refer to the attached Figure 2 , Figure 3 andFigure 10 The marked directions. Among them, the first direction, the second direction, and the third direction intersect pairwise. Among them, the first direction is the front - rear direction of the robot, the second direction is the left - right direction of the robot, and the third direction is the height direction of the robot.

[0069] As Figures 1-7 shown, according to the first aspect of the embodiments of the present application, a calf mechanism 100 is provided, including:

[0070] A sole component 1;

[0071] A cross - axis 2, the cross - axis 2 is rotatably connected to the sole component 1, and the cross - axis 2 rotates relative to the sole component 1 around the first direction;

[0072] A skeleton component 3, the skeleton component 3 is rotatably connected to the cross - axis 2, and the skeleton component 3 rotates relative to the cross - axis 2 around the second direction;

[0073] Two first motor modules 4, both of the two first motor modules 4 are arranged on the skeleton component 3;

[0074] Two link components 5, one end of each link component 5 is connected to the output end of the corresponding first motor module 4, and the other end of the link component 5 is rotatably connected to the sole component 1 through a first spherical bearing 6;

[0075] The first direction intersects with the second direction.

[0076] As Figure 1 and Figure 2 shown, the calf mechanism 100 includes a sole component 1, a cross - axis 2, a skeleton component 3, two first motor modules 4, and two link components 5.

[0077] Among them, the cross - axis 2 is arranged on the sole component 1, and the cross - axis 2 can rotate relative to the sole component 1 around the first direction; the skeleton component 3 is rotatably connected to the cross - axis 2, and the skeleton component 3 can rotate relative to the cross - axis 2 around the second direction; both of the two first motor modules 4 are arranged on the skeleton component 3, one end of each link component 5 is connected to the output end of the corresponding first motor module 4, and the other end of the link component 5 is connected to the sole component 1 through a first spherical bearing 6. When the robot needs to turn, the first spherical bearing 6 between the link component 5 and the sole component 1 can provide degrees of freedom in multiple directions for this, so that the link component 5 can swing left and right relative to the sole component 1, so that the calf mechanism 100 can turn.

[0078] More specifically, as Figure 1 and Figure 2As shown, the two first motor modules 4 are respectively a first sub-motor module 4a and a second sub-motor module 4b, and both the first sub-motor module 4a and the second sub-motor module 4b are arranged on the skeleton assembly 3. The two link assemblies 5 are respectively a first link assembly 5a and a second link assembly 5b, and the first link assembly 5a and the second link assembly 5b are arranged at intervals along the second direction. Among them, one end of the first link assembly 5a is connected to the output end of the first sub-motor module 4a, and the other end of the first link assembly 5a is rotatably connected to the sole assembly 1 through a first spherical bearing 6, so the first sub-motor module 4a can drive the first link assembly 5a to rotate, and thus can drive the sole assembly 1 to rotate through the first link assembly 5a; one end of the second link assembly 5b is connected to the output end of the second sub-motor module 4b, and the other end of the second link assembly 5b is rotatably connected to the sole assembly 1 through a first spherical bearing 6, so the second sub-motor module 4b can drive the second link assembly 5b to rotate, and thus can drive the sole assembly 1 to rotate through the second link assembly 5b.

[0079] Therefore, when the rotation directions of the first link assembly 5a and the second link assembly 5b are the same, it can drive the sole assembly 1 to rotate around the axis in the second direction, that is, to make the sole assembly 1 lift up or fall down; when the rotation directions of the first link assembly 5a and the second link assembly 5b are opposite, it can drive the sole assembly 1 to rotate left or right; by adjusting the rotation speed difference and rotation direction between the first sub-motor module 4a and the second sub-motor module 4b, it is further possible to realize the combined movement of the sole assembly 1 moving up, down, left or right, so as to complete movements at more angles.

[0080] In an optional implementation manner, the cross-axis 2 includes a first connecting shaft 21 and a second connecting shaft 22, and the first connecting shaft 21 and the second connecting shaft 22 are concentric and symmetrically arranged along the first direction;

[0081] The skeleton assembly 3 includes a first connecting portion 31 and a second connecting portion 32, the first connecting portion 31 is connected to the first connecting shaft 21 through a bearing, and the second connecting portion 32 is connected to the second connecting shaft 22 through a bearing.

[0082] As Figure 5 and Figure 6 shown, the cross-axis 2 includes a first connecting shaft 21 and a second connecting shaft 22. Among them, the first connecting shaft 21 and the second connecting shaft 22 are symmetrically arranged along the first direction, and the first connecting shaft 21 and the second connecting shaft 22 are concentric.

[0083] Further explanation, the frame assembly 3 includes a first connecting portion 31 and a second connecting portion 32, and the first connecting portion 31 and the second connecting portion 32 are spaced apart in the second direction. Among them, the first connecting portion 31 is rotatably connected to the first connecting shaft 21 through a bearing. That is to say, the inner ring of the bearing is connected to the first connecting shaft 21, and the outer ring of the bearing is connected to the first connecting portion 31. The second connecting portion 32 is rotatably connected to the second connecting shaft 22 through a bearing. That is to say, the inner ring of the bearing is connected to the second connecting shaft 22, and the outer ring of the bearing is connected to the second connecting portion 32. The structure of the embodiment of the present application enables the frame assembly 3 to be rotatably connected to the cross shaft 2 and can ensure the rotational stability between the frame assembly 3 and the cross shaft 2.

[0084] In an alternative embodiment, the cross shaft 2 further includes a third connecting shaft 23 and a fourth connecting shaft 24, and the third connecting shaft 23 and the fourth connecting shaft 24 are concentric and symmetrically arranged along the second direction;

[0085] The sole assembly 1 further includes a first mounting seat 11 and a second mounting seat 12, the first mounting seat 11 and the second mounting seat 12 are spaced apart, the third connecting shaft 23 is connected to the first mounting seat 11 through a bearing, and the fourth connecting shaft 24 is connected to the second mounting seat 12 through a bearing.

[0086] As Figure 6 shown, the cross shaft 2 further includes a third connecting shaft 23 and a fourth connecting shaft 24, the third connecting shaft 23 and the fourth connecting shaft 24 are symmetrically arranged along the second direction, and the third connecting shaft 23 and the fourth connecting shaft 24 are concentric. In other words, the axis of the first connecting shaft 21 is collinear with the axis of the second connecting shaft 22, the axis of the third connecting shaft 23 is collinear with the axis of the fourth connecting shaft 24, and the line connecting the axis of the first connecting shaft 21 and the axis of the second connecting shaft 22 intersects with the line connecting the axis of the third connecting shaft 23 and the axis of the fourth connecting shaft 24.

[0087] As Figure 7 shown, the sole assembly 1 includes a first mounting seat 11 and a second mounting seat 12, the first mounting seat 11 and the second mounting seat 12 are spaced apart in the first direction. In other words, the first mounting seat 11 and the second mounting seat 12 are symmetrically arranged along the second direction, the cross shaft 2 is located between the first mounting seat 11 and the second mounting seat 12, the third connecting shaft 23 is rotatably connected to the first mounting seat 11 through a bearing, and the fourth connecting shaft 24 is rotatably connected to the second mounting seat 12 through a bearing.

[0088] Further explanation: A first mounting hole 111 is formed in the first mounting seat 11, and a second mounting hole 121 is formed in the second mounting seat 12. The third connecting shaft 23 is rotatably connected to the first mounting hole 111 through a bearing. That is to say, the inner ring of the bearing is connected to the third connecting shaft 23, and the outer ring of the bearing is embedded in the first mounting hole 111; the fourth connecting shaft 24 is connected to the second mounting hole 121 through a bearing. That is to say, the inner ring of the bearing is connected to the fourth connecting shaft 24, and the outer ring of the bearing is embedded in the second mounting hole 121. Thus, the foot sole assembly 1 is rotatably connected to the cross shaft 2, and the rotational stability between the cross shaft 2 and the foot sole assembly 1 can be ensured.

[0089] In a specific embodiment, the link assembly 5 is a connecting rod. One end of the connecting rod is connected to the output end of the first motor module 4, and the other end of the connecting rod is rotatably connected to the foot sole assembly 1 through a first spherical bearing 6.

[0090] In another specific embodiment, the link assembly 5 includes a swing arm 51 and a connecting rod 52. The swing arm 51 includes a first connection end 511 and a second connection end 512. The first connection end 511 is connected to the output end of the first motor module 4; the connecting rod 52 includes a third connection end 521 and a fourth connection end 522. The second connection end 512 is connected to the third connection end 521 through a second spherical bearing 7, and the fourth connection end 522 is connected to the foot sole assembly 1 through the first spherical bearing 6.

[0091] As Figure 1 and Figure 4 shown, the link assembly 5 includes a swing arm 51 and a connecting rod 52. The swing arm 51 includes a first connection end 511 and a second connection end 512. The first connection end 511 and the second connection end 512 are respectively located at both ends of the swing arm 51. The first connection end 511 is connected to the output end of the first motor module 4, and the first motor module 4 can apply a rotational torque to the swing arm 51; the connecting rod 52 includes a third connection end 521 and a fourth connection end 522. The third connection end 521 and the fourth connection end 522 are respectively located at both ends of the connecting rod 52. The second connection end 512 is connected to the third connection end 521 through a second spherical bearing 7, so multi-directional rotation can be achieved between the second connection end 512 and the third connection end 521; the fourth connection end 522 is connected to the foot sole assembly 1 through the first spherical bearing 6, so multi-directional rotation can be achieved between the fourth connection end 522 and the foot sole assembly 1.

[0092] In the embodiment of the present application, the connecting rod 52 and the swing arm 51 are connected by a second spherical bearing 7, and the connecting rod 52 and the sole assembly 1 are connected by a first spherical bearing 6. When the calf mechanism 100 needs to turn, the first spherical bearing 6 between the connecting rod 52 and the sole assembly 1 can provide multi-directional degrees of freedom for this, and the second spherical bearing 7 between the swing arm 51 and the connecting rod 52 can provide multi-directional degrees of freedom for this, so that the link assembly 5 can swing left and right relative to the sole assembly 1, thereby improving the flexibility of the calf mechanism 100.

[0093] Among them, the two link assemblies 5 are respectively a first link assembly 5a and a second link assembly 5b. The first link assembly 5a and the second link assembly 5b have the same structure, so the above description of the structure of the link assembly 5 applies to the first link assembly 5a and the second link assembly 5b.

[0094] As Figure 3 shown, in an alternative embodiment, the connection between the first connection end 511 and the output end of the first motor module 4 is a first connection point A, the connection between the second connection end 512 and the third connection end 521 is a second connection point B, the connection between the fourth connection end 522 and the sole assembly 1 is a third connection point C, and the connection between the frame assembly 3 and the sole assembly 1 is a fourth connection point D; the connection lines of the first connection point A, the second connection point B, the third connection point C and the fourth connection point D in the same plane form a parallelogram.

[0095] Among them, the connection between the first connection end 511 and the output end of the first motor module 4 is a first connection point A. Specifically, since the first connection end 511 and the output end of the first motor module 4 are connected by a shaft, the center of the shaft at the connection between the first connection end 511 and the output end of the first motor module 4; the connection between the second connection end 512 and the third connection end 521 is a second connection point B. Specifically, since the second connection end 512 and the third connection end 521 are connected by a second spherical bearing 7, the connection between the second connection end 512 and the third connection end 521 is the center of the second spherical bearing 7; the connection between the fourth connection end 522 and the sole assembly 1 is a third connection point C. Specifically, since the fourth connection end 522 and the sole assembly 1 are connected by a second spherical bearing 7, the connection between the fourth connection end 522 and the sole assembly 1 is the center of the first spherical bearing 6; the connection between the frame assembly 3 and the sole assembly 1 is a fourth connection point D. Specifically, the frame assembly 3 and the sole assembly 1 are rotationally connected. Among them, the frame assembly 3 and the cross shaft 2 are connected by a bearing, so the connection between the frame assembly 3 and the sole assembly 1 is the center of the bearing.

[0096] In the embodiments of the present application, the connecting lines of the first connection point A, the second connection point B, the third connection point C, and the fourth connection point D in the same plane form a parallelogram. Specifically, the connecting lines of the first connection point A, the second connection point B, the third connection point C, and the fourth connection point D in the plane where the first direction and the third direction are located form a parallelogram, thereby enhancing the movement stability and load-bearing capacity of the calf mechanism 100, enabling precise control of the torque, and reducing vibration and error during movement. It also moves the first motor module 4 upward, reducing the moment of inertia of the first motor module 4.

[0097] In an alternative embodiment, the sole assembly 1 further includes a third mounting seat 13 and a fourth mounting seat 14. The third mounting seat 13 and the fourth mounting seat 14 are spaced apart in the second direction. The connecting rod 52 of one of the link assemblies 5 is rotatably connected to the third mounting seat 13, and the connecting rod 52 of the other link assembly 5 is rotatably connected to the fourth mounting seat 14.

[0098] As Figure 1 shown, the sole assembly 1 further includes a third mounting seat 13 and a fourth mounting seat 14. The third mounting seat 13 and the fourth mounting seat 14 are spaced apart in the second direction. In other words, the third mounting seat 13 and the fourth mounting seat 14 are symmetrically arranged along the first direction.

[0099] Among them, the two link assemblies 5 are respectively a first link assembly 5a and a second link assembly 5b. The connecting rod 52 of the first link assembly 5a is connected to the third mounting seat 13 through a first spherical bearing 6, and the connecting rod 52 of the second link assembly 5b is connected to the fourth mounting seat 14 through a first spherical bearing 6. This structure is simple and can also ensure the rotational stability between the connecting rod 52 and the sole assembly 1.

[0100] In an alternative embodiment, the two first motor modules 4 are adjacent to each other in the third direction; the third direction intersects the first direction, and the third direction intersects the second direction.

[0101] As Figure 1 and Figure 2 shown, the two first motor modules 4 are adjacent to each other in the third direction, which can make the structure of the calf mechanism 100 more compact, thereby reducing the volume of the calf mechanism 100.

[0102] As Figure 1 and Figure 2As shown, in an alternative embodiment, the axis direction of the output end of the first motor module 4 is the same as the first direction. That is to say, the first motor module 4 is arranged front and back, so as to improve the balance and power output efficiency of the calf mechanism 100, reduce the vibration and error of the calf mechanism 100 during movement, and can also effectively utilize space, making the calf structure more anthropomorphic.

[0103] As Figure 8 and Figure 9 shown, according to the second aspect of the embodiments of the present application, a leg mechanism 200 is provided, including:

[0104] The above-mentioned calf mechanism 100;

[0105] A thigh mechanism 8, the thigh mechanism 8 includes a second motor module 81 and a third motor module 82. The output end of the second motor module 81 is connected to the calf mechanism 100. The second motor module 81 can drive the calf mechanism 100 to rotate around the axis of the conveying end of the second motor module 81. The third motor module 82 is used to connect to the hip joint;

[0106] The axis of the output end of the second motor module 81 intersects with the axis of the output end of the third motor module 82.

[0107] As Figure 8 and Figure 9 shown, the leg mechanism 200 includes a calf mechanism 100 and a thigh mechanism 8.

[0108] Among them, the thigh mechanism 8 includes a second motor module 81 and a third motor module 82. The axis of the output end of the second motor module 81 intersects with the axis of the output end of the third motor module 82. Therefore, the rotation directions of the second motor module 81 and the third motor module 82 are different.

[0109] Further explanation, the calf mechanism 100 is connected to the output end of the second motor module 81. The second motor module 81 can drive the calf mechanism 100 to rotate around the axis of the output end of the second motor module 81. In other words, the second motor module 81 can control the front and back swing of the calf mechanism 100; the output end of the third motor module 82 is used to connect to the hip joint.

[0110] Further explanation, the angle of the front and back swing of the calf mechanism 100 can be controlled by the second motor module 81. Preferably, the maximum angle for the second motor module 81 to control the calf mechanism 100 to swing forward is 120°, and the second motor module 81 also controls the maximum angle for the calf mechanism 100 to swing backward to be 120°, which can prevent the calf mechanism 100 from colliding with other parts of the robot.

[0111] According to the third aspect of the embodiments of the present application, a lower limb structure 300 is provided, including:

[0112] A waist mechanism 9, the waist mechanism 9 includes a fourth motor module 91 and a fifth motor module 92, and the included angle between the axis of the output end of the fourth motor module 91 and the axis of the output end of the fifth motor module 92 is less than or equal to 90°;

[0113] Two of the above-mentioned leg mechanisms 200, one of the leg mechanisms 200 is connected to the output end of the fourth motor module 91 through a first hip joint module 93, and the other leg mechanism 200 is connected to the output end of the fifth motor module 92 through a second hip joint module 94.

[0114] As Figure 10 and Figure 11 shown, the lower limb structure 300 includes a waist mechanism 9 and two leg mechanisms 200.

[0115] Among them, the waist mechanism 9 includes a fourth motor module 91 and a fifth motor module 92. One of the leg mechanisms 200 is connected to the output end of the fourth motor module 91 through a first hip joint module 93, and the other leg mechanism 200 is connected to the output end of the fifth motor module 92 through a second hip joint module 94. Specifically, the two leg mechanisms 200 are the left leg and the right leg respectively.

[0116] Further explanation, the included angle between the axis of the output end of the fourth motor module 91 and the axis of the output end of the fifth motor module 92 is less than or equal to 90°. When the fourth motor module 91 drives one of the leg mechanisms 200 to rotate around the axis of the output end of the fourth motor module 91, this leg mechanism 200 can avoid colliding with the other leg mechanism 200 or other components of the robot; when the fifth motor module 92 drives the other leg mechanism 200 to rotate around the axis of the output end of the fifth motor module 92, this leg mechanism 200 can avoid colliding with the other leg mechanism 200 or other components of the robot; therefore, the implementation mode of the present application can enable the leg mechanism 200 to achieve 360° rotation, that is, it can achieve multi-directional movement ability.

[0117] Further explanation, the waist mechanism 9 is integrally designed, which enhances the structural compactness and overall stability of the waist mechanism 9, and at the same time reduces the loads of the fourth motor module 91 and the fifth motor module 92, thereby reducing the damage to the fourth motor module 91 and the fifth motor module 92 caused by impact force.

[0118] In a specific embodiment, the included angle between the axis of the output end of the fourth motor module 91 and the axis in the third direction is 45°, and the included angle between the axis of the output end of the fifth motor module 92 and the axis in the third direction is 45°. Therefore, the two leg mechanisms 200 are symmetrically arranged along the axis in the third direction, making the proportion of the robot coordinated and its stability relatively high.

[0119] In an alternative embodiment, both the first hip joint module 93 and the second hip joint module 94 include a sixth motor module 95 and a connecting bracket 96. The connecting bracket 96 includes a fifth connection end 961 and a sixth connection end 962. The fifth connection end 961 is connected to the third motor module 82, and the sixth connection end 962 is connected to the output end of the sixth motor module 95;

[0120] The sixth motor module 95 of the first hip joint module 93 is connected to the output end of the fourth motor module 91, and the sixth motor module 95 of the second hip joint module 94 is connected to the output end of the fifth motor module 92.

[0121] As Figure 11 shown, the structures of the first hip joint module 93 and the second hip joint module 94 are the same, and the first hip joint module 93 and the second hip joint module 94 are symmetrically arranged along the third direction.

[0122] Further explanation, both the first hip joint module 93 and the second hip joint module 94 include a sixth motor module 95 and a connecting bracket 96.

[0123] Among them, as Figure 9 shown, the connecting bracket 96 includes a fifth connection end 961 and a sixth connection end 962. The fifth connection end 961 is connected to the third motor module 82, and the sixth connection end 962 is connected to the output end of the sixth motor module 95. Among them, the axis of the output end of the third motor module 82 intersects with the axis of the output end of the sixth motor module 95, and the axis of the output end of the second motor module 81 also intersects with the axis of the output end of the sixth motor module 95. Therefore, the second motor module 81, the third motor module 82, and the sixth motor module 95 can control the movement of the calf mechanism 100 in different directions, thereby improving the flexibility of the calf mechanism 100.

[0124] Further, the sixth motor module 95 of the first hip joint module 93 is connected to the output end of the fourth motor module 91, so that the fourth motor module 91 can control the first hip joint module 93 to achieve 360° rotation, thereby indirectly controlling the leg mechanism 200 to achieve the ability of multi-directional movement; the sixth motor module 95 of the second hip joint module 94 is connected to the output end of the fifth motor module 92, so that the fifth motor module 92 can control the second hip joint module 94 to achieve 360° rotation, thereby indirectly controlling the leg mechanism 200 to achieve the ability of multi-directional movement.

[0125] According to the fourth aspect of the embodiments of the present application, a robot is provided, including the above-mentioned calf mechanism 100; or the above-mentioned leg mechanism 200; or the above-mentioned lower limb structure 300.

[0126] Although some specific embodiments of the present application have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A calf mechanism, characterized in that: include: Plantar component; A cross axis, the cross axis is rotatably connected to the sole assembly, and the cross axis rotates relative to the sole assembly about a first direction; a frame assembly, the frame assembly being rotatably connected to the cross axis, the frame assembly being rotatable relative to the frame assembly about a second direction; Two first motor modules, both of which are arranged on the skeleton component; Two connecting rod assemblies, one end of each connecting rod assembly is connected to the output end of the corresponding first motor module, and the other end of the connecting rod assembly is rotatably connected to the sole assembly through a first fisheye bearing; The first direction intersects the second direction.

2. The calf mechanism according to claim 1, characterized in that: The cross axis includes a first connecting axis and a second connecting axis, wherein the first connecting axis is concentric with the second connecting axis and is symmetrically arranged along the first direction; The skeleton assembly includes a first connecting portion and a second connecting portion, the first connecting portion is connected to the first connecting shaft via a bearing, and the second connecting portion is connected to the second connecting shaft via a bearing.

3. The calf mechanism according to claim 1, characterized in that: The cross axis further includes a third connecting axis and a fourth connecting axis, wherein the third connecting axis is concentric with the fourth connecting axis and is symmetrically arranged along the second direction; The sole assembly also includes a first mounting seat and a second mounting seat, the first mounting seat and the second mounting seat are spaced apart, the third connecting shaft is connected to the first mounting seat via a bearing, and the fourth connecting shaft is connected to the second mounting seat via a bearing.

4. The calf mechanism according to claim 1, characterized in that: The connecting rod assembly includes a swing arm and a connecting rod, the swing arm includes a first connecting end and a second connecting end, the first connecting end is connected to the output end of the first motor module; the connecting rod includes a third connecting end and a fourth connecting end, the second connecting end is connected to the third connecting end through a second fisheye bearing, and the fourth connecting end is connected to the sole assembly through the first fisheye bearing.

5. The calf mechanism according to claim 4, characterized in that: The connection between the first connection end and the output end of the first motor module is a first connection, the connection between the second connection end and the third connection end is a second connection, the connection between the fourth connection end and the sole assembly is a third connection, and the connection between the skeleton assembly and the sole assembly is a fourth connection; The connecting lines of the first connection point, the second connection point, the third connection point and the fourth connection point in the same plane form a parallelogram.

6. The calf mechanism according to claim 4, characterized in that: The sole assembly also includes a third mounting seat and a fourth mounting seat, wherein the third mounting seat and the fourth mounting seat are spaced apart in the second direction, wherein the connecting rod of one of the connecting rod assemblies is rotatably connected to the third mounting seat, and the connecting rod of the other connecting rod assembly is rotatably connected to the fourth mounting seat.

7. The calf mechanism according to claim 1, characterized in that: The two first motor modules are arranged adjacent to each other in the third direction; The third direction intersects with the first direction, and the third direction intersects with the second direction.

8. The calf mechanism according to claim 1, characterized in that: The axial direction of the output end of the first motor module is the same as the first direction.

9. A leg mechanism, characterized in that: include: The calf mechanism according to any one of claims 1 to 8; A thigh mechanism, the thigh mechanism comprises a second motor module and a third motor module, the output end of the second motor module is connected to the calf mechanism, the second motor module can drive the calf mechanism to rotate around the axis of the delivery end of the second motor module, and the third motor module is used to connect to the hip joint; The axis of the output end of the second motor module intersects with the axis of the output end of the third motor module.

10. A lower limb structure, characterized in that: include: A waist mechanism, the waist mechanism comprising a fourth motor module and a fifth motor module, wherein an angle between an axis of an output end of the fourth motor module and an axis of an output end of the fifth motor module is less than or equal to 90°; Two leg mechanisms as described in claim 9, wherein one of the leg mechanisms is connected to the output end of the fourth motor module through a first hip joint module, and the other leg mechanism is connected to the output end of the fifth motor module through a second hip joint module.

11. The lower limb structure according to claim 10, characterized in that: The angle between the axis of the output end of the fourth motor module and the axis of the third direction is 45°, and the angle between the axis of the output end of the fifth motor module and the axis of the third direction is 45°.

12. The lower limb structure according to claim 10, characterized in that: The first hip joint module and the second hip joint module both include a sixth motor module and a connecting bracket, the connecting bracket includes a fifth connecting end and a sixth connecting end, the fifth connecting end is connected to the third motor module, and the sixth connecting end is connected to the output end of the sixth motor module; The sixth motor module of the first hip joint module is connected to the output end of the fourth motor module, and the sixth motor module of the second hip joint is connected to the output end of the fifth motor module.

13. A robot, characterized in that: include: The calf mechanism according to any one of claims 1 to 8; or The leg mechanism as claimed in claim 9; or A lower limb structure as described in any one of claims 10 to 12.

Images