Robot leg mechanism and robot

Abstract

The utility model provides a robot leg mechanism and robot, the leg mechanism includes hip steering engine, first connecting piece, thigh structural member, shank structural member, hip front steering engine, knee front steering engine and first connecting rod structure, hip steering engine is used for driving thigh structural member to rotate, hip front steering engine is used for driving thigh structural member to swing back and forth, knee front steering engine is used for driving thigh structural member to swing back and forth. The knee front steering engine is used for driving the shank structural part to swing back and forth relative to the thigh structural part, the motion output end of the hip steering engine is fixedly connected with the first connecting part, the hip front steering engine and the knee front steering engine are both arranged on the thigh structural part, and the motion output end of the hip front steering engine is fixedly connected with the first connecting part; the motion output end of the anterior knee steering engine is in transmission connection with the shank structural part through a first connecting rod structure. According to the robot leg mechanism and the robot, the knee front steering engine is arranged on the thigh structural part, the gravity center of the leg structure is increased, the torque requirement for the steering engine is reduced, and the response speed of the robot is increased.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent equipment, and more specifically, relates to a robot leg mechanism and a robot. Background Art

[0002] In recent years, the field of robotics has developed rapidly, with industrial robots, detection robots, rescue robots, service robots, and humanoid robots everywhere. Among them, the actions that humanoid robots can perform are similar to those of humans. For example, the legs of humanoid robots can perform actions such as hip rotation, hip forward swing, and hip side swing. Therefore, the leg mechanism of humanoid robots has complex movements and a large number of servos, which results in a lower center of gravity for the leg mechanism, increases the torque demand for the servos, and reduces the corresponding speed of the robot. Utility Model Content

[0003] The purpose of the embodiments of the utility model is to provide a robot leg mechanism and a robot to solve the technical problems existing in the prior art that the center of gravity of the leg mechanism is too low, the torque requirement of the servo is high, and the response speed is slow.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: to provide a robot leg mechanism, including a hip swivel servo, a first connecting member, a thigh structure, a calf structure, a hip front servo, a knee front servo and a first connecting rod structure, the hip swivel servo is used to drive the thigh structure to rotate, the hip front servo is used to drive the thigh structure to swing back and forth, the knee front servo is used to drive the calf structure to swing back and forth relative to the thigh structure, the motion output end of the hip swivel servo is fixedly connected to the first connecting member, the hip front servo and the knee front servo are both arranged on the thigh structure, the motion output end of the hip front servo is fixedly connected to the first connecting member, and the motion output end of the knee front servo is transmission-connected to the calf structure through the first connecting rod structure.

[0005] In the above scheme, the robot leg mechanism includes a hip servo, a first connecting member, a thigh structure, a calf structure, a hip front servo, a knee front servo and a first connecting rod structure. The hip servo drives the thigh structure and the calf structure to rotate together. The hip front servo drives the thigh structure and the calf structure to swing forward and backward together. The knee front servo is arranged on the thigh structure and drives the calf structure to rotate through the first connecting rod structure to realize the rotation of the knee joint. Compared with arranging the knee front servo at the knee joint, the center of gravity of the leg structure is increased, the torque requirement for the servo is reduced, and the response speed of the robot is improved.

[0006] Optionally, the thigh structural member is provided with a first mounting hole, and the thigh structural member is provided with a plurality of first connection holes for fixedly connecting with the hip front servo motor around the first mounting hole; the thigh structural member is provided with a second mounting hole, and the thigh structural member is provided with a plurality of second connection holes for fixedly connecting with the knee front servo motor around the second mounting hole.

[0007] In the above solution, the thigh structural member is a plate-shaped structural member, not a frame-shaped structural member, nor a structural member formed by juxtaposing a plurality of plate-shaped structural members. Through the installation form of the hip front servo motor and the knee front servo motor passing through the thigh structural member, the structure of the thigh structural member can be made simpler and lighter.

[0008] Optionally, the hip front servo motor is arranged through the first mounting hole, so that the axial middle part of the hip rotation servo motor is fixedly connected to the first mounting hole, and the knee front servo motor is arranged through the second mounting hole, so that the axial middle part of the knee front servo motor is fixedly connected to the second mounting hole.

[0009] In the above solution, both ends of the hip rotation servo motor are exposed, and one end is the motion output end, which is convenient for connecting with the first connecting member. Both ends of the knee front servo motor are exposed, and one end is the motion output end, which is convenient for connecting with the first connecting rod. Moreover, the axial middle parts of the hip rotation servo motor and the knee front servo motor are both connected to the thigh structural member, which can make the mass distribution of the leg mechanism more balanced in the axial direction.

[0010] Optionally, the first connecting member includes a first mounting plate, a second mounting plate spaced from the first mounting plate, and a first connecting plate connecting the first mounting plate and the second mounting plate; the motion output end of the hip front servo motor is fixedly connected to the first connecting plate, one axial end of the hip front servo motor is its motion output end and is fixedly connected to the first mounting plate, and the other axial end of the hip front servo motor is rotatably supported and connected to the second mounting plate.

[0011] In the above solution, by providing the U-shaped first connecting member, the motion output end of the hip front servo motor and the motion output end of the hip rotation servo motor can be connected at the same time, and supports are formed on both axial ends of the hip front servo motor, making the hip front servo motor more stable when rotating.

[0012] Optionally, the first connecting rod structure includes a first swinging member, a second swinging member and a first rod member. The first swinging member is fixedly connected to the motion output end of the knee front servo motor. Both ends of the first rod member are rotatably connected to the first swinging member and the second swinging member respectively. The second swinging member is fixedly connected to the calf structural member.

[0013] In the above scheme, by providing the first swinging member, the second swinging member and the first rod member in transmission connection, the first connecting rod structure forms a four-rod mechanism, thereby transmitting the motion of the motion output end of the front knee servo to the calf structure.

[0014] Optionally, the calf structure has a first hinge portion rotatably connected to the thigh structure, and the second swinging member is fixedly connected to the first hinge portion, so that the rotation axis of the second swinging member is coaxially arranged with the rotation axis of the calf structure.

[0015] In the above solution, when the first rod drives the second swinging member to swing, it directly drives the calf structure member to swing, the transmission chain is shorter, and the calf structure member will not get stuck.

[0016] Optionally, the robot leg mechanism also includes a first ankle-side servo, a second ankle-side servo, a second connecting rod structure, a third connecting rod structure and a foot structure. The first ankle-side servo and the second ankle-side servo are both arranged on the calf structure, the calf structure is universally connected to the foot structure, the first connecting rod structure and the second connecting rod structure are respectively arranged on opposite sides of the calf structure, the motion output end of the first ankle-side servo is transmission-connected to the foot structure through the second connecting rod structure, and the motion output end of the second ankle-side servo is transmission-connected to the foot structure through the third connecting rod structure.

[0017] In the above solution, the first ankle-side servo and the second ankle-side servo are both arranged on the calf structure, away from the ankle joint, so as to improve the center of mass of the leg mechanism.

[0018] Optionally, the first ankle-side servo motor and the second ankle-side servo motor are arranged sequentially along the length direction of the calf structure.

[0019] In the above scheme, by arranging the first ankle servo and the second ankle servo in sequence along the length direction of the calf structure, the calf structure can be a plate-like structure, without the need to arrange two plates to respectively install the first ankle servo and the second ankle servo.

[0020] Optionally, the calf structure is provided with a third mounting hole and a fourth mounting hole, the first ankle-side servo passes through the third mounting hole, the second ankle-side servo passes through the fourth mounting hole, and the motion output ends of the first ankle-side servo and the second ankle-side servo face opposite directions.

[0021] In the above scheme, the first ankle-side servo motor and the second ankle-side servo motor are both arranged through the calf structure, and the axial ends of the first ankle-side servo motor and the second ankle-side servo motor are both exposed, which is convenient for connecting the second connecting rod structure and the third connecting rod structure. Moreover, the motion output ends of the first ankle-side servo motor and the second ankle-side servo motor face in opposite directions, so that the second connecting rod structure and the third connecting rod structure can be located on opposite sides of the calf structure, respectively.

[0022] The present utility model further provides a robot, including the above-mentioned robot leg mechanism.

[0023] In the above solution, the robot leg mechanism includes a hip rotation servo, a first connecting member, a thigh structural member, a calf structural member, a hip front servo, a knee front servo, and a first link structure. The hip rotation servo drives the thigh structural member and the calf structural member to rotate together. The hip front servo is used to drive the thigh structural member and the calf structural member to swing back and forth together. The knee front servo is arranged on the thigh structural member and drives the calf structural member to rotate through the first link structure to realize the rotation of the knee joint. Compared with arranging the knee front servo at the knee joint, the center of gravity of the leg structure is improved, the torque requirement for the servo is reduced, and the response speed of the robot is improved. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0025] Figure 1 Stereoscopic structure diagram of the robot leg mechanism provided by the embodiment of the present utility model;

[0026] Figure 2 Stereoscopic structure diagram of the robot leg mechanism provided by the embodiment of the present utility model at the thigh structural member;

[0027] Figure 3 Side view of the robot leg mechanism provided by the embodiment of the present utility model at the thigh structural member;

[0028] Figure 4 Stereoscopic structure diagram of the thigh structural member provided by the embodiment of the present utility model;

[0029] Figure 5 Stereoscopic structure diagram of the hip front servo provided by the embodiment of the present utility model;

[0030] Figure 6 Stereoscopic structure diagram of the robot leg mechanism provided by the embodiment of the present utility model at the calf structural member;

[0031] Figure 7 Stereoscopic structure diagram of the calf structural member provided by the embodiment of the present utility model.

[0032] Among them, each reference numeral in the figure:

[0033] 11 - Hip - side servo; 12 - Second connecting member; 121 - Third mounting plate; 122 - Fourth mounting plate; 123 - Second connecting plate; 13 - Hip - rotation servo; 14 - First connecting member; 141 - First mounting plate; 142 - Second mounting plate; 143 - First connecting plate; 15 - Thigh structural member; 151 - First mounting hole; 152 - Second mounting hole; 153 - First connecting hole; 154 - Second connecting hole; 155 - Second hinge portion; 16 - Anterior - hip servo; 161 - Third connecting hole; 162 - Shoulder; 17 - Anterior - knee servo; 18 - First link structure; 181 - First swinging member; 1811 - First connecting portion; 182 - First rod; 183 - Second swinging member; 1831 - Second connecting portion; 19 - Calf structural member; 191 - Third mounting hole; 192 - Fourth mounting hole; 193 - First hinge portion; 20 - First ankle - side servo; 21 - Second ankle - side servo; 22 - Second link structure; 221 - Third swinging member; 222 - Second rod; 23 - Third link structure; 231 - Fourth swinging member; 232 - Third rod; 24 - Foot - plate structural member; 25 - Connecting base; 26 - First cross - shaft; 27 - Second cross - shaft. Detailed implementation mode

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model more clearly understood, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0035] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0036] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present utility model.

[0037] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, the meaning of "a plurality of" is two or more, unless otherwise specifically defined.

[0038] In recent years, the field of robotics has developed rapidly, with industrial robots, exploration robots, rescue robots, service robots, and humanoid robots being everywhere. Among them, the actions that a humanoid robot can perform are similar to those of humans. For example, the legs of a humanoid robot can perform actions such as hip rotation, hip forward swing, and hip side swing. Therefore, the leg mechanism of a humanoid robot has complex movements and a large number of servos, which results in a lower center of gravity of the leg mechanism, increases the torque requirement for the servos, and reduces the response speed of the robot.

[0039] To mitigate the above technical problems, the present utility model provides a robot leg mechanism and a robot. The knee-front servo 17 of the robot leg mechanism is used to drive the calf structural member 19 to rotate relative to the thigh structural member 15 to achieve the movement of the knee joint. Among them, the knee-front servo 17 is arranged on the thigh structural member 15 and drives the calf structural member 19 to rotate through the first link structure 18. The position of the knee-front servo 17 is raised, thereby raising the center of gravity of the leg mechanism and reducing the torque requirements for the hip-rotation servo 13, hip-forward servo 16, etc.

[0040] Now, the robot leg mechanism provided by the embodiments of the present utility model will be described.

[0041] Please refer to Figures 1 to 3 , the robot leg mechanism includes a hip-rotation servo 13, a first connecting member 14, a thigh structural member 15, a calf structural member 19, a hip-forward servo 16, a knee-front servo 17, and a first link structure 18.

[0042] The hip-rotation servo 13 can output a rotational motion. The hip-rotation servo 13 is used to drive the thigh structural member 15 and the calf structural member 19 to rotate to achieve a motion similar to the rotation of the hip joint.

[0043] The hip-forward servo 16 can output a rotational motion. The hip-forward servo 16 is used to drive the thigh structural member 15 and the calf structural member 19 to swing back and forth to achieve a motion similar to the back-and-forth swing of the hip joint.

[0044] The front knee servo 17 can output rotational motion, and is used to drive the calf structure 19 to swing back and forth relative to the thigh structure 15, so as to achieve a motion similar to the front and back swinging of the knee joint. Specifically, the motion output end of the front knee servo 17 is connected to the calf structure 19 through a first connecting rod structure 18, one end of the first connecting rod structure 18 is connected to the motion output end of the front knee servo 17, and the other end of the first connecting rod structure 18 is connected to the calf structure 19, so that the rotational motion of the front knee servo 17 is transmitted to the calf structure 19 through the first connecting rod structure 18, and the front knee servo 17 does not need to be arranged at the knee joint, and the position of the front knee servo 17 is improved, thereby improving the overall center of mass of the leg mechanism.

[0045] The first connecting member 14 is a structural member, and the first connecting member 14 is used to connect the hip rotation servo 13 and the hip front servo 16. Specifically, the motion output end of the hip rotation servo 13 is fixedly connected to the first connecting member 14, and the motion output end of the hip front servo 16 is also fixedly connected to the first connecting member 14. When the hip rotation servo 13 is working, the first connecting member 14, the hip front servo 16, the thigh structural member 15, and the calf structural member 19 all rotate. When the hip front servo 16 is working, the first connecting member 14 remains stationary, and reversely pushes the hip front servo 16, the thigh structural member 15, and the calf structural member 19 to swing back and forth.

[0046] The thigh structure 15 is a structure similar to the human thigh skeleton. One end of the thigh structure 15 is close to the hip joint, and the other end of the thigh structure 15 is rotatably connected to the calf structure 19. The connection between the thigh structure 15 and the calf structure 19 can be regarded as a knee joint.

[0047] The calf structure 19 is a structure similar to the human calf skeleton. One end of the calf structure 19 is rotatably connected to the thigh structure 15 , and the other end of the calf structure 19 is used to connect to the foot structure 24 .

[0048] The hip front servo 16 and the knee front servo 17 are both arranged on the thigh structure 15, making full use of the space on the thigh structure 15 and making the structure of the leg mechanism more compact.

[0049] The robot leg mechanism in the above embodiment includes a hip servo 13, a first connecting member 14, a thigh structure 15, a shank structure 19, a hip front servo 16, a knee front servo 17 and a first connecting rod structure 18. The hip servo 13 drives the thigh structure 15 and the shank structure 19 to rotate together. The hip front servo 16 is used to drive the thigh structure 15 and the shank structure 19 to swing forward and backward together. The knee front servo 17 is arranged on the thigh structure 15, and drives the shank structure 19 to rotate through the first connecting rod structure 18 to realize the rotation of the knee joint. Compared with arranging the knee front servo 17 at the knee joint, the center of gravity of the leg structure is increased, the torque demand on the servo is reduced, and the response speed of the robot is improved.

[0050] In some embodiments of the present utility model, please refer to Figure 2 and Figure 3 , the knee front servo 17 is arranged at the upper end of the thigh structural member 15, so that the position of the knee front servo 17 is relatively high and far from the knee joint, further improving the centroid of the leg mechanism.

[0051] In some embodiments of the present utility model, please refer to Figures 2 to 5 , the thigh structural member 15 is provided with a first mounting hole 151, and the thigh structural member 15 is provided with a plurality of first connection holes 153 for fixedly connecting with the hip front servo 16 around the first mounting hole 151; the thigh structural member 15 is provided with a second mounting hole 152, and the thigh structural member 15 is provided with a plurality of second connection holes 154 for fixedly connecting with the knee front servo 17 around the second mounting hole 152.

[0052] A third connection hole 161 can be provided on the housing of the hip front servo 16, and a threaded member passes through the first mounting hole 151 and is connected to the third connection hole 161, so that the housing of the hip front servo 16 and the thigh structural member 15 are fixedly connected to each other.

[0053] A servo mounting hole can be provided on the housing of the knee front servo 17, and a threaded member passes through the second mounting hole 152 and is connected to the servo mounting hole, so that the housing of the knee front servo 17 and the thigh structural member 15 are fixedly connected to each other.

[0054] The thigh structural member 15 is a plate-shaped structural member, not a frame-shaped structural member, nor a structural member formed by juxtaposing a plurality of plate-shaped structural members. The installation form in which the hip front servo 16 and the knee front servo 17 pass through the thigh structural member 15 can make the structure of the thigh structural member 15 simpler and lighter in weight.

[0055] In some embodiments, the hip front servo 16 and the knee front servo 17 have the same structure.

[0056] In some embodiments of the present utility model, please refer to Figure 2 , the hip front servo 16 is arranged through the first mounting hole 151, so that the axial middle part of the hip rotation servo 13 is fixedly connected at the first mounting hole 151, and the knee front servo 17 is arranged through the second mounting hole 152, so that the axial middle part of the knee front servo 17 is fixedly connected at the second mounting hole 152. The axial middle part of the hip rotation servo 13 can be understood as: in the direction of the rotation axis of the motion output end of the hip rotation servo 13, the middle position of the hip rotation servo 13. The axial middle part of the knee front servo 17 can be understood as: in the direction of the rotation axis of the motion output end of the knee front servo 17, the middle position of the knee front servo 17. In this way, both ends of the hip rotation servo 13 can be exposed, and both ends of the knee front servo 17 can be exposed, which is convenient for layout and installation.

[0057] Both ends of the hip rotary actuator 13 are exposed, and one end thereof is a motion output end, which is convenient for connecting with the first connecting member 14. Both ends of the knee front actuator 17 are exposed, and one end thereof is a motion output end, which is convenient for connecting with the first link structure 18. Moreover, the middle parts of the hip rotary actuator 13 and the knee front actuator 17 in the axial direction are both connected to the thigh structural member 15, which can make the mass distribution of the leg mechanism more balanced in the axial direction.

[0058] In some embodiments, the hip front actuator 16 has a shoulder 162. After the end with a smaller outer diameter of the hip front actuator 16 passes through the first mounting hole 151, the shoulder 162 abuts against the shell wall around the first mounting hole 151. Correspondingly, the third connection hole is formed in the shoulder 162.

[0059] In some embodiments, the knee front actuator 17 has a shoulder. After the end with a smaller outer diameter of the knee front actuator 17 passes through the second mounting hole 152, the shoulder abuts against the shell wall around the second mounting hole 152. Correspondingly, the fourth connection hole is formed in the shoulder.

[0060] In some embodiments, the first connecting member 14 is disposed between the hip rotary actuator 13 and the hip front actuator 16, and the hip front actuator 16 is disposed above the knee front actuator 17, so that the hip front actuator 16 is closer to the first connecting member 14, and the first link structure 18 will not interfere with the hip front actuator 16.

[0061] In other embodiments of the present invention, one end of the hip rotary actuator 13 away from its motion output end is fixed to the thigh structural member 15, and its motion output end is exposed and fixedly connected to the first connecting member 14. One end of the knee front actuator 17 away from its motion output end is fixed to the thigh structural member 15, and its motion output end is exposed and connected to the first link structure 18.

[0062] In some embodiments of the present invention, please refer to Figure 2, the first connecting member 14 includes a first mounting plate 141, a second mounting plate 142 spaced apart from the first mounting plate 141, and a first connecting plate 143 connecting the first mounting plate 141 and the second mounting plate 142; the movement output end of the hip front servo 16 is fixedly connected to the first connecting plate 143, one axial end of the hip front servo 16 is its movement output end and is fixedly connected to the first mounting plate 141, and the other axial end of the hip front servo 16 is rotatably supported and connected to the second mounting plate 142. The first mounting plate 141, the first connecting plate 143, and the second mounting plate 142 are sequentially bent and connected, and the first mounting plate 141 and the second mounting plate 142 are spaced apart from each other, so that the first connecting member 14 is U-shaped. The first connecting plate 143 is fixedly connected to the movement output end of the hip front servo 16, and the second connecting plate 123 is rotatably connected to the housing of the hip front servo 16, so that the hip front servo 16 is supported on the first connecting member 14. When the hip rotation servo 13 works, its movement output end drives the first connecting plate 143 to rotate, and then the entire first connecting member 14, the hip front servo 16, the thigh structural member 15, the hip rotation servo 13, the calf structural member 19, etc. rotate simultaneously. When the hip front servo 16 works, the first connecting member 14 is fixed, its movement output end rotates to drive the housing part of the hip front servo 16 to rotate, and the hip front servo 16 rotates relative to the second mounting plate 142, and then drives the thigh structural member 15, the knee front servo 17, the calf structural member 19, etc. to swing simultaneously.

[0063] By providing the U-shaped first connecting member 14, the movement output end of the hip front servo 16 and the movement output end of the hip rotation servo 13 can be connected simultaneously, and both axial ends of the hip front servo 16 are supported, making the rotation of the hip front servo 16 more stable.

[0064] In some embodiments, a flange is fixed at one end of the hip front servo 16 away from its movement output end, a fifth mounting hole is formed in the second mounting plate 142, the flange is located in the fifth mounting hole, and a bearing is provided between the outer peripheral wall of the flange and the hole wall of the fifth mounting hole. The inner ring of the bearing is fixed to the outer peripheral wall of the flange, and the outer ring of the bearing is fixed to the inner peripheral wall of the fifth mounting hole, so that the hip front servo 16 can rotate relative to the first connecting member 14, and the rotation of the hip front servo 16 is more stable.

[0065] In some embodiments of the present invention, please refer to Figure 2 and Figure 3, the robot leg structure further includes a hip-side servo 11 and a second connecting member 12. The hip-side servo 11 is used to drive the hip-rotation servo 13, hip-front servo 16, knee-front servo 17, thigh structural member 15, calf structural member 19, etc. for lateral swing movement. The second connecting member 12 is used to connect the hip-side servo 11 and the hip-rotation servo 13. When the leg mechanism is in the standing state, the axis of the hip-side servo 11 is in the horizontal direction, and the axis of the hip-rotation servo 13 is in the vertical direction. The movement output end of the hip-side servo 11 is fixedly connected to the hip-rotation servo 13. When the hip-side servo 11 works, the hip-rotation servo 13 swings laterally. The second connecting member 12 is used to support the hip-rotation servo 13, making the rotation of the hip-rotation servo 13 smoother.

[0066] In some embodiments, the second connecting member 12 includes a third mounting plate 121, a fourth mounting plate 122, and a second connecting plate 123. The third mounting plate 121 and the fourth mounting plate 122 are arranged at intervals, and the two ends of the second connecting plate 123 are respectively connected to the third mounting plate 121 and the fourth mounting plate 122. The third mounting plate 121 is fixedly connected to the housing of the hip-side servo 11, and the housing of the hip-rotation servo 13 is rotatably connected to the fourth mounting plate 122. When the movement output end of the hip-side servo 11 drives the hip-rotation servo 13 to swing laterally, the second connecting member 12 remains stationary, and the hip-rotation servo 13 swings under the support of the second connecting member 12, which can make the swing of the hip-rotation servo 13 smoother.

[0067] Optionally, a sixth mounting hole is provided on the fourth mounting plate 122. A flange is fixed on one side of the housing of the hip-rotation servo 13. The flange is located in the sixth mounting hole, and a bearing is provided between the outer peripheral wall of the flange and the inner wall of the sixth mounting hole. The inner ring of the bearing is fixed to the outer peripheral wall of the flange, and the outer ring of the bearing is fixed to the inner peripheral wall of the sixth mounting hole, so that the hip-rotation servo 13 can rotate relative to the second connecting member 12, and the rotation of the hip-rotation servo 13 is more stable.

[0068] In some embodiments of the present utility model, please refer to Figure 2 and Figure 3The first connecting rod structure 18 includes a first swinging member 181, a second swinging member 183 and a first rod 182. The first swinging member 181 is fixedly connected to the motion output end of the front knee servo 17. The two ends of the first rod 182 are respectively rotatably connected to the first swinging member 181 and the second swinging member 183. The second swinging member 183 is fixedly connected to the calf structure 19. The first swinging member 181 moves synchronously with the motion output end of the front knee servo 17. The rotation connection between the first rod 182 and the first swinging member 181 deviates from the central axis of the front knee servo 17. The rotation connection between the first rod 182 and the second swinging member 183 deviates from the knee joint setting (deviates from the rotation connection axis of the thigh structure 15 and the calf structure 19). In this way, when the front knee servo 17 outputs a rotational motion, the first swinging member 181 drives the first rod 182 to swing, thereby driving the calf structure 19 to swing relative to the thigh structure 15.

[0069] By providing the first swinging member 181 , the second swinging member 183 and the first rod member 182 which are in transmission connection, the first connecting rod structure 18 forms a four-rod mechanism, so that the movement of the movement output end of the front knee servo motor 17 is transmitted to the calf structure member 19 .

[0070] In some embodiments, see Figure 2 and Figure 3 There are two first rod members 182 , which are spaced apart from each other. Both ends of the two first rod members 182 are respectively connected to the first swing member 181 and the second swing member 183 , so that the transmission of the first connecting rod structure 18 can be more stable.

[0071] In some embodiments, the rotational connection between the first rod 182 and the first swinging member 181 is a first rotation axis, and the rotational connection between the first rod 182 and the second swinging member 183 is a second rotation axis. The distance between the first rotation axis and the axis of the front knee servo 17 and the distance between the second rotation axis and the knee joint are equal, so that the first connecting rod structure 18 is a parallelogram structure, and the first swinging member 181 and the second swinging member 183 move synchronously. When the front knee servo 17 rotates by an angle A, the calf structure 19 also rotates by an angle A relative to the thigh structure 15, so that the rotation angle of the calf structure 19 can be more conveniently controlled.

[0072] In some embodiments, see Figure 2 and Figure 3 The first swinging member 181 is disc-shaped or ring-shaped, and a first connecting portion 1811 is formed at the outer edge of the first swinging member 181 and radially protrudes outward. The first connecting portion 1811 is rotatably connected to the first rod 182. When there are two first rods 182, there are two first connecting portions 1811, which are respectively arranged at two radial ends of the first swinging member 181.

[0073] In some embodiments, refer to Figure 2 and Figure 3 , the second swing member 183 is disc-shaped or annular, and a second connecting portion 1831 is formed by radially protruding outward at the outer edge of the second swing member 183. The second connecting portion 1831 is rotatably connected to the first rod member 182. When the number of the first rod members 182 is two, correspondingly, the number of the second connecting portions 1831 is two, and they are respectively arranged at the radial two ends of the second swing member 183.

[0074] In some embodiments of the present utility model, refer to Figure 3 , Figure 4 and Figure 7 , the calf structural member 19 has a first hinge portion 193 rotatably connected to the thigh structural member 15. The second swing member 183 is fixedly connected to the first hinge portion 193, so that the rotation axis of the second swing member 183 is coaxially arranged with the rotation axis of the calf structural member 19. The rotation central axis of the second swing member 183 is located at the knee joint. Thus, when the first rod member 182 drives the second swing member 183 to swing, it directly drives the calf structural member 19 to swing, the transmission chain is shorter, and the calf structural member 19 will not be jammed.

[0075] In some embodiments, the thigh structural member 15 has a second hinge portion 155. The first hinge portion 193 and the second hinge portion 155 are rotatably connected by a connecting shaft. The number of the first hinge portions 193 is two, and the number of the second hinge portions 155 is one. The second hinge portion 155 is located between the two first hinge portions 193, so that the second hinge portion 155 is exposed, which is convenient for the second swing member 183 to be connected to the second hinge portion 155.

[0076] In some embodiments of the present utility model, refer to Figure 6 and Figure 7 , the robot leg mechanism further includes a first ankle side servo motor 20, a second ankle side servo motor 21, a second link structure 22, a third link structure 23 and a foot plate structural member 24. The first ankle side servo motor 20 and the second ankle side servo motor 21 are both arranged on the calf structural member 19. The calf structural member 19 is universally connected to the foot plate structural member 24. The first link structure 18 and the second link structure 22 are respectively arranged on the opposite sides of the calf structural member 19. The motion output end of the first ankle side servo motor 20 is in transmission connection with the foot plate structural member 24 through the second link structure 22. The motion output end of the second ankle side servo motor 21 is in transmission connection with the foot plate structural member 24 through the third link structure 23.

[0077] The first ankle-side servo 20 and the second link structure 22 are arranged on one side of the calf structural member 19, and the second ankle-side servo 21 and the third link structure 23 are arranged on the other side of the calf structural member 19. When the rotation directions of the first ankle-side servo 20 and the second ankle-side servo 21 are the same and the angular velocities are the same, the front-back swing of the foot plate structural member 24 can be realized. When the rotation directions of the first ankle-side servo 20 and the second ankle-side servo 21 are different but the angular velocities are the same, the left-right swing of the foot plate structural member 24 can be realized.

[0078] Both the first ankle-side servo 20 and the second ankle-side servo 21 are arranged on the calf structural member 19, away from the ankle joint, which can improve the centroid of the leg mechanism.

[0079] In some embodiments, please refer to Figure 7 , the first ankle-side servo 20 and the second ankle-side servo 21 are arranged in sequence along the length direction of the calf structural member 19. The first ankle-side servo 20 is arranged above or below the second ankle-side servo 21.

[0080] By arranging the first ankle-side servo 20 and the second ankle-side servo 21 in sequence along the length direction of the calf structural member 19, the calf structural member 19 can be a plate-like structure, and there is no need to set two plate members to install the first ankle-side servo 20 and the second ankle-side servo 21 respectively.

[0081] In some embodiments of the present invention, please refer to Figure 6 , the second link structure 22 includes a third swing member 221 and a second rod member 222. The third swing member 221 is fixedly connected to the motion output end of the first ankle-side servo 20. One end of the second rod member 222 is rotatably connected to the third swing member 221, and the other end of the second rod member 222 is universally connected to the foot plate structural member 24.

[0082] In some embodiments of the present invention, please refer to Figure 6 , the third link structure 23 includes a fourth swing member 231 and a third rod member 232. The fourth swing member 231 is fixedly connected to the motion output end of the second ankle-side servo 21. One end of the third rod member 232 is rotatably connected to the fourth swing member 231, and the other end of the third rod member 232 is universally connected to the foot plate structural member 24.

[0083] When the first ankle-side servo 20 is arranged above the second ankle-side servo 21, the length of the second rod member 222 is greater than the length of the third rod member 232, so that the second rod member 222 and the third rod member 232 are connected to the foot plate structural member 24 at the same height position.

[0084] In some embodiments of the present invention, please refer to Figure 6 , the foot plate structural member 24 is provided with a connection base 25, and the second link structure 22, the third link structure 23 and the calf structural member 19 are all connected to the connection base 25.

[0085] In some embodiments of the present utility model, please refer to Figure 6 , a first cross shaft 26 is provided on the connection base 25, and the second link structure 22 and the third link structure 23 are respectively connected to opposite ends of the first cross shaft 26 to achieve a universal connection between the first link structure 18 and the foot plate structure member 24 and a universal connection between the second link structure 22 and the foot plate structure member 24.

[0086] A second cross shaft 27 is provided on the connection base 25, and the thigh structure member 15 is universally connected to the foot plate structure member 24 through the second cross shaft 27.

[0087] In some embodiments of the present utility model, please refer to Figure 6 and Figure 7 , the calf structure member 19 is provided with a third mounting hole 191 and a fourth mounting hole 192. The first ankle side servo 20 passes through the third mounting hole 191, and the second ankle side servo 21 passes through the fourth mounting hole 192, and the movement output ends of the first ankle side servo 20 and the second ankle side servo 21 face in opposite directions. For example, the movement output end of the first ankle side servo 20 is located on the left side of the thigh structure member 15, and the movement output end of the second ankle side servo 21 is located on the right side of the thigh structure member 15.

[0088] Both the first ankle side servo 20 and the second ankle side servo 21 pass through the calf structure member 19, and the axial ends of the first ankle side servo 20 and the second ankle side servo 21 are exposed, which is convenient for connecting the second link structure 22 and the third link structure 23. Moreover, the movement output ends of the first ankle side servo 20 and the second ankle side servo 21 face in opposite directions, so that the second link structure 22 and the third link structure 23 can be respectively located on opposite sides of the calf structure member 19.

[0089] In some embodiments, the axial middle part of the first ankle side servo 20 is fixed to the calf structure member 19, and the axial middle part of the second ankle side servo 21 is fixed to the calf structure member 19, so that the gravity on the left and right sides of the calf structure member 19 can be more balanced.

[0090] The present utility model also provides a robot, which includes the robot leg mechanism in any of the above embodiments. The robot may further include a waist mechanism, a chest mechanism, a head mechanism, etc.

[0091] The robot provided by the present utility model adopts the above-mentioned robot leg mechanism. The leg mechanism includes a hip rotation servo 13, a first connecting member 14, a thigh structural member 15, a calf structural member 19, a hip front servo 16, a knee front servo 17 and a first link structure 18. The hip rotation servo 13 drives the thigh structural member 15 and the calf structural member 19 to rotate together. The hip front servo 16 is used to drive the thigh structural member 15 and the calf structural member 19 to swing back and forth together. The knee front servo 17 is arranged on the thigh structural member 15 and drives the calf structural member 19 to rotate through the first link structure 18 to realize the rotation of the knee joint. Compared with arranging the knee front servo 17 at the knee joint, the center of gravity of the leg structure is increased, the torque requirement for the servo is reduced, and the response speed of the robot is improved.

[0092] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A robot leg mechanism, characterized in that: It includes a hip servo, a first connecting member, a thigh structural member, a calf structural member, a hip front servo, a knee front servo, and a first link structure. The hip servo is used to drive the rotation of the thigh structural member. The hip front servo is used to drive the front and back swing of the thigh structural member. The knee front servo is used to drive the front and back swing of the calf structural member relative to the thigh structural member. The motion output end of the hip servo is fixedly connected to the first connecting member. The hip front servo and the knee front servo are both arranged on the thigh structural member. The motion output end of the hip front servo is fixedly connected to the first connecting member. The motion output end of the knee front servo is drivingly connected to the calf structural member through the first link structure.

2. The robot leg mechanism according to claim 1, wherein: The thigh structural member is provided with a first mounting hole, and the thigh structural member is provided with a plurality of first connecting holes for fixedly connecting with the hip front servo around the first mounting hole; the thigh structural member is provided with a second mounting hole, and the thigh structural member is provided with a plurality of second connecting holes for fixedly connecting with the knee front servo around the second mounting hole.

3. The robot leg mechanism according to claim 2, wherein: The hip front servo is arranged through the first mounting hole, so that the axial middle part of the hip servo is fixedly connected at the first mounting hole. The knee front servo is arranged through the second mounting hole, so that the axial middle part of the knee front servo is fixedly connected at the second mounting hole.

4. The robot leg mechanism according to claim 1, wherein: The first connecting member includes a first mounting plate, a second mounting plate spaced from the first mounting plate, and a first connecting plate connecting the first mounting plate and the second mounting plate; the motion output end of the hip front servo is fixedly connected to the first connecting plate. One axial end of the hip front servo is its motion output end and is fixedly connected to the first mounting plate, and the other axial end of the hip front servo is rotatably supported and connected to the second mounting plate.

5. The robot leg mechanism according to claim 1, characterized in that: The first link structure includes a first swinging member, a second swinging member, and a first rod. The first swinging member is fixedly connected to the motion output end of the knee front servo. Two ends of the first rod are respectively rotatably connected to the first swinging member and the second swinging member. The second swinging member is fixedly connected to the calf structural member.

6. The robot leg mechanism according to claim 5, characterized in that: The calf structural member has a first hinge part rotatably connected to the thigh structural member. The second swinging member is fixedly connected to the first hinge part, so that the rotation axis of the second swinging member is coaxially arranged with the rotation axis of the calf structural member.

7. The robot leg mechanism according to any one of claims 1-6, characterized in that: The robot leg mechanism further includes a first ankle side servo, a second ankle side servo, a second link structure, a third link structure, and a foot plate structural member. The first ankle side servo and the second ankle side servo are both arranged on the calf structural member. The calf structural member is universally connected to the foot plate structural member. The first link structure and the second link structure are respectively arranged on opposite sides of the calf structural member. The motion output end of the first ankle side servo is drivingly connected to the foot plate structural member through the second link structure. The motion output end of the second ankle side servo is drivingly connected to the foot plate structural member through the third link structure.

8. The robot leg mechanism according to claim 7, wherein: The first ankle side servo and the second ankle side servo are arranged in sequence along the length direction of the calf structural member.

9. The robot leg mechanism according to claim 7, wherein: The calf structural member is provided with a third mounting hole and a fourth mounting hole. The first ankle-side servo passes through the third mounting hole, and the second ankle-side servo passes through the fourth mounting hole. Moreover, the motion output ends of the first ankle-side servo and the second ankle-side servo face in opposite directions.

10. A robot, characterized in that: Comprising the robot leg mechanism according to any one of claims 1-9.

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