Leg structure of humanoid robot

Abstract

The leg structure of the humanoid robot comprises an upper half leg plate, a lower half leg plate, a lifting assembly and a magnetic induction assembly, and the non-rotating-shaft end of the upper half leg plate is in butt joint with the non-rotating-shaft end of the lower half leg plate. The lifting motor is started to drive the main gear, the auxiliary gear, the main threaded rod and the auxiliary threaded rod to rotate, the main threaded rod and the auxiliary threaded rod enable the lower half leg plate to stretch or retract in a rotating mode according to the positive and negative rotation directions of the lifting motor, and the length of the upper half leg plate and the length of the lower half leg plate are increased or decreased; the magnetic induction sliding rod on the lower half leg plate slides out or slides in the sliding hole of the upper half leg plate, the magnetic induction sliding rod drives the magnetic sliding box and the magnetic column to move, the induction coil induces the position of the magnetic column in the induction coil, the extension or shortening length of the lifting assembly is detected, and the length of the legs of the humanoid robot is adjusted in a self-adaptive mode. The gait of the robot can be flexibly switched between the fluctuating surface, the soft surface or the hard surface, and the walking stability and efficiency are greatly improved.

Description

Technical Field

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

[0002] With the rapid development of science and technology, humanoid robotics has become a focus of global research and industry. These anthropomorphic intelligent agents, with their flexible limbs and powerful computing capabilities, demonstrate tremendous potential in areas such as rescue, exploration, education, and daily services. However, despite significant progress in many areas, the walking stability of humanoid robots, especially on complex terrain, remains a pressing technical challenge. Key factors contributing to this problem are the rigidity of their leg structures and their lack of adaptive adjustment capabilities.

[0003] The leg structure of humanoid robots is designed to mimic human movement patterns to achieve efficient ground walking. However, unlike humans, most robots have fixed leg lengths. This may be sufficient for flat, regular surfaces, but it is clearly insufficient on uneven or unpredictable terrain. This lack of adaptability makes it difficult for robots to flexibly switch gaits between uneven and soft surfaces, significantly reducing their walking stability and efficiency.

[0004] Specifically, when a robot is traveling on rough terrain, the fixed length of its legs makes it difficult to maintain balance. For example, when climbing or descending a slope, the robot may lose stability due to changes in the distance between the contact points of the front and hind legs, making it prone to tilting or even falling. Similarly, when crossing soft sand, mud, or densely covered vegetation, fixed-length legs make it difficult to make timely adjustments based on changes in ground hardness and friction, further exacerbating the difficulty of walking. In addition, when faced with sudden ground obstacles or potholes, robots often face the risk of collision or stumbling due to the inability to adjust their stride and foot contact position in real time.

[0005] In view of the above limitations, a humanoid robot leg structure that can automatically adjust the leg length is developed to enhance its walking stability on complex terrain.

[0006] Therefore, how to provide a leg structure for a humanoid robot is an urgent problem that those skilled in the art need to solve. Utility Model Content

[0007] One purpose of the present invention is to propose a leg structure of a humanoid robot. The present invention starts a lifting motor to drive the rotation of a main gear, an auxiliary gear, a main threaded rod and an auxiliary threaded rod. The main threaded rod and the auxiliary threaded rod make the lower leg plate rotate and extend or retract according to the positive and negative directions of rotation of the lifting motor, and further make the length of the upper leg plate and the lower leg plate extend or shorten; the magnetic slide bar on the lower leg plate slides out or slides in the sliding hole of the upper leg plate, and the magnetic slide bar drives the displacement of the magnetic slide box and the magnetic column, and the induction coil senses the position of the magnetic column in the induction coil, detects the length of the extension or shortening of the lifting component, and adaptively adjusts the length of the humanoid robot's leg, so that the robot can flexibly switch gaits between high and low undulations, soft or hard surfaces, thereby greatly improving the stability and efficiency of walking.

[0008] According to an embodiment of the present invention, a leg structure of a humanoid robot includes an upper leg plate, a lower leg plate, a lifting assembly and a magnetic induction assembly, wherein the non-rotating shaft end of the upper leg plate is connected to the non-rotating shaft end of the lower leg plate, the power end of the lifting assembly is fixedly installed in the upper leg plate, the threaded end of the lifting assembly is threadedly installed in the lower leg plate, the ends of the magnetic induction assembly are fixedly installed on both sides of the non-rotating shaft end of the lower leg plate, and the magnetic induction assembly is located on both sides of the interior of the upper leg plate.

[0009] Furthermore, a first joint axis is fixedly provided on the top of the upper leg plate, and a second joint axis is fixedly provided on the bottom of the lower leg plate.

[0010] Furthermore, the lifting assembly includes a mounting block, a lifting motor, a main gear, an auxiliary gear, a main threaded rod and an auxiliary threaded rod, wherein one end of the mounting block is fixedly mounted on the inner wall of the upper leg plate, the motor seat of the lifting motor is fixedly mounted on the other end of the mounting block, the main gear is fixedly mounted on the rotating shaft of the lifting motor, the auxiliary gear is located on both sides of the main gear, the auxiliary gear is meshed with the main gear, the top of the main threaded rod is fixedly mounted on the main gear, and the top of the auxiliary threaded rod is fixedly mounted on the auxiliary gear.

[0011] Furthermore, the top of the main threaded rod is rotatably mounted on the upper leg plate, and the threaded end of the main threaded rod is threadedly inserted into the lower leg plate; the top of the auxiliary threaded rod is rotatably mounted on the upper leg plate, and the threaded end of the auxiliary threaded rod is threadedly inserted into the lower leg plate.

[0012] Furthermore, the lifting assembly also includes a lifting slide rod, a lifting sleeve and a fixed plate, wherein one end of the lifting slide rod is fixedly mounted on the end of the upper leg plate away from the first joint axis, the base of the lifting sleeve is fixedly mounted on the inner wall of the lower leg plate, the lifting sleeve is slidably sleeved on the lifting slide rod, and the fixed plate is fixedly mounted on the other end of the lifting slide rod.

[0013] Furthermore, the fixing plate is rotatably sleeved on the bottom of the main threaded rod, and the fixing plate is rotatably sleeved on the bottom of the auxiliary threaded rod.

[0014] Furthermore, the magnetic induction component includes a sliding hole and an induction slot, the sliding hole is opened on both sides of the interior of the upper leg plate, and the induction slot is opened on both sides of the interior of the upper leg plate.

[0015] Furthermore, the magnetic induction component also includes a magnetic slide rod, a magnetic slide box, a magnetic column and an induction coil, wherein one end of the magnetic slide rod is fixedly mounted on the end of the lower leg plate away from the second joint axis, the other end of the magnetic slide rod slides and extends into the slide hole, the magnetic slide box is fixedly mounted on the other end of the magnetic slide rod, the magnetic slide box is slidably mounted in the slide hole, the magnetic column is fixedly mounted in the magnetic slide box, and the induction coil is fixedly mounted in the induction slot.

[0016] The beneficial effects of the utility model are:

[0017] The utility model starts the lifting motor to drive the rotation of the main gear, the auxiliary gear, the main threaded rod and the auxiliary threaded rod. The main threaded rod and the auxiliary threaded rod make the lower leg plate rotate and extend or retract according to the positive and negative directions of the rotation of the lifting motor, and further make the lengths of the upper and lower leg plates extend or shorten; the magnetic sliding rod on the lower leg plate slides out or slides in the sliding hole of the upper leg plate, and the magnetic sliding rod drives the displacement of the magnetic sliding box and the magnetic column. The induction coil senses the position of the magnetic column in the induction coil, detects the length of the extension or shortening of the lifting component, and adaptively adjusts the length of the humanoid robot's legs, so that the robot can flexibly switch gaits between high and low undulations and soft or hard surfaces, thereby greatly improving the stability and efficiency of walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 This is a schematic diagram of the overall structure of the leg structure of a humanoid robot proposed in the present invention;

[0020] Figure 2 This is a front view of the leg structure of a humanoid robot proposed in the utility model.

[0021] In the figure: 1. Upper leg plate; 1.1. First joint axis; 2. Lower leg plate; 2.1. Second joint axis; 3. Lifting assembly; 3.1. Mounting block; 3.2. Lifting motor; 3.3. Main gear; 3.4. Auxiliary gear; 3.5. Main threaded rod; 3.6. Auxiliary threaded rod; 3.7. Lifting slide rod; 3.8. Lifting sleeve; 3.9. Fixed plate; 4. Magnetic induction assembly; 4.1. Sliding hole; 4.2. Induction slot; 4.3. Magnetic induction slide rod; 4.4. Magnetic slide box; 4.5. Magnetic column; 4.6. Induction coil. DETAILED DESCRIPTION

[0022] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0023] Please refer to Figure 1 and Figure 2 The utility model provides a leg structure of a humanoid robot, including an upper leg plate 1, a lower leg plate 2, a lifting assembly 3 and a magnetic induction assembly 4, wherein the non-rotating shaft end of the upper leg plate 1 is connected to the non-rotating shaft end of the lower leg plate 2, the power end of the lifting assembly 3 is fixedly installed in the upper leg plate 1, and the threaded end of the lifting assembly 3 is threadedly installed in the lower leg plate 2. The lifting assembly 3 is used to adjust the length of the upper leg plate 1 and the lower leg plate 2, the ends of the magnetic induction assembly 4 are fixedly installed on both sides of the non-rotating shaft end of the lower leg plate 2, the magnetic induction assembly 4 is located on both sides of the interior of the upper leg plate 1, and the magnetic induction assembly 4 is used to detect the extended length of the upper leg plate 1 and the lower leg plate 2. The top of the upper leg plate 1 is fixedly provided with a first joint axis 1.1, and the bottom of the lower leg plate 2 is fixedly provided with a second joint axis 2.1.

[0024] Specifically, the lifting assembly 3 includes a mounting block 3.1, a lifting motor 3.2, a main gear 3.3, an auxiliary gear 3.4, a main threaded rod 3.5 and an auxiliary threaded rod 3.6, wherein one end of the mounting block 3.1 is fixedly mounted on the inner wall of the upper leg plate 1, the motor seat of the lifting motor 3.2 is fixedly mounted on the other end of the mounting block 3.1, the main gear 3.3 is fixedly mounted on the rotating shaft of the lifting motor 3.2, the auxiliary gear 3.4 is located on both sides of the main gear 3.3, the auxiliary gear 3.4 is meshed with the main gear 3.3, and the main threaded rod 3.5 is fixedly mounted on the main shaft of the lifting motor 3.2. The top of the rod 3.5 is fixedly mounted on the main gear 3.3, the top of the auxiliary threaded rod 3.6 is fixedly mounted on the auxiliary gear 3.4, the top of the main threaded rod 3.5 is rotatably mounted on the upper leg plate 1, the threaded end of the main threaded rod 3.5 is threadedly inserted into the lower leg plate 2, the top of the auxiliary threaded rod 3.6 is rotatably mounted on the upper leg plate 1, the threaded end of the auxiliary threaded rod 3.6 is threadedly inserted into the lower leg plate 2, the main threaded rod 3.5 and the auxiliary threaded rod 3.6 are used to rotate and extend or retract the extended length of the upper leg plate 1 and the lower leg plate 2.

[0025] The lifting assembly 3 also includes a lifting slide rod 3.7, a lifting sleeve 3.8 and a fixed plate 3.9, wherein one end of the lifting slide rod 3.7 is fixedly mounted on the end of the upper leg plate 1 away from the first joint axis 1.1, the base of the lifting sleeve 3.8 is fixedly mounted on the inner wall of the lower leg plate 2, the lifting sleeve 3.8 is slidably sleeved on the lifting slide rod 3.7, the fixed plate 3.9 is fixedly mounted on the other end of the lifting slide rod 3.7, the fixed plate 3.9 is rotatably sleeved on the bottom of the main threaded rod 3.5, and the fixed plate 3.9 is rotatably sleeved on the bottom of the auxiliary threaded rod 3.6.

[0026] More specifically, the magnetic induction component 4 includes a sliding hole 4.1 and an induction slot 4.2. The sliding hole 4.1 is opened on both sides of the interior of the upper leg plate 1, and the induction slot 4.2 is opened on both sides of the interior of the upper leg plate 1. The magnetic induction component 4 also includes a magnetic slide bar 4.3, a magnetic slide box 4.4, a magnetic column 4.5 and an induction coil 4.6. One end of the magnetic slide bar 4.3 is fixedly mounted on the end of the lower leg plate 2 away from the second joint axis 2.1, and the other end of the magnetic slide bar 4.3 slides and extends into the sliding hole 4.1. The magnetic slide box 4.4 is fixedly mounted on the other end of the magnetic slide bar 4.3. The magnetic slide box 4.4 is slidably mounted in the sliding hole 4.1. The magnetic column 4.5 is fixedly mounted in the magnetic slide box 4.4. The induction coil 4.6 is fixedly mounted in the induction slot 4.2. A plurality of induction coils 4.6 are provided. The induction coil 4.6 can sense the magnetic field of the magnetic column 4.5 and can determine the length of extension or contraction.

[0027] Furthermore, the lifting motor 3.2 is started, and the lifting motor 3.2 drives the main gear 3.3, and the main gear 3.3 is engaged with the auxiliary gear 3.4. The main gear 3.3 and the auxiliary gear 3.4 rotate to drive the main threaded rod 3.5 and the auxiliary threaded rod 3.6 to rotate. The main threaded rod 3.5 and the auxiliary threaded rod 3.6 rotate on the upper leg plate 1. The main threaded rod 3.5 and the auxiliary threaded rod 3.6 are threadedly connected to the lower leg plate 2. The main threaded rod 3.5 and the auxiliary threaded rod 3.6 make the lower leg plate 2 rotate and extend or retract according to the positive and negative directions of rotation of the lifting motor 3.2, thereby further extending or shortening the length of the upper leg plate 1 and the lower leg plate 2.

[0028] The length of the upper leg plate 1 and the lower leg plate 2 is extended or shortened, so that the magnetic slide bar 4.3 on the lower leg plate 2 slides out or slides in the slide hole 4.1 of the upper leg plate 1, and the magnetic slide bar 4.3 drives the magnetic slide box 4.4, and the magnetic slide box 4.4 drives the magnetic column 4.5 to move, and the magnetic field of the magnetic column 4.5 cuts the induction coil 4.6, and the induction coil 4.6 senses the position of the magnetic column 4.5 in the induction coil 4.6, which can detect the length of the extension or shortening of the lifting component 3, so that when the humanoid robot walks on rugged terrain, the length of the humanoid robot's legs can be adaptively adjusted, so that the robot can flexibly switch gaits between high and low, soft or hard surfaces, greatly improving the stability and efficiency of walking.

[0029] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A leg structure of a humanoid robot, characterized in that: The invention comprises an upper leg plate (1), a lower leg plate (2), a lifting assembly (3) and a magnetic induction assembly (4), wherein the non-rotating shaft end of the upper leg plate (1) is connected to the non-rotating shaft end of the lower leg plate (2), the power end of the lifting assembly (3) is fixedly installed in the upper leg plate (1), the threaded end of the lifting assembly (3) is threadedly installed in the lower leg plate (2), the ends of the magnetic induction assembly (4) are fixedly installed on both sides of the non-rotating shaft end of the lower leg plate (2), and the magnetic induction assembly (4) is located on both sides of the interior of the upper leg plate (1).

2. The leg structure of a humanoid robot according to claim 1, characterized in that: A first joint shaft (1.1) is fixedly provided on the top of the upper leg plate (1), and a second joint shaft (2.1) is fixedly provided on the bottom of the lower leg plate (2).

3. The leg structure of a humanoid robot according to claim 1, characterized in that: The lifting assembly (3) comprises a mounting block (3.1), a lifting motor (3.2), a main gear (3.3), an auxiliary gear (3.4), a main threaded rod (3.5) and an auxiliary threaded rod (3.6), wherein one end of the mounting block (3.1) is fixedly mounted on the inner wall of the upper leg plate (1), a motor seat of the lifting motor (3.2) is fixedly mounted on the other end of the mounting block (3.1), the main gear (3.3) is fixedly mounted on the rotating shaft of the lifting motor (3.2), the auxiliary gear (3.4) is located on both sides of the main gear (3.3), the auxiliary gear (3.4) is meshed with the main gear (3.3), the top of the main threaded rod (3.5) is fixedly mounted on the main gear (3.3), and the top of the auxiliary threaded rod (3.6) is fixedly mounted on the auxiliary gear (3.4).

4. The leg structure of a humanoid robot according to claim 3, characterized in that: The top of the main threaded rod (3.5) is rotatably mounted on the upper leg plate (1), and the threaded end of the main threaded rod (3.5) is threadedly inserted into the lower leg plate (2); the top of the auxiliary threaded rod (3.6) is rotatably mounted on the upper leg plate (1), and the threaded end of the auxiliary threaded rod (3.6) is threadedly inserted into the lower leg plate (2).

5. The leg structure of a humanoid robot according to claim 3, characterized in that: The lifting assembly (3) further comprises a lifting slide bar (3.7), a lifting sleeve (3.8) and a fixing plate (3.9), wherein one end of the lifting slide bar (3.7) is fixedly mounted on an end of the upper leg plate (1) away from the first joint axis (1.1), the base of the lifting sleeve (3.8) is fixedly mounted on the inner wall of the lower leg plate (2), the lifting sleeve (3.8) is slidably sleeved on the lifting slide bar (3.7), and the fixing plate (3.9) is fixedly mounted on the other end of the lifting slide bar (3.7).

6. The leg structure of a humanoid robot according to claim 5, characterized in that: The fixing plate (3.9) is rotatably sleeved on the bottom of the main threaded rod (3.5), and the fixing plate (3.9) is rotatably sleeved on the bottom of the auxiliary threaded rod (3.6).

7. The leg structure of a humanoid robot according to claim 1, characterized in that: The magnetic induction component (4) comprises a sliding hole (4.1) and an induction slot (4.2), wherein the sliding hole (4.1) is provided on both sides of the interior of the upper leg plate (1), and the induction slot (4.2) is provided on both sides of the interior of the upper leg plate (1).

8. The leg structure of a humanoid robot according to claim 7, characterized in that: The magnetic induction component (4) further comprises a magnetic induction slide bar (4.3), a magnetic slide box (4.4), a magnetic column (4.5) and an induction coil (4.6), wherein one end of the magnetic induction slide bar (4.3) is fixedly mounted on an end of the lower half leg plate (2) away from the second joint axis (2.1), the other end of the magnetic induction slide bar (4.3) slides and extends into the slide hole (4.1), the magnetic slide box (4.4) is fixedly mounted on the other end of the magnetic induction slide bar (4.3), the magnetic slide box (4.4) is slidably mounted in the slide hole (4.1), the magnetic column (4.5) is fixedly mounted in the magnetic slide box (4.4), and the induction coil (4.6) is fixedly mounted in the induction slot (4.2).

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