Leg structure and humanoid robot
By setting up a straight knee actuator on the front side of the thigh bracket and using the connecting rod assembly to drive the calf bracket, the problem of increasing inertia of the knee drive component is solved, and the robot is quickly responded and improved stability, enhancing movement ability and gait flexibility.
Patent Information
- Application Number
- CN202422575865.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-23
- Publication Date
- 2025-09-02
- Estimated Expiration
- 2034-10-23
AI Technical Summary
Installing the driving components of the knee joint at the knee joint position causes an increase in the calf inertia, affecting the overall performance of the robot, such as slow response speed and poor dynamic stability.
The knee linear actuator is set on the front side of the thigh bracket, and the swing of the calf bracket is driven through the knee link assembly, using the front-side space of the thigh to reduce the inertia of the calf, and limiting the maximum swing angle through the limiting part and avoiding recessed part, simulating the muscle distribution of the human leg to improve stability.
It reduces the energy required for calf stent movement, improves response speed and dynamic stability, enhances the robot's movement flexibility and stability, and can more naturally imitate human gaits and adapt to complex environments.
Smart Images
Figure CN223290972U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a leg structure and a humanoid robot. Background Art
[0002] Currently, humanoid robots are robots designed to mimic human appearance and behavior. These robots typically integrate advanced technologies from multiple fields, including mechanics, electronics, computer science, materials science, sensor technology, and control theory. For humanoid robots to perform complex and diverse tasks like humans, they must possess flexible movement capabilities. However, achieving highly maneuverable and flexible movement requires designing a structural platform with movement capabilities similar to or exceeding those of humans, selecting appropriate joint drive methods, and ensuring sufficient power to ensure they can cope with a variety of complex working conditions.
[0003] The lower limb structure of a humanoid robot includes the thigh, knee joint, calf, ankle joint and foot. In order to achieve knee bending, the driving component of the knee joint is generally installed at the position of the knee joint. This leads to an increase in the inertia of the calf, and more energy is required to accelerate or decelerate when performing leg movements. This may affect the overall performance of the robot, such as slow response speed and poor dynamic stability. Utility Model Content
[0004] In view of this, the present invention provides a leg structure and a humanoid robot to solve the problem that the driving component of the knee joint is installed at the position of the knee joint, which increases the inertia of the calf and affects the overall performance of the robot.
[0005] In the first aspect, the utility model provides a leg structure, including: a thigh support, a calf support, a knee joint linear actuator and a knee joint assembly. The knee joint linear actuator is arranged on the front side of the thigh support, and the fixed end of the knee joint linear actuator is hinged to the upper part of the thigh support. The knee joint assembly includes: a knee joint shaft, connecting the lower part of the thigh support and the upper part of the calf support; a knee joint connecting rod assembly, and the hinge points hinged with the lower part of the thigh support, the upper part of the calf support, and the driving end of the knee joint linear actuator form a polygon. Driven by the driving end of the knee joint linear actuator, the axis center of the knee joint shaft can move from the outside of the polygon to the inside of the polygon.
[0006] Beneficial Effects: Placing the knee joint linear actuator in front of the thigh support fully utilizes the space in front of the thigh, reducing the inertia of the calf support. The calf support requires less energy to perform pitch movements, responds more quickly, and improves the dynamic stability of the humanoid robot. Furthermore, the knee joint linear actuator drives the calf support to swing relative to the thigh support via the knee joint connecting rod assembly. While meeting the joint movement speed, the output force required of the knee joint linear actuator can be reduced within a certain range of joint movement. At the same time, the length of the force arm used by the knee joint linear actuator to drive the calf support is increased to reduce the output force of the knee joint linear actuator. By transmitting power through the knee joint connecting rod assembly, the transmission is smoother and the trajectory and speed of the calf support can be precisely controlled.
[0007] In an optional embodiment, the rear side of the upper part of the calf support has an inwardly concave avoidance recess, which is used to avoid the rear side of the lower part of the thigh support, and the rear side of the lower part of the thigh support has an inwardly concave avoidance recess.
[0008] Beneficial Effects: The calf support's clearance recess allows the rear side of the lower portion of the thigh support to be avoided, allowing the calf support to swing at a larger angle relative to the thigh support, more closely matching the swing angle of the human calf. This enhances the robot's mobility, improves its flexibility during movement, and improves its stability during movement. The clearance recess allows the calf support or other components on the calf support, such as the ankle joint linear actuator on the calf support, to be avoided. The provision of the clearance recess and the clearance recess enables the calf support to swing at a large angle, enhancing gait flexibility, improving mobility, and enhancing overall stability.
[0009] In an optional embodiment, the lower part of the thigh support has an adjacent lower hinge seat and a lower rear thigh plate, the lower hinge seat is hinged to the knee joint link assembly, and the rear side of the lower hinge seat and the lower rear thigh plate form a clearance recess.
[0010] Beneficial Effects: The lower hinge seat facilitates articulation with the knee joint link assembly, improving the reliability of the connection between the knee joint link assembly and the thigh support. The recessed portion formed by the lower hinge seat and the lower rear thigh plate ensures the structural strength of the lower portion of the thigh support, thereby improving the stability of the leg structure.
[0011] In an optional embodiment, the front side of the lower articulated seat has an accommodating groove for accommodating a portion of the knee joint linkage assembly.
[0012] Beneficial effect: Driven by the knee joint linear actuator, part of the knee joint link assembly can move in the accommodating groove. The accommodating groove can avoid interference between the knee joint link assembly and the thigh support during movement, thereby ensuring normal movement of the knee joint link assembly.
[0013] In an optional embodiment, the rear side of the upper portion of the calf support further has a limiting portion, which cooperates with the clearance recess to limit the maximum swing angle of the calf support.
[0014] Beneficial effect: The maximum swing angle of the calf support is limited by the limiting part, preventing the calf support from swinging too much and damaging the knee joint linear actuator and the knee joint connecting rod assembly.
[0015] In an optional embodiment, the limiting portion is a limiting protrusion protruding outward.
[0016] Beneficial effect: By simulating the muscle distribution of human calves through the limiting protrusions, the leg structure of the robot can be made more stable. The limiting protrusions can play an important supporting role when the robot stands and walks, and can help the robot better maintain balance.
[0017] In an optional embodiment, the swing angle of the calf support is 0-135°.
[0018] Beneficial effect: The maximum swing angle of the calf bracket is 135°, which is very close to the maximum swing angle of the human calf, making it easier for the robot to perform actions such as running, walking, and jumping.
[0019] In an optional embodiment, the knee joint link assembly includes a first knee joint link and a second knee joint link, one end of the first knee joint link and one end of the second knee joint link are connected to the driving end of the knee joint linear actuator through a first knee joint hinge axis, the other end of the first knee joint link is connected to the lower part of the thigh support through a second knee joint hinge axis, and the other end of the second knee joint link is connected to the upper part of the calf support through a third knee joint hinge axis, and the polygon is a triangle.
[0020] Beneficial effects: The knee joint connecting rod assembly, thigh support and calf support form a planar four-bar linkage mechanism with a simple structure, which is easy to design and manufacture. The length of the two connecting rods can be adjusted to adjust the swing angle of the calf support as needed. It can also maintain high stability and withstand high loads to meet the high load requirements of the robot.
[0021] In an optional embodiment, the first knee joint connecting rod and the second knee joint connecting rod are both straight rods.
[0022] Beneficial effect: the straight rod is easier to process and manufacture, and the cost is low.
[0023] In a second aspect, the present invention further provides a humanoid robot comprising: the above-mentioned leg structure. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0025] Figure 1 This is a three-dimensional diagram of a leg structure according to an embodiment of the present utility model;
[0026] Figure 2 for Figure 1 A perspective view of the leg structure shown from another perspective;
[0027] Figure 3 for Figure 2 a side view of the leg structure shown;
[0028] Figure 4 for Figure 3 A partial enlarged schematic diagram;
[0029] Figure 5 for Figure 1 An exploded schematic diagram of a portion of the leg structure shown;
[0030] Figure 6 for Figure 1 a perspective view of the calf brace shown;
[0031] Figure 7 for Figure 1 A side view of the calf support of the leg structure is shown at a maximum swing angle;
[0032] Figure 8 for Figure 7 A partial enlarged schematic diagram of B in the middle.
[0033] Description of reference numerals:
[0034] 101, thigh support; 1014, lower hinge seat; 10141, receiving groove; 1015, rear lower thigh plate; 1016, actuator connecting ear; 1017, knee joint shaft mounting head;
[0035] 102, calf support; 1025, avoidance recess; 1026, limiter; 1027, knee joint axis mounting seat; 1028, connecting rod connecting ear;
[0036] 3. Knee joint assembly; 301. Knee joint axis; 302. Knee joint first connecting rod; 303. Knee joint second connecting rod; 304. Knee joint first hinge axis; 305. Knee joint second hinge axis; 306. Knee joint third hinge axis;
[0037] 502, knee joint linear actuator; 5021, connector; 5022, knee joint push rod. DETAILED DESCRIPTION
[0038] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.
[0039] The following combination Figures 1 to 8 , describing the embodiments of the present utility model.
[0040] According to an embodiment of the present invention, on the one hand, a leg structure is provided, including: a thigh support 101, a calf support 102, a knee joint linear actuator 502 and a knee joint assembly 3, the knee joint linear actuator 502 is arranged on the front side of the thigh support 101, and the fixed end of the knee joint linear actuator 502 is hinged to the upper part of the thigh support 101, and the knee joint assembly 3 includes: a knee joint shaft 301 and a knee joint connecting rod assembly, the knee joint shaft 301 connects the lower part of the thigh support 101 and the upper part of the calf support 102; the hinge points of the knee joint connecting rod assembly, the lower part of the thigh support 101, the upper part of the calf support 102, and the driving end of the knee joint linear actuator 502 are hinged to form a polygon, and under the drive of the driving end of the knee joint linear actuator 502, the axis center of the knee joint shaft 301 can move from the outside of the polygon to the inside of the polygon.
[0041] By applying the leg structure of this embodiment, the knee linear actuator 502 is positioned in front of the thigh support 101, fully utilizing the space in front of the thigh and reducing the inertia of the calf support 102. The calf support 102 requires less energy to perform pitch movements, responds more quickly, and improves the dynamic stability of the humanoid robot. Furthermore, the knee linear actuator 502 drives the calf support 102 to swing relative to the thigh support 101 via the knee linkage assembly. While maintaining the joint's motion speed, the output force required by the knee linear actuator 502 can be reduced within a certain range of joint motion. This also increases the length of the lever arm used by the knee linear actuator 502 to drive the calf support 102, thereby reducing the output force of the knee linear actuator 502. By transmitting power through the knee linkage assembly, the transmission is smoother, enabling precise control of the trajectory and speed of the calf support 102.
[0042] Furthermore, driven by the driving end of the knee joint linear actuator 502, the axis of the knee joint shaft 301 can move from the outside of the polygon to the inside of the polygon, thereby achieving a larger swing angle of the calf support 102. The larger swing angle allows the robot to have more gait options when walking, and can more naturally imitate human gait, including steps, strides, side steps, etc., thereby enhancing gait flexibility; the ability to make a wider range of swinging movements enables the robot to walk on different terrains, including walking up and down stairs, overcoming obstacles and other complex environments, thereby improving mobility and adaptability; when maintaining balance, the larger swing angle of the calf support 102 can enable the robot to better adjust the center of gravity position, especially on uneven ground or when making rapid turns, thereby increasing stability. For robots used in social, educational, and entertainment fields, a larger swing angle can make their movements more vivid and natural, enhancing the interactive experience with human users.
[0043] In one embodiment, Figure 2 and Figure 7 As shown, the rear side of the upper portion of the calf support 102 has an inwardly recessed avoidance recess 1025, which is used to avoid the rear side of the lower portion of the thigh support 101. The rear side of the lower portion of the thigh support 101 has an inwardly recessed yielding recess. The yielding recess 1025 of the calf support 102 can avoid the rear side of the lower portion of the thigh support 101, so that the swing angle of the calf support 102 relative to the thigh support 101 is larger, more in line with the swing angle of the human calf, enhancing the robot's movement ability, improving the robot's flexibility during movement, and improving the robot's stability during movement. The yielding recess can avoid the calf support 102 or other components on the calf support 102, such as the ankle joint linear actuator on the calf support 102. The provision of the yielding recess and the yielding recess 1025 enables the calf support 102 to swing at a large angle, enhance gait flexibility, improve movement ability, and enhance overall stability.
[0044] Furthermore, the avoidance recess 1025 is in the shape of an arc that arches and bends toward the inside of the calf support 102. The arc shape can ensure the structural strength of the calf support 102 and also enhance the aesthetics.
[0045] In one embodiment, Figure 3 and Figure 5As shown, the lower portion of the thigh support 101 comprises an adjacent lower hinge seat 1014 and a lower rear thigh plate 1015. The lower hinge seat 1014 is hingedly connected to the knee joint link assembly, and the rear side of the lower hinge seat 1014 and the lower rear thigh plate 1015 form a recessed clearance. The provision of the lower hinge seat 1014 facilitates the hinged connection with the knee joint link assembly, improving the reliability of the connection between the knee joint link assembly and the thigh support 101. The recessed clearance formed by the lower hinge seat 1014 and the lower rear thigh plate 1015 ensures the structural strength of the lower portion of the thigh support 101, thereby improving the stability of the leg structure.
[0046] Furthermore, the rear side of the lower hinge seat 1014 is in an arc shape that is arched and bent outward, and the lower rear thigh plate 1015 is a straight plate, which has a simple structure and is easy to process and manufacture, reducing the manufacturing difficulty.
[0047] It can be understood that, in another embodiment, the lower rear thigh plate 1015 can be an arc-shaped plate that arches and bends toward the inside of the thigh support 101 or an arc-shaped plate that arches and bends toward the outside of the thigh support 101.
[0048] In one embodiment, Figure 1 and Figure 5 As shown, the front side of the lower articulated seat 1014 has an accommodating groove 10141, which is used to accommodate part of the knee joint link assembly. Under the drive of the knee joint linear actuator 502, part of the knee joint link assembly can move in the accommodating groove 10141. The accommodating groove 10141 can avoid the knee joint link assembly from interfering with the thigh support 101 during movement, thereby ensuring the normal movement of the knee joint link assembly.
[0049] In one embodiment, Figure 2 and Figure 7 As shown, the upper rear side of the calf support 102 further has a limiter 1026, which cooperates with the recessed portion to limit the maximum swing angle of the calf support 102. The limiter 1026 limits the maximum swing angle of the calf support 102, preventing the calf support 102 from swinging too far and damaging the knee linear actuator 502 and the knee connecting rod assembly.
[0050] Furthermore, the limiting portion 1026 is an outwardly protruding limiting convex portion. By simulating the muscle distribution of the human calf, the leg structure of the robot can be made more stable. The limiting convex portion can play an important supporting role when the robot stands and walks, and can help the robot better maintain balance.
[0051] Specifically, the limiting protrusion is in the shape of an arc that arches and bends toward the outside of the calf. The limiting protrusion can simulate the calf of a human calf, and has a more anthropomorphic appearance.
[0052] In one embodiment, Figure 1 and Figure 7 As shown, the swing angle of the calf support 102 is 0-135°, and the maximum swing angle of the calf support 102 is 135°. The maximum swing angle of the calf support 102 is very close to the maximum swing angle of the human calf, which makes it easier for the robot to perform running, walking, jumping and other actions.
[0053] In one embodiment, Figures 4 and 5 As shown, the knee joint link assembly includes a first knee joint link 302 and a second knee joint link 303. One end of the first knee joint link 302 and one end of the second knee joint link 303 are connected to the driving end of the knee joint linear actuator 502 through the first knee joint hinge shaft 304. The other end of the first knee joint link 302 is connected to the lower part of the thigh support 101 through the second knee joint hinge shaft 305. The other end of the second knee joint link 303 is connected to the upper part of the calf support 102 through the third knee joint hinge shaft 306. The polygon is a triangle.
[0054] Furthermore, the hinge points of one end of the first link 302 of the knee joint, one end of the second link 303 of the knee joint and the driving end of the knee joint linear actuator 502, the hinge point of the other end of the first link 302 of the knee joint and the lower part of the thigh support 101, the hinge point of the other end of the second link 303 of the knee joint and the upper part of the calf support 102, and the hinge points of the thigh support 101 and the calf support 102 form a quadrilateral. The knee joint link assembly, the thigh support 101 and the calf support 102 form a planar four-bar linkage mechanism with a simple structure, which is easy to design and manufacture. The length of the two links can be adjusted as needed to adjust the swing angle of the calf support 102. It can also maintain high stability and can withstand higher loads to meet the high load requirements of the robot.
[0055] It should be noted that the triangle Figure 4 and Figure 8 The dotted triangle in .
[0056] Furthermore, the first knee joint connecting rod 302 and the second knee joint connecting rod 303 are both straight rods, which are easier to process and manufacture and have low costs.
[0057] In one embodiment, Figure 5 As shown, the upper part of the thigh support 101 has an actuator connecting ear 1016, and the fixed end of the knee joint linear actuator 502 has a connecting head 5021. The actuator connecting ear 1016 and the connecting head 5021 are connected through an actuator connecting shaft to realize the swing of the knee joint linear actuator 502 relative to the thigh support 101.
[0058] Furthermore, if Figure 5 and Figure 6As shown, the upper part of the calf support 102 has a knee joint axis mounting seat 1027, and the lower part of the thigh support 101 has a knee joint axis mounting head 1017. The knee joint axis mounting head 1017 is installed on the knee joint axis mounting seat 1027 through the knee joint axis 301, so as to realize the swing of the calf support 102 relative to the thigh support 101.
[0059] Specifically, if Figure 5 and Figure 6 As shown, a connecting rod connecting ear 1028 is fixed to the front side of the knee joint axis mounting seat 1027, and the other end of the second connecting rod 303 of the knee joint is connected to the connecting rod connecting ear 1028 through the third hinge axis 306 of the knee joint, thereby realizing the swing of the second connecting rod 303 of the knee joint relative to the calf support 102.
[0060] Furthermore, the front side of the knee joint shaft mounting seat 1027 is in an arc shape that is arched and bent toward the outside of the calf support 102. It is understandable that the shape of the front side of the knee joint mounting seat is not limited thereto and can be designed according to specific circumstances.
[0061] In one embodiment, Figure 1 and Figure 7 As shown, the knee joint linear actuator 502 includes a knee joint motor, a knee joint push rod 5022 , etc. Driven by the knee joint motor, the knee joint push rod 5022 can be pushed out or retracted, thereby realizing the pitching movement of the calf support 102 .
[0062] It should be noted that the knee joint linear actuator 502 is a conventional structure in the prior art and will not be described in detail here.
[0063] The following combination Figure 1 and Figure 7 The movement process of the calf support 102 of the leg structure is described as follows:
[0064] Driven by the knee joint motor, the knee joint push rod 5022 extends and generates thrust on one end of the knee joint first link 302 and the knee joint second link 303. The knee joint first link 302 rotates around the knee joint second hinge axis 305 and drives the knee joint first link 302 to rotate around the knee joint third hinge axis 306, thereby realizing the pitch movement of the calf support 102.
[0065] According to an embodiment of the present invention, on the other hand, a humanoid robot is provided, comprising: the above-mentioned leg structure.
[0066] Specifically, the humanoid robot further includes a body, etc., and the leg structure is installed on the body.
[0067] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations shall fall within the scope defined by the appended claims.
Claims
1. A leg structure, characterized in that: include: A thigh support (101), a calf support (102), a knee joint linear actuator (502) and a knee joint assembly (3), wherein the knee joint linear actuator (502) is arranged on the front side of the thigh support (101), the fixed end of the knee joint linear actuator (502) is hinged to the upper part of the thigh support (101), and the knee joint assembly (3) comprises: A knee joint shaft (301) connecting the lower portion of the thigh support (101) and the upper portion of the calf support (102); The knee joint connecting rod assembly, the lower part of the thigh support (101), the upper part of the calf support (102), and the hinge point of the driving end of the knee joint linear actuator (502) form a polygon. Under the drive of the driving end of the knee joint linear actuator (502), the axis of the knee joint shaft (301) can move from the outside of the polygon to the inside of the polygon.
2. The leg structure according to claim 1, characterized in that: The rear side of the upper part of the calf support (102) has an inwardly recessed avoidance recess (1025), and the avoidance recess (1025) is used to avoid the rear side of the lower part of the thigh support (101), and the rear side of the lower part of the thigh support (101) has an inwardly recessed avoidance recess.
3. The leg structure according to claim 2, characterized in that: The lower part of the thigh support (101) has an adjacent lower hinge seat (1014) and a lower rear thigh plate (1015), and the lower hinge seat (1014) is hinged to the knee joint connecting rod assembly, and the rear side of the lower hinge seat (1014) and the lower rear thigh plate (1015) form a recessed portion.
4. The leg structure according to claim 3, characterized in that: The front side of the lower hinge seat (1014) has a receiving groove (10141), and the receiving groove (10141) is used to receive part of the knee joint connecting rod assembly.
5. The leg structure according to claim 2, characterized in that: The rear side of the upper portion of the calf support (102) also has a limiting portion (1026), and the limiting portion (1026) cooperates with the recessed portion to limit the maximum swing angle of the calf support (102).
6. The leg structure according to claim 5, characterized in that: The limiting portion (1026) is a limiting convex portion protruding outward.
7. The leg structure according to any one of claims 2 to 6, characterized in that: The swing angle of the calf support (102) is 0-135°.
8. The leg structure according to any one of claims 1 to 6, characterized in that: The knee joint connecting rod assembly includes a first knee joint connecting rod (302) and a second knee joint connecting rod (303), one end of the first knee joint connecting rod (302) and one end of the second knee joint connecting rod (303) are connected to the driving end of the knee joint linear actuator (502) through a first knee joint hinge shaft (304), the other end of the first knee joint connecting rod (302) is connected to the lower part of the thigh support (101) through a second knee joint hinge shaft (305), and the other end of the second knee joint connecting rod (303) is connected to the upper part of the calf support (102) through a third knee joint hinge shaft (306), and the polygon is a triangle.
9. The leg structure according to claim 8, characterized in that: The first knee joint connecting rod (302) and the second knee joint connecting rod (303) are both straight rods.
10. A humanoid robot, characterized in that: include: The leg structure according to any one of claims 1 to 9.