Robot leg transmission structure and robot

Abstract

The embodiment of the utility model provides a robot leg transmission structure and a robot, and the robot leg transmission structure comprises a thigh side plate, a shank assembly and a first transmission assembly; the shank assembly is rotationally connected with the thigh side plate; the first transmission assembly comprises a first connecting rod and a first linear motor with a first telescopic rod, the first connecting rod is provided with a first end and a second end which are opposite to each other, and the first end is rotationally connected with the shank assembly; the two opposite ends of the first telescopic rod in the telescopic direction are rotationally connected with the thigh side plate and the second end of the first connecting rod correspondingly. The first connecting rod drives the shank assembly to rotate relative to the thigh side plate towards the side opposite to the advancing direction of the robot, and the force arm of the acting force generated by the first telescopic rod is gradually increased. According to the robot leg transmission structure, portable and efficient walking can be achieved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot leg transmission structure and a robot. Background Art

[0002] In the field of robotics, especially in the gait of humanoid bipedal robots, linear motors are generally used to drive the movement of the leg structure of the bipedal robot, thereby achieving the movement of the knee joint of the bipedal robot.

[0003] However, the greater the bending range of the bipedal robot's knee joint, the greater the driving force required from the linear motor. However, linear motors that can provide greater driving force generally have a larger size and weight, which makes the robot's legs generally heavier, the walking process relatively slow, and the efficiency is low. Utility Model Content

[0004] In view of this, the embodiments of the present application hope to provide a robot leg transmission structure and a robot that can achieve light and efficient walking.

[0005] To achieve the above objectives, an embodiment of the present application provides a robot leg transmission structure, comprising:

[0006] Thigh side plank;

[0007] A calf assembly, the calf assembly being rotatably connected to the thigh side plate;

[0008] A first transmission assembly, the first transmission assembly includes a first connecting rod and a first linear motor with a first telescopic rod, the first connecting rod has a first end and a second end relative to each other, the first end is rotatably connected to the calf assembly, and the opposite ends of the first telescopic rod along the telescopic direction are respectively rotatably connected to the thigh side plate and the second end of the first connecting rod; the first connecting rod drives the calf assembly to rotate relative to the thigh side plate toward the side opposite to the forward direction of the robot, and the lever arm of the force generated by the first telescopic rod gradually increases.

[0009] In one embodiment, the second end of the first connecting rod and the first linear motor rotate around a first rotation axis, and the calf assembly and the thigh side plate rotate around a second rotation axis; the second rotation axis is located in front of the first rotation axis along the forward direction of the robot.

[0010] In one embodiment, the first transmission assembly further includes a second connecting rod, one end of the second connecting rod is rotationally connected to the thigh side plate, and the other end of the second connecting rod is coaxially rotationally connected to the first linear motor and the first connecting rod.

[0011] In one embodiment, the first linear motor includes a first main body, the first telescopic rod is telescopic relative to the first main body, the first main body is rotatably connected to the thigh side plate, and the first telescopic rod is rotatably connected to the second end of the first connecting rod; the robot leg transmission structure includes a first connecting shaft connected to the thigh side plate, and the first main body is rotatably connected to the thigh side plate through the first connecting shaft.

[0012] In one embodiment, the first connecting rod has two first connecting parts arranged at intervals, and the first transmission assembly also includes a second connecting shaft. Part of the structure of the first telescopic rod extends between the two first connecting parts and is rotatably connected to the two second connecting parts through the second connecting shaft.

[0013] In one embodiment, the first transmission assembly also includes a second connecting rod, one end of which is rotatably connected to the thigh side plate, and the other opposite end of the second connecting rod extends between the two first connecting parts, and the second connecting shaft is passed through the two first connecting parts, the second connecting rod and the first telescopic rod, so that the second connecting rod, the first linear motor and the first connecting rod are coaxially rotatably connected.

[0014] In one embodiment, the second connecting rod includes a second connecting portion and two spaced-apart third connecting portions, the second connecting portion is rotatably connected to the thigh side plate, partial structures of the two third connecting portions extend between the two first connecting portions, partial structures of the first telescopic rod extend between the two third connecting portions, and the second connecting shaft passes through the two first connecting portions, the two third connecting portions and the first telescopic rod; the robot leg transmission structure includes a third connecting shaft connected to the thigh side plate, and the first connecting portion is rotatably connected to the thigh side plate through the third connecting shaft.

[0015] In one embodiment, the robot leg transmission structure also includes a hip-waist connecting seat, and the thigh side plate is rotatably connected to the hip-waist connecting seat; the robot leg transmission structure also includes a second transmission assembly, the second transmission assembly includes a third connecting rod and a second linear motor with a second telescopic rod, the opposite ends of the third connecting rod are respectively rotatably connected to the hip-waist connecting seat and one end of the second telescopic rod along the telescopic direction, and the other end of the second telescopic rod opposite along the telescopic direction is rotatably connected to the thigh side plate.

[0016] In one embodiment, the second transmission assembly further includes a fourth connecting rod, one end of the fourth connecting rod is rotationally connected to the thigh side plate, and the other end of the fourth connecting rod is coaxially rotationally connected to the second linear motor and the third connecting rod.

[0017] Another embodiment of the present application provides a robot, comprising the robot leg transmission structure described above.

[0018] Embodiments of the present application provide a robot leg transmission structure and a robot. Taking walking as an example, when the robot walks, the calf assembly rotates relative to the thigh side plate toward the side opposite to the robot's forward direction. The greater the degree of rotation of the calf assembly, the greater the torque required for the calf assembly to rotate. Therefore, the robot leg transmission structure implemented in the present application comprises a first connecting rod having a first end rotatably connected to the calf assembly and a second end rotatably connected to a first linear motor. A first telescopic rod retracts, causing the first connecting rod to drive the calf assembly to rotate relative to the thigh side plate. During this process, the moment arm of the force generated by the first telescopic rod gradually increases, thereby saving driving force of the first linear motor. Since the size and weight of the first linear motor are related to the driving force it can provide, a first linear motor that can provide greater driving force is generally larger in size and weight. Therefore, by saving the driving force of the first linear motor, a first linear motor with a smaller size and weight can be selected, thereby reducing the weight of the robot leg transmission structure, thereby making the robot more lightweight and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of a robot leg transmission structure according to an embodiment of the present application, in which the robot is in an upright position;

[0020] Figure 2 for Figure 1 The leg transmission structure of the robot shown in the figure is in a bent knee state;

[0021] Figure 3 This is a schematic diagram of another robot leg transmission structure according to an embodiment of the present application;

[0022] Figure 4 for Figure 2 A schematic structural diagram of the robot's leg transmission structure from another angle;

[0023] Figure 5 for Figure 2 An exploded view of the first transmission assembly is shown.

[0024] Description of reference numerals:

[0025] 10. Thigh side panel; 20. Calf assembly; 30. First transmission assembly; 30a. First rotation axis; 30b. Second rotation axis; 31. First connecting rod; 311. First end; 312. Second end; 313. First connecting part; 32. First linear motor; 321. First main body; 322. First telescopic rod; 33. Second connecting rod; 331. Second connecting part; 332. Third connecting part; 34. Second connecting shaft; 40. Hip-waist connecting seat; 50. Second transmission assembly; 51. Third connecting rod; 52. Second linear motor; 521. Second telescopic rod; 53. Fourth connecting rod; 60. First connecting shaft; 61. Shaft body; 62. Bushing; 70. Third connecting shaft; 80. Support plate. DETAILED DESCRIPTION

[0026] In the description of the embodiments of the present application, it should be noted that the term "forward direction" is based on the attached Figure 1 The orientation or positional relationship shown. These orientation terms are only for the convenience of describing the embodiments of the present application and simplifying the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the embodiments of the present application. In addition, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be understood to indicate or imply relative importance.

[0027] An embodiment of the present application provides a robot, which includes a robot leg transmission structure.

[0028] See also Figures 1 to 5 The robot leg transmission structure of the embodiment of the present application includes a thigh side plate 10, a calf assembly 20 and a first transmission assembly 30.

[0029] The calf assembly 20 is rotatably connected to the thigh side plate 10. The first transmission assembly 30 includes a first connecting rod 31 and a first linear motor 32 having a first telescopic rod 322. The first connecting rod 31 has a first end 311 and a second end 312 opposite each other. The first end 311 is rotatably connected to the calf assembly 20. The first telescopic rod 322 has two opposite ends along the telescopic direction, rotatably connected to the thigh side plate 10 and the second end 312 of the first connecting rod 31, respectively. The first connecting rod 31 drives the calf assembly 20 to rotate relative to the thigh side plate 10 in a direction opposite to the robot's forward movement.

[0030] The calf component 20 is rotatably connected to the thigh side panel 10 , that is, the calf component 20 is connected to the thigh side panel 10 , and the calf component 20 and the thigh side panel 10 can rotate relative to each other.

[0031] The robot's forward direction refers to the direction in which the robot moves forward as a whole, that is, the direction in which the robot walks forward.

[0032] The calf assembly 20 rotates relative to the thigh side plate 10 toward the side opposite to the robot's forward direction so that the robot can squat or move forward.

[0033] In order to reduce the friction coefficient between the calf component 20 and the thigh side plate 10, the calf component 20 and the thigh side plate 10 can be rotatably connected through a bearing, so that the rotation of the calf component 20 is more labor-saving.

[0034] The first transmission assembly 30 is used to drive the calf assembly 20 to rotate relative to the thigh side plate 10 .

[0035] The first linear motor 32 is a linear motor. A linear motor is a transmission device that directly converts electrical energy into linear motion mechanical energy. A linear motor is also called a linear motor, a linear motor, a linear motor or a push rod motor.

[0036] The first linear motor 32 is used to provide driving force for the first transmission assembly 30. The robot leg transmission structure realizes the rotation of the calf assembly 20 relative to the thigh side plate 10 by retracting or extending the first telescopic rod 322.

[0037] It should be noted that the opposite ends of the first telescopic rod 322 along the telescopic direction are respectively rotatably connected to the thigh side panel 10 and the second end of the first connecting rod 31, which does not mean that the opposite ends of the first telescopic rod 322 are directly connected to the thigh side panel 10 and the second end of the first connecting rod 31, but that the opposite ends of the first telescopic rod 322 rotate relative to the thigh side panel 10 and the second end of the first connecting rod 31.

[0038] For example, see Figures 1 to 5 The first linear motor 32 may include a first body 321 and a first telescopic rod 322 that is retractable relative to the first body 321. The first telescopic rod 322 is retracted or extended by changing the length of the first telescopic rod 322 extending into the first body 321. In other words, the first body 321 can control the telescopic length of the first telescopic rod 322.

[0039] The robot leg transmission structure of the present embodiment is equivalent to a four-bar linkage mechanism, with the thigh side plate 10 as the frame. The calf assembly 20, the first connecting rod 31, the first linear motor 32, and the thigh side plate 10 form a four-bar linkage. This four-bar linkage mechanism is achieved through the extension and retraction of the first telescopic rod 322. In other words, the first linear motor 32 is not only the crank in the four-bar linkage mechanism, which can rotate relative to the thigh side plate 10, but also a "slider-guide rail" combination, providing driving force for the four-bar linkage mechanism through the extension and retraction of the first telescopic rod 322.

[0040] Specifically, see Figure 1 and Figure 2 , Figure 1 The robot leg transmission structure is in an upright state. Figure 2 The robot leg transmission structure is in a kneeling state. When the robot leg transmission structure switches from an upright state to a kneeling state, the first telescopic rod 322 retracts to apply tension to the first connecting rod 31, thereby causing the first connecting rod 31 to apply tension to the calf assembly 20. The calf assembly 20 rotates relative to the thigh side plate 10 under the action of the tension, with the thigh side plate 10 as a fulcrum. That is, the connection between the calf assembly 20 and the thigh side plate 10 is the robot's knee joint. The calf assembly 20 uses the principle of leverage to bend the knee joint, and the calf assembly 20 rotates relative to the thigh side plate 10 toward the side opposite to the robot's forward direction ( Figure 1 and Figure 2 When the robot's leg transmission structure switches from the bent knee state to the upright state, the first telescopic rod 322 extends to apply a thrust to the first connecting rod 31, causing the first connecting rod 31 to apply a thrust to the calf assembly 20. The calf assembly 20 rotates relative to the thigh side plate 10 with the thigh side plate 10 as the fulcrum under the action of the thrust, that is, the knee joint returns to the straight position, and the calf assembly 20 rotates relative to the thigh side plate 10 toward the same side as the robot's forward direction ( Figure 1 and Figure 2 That is, the first telescopic rod 322 drives the calf assembly 20 to rotate relative to the thigh side plate 10 via the first connecting rod 31, effectively converting the reciprocating telescopic motion of the telescopic rod 322 into a rotational motion of the calf assembly 20.

[0041] It should be noted that when the first telescopic rod 322 applies a pulling force to the calf assembly 20 through the first connecting rod 31, causing the robot leg transmission structure to have a tendency to switch from the upright state to the bent knee state, the force arm of the force applied by the first telescopic rod 322 to the calf assembly 20 is the first force arm H1. When the robot leg transmission structure switches from the upright state to the bent knee state, the force arm of the force applied by the first telescopic rod 322 to the calf assembly 20 is the second force arm H2, which can be Figure 1 and Figure 2 As can be seen from the figure, the second lever arm H2 is greater than the first lever arm H1, that is, during the process of the robot leg transmission structure switching from the upright state to the kneeling state, the lever arm of the force applied by the first telescopic rod 322 gradually increases.

[0042] Taking the robot walking as an example, when the robot walks, the calf assembly 20 rotates relative to the thigh side plate 10 toward the side opposite to the robot's forward direction. The greater the degree of rotation of the calf assembly 20, the greater the torque required for the calf assembly 20 to rotate. Therefore, the robot leg transmission structure implemented in the present application is achieved by rotating the first end 311 of the first connecting rod 31 to the calf assembly 20 and the second end 312 to the first linear motor 32. The first telescopic rod 322 retracts to cause the first connecting rod 31 to drive the calf assembly 20 to rotate relative to the thigh side plate 10. During this process, the force arm of the force generated by the first telescopic rod 322 gradually increases, thereby saving the driving force of the first linear motor 32. Since the volume and weight of the first linear motor 32 are related to the driving force it can provide, the first linear motor 32 that can provide greater driving force generally has a larger volume and weight. Therefore, by saving the driving force of the first linear motor 32, a first linear motor 32 with smaller volume and weight can be selected to reduce the weight of the robot leg transmission structure, thereby making the robot operation lighter and more efficient.

[0043] In one embodiment, please refer to Figure 1 、 Figure 2 and Figure 5 The second end 312 of the first connecting rod 31 and the first linear motor 32 can rotate about the first rotation axis 30a, and the calf assembly 20 and the thigh side plate 10 can rotate about the second rotation axis 30b. The second rotation axis 30b is located in front of the first rotation axis 30a in the direction of the robot's movement.

[0044] The first linear motor 32 retracts, causing the first connecting rod 31 to drive the calf assembly 20 to rotate relative to the thigh side plate 10 toward the direction approaching the first rotation axis 30 a.

[0045] The second rotation axis 30b is the rotation fulcrum of the calf assembly 20. The second rotation axis 30b is located forward of the first rotation axis 30a along the robot's forward direction. In other words, the first connecting rod 31 is located rearward of the rotation fulcrum of the calf assembly 20 along the robot's forward direction. This allows the first end 311 of the first connecting rod 31, driven by the first linear motor 32, to apply a pulling force to the calf assembly 20, thereby causing the calf assembly 20 to rotate relative to the thigh side plate 10 toward the side opposite to the robot's forward direction.

[0046] See also Figure 1 and Figure 2 By retracting the first telescopic rod 322 , the distance between the first rotation axis 30 a and the second rotation axis 30 b can be gradually increased.

[0047] Since the first linear motor 32 drives the calf assembly 20 to rotate relative to the thigh side plate 10 through the first connecting rod 31, when the first connecting rod 31 drives the calf assembly 20 to rotate relative to the thigh side plate 10 toward the rear side of the robot's forward direction, the distance between the first rotation axis 30a and the second rotation axis 30b gradually increases, then the force arm of the pulling force applied by the first linear motor 32 to the calf assembly 20 will increase accordingly. The size of the force arm is the length of the perpendicular line drawn from the second rotation axis 30b (regarded as a point in the plane) to the line of action of the pulling force output by the first linear motor 32.

[0048] Taking the robot squatting as an example, the greater the degree of squatting of the robot, the greater the torque required for the rotation of the calf assembly 20. Since the lever arm of the pulling force applied by the first linear motor 32 gradually increases during the squatting process, when the torque is constant, the pulling force output by the first linear motor 32 can be relatively reduced, thereby saving the driving force of the first linear motor 32.

[0049] Correspondingly, when the robot stands up from a squatting position, the first telescopic rod 322 extends, causing the first connecting rod 31 to drive the calf assembly 20 to rotate relative to the thigh side plate 10 toward the front of the robot's forward direction. At this time, the distance between the first rotation axis 30a and the second rotation axis 30b gradually decreases, that is, the force arm of the pulling force applied by the first linear motor 32 to the calf assembly 20 will decrease accordingly.

[0050] In one embodiment, please refer to Figure 1 、 Figure 2 、 Figure 4 and Figure 5 The first transmission assembly 30 may further include a second connecting rod 33 , one end of the second connecting rod 33 being rotatably connected to the thigh side plate 10 , and the other end of the second connecting rod 33 being coaxially rotatably connected to the first linear motor 32 and the first connecting rod 31 .

[0051] The second link 33 is used to constrain the degrees of freedom of the first transmission assembly 30. As can be seen from the previous analysis, with the thigh side plate 10 as the frame, the calf assembly 20, the first link 31, the first linear motor 32, and the thigh side plate 10 form a four-bar linkage. A typical four-bar linkage has one degree of freedom, but because the first telescopic rod 322 is retractable, this linkage has two degrees of freedom. By providing the second link 33 with one end pivotally connected to the thigh side plate 10 and the other end coaxially pivotally connected to the first linear motor 32 and the first link 31, the linkage has one degree of freedom. This allows the motion state of the other components of the four-bar linkage to be fully determined solely based on the telescopic information of the first telescopic rod 322, making the robot leg transmission structure easier to analyze and control.

[0052] One end of the second connecting rod 33 is coaxially rotatably connected to the first linear motor 32 and the first connecting rod 31. Specifically, the second connecting rod 33, the first linear motor 32, and the first connecting rod 31 can form a compound hinge. In another embodiment, one end of the second connecting rod 33 can be rotatably connected only to the first linear motor 32, or only to the first connecting rod 31, as long as the degrees of freedom of the first transmission assembly 30 are constrained.

[0053] In one embodiment, please refer to Figures 1 to 5 For the first linear motor 32 having a first body 321 and a first telescopic rod 322 , the first body 321 can be rotatably connected to the thigh side plate 10 , and the first telescopic rod 322 is rotatably connected to the second end 312 of the first connecting rod 31 .

[0054] The manner of rotational connection between the first body 321 and the thigh side plate 10 is not limited. For example, please refer to Figures 3 to 5 The robot leg transmission structure may include a first connecting shaft 60 connected to the thigh side plate 10 , and the first body 321 is rotatably connected to the thigh side plate 10 through the first connecting shaft 60 .

[0055] That is, the first body 321 includes an axial hole that cooperates with the first connecting shaft 60 , and the axial hole of the first body 321 is sleeved on the first connecting shaft 60 so that the first body 321 is rotatably connected to the thigh side plate 10 .

[0056] The connection method between the first connecting shaft 60 and the thigh side plate 10 is not limited. For example, the first connecting shaft 60 can be integrally formed with the thigh side plate 10, or can be detachably connected by fasteners.

[0057] Further, see Figure 5 The first connecting shaft 60 may include a shaft body 61 with a shoulder and a sleeve 62 passing through the shaft body 61. When the shaft hole of the first main body 321 is sleeved on the shaft body 61, the first main body 321 can respectively abut against the shoulder and the sleeve 62 on both sides along the extension direction of the first connecting shaft 60 to limit the axial displacement of the first main body 321, thereby making the operation of the robot leg transmission structure more reliable and controllable.

[0058] The manner in which the first telescopic rod 322 is rotatably connected to the second end 312 of the first connecting rod 31 is not limited. For example, see Figure 5 The first connecting rod 31 has two first connecting portions 313 spaced apart from each other. The first transmission assembly 30 further includes a second connecting shaft 34. Part of the first telescopic rod 322 extends between the two first connecting portions 313 and is rotatably connected to the two second connecting portions 331 via the second connecting shaft 34. In other words, the two first connecting portions 313 are located at the second end 312 of the first connecting rod 31.

[0059] By partially extending the first telescopic rod 322 between the two first connecting parts 313 and being rotatably connected to the two first connecting parts 313, the force on the second connecting shaft 34 can be balanced, thereby making the transmission of the first transmission assembly 30 more stable and smooth.

[0060] Please continue reading Figure 5 The first transmission assembly 30 may further include a second connecting rod 33, one end of the second connecting rod 33 is rotatably connected to the thigh side plate 10, and the other end of the second connecting rod 33 extends between the two first connecting parts 313, and the second connecting shaft 34 is passed through the two first connecting parts 313, the second connecting rod 33 and the first telescopic rod 322, so that the second connecting rod 33, the first linear motor 32 and the first connecting rod 31 are coaxially rotatably connected.

[0061] That is, one end of the second connecting rod 33 is also rotatably connected to the two first connecting parts 313 by extending into between the two first connecting parts 313 to balance the force on the second connecting shaft 34, thereby making the transmission of the first transmission assembly 30 more stable and smooth.

[0062] The structure of the second connecting rod 33 may be similar to that of the first connecting rod 31. For example, see Figure 5 The second connecting rod 33 may include a second connecting portion 331 and two spaced apart third connecting portions 332. The second connecting portion 331 is rotatably connected to the thigh side panel 10. Partial structures of the two third connecting portions 332 extend between the two first connecting portions 313. Partial structures of the first telescopic rod 322 extend between the two third connecting portions 332. The second connecting shaft 34 is passed through the two first connecting portions 313, the two third connecting portions 332 and the first telescopic rod 322.

[0063] That is to say, the two third connection parts 332 are respectively located on both sides of the first telescopic rod 322 along the axial direction, and the two first connection parts 313 are respectively located on both sides of the two third connection parts 332 along the axial direction, so as to further balance the force on the second connecting shaft 34, thereby making the transmission of the first transmission assembly 30 more stable and smooth.

[0064] See also Figure 4 and Figure 5 The robot leg transmission structure may include a third connecting shaft 70 connected to the thigh side plate 10, and the second connecting portion 331 is rotatably connected to the thigh side plate 10 via the third connecting shaft 70. That is, the second connecting portion 331 includes an axial hole that cooperates with the third connecting shaft 70. By sleeve-fitting the axial hole of the second connecting portion 331 onto the third connecting shaft 70, the second connecting rod 33 is rotatably connected to the thigh side plate 10.

[0065] In one embodiment, please refer to Figure 3The number of the thigh side plates 10 can be two, the two thigh side plates 10 are arranged at intervals, and the first transmission assembly 30 is arranged between the two thigh side plates 10.

[0066] The two thigh side plates 10 can protect the first transmission assembly 30 .

[0067] For the embodiment in which the robot leg transmission structure includes a first connecting shaft 60 connected to the thigh side plates 10, the opposite ends of the second connecting shaft 34 can be connected to the two thigh side plates 10 at the same time to make the robot leg transmission structure more stable.

[0068] Please continue reading Figure 3 A support plate 80 can also be set between the two thigh side plates 10, and the two thigh side plates 10 are connected by the support plate 80 to further enhance the stability of the robot leg transmission structure.

[0069] In one embodiment, please refer to Figures 1 to 4 The robot leg transmission structure may further include a hip-waist connecting seat 40 , and the thigh side plate 10 is rotatably connected to the hip-waist connecting seat 40 .

[0070] The hip-waist connector 40 is connected to the thigh side panels 10. Because the calf assembly 20 and the first linear motor 32 are rotationally connected to the thigh side panels 10, when the thigh side panels 10 rotate relative to the hip-waist connector 40, the calf assembly 20 and the first transmission assembly 30 also rotate with the thigh side panels 10 relative to the hip-waist connector 40, allowing the robot to perform a leg-lifting action.

[0071] There is no limit to the connection method between the thigh side panels 10 and the hip-waist connecting seat 40. For example, the thigh side panels 10 and the hip-waist connecting seat 40 can be connected through bearings to reduce the friction coefficient when the thigh side panels 10 and the hip-waist connecting seat 40 rotate relative to each other and ensure their rotation accuracy.

[0072] For example, see Figure 1 、 Figure 2 and Figure 4 The robot leg transmission structure can also include a second transmission assembly 50, the second transmission assembly 50 includes a third connecting rod 51 and a second linear motor 52 with a second telescopic rod 521, the opposite ends of the third connecting rod 51 are respectively rotatably connected to the hip-waist connecting seat 40 and one end of the second telescopic rod 521 along the telescopic direction, and the other end of the second telescopic rod 521 along the telescopic direction is rotatably connected to the thigh side plate 10. The second telescopic rod 521 is extended to make the third connecting rod 51 drive the thigh side plate 10 to rotate relative to the hip-waist connecting seat 40.

[0073] The second transmission assembly 50 is used to rotate the thigh side plate 10 relative to the hip-waist connecting seat 40, so that the robot can perform a leg-lifting action.

[0074] The second linear motor 52 is also a linear motor, and is used to provide driving force for the rotation of the thigh side plate 10 .

[0075] Specifically, the hip-waist connector 40 can be used as a frame, and the thigh side panels 10, the third connecting rod 51, the second linear motor 52, and the hip-waist connector 40 can form a four-bar linkage. The four-bar linkage is achieved through the extension and retraction of the second linear motor 52. In other words, the second linear motor 52 acts as a "slider-guide rail" system, providing driving force for the four-bar linkage through its extension and retraction.

[0076] For example, when the second telescopic rod 521 is extended, the second telescopic rod 521 applies a pulling force to the thigh side panel 10 through the third connecting rod 51. The thigh side panel 10 rotates relative to the hip-waist connecting seat 40 under the action of the pulling force, with the hip-waist connecting seat 40 as the fulcrum. That is, the connection between the thigh side panel 10 and the hip-waist connecting seat 40 is the hip joint of the robot. The thigh side panel 10 uses the principle of leverage to bend the hip joint, thereby causing the robot to lift its leg. When the second telescopic rod 521 is retracted, the second telescopic rod 521 provides a thrust to the calf assembly 20 through the third connecting rod 51. The thigh side panel 10 rotates relative to the hip-waist connecting seat 40 under the action of the thrust, with the hip-waist connecting seat 40 as the fulcrum. That is, the hip joint returns to its original position, and the robot moves from leg lifting to upright posture.

[0077] See also Figure 1 、 Figure 2 and Figure 4 The second transmission assembly 50 may further include a fourth connecting rod 53 , one end of the fourth connecting rod 53 being rotatably connected to the thigh side plate 10 , and the other end of the fourth connecting rod 53 being coaxially rotatably connected to the second linear motor 52 and the third connecting rod 51 .

[0078] The fourth link 53 is used to impose constraints on the degrees of freedom of the second transmission assembly 50 so that the four-bar linkage composed of the thigh side plate 10, the second linear motor 52, the third link 51 and the hip-waist connecting seat 40 has the conditions for determining movement, that is, the movement state of other components of the four-bar linkage can be determined only by the telescopic information of the second telescopic rod 521, making the robot leg transmission structure easier to analyze and control.

[0079] In the description of this application, the descriptions with reference to the terms "in one embodiment", "in some embodiments", "in other embodiments", "in yet other embodiments", or "exemplary" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine different embodiments or examples described in this application and features of different embodiments or examples, unless they are mutually inconsistent.

[0080] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application are intended to be within the scope of protection of the present application.

Claims

1. A robot leg transmission structure, characterized in that: include: Thigh side plank; A calf assembly, the calf assembly being rotatably connected to the thigh side plate; A first transmission assembly, the first transmission assembly includes a first connecting rod and a first linear motor with a first telescopic rod, the first connecting rod has a first end and a second end relative to each other, the first end is rotatably connected to the calf assembly, and the opposite ends along the telescopic direction of the first telescopic rod are respectively rotatably connected to the thigh side plate and the second end of the first connecting rod; the first connecting rod drives the calf assembly to rotate relative to the thigh side plate toward the side opposite to the forward direction of the robot.

2. The robot leg transmission structure according to claim 1, characterized in that: The second end of the first connecting rod and the first linear motor rotate around a first rotation axis, and the calf assembly and the thigh side plate rotate around a second rotation axis; the second rotation axis is located in front of the first rotation axis along the forward direction of the robot.

3. The robot leg transmission structure according to claim 1 or 2, characterized in that: The first transmission assembly further includes a second connecting rod, one end of which is rotatably connected to the thigh side plate, and the other end of the second connecting rod is coaxially rotatably connected to the first linear motor and the first connecting rod.

4. The robot leg transmission structure according to claim 1 or 2, characterized in that: The first linear motor includes a first main body, the first telescopic rod is telescopic relative to the first main body, the first main body is rotatably connected to the thigh side plate, and the first telescopic rod is rotatably connected to the second end of the first connecting rod; the robot leg transmission structure includes a first connecting shaft connected to the thigh side plate, and the first main body is rotatably connected to the thigh side plate through the first connecting shaft.

5. The robot leg transmission structure according to claim 4, characterized in that: The first connecting rod has two first connecting parts arranged at intervals, and the first transmission assembly also includes a second connecting shaft. Part of the structure of the first telescopic rod extends between the two first connecting parts and is rotatably connected to the two first connecting parts through the second connecting shaft.

6. The robot leg transmission structure according to claim 5, characterized in that: The first transmission assembly also includes a second connecting rod, one end of which is rotatably connected to the thigh side plate, and the other opposite end of the second connecting rod extends between the two first connecting parts. The second connecting shaft is passed through the two first connecting parts, the second connecting rod and the first telescopic rod, so that the second connecting rod, the first linear motor and the first connecting rod are coaxially rotatably connected.

7. The robot leg transmission structure according to claim 6, characterized in that: The second connecting rod includes a second connecting part and two spaced-apart third connecting parts, the second connecting part is rotatably connected to the thigh side plate, partial structures of the two third connecting parts extend between the two first connecting parts, partial structures of the first telescopic rod extend between the two third connecting parts, and the second connecting shaft is passed through the two first connecting parts, the two third connecting parts and the first telescopic rod; the robot leg transmission structure includes a third connecting shaft connected to the thigh side plate, and the second connecting part is rotatably connected to the thigh side plate through the third connecting shaft.

8. The robot leg transmission structure according to claim 1 or 2, characterized in that: The robot leg transmission structure also includes a hip-waist connecting seat, and the thigh side plate is rotatably connected to the hip-waist connecting seat; the robot leg transmission structure also includes a second transmission assembly, the second transmission assembly includes a third connecting rod and a second linear motor with a second telescopic rod, the opposite ends of the third connecting rod are respectively rotatably connected to the hip-waist connecting seat and one end of the second telescopic rod along the telescopic direction, and the other end of the second telescopic rod opposite along the telescopic direction is rotatably connected to the thigh side plate.

9. The robot leg transmission structure according to claim 8, characterized in that: The second transmission assembly further includes a fourth connecting rod, one end of which is rotatably connected to the thigh side plate, and the other end of the fourth connecting rod is coaxially rotatably connected to the second linear motor and the third connecting rod.

10. A robot, characterized in that: The robot leg transmission structure comprises the robot leg transmission structure according to any one of claims 1 to 9.

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