Leg structure and biped robot

Abstract

The utility model provides a leg structure and a biped robot, and relates to the technical field of robots. The leg structure comprises a thigh skeleton, a shank skeleton movably connected to one end of the thigh skeleton, a hip pitching assembly connected to the other end of the thigh skeleton and a knee joint assembly located in the thigh skeleton. The hip pitching assembly comprises a hip pitching joint and a hip pitching connecting piece in driving connection with the hip pitching joint, and the hip pitching connecting piece is fixedly connected with the thigh skeleton; the knee joint assembly comprises a knee joint and a knee connecting piece in driving connection with the knee joint, the knee joint is connected with the thigh skeleton, the knee connecting piece is in transmission connection with the shank skeleton, and the rotating axis of the knee connecting piece is parallel to the rotating axis of the hip pitching connecting piece. According to the leg structure, the tail end mass of the leg structure can be reduced, so that the movement energy consumption is reduced, and the movement flexibility and cruising ability of the biped robot are improved.

Description

Technical Field

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

[0002] Bipedal robots possess similar locomotion to humans, enabling them to navigate the complex environments in which humans operate. They can assist or even replace humans in performing dangerous, arduous, and complex tasks, improving both efficiency and quality. They are widely used in various industries, including manufacturing, the military, education, and daily life. The leg structure is a crucial component of bipedal robots, directly determining their stability and flexibility.

[0003] Typically, the leg structure of a bipedal robot consists of corresponding leg joints, such as the hip, knee, and ankle. These joints work together to achieve walking movements similar to those of the human body. However, most conventional bipedal robots suffer from low inertia, which results in high energy consumption when lifting the legs, resulting in insufficient flexibility and endurance. Therefore, reducing the energy consumption of bipedal robots and improving their flexibility are pressing technical challenges. Utility Model Content

[0004] The purpose of the present utility model is to provide a leg structure and a bipedal robot, which can reduce the end mass of the leg structure, thereby reducing movement energy consumption and improving the movement flexibility and endurance of the bipedal robot.

[0005] The embodiment of the present utility model is achieved as follows:

[0006] In one aspect, the present invention provides a leg structure comprising a thigh frame, a shank frame movably connected to one end of the thigh frame, a hip pitch assembly connected to the other end of the thigh frame, and a knee joint assembly located within the thigh frame; the hip pitch assembly comprising a hip pitch joint and a hip pitch connector drivenly connected to the hip pitch joint, the hip pitch connector being fixedly connected to the thigh frame; the knee joint assembly comprising a knee joint and a knee connector drivenly connected to the knee joint, the knee joint being connected to the thigh frame, the knee connector being transmission-connected to the shank frame, the rotation axis of the knee connector being parallel to the rotation axis of the hip pitch connector; the hip pitch joint driving the hip pitch connector to rotate, the hip pitch connector being able to drive the thigh frame to rotate relative to the rotation axis of the hip pitch connector; the knee joint driving the knee connector to rotate, the knee connector being able to drive the shank frame to rotate relative to the thigh frame. This leg structure can reduce the end mass of the leg structure, thereby reducing motion energy consumption and improving the motion flexibility and endurance of the bipedal robot.

[0007] Optionally, the leg structure also includes a hip rotation assembly and a hip lateral extension assembly, the hip pitch assembly is located between the hip rotation assembly and the knee joint assembly, and the arrangement direction of the hip lateral extension assembly and the hip rotation assembly is perpendicular to the arrangement direction of the hip rotation assembly and the hip pitch assembly; the hip rotation assembly includes a hip rotation joint and a hip rotation connector driven by the hip rotation joint, and the hip rotation connector is fixedly connected to the hip pitch joint; the hip lateral extension assembly includes a hip lateral extension joint and a hip lateral extension connector driven by the hip lateral extension joint, and the hip lateral extension connector is fixedly connected to the hip rotation joint; the hip lateral extension joint drives the hip lateral extension connector to rotate, and the hip lateral extension connector can drive the leg structure to swing through the hip rotation joint; the hip rotation joint drives the hip rotation connector to rotate, and the hip rotation connector can drive the leg structure to rotate through the hip pitch joint; the rotation axis of the hip lateral extension connector, the rotation axis of the hip rotation connector and the rotation axis of the hip pitch connector are perpendicular to each other.

[0008] Optionally, the leg structure further includes a first connecting rod mechanism, and the knee connector is transmission-connected to the calf frame via the first connecting rod mechanism.

[0009] Optionally, the first connecting rod mechanism includes a knee crank and a knee connecting rod, one end of the knee crank is rotatably connected to the knee connector, the other end of the knee crank is rotatably connected to the knee connecting rod, and the end of the knee connecting rod away from the knee crank is rotatably connected to the calf frame.

[0010] Optionally, the leg structure also includes a first ankle component, a second ankle component and a foot; the first ankle component and the second ankle component are respectively connected to the calf frame, and the first ankle component and the second ankle component both include an ankle joint fixed to the calf frame and an ankle connector driven by the ankle joint, the ankle joint is connected to the calf frame and is used to drive the ankle connector to rotate; the ankle connector of the first ankle component is movably connected to one side of the foot, and the ankle connector of the second ankle component is movably connected to the other side of the foot.

[0011] Optionally, the leg structure further includes two second link mechanisms, the ankle connector of the first ankle assembly is movably connected to one side of the foot via one of the second link mechanisms, and the ankle connector of the second ankle assembly is movably connected to the other side of the foot via the other second link mechanism.

[0012] Optionally, the second linkage mechanism includes an ankle crank and an ankle link, one end of the ankle crank is rotatably connected to the ankle connector, the other end of the ankle crank is rotatably connected to the ankle link, and the end of the ankle link facing away from the ankle crank is movably connected to the foot.

[0013] Optionally, the leg structure also includes a cross axis, and two first side plates are provided at one end of the calf frame facing the foot, the two first side plates are arranged at intervals, and the two first side plates are respectively provided with first axis holes; two second side plates are protrudingly provided at one end of the foot facing the calf frame, the two second side plates are arranged at intervals, and the two second side plates are respectively provided with second axis holes; the cross axis includes a first axis body and a second axis body arranged orthogonally, and the two ends of the first axis body are respectively passed through the two first axis holes, and the two ends of the second axis body are respectively passed through the two second axis holes.

[0014] Optionally, the rotational axis of the ankle link of the first ankle assembly and the rotational axis of the ankle link of the second ankle assembly are parallel.

[0015] Optionally, the leg structure also includes a first gear assembly and a second gear assembly meshing with the first gear assembly, and the first gear assembly is fixedly connected to the knee connector; the knee joint drives the knee connector to rotate, and the knee connector can drive the first gear assembly to rotate, and the first gear assembly can drive the second gear assembly to rotate, so that the second gear assembly can drive the calf frame to rotate relative to the thigh frame.

[0016] Another aspect of the present invention provides a bipedal robot, which includes the above-mentioned leg structure.

[0017] The beneficial effects of the utility model include:

[0018] The leg structure provided by the present application includes a thigh skeleton, a calf skeleton, a hip pitch assembly and a knee joint assembly; the hip pitch joint drives the hip pitch connector to rotate, and the hip pitch connector can drive the thigh skeleton to rotate relative to the rotation axis of the hip pitch connector; the knee joint drives the knee connector to rotate, and the knee connector can drive the calf skeleton to rotate relative to the thigh skeleton. Through the above arrangement, the present application can drive the hip pitch connector to rotate through the hip pitch joint, thereby driving the thigh skeleton fixedly connected to the hip pitch connector to rotate, thereby realizing the leg lifting action of the bipedal robot; driving the knee connector to rotate through the knee joint, thereby driving the calf skeleton transmission-connected to the knee connector, thereby realizing the rotation of the calf skeleton relative to the thigh skeleton, and then realizing the knee bending action. The present application arranges the knee joint assembly on the thigh skeleton so that the knee joint assembly can be closer to the body of the bipedal robot. In this way, the mass of the bipedal robot can be more concentrated, the end mass of the leg structure can be reduced, thereby reducing the inertia of the leg structure, reducing power consumption, and thus improving the movement flexibility and endurance of the bipedal robot.

[0019] The bipedal robot provided in the present application adopts the above-mentioned leg structure, which can reduce the end mass of the leg structure of the bipedal robot, thereby reducing the energy consumption during leg movement and improving the movement flexibility and endurance of the bipedal robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 This is one of the structural diagrams of the leg structure provided by an embodiment of the utility model;

[0022] Figure 2 The second structural diagram of the leg structure provided by the embodiment of the utility model;

[0023] Figure 3 This is the third structural diagram of the leg structure provided in an embodiment of the present utility model.

[0024] Icons: 10-thigh skeleton; 20-calf skeleton; 21-first side plate; 30-hip pitch assembly; 31-hip pitch joint; 32-hip pitch connector; 40-knee joint assembly; 41-knee joint; 42-knee connector; 50-hip rotation assembly; 51-hip rotation joint; 52-hip rotation connector; 60-hip lateral extension assembly; 61-hip lateral extension joint; 62-hip lateral extension connector; 71-first linkage mechanism; 711-knee flexion Handle; 712-knee link; 72-second linkage; 721-ankle crank; 722-ankle link; 81-first ankle assembly; 82-second ankle assembly; 83-ankle joint; 84-ankle connector; 91-foot; 911-second side plate; 92-cross axis; 921-first shaft; 922-second shaft; 100-first gear assembly; 101-first gear; 110-second gear assembly; 111-second gear. DETAILED DESCRIPTION

[0025] 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 accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition or explanation in subsequent drawings.

[0028] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the utility model product is typically placed when in use. These terms are intended solely to facilitate the description of this utility model and to simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0030] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0031] Please refer to Figures 1 to 3The present embodiment provides a leg structure, which includes a thigh frame 10, a calf frame 20 movably connected to one end of the thigh frame 10, a hip pitch assembly 30 connected to the other end of the thigh frame 10, and a knee joint assembly 40 located in the thigh frame 10; the hip pitch assembly 30 includes a hip pitch joint 31 and a hip pitch connector 32 driven by the hip pitch joint 31, and the hip pitch connector 32 is fixedly connected to the thigh frame 10; the knee joint assembly 40 includes a knee joint 41 and a hip pitch connector 32 driven by the knee joint 41 The knee connector 42 is dynamically connected, the knee joint 41 is connected to the thigh frame 10, and the knee connector 42 is transmission-connected to the shank frame 20. The rotation axis of the knee connector 42 is parallel to the rotation axis of the hip pitch connector 32. The hip pitch joint 31 drives the hip pitch connector 32 to rotate, and the hip pitch connector 32 can drive the thigh frame 10 to rotate relative to the rotation axis of the hip pitch connector 32. The knee joint 41 drives the knee connector 42 to rotate, and the knee connector 42 can drive the shank frame 20 to rotate relative to the thigh frame 10. This leg structure can reduce the end mass of the leg structure, thereby reducing movement energy consumption and improving the movement flexibility and endurance of the bipedal robot.

[0032] The leg structure of this embodiment includes a thigh frame 10, a shank frame 20, a hip pitch assembly 30 and a knee joint assembly 40. The thigh frame 10 and the shank frame 20 are movably connected to form the leg frame of the biped robot. The hip pitch assembly 30 is connected to the thigh frame 10 and is used to drive the thigh frame 10 to rotate, thereby achieving the leg lifting action. The knee joint assembly 40 is also connected to the thigh frame 10 and is used to drive the shank frame 20 to rotate relative to the thigh frame 10, thereby achieving the knee bending movement.

[0033] The hip pitch assembly 30 includes a hip pitch joint 31 and a hip pitch connector 32. The hip pitch joint 31 and the hip pitch connector 32 are drive-connected, and the hip pitch connector 32 is fixedly connected to the thigh frame 10. The hip pitch joint 31 can drive the hip pitch connector 32 to rotate. In this way, when the hip pitch joint 31 drives the hip pitch connector 32 to rotate, the hip pitch connector 32 can drive the thigh frame 10 fixedly connected to it to rotate, thereby causing the entire leg structure to lift forward.

[0034] The knee joint assembly 40 includes a knee joint 41 and a knee connector 42. The knee joint 41 is connected to the thigh frame 10, and the knee joint 41 is drivingly connected to the knee connector 42. The knee connector 42 is drivingly connected to the calf frame 20. The knee joint 41 is used to drive the knee connector 42 to rotate. Thus, the knee joint 41 drives the knee connector 42 to rotate, and the knee connector 42 can drive the calf frame 20 to rotate relative to the thigh frame 10, thereby achieving rotation of the calf frame 20 relative to the thigh frame 10 and realizing knee flexion movement.

[0035] It should be noted that the rotation axis of the hip pitch connector 32 is collinear with the rotation axis of the thigh frame 10 , the rotation axis of the knee connector 42 is parallel to the rotation axis of the calf frame 20 , and the rotation axis of the knee connector 42 is parallel to the rotation axis of the hip pitch connector 32 .

[0036] In addition, it should be noted that, in this embodiment, the knee joint assembly 40 is connected to the thigh skeleton 10 and is located inside the thigh skeleton 10. In this way, on the one hand, the setting position of the knee joint assembly 40 is moved up relative to the existing technology. By fixing it on the thigh skeleton 10, the knee joint assembly 40 of the leg structure can be closer to the body of the bipedal robot, and the mass of the bipedal robot can be more concentrated, reducing the end mass of the leg structure, thereby reducing the inertia of the leg structure, reducing power consumption, and thus improving the movement flexibility and endurance of the bipedal robot; on the other hand, the knee joint assembly 40 is arranged inside the thigh skeleton 10, so that it can play a certain protective role on the knee joint assembly 40, prevent damage to components, and reduce the safety risks caused by the exposure of the knee joint assembly 40.

[0037] In summary, the leg structure provided by the present application includes a thigh frame 10, a calf frame 20 movably connected to one end of the thigh frame 10, a hip pitch assembly 30 connected to the other end of the thigh frame 10, and a knee joint assembly 40 located in the thigh frame 10; the hip pitch assembly 30 includes a hip pitch joint 31 and a hip pitch connector 32 driven by the hip pitch joint 31, and the hip pitch connector 32 is fixedly connected to the thigh frame 10; the knee joint assembly 40 includes a knee joint 41 and a hip pitch connector 32 driven by the knee joint 41. The knee connector 42 is connected to the thigh frame 10, the knee joint 41 is connected to the thigh frame 10, the knee connector 42 is transmission-connected to the calf frame 20, and the rotation axis of the knee connector 42 is parallel to the rotation axis of the hip pitch connector 32; the hip pitch joint 31 drives the hip pitch connector 32 to rotate, and the hip pitch connector 32 can drive the thigh frame 10 to rotate relative to the rotation axis of the hip pitch connector 32; the knee joint 41 drives the knee connector 42 to rotate, and the knee connector 42 can drive the calf frame 20 to rotate relative to the thigh frame 10. The present application sets up a thigh skeleton 10, a calf skeleton 20, a hip pitch assembly 30 having a hip pitch joint 31 and a hip pitch connector 32, and a knee joint assembly 40 having a knee joint 41 and a knee connector 42. In this way, the hip pitch connector 32 can be driven to rotate by the hip pitch joint 31, thereby driving the thigh skeleton 10 fixedly connected to the hip pitch connector 32 to rotate, thereby realizing the leg lifting action of the bipedal robot; the knee connector 42 can be driven to rotate by the knee joint 41, thereby driving the calf skeleton 20 transmission-connected to the knee connector 42, thereby realizing the rotation of the calf skeleton 20 relative to the thigh skeleton 10, and then realizing the knee bending action. In the present application, setting the knee joint assembly 40 on the thigh skeleton 10 can make the knee joint assembly 40 closer to the body of the bipedal robot. In this way, the mass of the bipedal robot can be more concentrated, and the end mass of the leg structure can be reduced, thereby reducing the inertia of the leg structure, reducing power consumption, and thus improving the movement flexibility and endurance of the bipedal robot; setting the knee joint assembly 40 inside the thigh skeleton 10 can play a certain protective role for the knee joint assembly 40, prevent damage to components, and reduce the safety risks caused by the exposure of the knee joint assembly 40.

[0038] Optionally, the leg structure further includes a hip rotation assembly 50 and a hip lateral extension assembly 60, the hip pitch assembly 30 is located between the hip rotation assembly 50 and the knee joint assembly 40, and the arrangement direction of the hip lateral extension assembly 60 and the hip rotation assembly 50 is perpendicular to the arrangement direction of the hip rotation assembly 50 and the hip pitch assembly 30; the hip rotation assembly 50 includes a hip rotation joint 51 and a hip rotation connector 52 driven by the hip rotation joint 51, and the hip rotation connector 52 is fixedly connected to the hip pitch joint 31; the hip lateral extension assembly 60 includes a hip lateral extension joint 61 and a hip lateral extension joint The joint 61 drives the connected hip lateral expansion connector 62, and the hip lateral expansion connector 62 is fixedly connected to the hip rotation joint 51; the hip lateral expansion joint 61 drives the hip lateral expansion connector 62 to rotate, and the hip lateral expansion connector 62 can drive the leg structure to swing through the hip rotation joint 51; the hip rotation joint 51 drives the hip rotation connector 52 to rotate, and the hip rotation connector 52 can drive the leg structure to rotate through the hip pitch joint 31; the rotation axis of the hip lateral expansion connector 62, the rotation axis of the hip rotation connector 52 and the rotation axis of the hip pitch connector 32 are perpendicular to each other.

[0039] To facilitate the rotation and swinging of the leg structure, in this embodiment, the leg structure also includes a hip rotation assembly 50 and a hip lateral extension assembly 60, wherein the hip rotation assembly 50 is used to drive the leg structure to rotate along the length direction of the leg structure as the axis; the hip lateral extension assembly 60 is used to drive the leg structure to swing.

[0040] In this embodiment, the hip rotation assembly 50 is located on the side of the hip pitch assembly 30 away from the knee joint assembly 40, and the hip lateral abduction assembly 60 is located on one side of the hip rotation assembly 50. Specifically, the knee joint assembly 40 is located below the hip pitch assembly 30, the hip rotation assembly 50 is located above the hip pitch assembly 30, and the hip lateral abduction assembly 60 is arranged side by side with the hip rotation assembly 50.

[0041] The hip rotation assembly 50 includes a hip rotation joint 51 and a hip rotation connector 52. The hip rotation joint 51 is drivably connected to the hip rotation connector 52, driving the rotation of the hip rotation connector 52. The hip rotation connector 52 is fixedly connected to the hip pitch joint 31, driving the synchronous rotation of the hip pitch assembly 30 when the hip rotation connector 52 rotates. In this embodiment, the hip rotation joint 51 drives the rotation of the hip rotation connector 52, which in turn drives the entire leg structure to rotate along its length.

[0042] The hip abduction assembly 60 includes a hip abduction joint 61 and a hip abduction connector 62, wherein the hip abduction joint 61 is driven to connect with the hip abduction connector 62, and the hip abduction connector 62 is fixedly connected to the hip swivel joint 51. In this way, the hip abduction joint 61 drives the hip abduction connector 62 to rotate, and the hip abduction connector 62 can drive the hip swivel joint 51 to rotate synchronously, thereby realizing the swing of the leg structure.

[0043] In this embodiment, the rotation axes of the hip extension connector 62, the hip rotation connector 52, and the hip pitch connector 32 are perpendicular to each other. In this way, the entire leg structure can simulate the swinging, rotation, and leg lifting movements of the human leg.

[0044] In addition, to facilitate the driving of the calf frame 20 by the knee joint assembly 40, the leg structure optionally further includes a first linkage mechanism 71, through which the knee connector 42 is transmission-connected to the calf frame 20. In this way, the knee connector 42 can drive the calf frame 20 to rotate relative to the thigh frame 10 via the first linkage mechanism 71, thereby achieving knee bending of the bipedal robot.

[0045] The specific structure of the first link mechanism 71 is not limited in this application, as long as it can drive the calf frame 20 to rotate relative to the thigh frame 10 when the knee connector 42 moves, thereby driving the calf frame 20 to rotate.

[0046] For example, alternatively, see Figure 2 The first connecting rod mechanism 71 includes a knee crank 711 and a knee connecting rod 712. One end of the knee crank 711 is rotatably connected to the knee connector 42, and the other end of the knee crank 711 is rotatably connected to the knee connecting rod 712. The end of the knee connecting rod 712 facing away from the knee crank 711 is rotatably connected to the calf frame 20. In this way, the knee joint 41 drives the knee connector 42 to rotate, and the knee connector 42 can drive the knee crank 711 to rotate, thereby causing the knee crank 711 to drive the knee connecting rod 712 to rotate, and then causing the knee connecting rod 712 to drive the calf frame 20 to rotate relative to the thigh frame 10. The present application uses a connecting rod mechanism to achieve the transmission connection between the knee connector 42 and the calf frame 20. The transmission structure and transmission method are relatively simple, which facilitates the assembly and movement of the leg structure.

[0047] In addition, in order to facilitate walking of the leg structure, the leg structure optionally also includes a first ankle component 81, a second ankle component 82 and a foot 91; the first ankle component 81 and the second ankle component 82 are respectively connected to the calf frame 20, and the first ankle component 81 and the second ankle component 82 both include an ankle joint 83 fixed to the calf frame 20 and an ankle connector 84 driven by the ankle joint 83, the ankle joint 83 is connected to the calf frame 20 and is used to drive the ankle connector 84 to rotate; the ankle connector 84 of the first ankle component 81 is movably connected to one side of the foot 91, and the ankle connector 84 of the second ankle component 82 is movably connected to the other side of the foot 91.

[0048] In this embodiment, the second ankle assembly 82 is located between the first ankle assembly 81 and the foot 91. It should be noted that the ankle connector 84 of the first ankle assembly 81 can be movably connected to one side of the foot 91, and the ankle connector 84 of the second ankle assembly 82 can be movably connected to the other side of the foot 91. In this way, the ankle connector 84 of the first ankle assembly 81 and the ankle connector 84 of the second ankle assembly 82 cooperate with each other to achieve forward and backward lifting of the foot 91 and sideways swinging of the foot 91.

[0049] When the ankle connector 84 of the first ankle assembly 81 and the ankle connector 84 of the second ankle assembly 82 move synchronously, the foot 91 can be lifted forward or backward; when the ankle connector 84 of the first ankle assembly 81 and the ankle connector 84 of the second ankle assembly 82 move asynchronously, the foot 91 can be swung sideways, i.e., the foot 91 can be inverted or everted. Since those skilled in the art can derive the aforementioned foot 91 lifting forward, lifting backward, inverting, and everting movements through logical and simple reasoning based on the structure of the present application, they will not be described in detail here.

[0050] To facilitate the transmission control of the foot 91 by the ankle link 84, the leg structure optionally further includes two second link mechanisms 72. The ankle link 84 of the first ankle assembly 81 is movably connected to one side of the foot 91 via one of the second link mechanisms 72, and the ankle link 84 of the second ankle assembly 82 is movably connected to the other side of the foot 91 via the other second link mechanism 72. In this way, when the ankle link 84 of the first ankle assembly 81 rotates, the force can be transmitted to one side of the foot 91 via one of the second link mechanisms 72, thereby driving the movement of the one side of the foot 91; when the ankle link 84 of the second ankle assembly 82 rotates, the force can be transmitted to the other side of the foot 91 via the other second link mechanism 72, thereby driving the movement of the other side of the foot 91.

[0051] The specific structure of the second linkage mechanism 72 is not limited in this application, as long as the ankle connector 84 can drive the foot 91 to move through the second linkage mechanism 72. For example, the second linkage mechanism 72 may include an ankle crank 721 and an ankle link 722, one end of the ankle crank 721 being rotatably connected to the ankle connector 84, the other end of the ankle crank 721 being rotatably connected to the ankle link 722, and the end of the ankle link 722 facing away from the ankle crank 721 being movably connected to the foot 91. Of course, the specific structure of the second linkage mechanism 72 is merely an example, and those skilled in the art may also select other structural forms according to actual needs, as long as the ankle connector 84 can drive the foot 91 to move through the second linkage mechanism 72.

[0052] In this embodiment, optionally, please refer to Figure 1 and Figure 2The leg structure also includes a cross shaft 92. Two first side plates 21 are provided at one end of the calf frame 20 facing the foot 91. The two first side plates 21 are arranged at intervals, and the two first side plates 21 are respectively provided with first axis holes; two second side plates 911 are protrudingly provided at one end of the foot 91 facing the calf frame 20. The two second side plates 911 are arranged at intervals, and the two second side plates 911 are respectively provided with second axis holes; the cross shaft 92 includes a first axis body 921 and a second axis body 922 arranged orthogonally, and the two ends of the first axis body 921 are respectively passed through the two first axis holes, and the two ends of the second axis body 922 are respectively passed through the two second axis holes.

[0053] That is, the end of the calf frame 20 facing the foot 91 has two first side panels 21 spaced apart and facing each other; the end of the foot 91 facing the calf frame 20 has two second side panels 911 spaced apart and facing each other. In this embodiment, the arrangement direction of the two first side panels 21 and the arrangement direction of the two second side panels 911 are perpendicular, and the line connecting the two first side panels 21 and the line connecting the two second side panels 911 form a cross.

[0054] The two first side plates 21 are respectively provided with a first axial hole, and the two second side plates 911 are respectively provided with a second axial hole, so that the four ends of the cross shaft 92 can be respectively extended into the two first axial holes and the two second axial holes. Specifically, the opposite ends of the first shaft body 921 of the cross shaft 92 are respectively provided in the two first axial holes, and the opposite ends of the second shaft body 922 of the cross shaft 92 are respectively provided in the two second axial holes. The present application connects the calf skeleton 20 and the foot 91 through the cross shaft 92, so that the rotation axes of the foot 91 in the pitch direction and the roll direction can intersect at one point, which is easier to control and more compact in layout.

[0055] Optionally, in this embodiment, the rotation axis of the ankle connector 84 of the first ankle assembly 81 is parallel to the rotation axis of the ankle connector 84 of the second ankle assembly 82. By arranging the ankle connector 84 of the first ankle assembly 81 and the ankle connector 84 of the second ankle assembly 82 in parallel, the length space of the calf frame 20 can be effectively utilized, the width of the calf frame 20 can be reduced, and the overall shape of the leg structure is closer to the human leg and more beautiful in appearance.

[0056] Alternatively, as Figure 3As shown, the leg structure also includes a first gear assembly 100 and a second gear assembly 110 meshing with the first gear assembly 100. The first gear assembly 100 is fixedly connected to the knee connector 42. The knee joint 41 drives the knee connector 42 to rotate. The knee connector 42 can drive the first gear assembly 100 to rotate. The first gear assembly 100 can drive the second gear assembly 110 to rotate, so that the second gear assembly 110 can drive the calf skeleton 20 to rotate relative to the thigh skeleton 10.

[0057] It should be noted that by setting up the first gear assembly 100 and the second gear assembly 110 that mesh with each other, when the knee joint assembly 40 (i.e., the knee connector 42) rotates, the first gear assembly 100 can be driven to rotate synchronously, and then the second gear assembly 110 can drive the calf skeleton 20 to rotate. In this way, the speed transmitted from the knee joint assembly 40 to the calf skeleton 20 can be slowed down or accelerated, thereby increasing or decreasing the rotation speed of the calf skeleton 20 and reducing or increasing the torque. In this way, for the entire leg mechanism of the humanoid robot, the same joint can be used everywhere, and the transmission ratio of the first gear assembly 100 and the second gear assembly 110 can be adjusted according to the different forces at each position, so that the same joint can be applied to the entire leg structure.

[0058] As mentioned above, the present application sets a first gear assembly 100 and a second gear assembly 110, which is equivalent to setting a speed adjustment mechanism between the knee joint assembly 40 and the calf skeleton 20, so that the speed transmitted from the knee joint assembly 40 to the calf skeleton 20 can be reduced or increased, thereby increasing or reducing the rotation speed of the calf skeleton 20, and reducing or increasing the torque. In this way, the humanoid robot can be adjusted to perform some large-load low-speed or small-load high-speed movements, such as carrying heavy objects or running; at the same time, the number of joints can be reduced, so that the entire leg mechanism uses the same joints, and the gear meshing transmission is used to slow down or increase the speed, thereby adjusting the actual transmission ratio and reducing costs.

[0059] In addition, in this embodiment, the first gear assembly 100 may include one first gear 101 or multiple first gears 101. When the first gear assembly 100 includes two or more first gears 101, the multiple first gears 101 are meshed in sequence. Similarly, the second gear assembly 110 may include one second gear 111 or multiple second gears 111. When the second gear assembly 110 includes two or more second gears 111, the multiple second gears 111 are meshed in sequence. Those skilled in the art may select the number of gears of the first gear assembly 100 and the second gear assembly 110, the specifications of each gear, etc. according to actual needs, and this application does not impose any specific restrictions on this.

[0060] On this basis, when the leg structure also includes a first connecting rod mechanism 71, and the first connecting rod mechanism 71 includes a knee crank 711 and a knee link 712, one end of the knee crank 711 is rotationally connected to the second gear assembly 110, the other end of the knee crank 711 is rotationally connected to the knee link 712, and the end of the knee link 712 facing away from the knee crank 711 is rotationally connected to the calf frame 20, thereby realizing the bending action of the leg mechanism.

[0061] Another aspect of the present invention provides a bipedal robot comprising the aforementioned leg structure. The specific structure and technical effects of the leg structure have been previously described and illustrated in detail, and therefore will not be further elaborated upon in this application. By employing the aforementioned leg structure, the bipedal robot of the present application can reduce the distal mass of the leg structure, thereby reducing energy consumption during leg movement and improving the robot's mobility and endurance.

[0062] The above description is merely an optional embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

[0063] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

Claims

1. A leg structure, characterized in that: The invention comprises a thigh frame (10), a shank frame (20) movably connected to one end of the thigh frame (10), a hip pitch assembly (30) connected to the other end of the thigh frame (10), and a knee joint assembly (40) located in the thigh frame (10); the hip pitch assembly (30) comprises a hip pitch joint (31) and a hip pitch connector (32) driven by the hip pitch joint (31), and the hip pitch connector (32) is fixedly connected to the thigh frame (10); the knee joint assembly (40) comprises a knee joint (41) and a knee connector (42) driven by the knee joint (41), the knee joint (41) is connected to the thigh frame (10), the knee connector (42) is transmission-connected to the shank frame (20), and the rotation axis of the knee connector (42) is parallel to the rotation axis of the hip pitch connector (32); The hip pitch joint (31) drives the hip pitch connector (32) to rotate, and the hip pitch connector (32) can drive the thigh frame (10) to rotate relative to the rotation axis of the hip pitch connector (32); the knee joint (41) drives the knee connector (42) to rotate, and the knee connector (42) can drive the calf frame (20) to rotate relative to the thigh frame (10).

2. The leg structure according to claim 1, characterized in that: The leg structure further comprises a hip rotation assembly (50) and a hip lateral extension assembly (60), the hip pitch assembly (30) is located between the hip rotation assembly (50) and the knee joint assembly (40), and the arrangement direction of the hip lateral extension assembly (60) and the hip rotation assembly (50) is perpendicular to the arrangement direction of the hip rotation assembly (50) and the hip pitch assembly (30); the hip rotation assembly (50) comprises a hip rotation joint (51) and a hip rotation connector (52) driven by the hip rotation joint (51), and the hip rotation connector (52) is fixedly connected to the hip pitch joint (31); the hip lateral extension assembly (60) comprises a hip lateral extension joint (61) and a hip lateral extension connector (62) driven by the hip lateral extension joint (61), and the hip lateral extension connector (62) is fixedly connected to the hip rotation joint (51); The hip lateral expansion joint (61) drives the hip lateral expansion connector (62) to rotate, and the hip lateral expansion connector (62) can drive the leg structure to swing through the hip circumflex joint (51); the hip circumflex joint (51) drives the hip circumflex connector (52) to rotate, and the hip circumflex connector (52) can drive the leg structure to rotate through the hip pitch joint (31); the rotation axis of the hip lateral expansion connector (62), the rotation axis of the hip circumflex connector (52) and the rotation axis of the hip pitch connector (32) are perpendicular to each other.

3. The leg structure according to claim 1 or 2, characterized in that: The leg structure further includes a first connecting rod mechanism (71), and the knee connecting member (42) is transmission-connected to the calf frame (20) via the first connecting rod mechanism (71).

4. The leg structure according to claim 3, characterized in that: The first connecting rod mechanism (71) includes a knee crank (711) and a knee connecting rod (712), one end of the knee crank (711) is rotatably connected to the knee connecting member (42), the other end of the knee crank (711) is rotatably connected to the knee connecting rod (712), and the end of the knee connecting rod (712) facing away from the knee crank (711) is rotatably connected to the calf frame (20).

5. The leg structure according to claim 1, characterized in that: The leg structure also includes a first ankle component (81), a second ankle component (82) and a foot (91); the first ankle component (81) and the second ankle component (82) are respectively connected to the calf frame (20), and the first ankle component (81) and the second ankle component (82) both include an ankle joint (83) fixed to the calf frame (20) and an ankle connector (84) drivenly connected to the ankle joint (83), the ankle joint (83) being connected to the calf frame (20) and used to drive the ankle connector (84) to rotate; the ankle connector (84) of the first ankle component (81) is movably connected to one side of the foot (91), and the ankle connector (84) of the second ankle component (82) is movably connected to the other side of the foot (91).

6. The leg structure according to claim 5, characterized in that: The leg structure also includes two second link mechanisms (72), the ankle connector (84) of the first ankle component (81) is movably connected to one side of the foot (91) through one of the second link mechanisms (72), and the ankle connector (84) of the second ankle component (82) is movably connected to the other side of the foot (91) through another second link mechanism (72).

7. The leg structure according to claim 6, characterized in that: The second link mechanism (72) includes an ankle crank (721) and an ankle link (722), one end of the ankle crank (721) is rotatably connected to the ankle connector (84), the other end of the ankle crank (721) is rotatably connected to the ankle link (722), and the end of the ankle link (722) facing away from the ankle crank (721) is movably connected to the foot (91).

8. The leg structure according to claim 5, characterized in that: The leg structure further includes a cross shaft (92), and one end of the calf frame (20) facing the foot (91) is provided with two first side plates (21), the two first side plates (21) are spaced apart, and the two first side plates (21) are respectively provided with a first shaft hole; the one end of the foot (91) facing the calf frame (20) is provided with two second side plates (911), the two second side plates (911) are spaced apart, and the two second side plates (911) are respectively provided with a second shaft hole; The cross shaft (92) includes a first shaft body (921) and a second shaft body (922) arranged orthogonally, wherein the two ends of the first shaft body (921) are respectively inserted into the two first shaft holes, and the two ends of the second shaft body (922) are respectively inserted into the two second shaft holes.

9. The leg structure according to any one of claims 5 to 7, characterized in that: The rotation axis of the ankle connection member (84) of the first ankle component (81) and the rotation axis of the ankle connection member (84) of the second ankle component (82) are parallel.

10. The leg structure according to claim 1, characterized in that The leg structure also includes a first gear assembly (100) and a second gear assembly (110) meshed with the first gear assembly (100), wherein the first gear assembly (100) is fixedly connected to the knee connector (42); the knee joint (41) drives the knee connector (42) to rotate, and the knee connector (42) can drive the first gear assembly (100) to rotate, and the first gear assembly (100) can drive the second gear assembly (110) to rotate, so that the second gear assembly (110) can drive the calf frame (20) to rotate relative to the thigh frame (10).

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

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