Leg mechanism and humanoid robot

Abstract

The utility model provides a leg mechanism and a humanoid robot, and relates to the technical field of robots. The leg mechanism comprises a thigh skeleton, a shank skeleton movably connected with the thigh skeleton, a knee joint assembly movably connected to the thigh skeleton, a first gear assembly and a second gear assembly meshed with the first gear assembly. The first gear assembly is fixedly connected with the knee joint assembly, and the second gear assembly is connected with the shank skeleton; the knee joint assembly drives 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 shank skeleton to rotate relative to the thigh skeleton. The leg mechanism can adopt the same joint, so that the types of the joints are reduced, and the design difficulty and the production cost are reduced.

Description

Technical Field

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

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

[0003] Typically, the leg structure of a humanoid robot consists of corresponding joints, such as the hip, knee, and ankle. These joints work together to achieve walking movements similar to those of the human body. However, due to the varying forces acting on different positions of traditional humanoid robots, their output torque and speed are limited by the selected joints. Consequently, the entire leg structure may require several joints of varying power and size, significantly increasing the design complexity and production cost. Utility Model Content

[0004] The purpose of the utility model is to provide a leg mechanism and a humanoid robot, which can use the same type of joints in the leg mechanism, reduce the types of joints, and reduce design difficulty and production costs.

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

[0006] In one aspect, the present invention provides a leg mechanism comprising a thigh frame, a shank frame movably connected to the thigh frame, and a knee joint assembly movably connected to the thigh frame. The leg mechanism also comprises a first gear assembly and a second gear assembly meshing with the first gear assembly. The first gear assembly is fixedly connected to the knee joint assembly, and the second gear assembly is connected to the shank frame. The knee joint assembly drives 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 shank frame to rotate relative to the thigh frame. The leg mechanism can utilize a single type of joint, reducing the number of joints, and lowering design difficulty and production costs.

[0007] Optionally, the leg mechanism further includes a connecting rod structure, one end of the connecting rod structure is connected to the second gear assembly, and the other end is connected to the calf frame.

[0008] Optionally, the connecting rod structure includes a crank and a connecting rod assembly, one end of the crank is hinged to the second gear assembly, and the other end is hinged to the connecting rod assembly; the end of the connecting rod assembly away from the crank is movably connected to the calf frame.

[0009] Optionally, the connection point between the connecting rod structure and the calf frame is located between the connection point between the thigh frame and the calf frame and the foot of the leg mechanism.

[0010] Optionally, the first gear assembly includes a first gear fixedly connected to the knee joint assembly, and the second gear assembly includes a second gear transmission-coordinated with the first gear.

[0011] Optionally, the leg mechanism further includes an intermediate gear assembly, wherein the intermediate gear assembly is located between the first gear assembly and the second gear assembly, and the intermediate gear assembly is respectively engaged with the first gear assembly and the second gear assembly.

[0012] Optionally, the knee joint assembly includes a knee joint and a knee connector driven by the knee joint, 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.

[0013] Optionally, the femoral frame has an inner cavity, and the knee joint component is located in the inner cavity.

[0014] Optionally, the knee joint assembly is located on the outer wall of the thigh frame.

[0015] Another aspect of the present invention provides a humanoid robot, which includes the above-mentioned leg mechanism.

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

[0017] The leg mechanism provided by the present application includes a thigh frame, a shank frame, a knee joint assembly, a first gear assembly and a second gear assembly. The present application sets a first gear assembly and a second gear assembly that are meshed with each other, and makes the first gear assembly fixedly connected to the knee joint assembly, and makes the second gear assembly connected to the shank frame. In this way, when the knee joint assembly rotates, it can drive the first gear assembly to rotate synchronously, and then the second gear assembly drives the shank frame to rotate, so that the shank frame can rotate relative to the thigh frame to achieve knee bending. Due to the use of the first gear assembly and the second gear assembly, the speed transmitted from the knee joint assembly to the shank frame can be reduced or increased, thereby increasing or decreasing the rotation speed of the shank frame 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 and the second gear assembly can be adjusted according to the different forces at each position, so that the same joint can be applied to the entire leg structure. The setting method of the present application can use the same joint, reduce the types of joints, and reduce the design difficulty and production cost of the leg mechanism.

[0018] Since the humanoid robot provided in the present application uses the above-mentioned leg mechanism, it can use the same type of joints in the leg mechanism, reducing the types of joints and lowering the design difficulty and production cost of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] Figure 1 A schematic structural diagram of a leg mechanism provided in an embodiment of the present utility model;

[0021] Figure 2 for Figure 1 A partial enlarged view of point A in the middle.

[0022] Icons: 10-thigh skeleton; 20-calf skeleton; 30-knee joint assembly; 31-knee joint; 32-knee connector; 40-first gear assembly; 41-first gear; 50-second gear assembly; 51-second gear; 60-connecting rod structure; 61-crank; 62-connecting rod assembly. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] 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 need to be further defined or explained in subsequent drawings.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] Please refer to Figure 1 and Figure 2 This embodiment provides a leg mechanism, which includes a thigh frame 10, a shank frame 20 movably connected to the thigh frame 10, a knee joint assembly 30 movably connected to the thigh frame 10, and also includes a first gear assembly 40 and a second gear assembly 50 meshing with the first gear assembly 40; the first gear assembly 40 is fixedly connected to the knee joint assembly 30, and the second gear assembly 50 is connected to the shank frame 20; the knee joint assembly 30 drives the first gear assembly 40 to rotate, and the first gear assembly 40 can drive the second gear assembly 50 to rotate, so that the second gear assembly 50 can drive the shank frame 20 to rotate relative to the thigh frame 10. This leg mechanism can use the same type of joints, reduce the number of joints, and reduce design difficulty and production costs.

[0030] It should be noted that the leg mechanism provided in the present application includes a thigh frame 10, a shank frame 20, a knee joint assembly 30, a first gear assembly 40, and a second gear assembly 50. The thigh frame 10 and the shank frame 20 are movably connected, the knee joint assembly 30 is movably connected to the thigh frame 10, the knee joint assembly 30 is connected to the first gear assembly 40, the first gear assembly 40 is engaged with the second gear assembly 50, and the second gear assembly 50 is connected to the shank frame 20. In this way, when the knee joint assembly 30 moves, the first gear assembly 40 can be driven to rotate to cause the second gear assembly 50 to rotate, and then the second gear assembly 50 can drive the shank frame 20 to rotate relative to the thigh frame 10, thereby achieving knee bending.

[0031] The knee joint assembly 30 is movably connected to the thigh frame 10. To drive the knee joint assembly 30 to move, the knee joint assembly 30 can drive the first gear assembly 40 to rotate, thereby causing the first gear assembly 40 to rotate the second gear assembly 50, and then drive the calf frame 20 to move through the second gear assembly 50. The knee joint assembly 30 is used to drive the calf frame 20 to rotate relative to the thigh frame 10 to achieve knee flexion of the leg mechanism.

[0032] The first gear assembly 40 is fixedly connected to the knee joint assembly 30 and meshes with the second gear assembly 50. Thus, the rotation of the knee joint assembly 30 can drive the first gear assembly 40 to rotate synchronously. The first gear assembly 40 can then mesh with the second gear assembly 50 to rotate the second gear assembly 50, thereby driving the calf frame 20 to rotate.

[0033] The second gear assembly 50 is engaged with the first gear assembly 40 on one hand, and is connected to the calf frame 20 on the other hand. It should be noted that the second gear assembly 50 can be directly connected to the calf frame 20 or indirectly connected to the calf frame 20, and this application does not impose any restrictions thereon, as long as the rotation of the second gear assembly 50 can drive the calf frame 20 to rotate, so that the calf frame 20 can rotate relative to the thigh frame 10.

[0034] In this embodiment, the first gear assembly 40 may include one gear or multiple gears; similarly, the second gear assembly 50 may include one gear or multiple gears. Those skilled in the art may select the number of gears in the first gear assembly 40 and the second gear assembly 50, the specifications of each gear, etc., based on actual needs, and this application does not impose any restrictions on this.

[0035] This solution provides a first gear assembly 40 and a second gear assembly 50, which is equivalent to providing a speed adjustment mechanism between the knee joint assembly 30 and the calf skeleton 20. This can reduce or increase the speed transmitted from the knee joint assembly 30 to the calf skeleton 20, thereby increasing or decreasing 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 heavy load, low speed or light 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 reduce or increase the speed, thereby adjusting the actual transmission ratio and reducing costs.

[0036] In summary, the leg mechanism provided by the present application includes a thigh skeleton 10, a calf skeleton 20, a knee joint assembly 30, a first gear assembly 40 and a second gear assembly 50; the first gear assembly 40 is fixedly connected to the knee joint assembly 30, and the second gear assembly 50 is connected to the calf skeleton 20; the knee joint assembly 30 drives the first gear assembly 40 to rotate, and the first gear assembly 40 can drive the second gear assembly 50 to rotate, so that the second gear assembly 50 drives the calf skeleton 20 to rotate relative to the thigh skeleton 10. The present application sets a first gear assembly 40 and a second gear assembly 50 that are meshed with each other. In this way, when the knee joint assembly 30 rotates, it can drive the first gear assembly 40 to rotate synchronously, and then the second gear assembly 50 drives the calf skeleton 20 to rotate. In this way, the speed transmitted from the knee joint assembly 30 to the calf skeleton 20 can be slowed down or accelerated, so that the rotation speed of the calf skeleton 20 is increased or decreased, and the torque is reduced or increased. In this way, for the entire leg structure of the humanoid robot, the same joint can be used everywhere, and the transmission ratio of the first gear assembly 40 and the second gear assembly 50 can be adjusted according to the different forces at each position, so that the same joint can be applied to the entire leg structure.

[0037] It should be noted that, in addition to being arranged between the knee joint assembly 30 and the calf skeleton 20, the above-mentioned first gear assembly 40 and the second gear assembly 50 of the present application can also be adaptively arranged at other joints of the leg mechanism, and the present application does not impose any restrictions on this.

[0038] In addition, in addition to the above-mentioned knee joint assembly 30, the leg mechanism may also include a foot, a leg swing joint assembly, a leg rotation joint assembly, a leg lifting joint assembly, and an ankle joint assembly. Among them, the leg swing joint assembly is used to drive the leg mechanism to swing the leg, the leg rotation joint assembly is used to drive the leg mechanism to rotate the leg, the leg lifting joint assembly is used to drive the leg mechanism to lift the leg, and the ankle joint assembly is used to drive the foot to lift forward, lift backward, turn inward, and turn outward. The specific structures of the foot, leg swing joint assembly, leg rotation joint assembly, leg lifting joint assembly, and ankle joint assembly are not specifically limited in this application, and those skilled in the art can select as needed.

[0039] Optionally, the leg mechanism further includes a connecting rod structure 60, one end of which is connected to the second gear assembly 50 and the other end is connected to the calf frame 20. In this way, the second gear assembly 50 can transmit force to the connecting rod structure 60, thereby driving the calf frame 20 to rotate relative to the thigh frame 10 through the connecting rod structure 60. The specific structure of the connecting rod structure 60 is not limited in this application and can be configured as needed.

[0040] For example, optionally, the connecting rod structure 60 includes a crank 61 and a connecting rod assembly 62, one end of the crank 61 is hinged to the second gear assembly 50, and the other end is hinged to the connecting rod assembly 62; the end of the connecting rod assembly 62 away from the crank 61 is movably connected to the calf skeleton 20. Among them, the connecting rod assembly 62 may include one connecting rod, or multiple connecting rods, and this application does not impose any restrictions on this. In this embodiment, the rotation of the second gear assembly 50 can drive the crank 61 to move, so that the crank 61 drives the connecting rod assembly 62 to move, so that the connecting rod assembly 62 can drive the calf skeleton 20 connected thereto to rotate relative to the thigh skeleton 10, thereby realizing the knee bending action of the leg mechanism.

[0041] In addition, in order to facilitate the connecting rod structure 60 to drive the calf frame 20 to rotate relative to the thigh frame 10, optionally, the connection point between the connecting rod structure 60 and the calf frame 20 is located between the connection point between the thigh frame 10 and the calf frame 20 and the foot of the leg mechanism.

[0042] In this embodiment, the first gear assembly 40 includes a first gear 41 fixedly connected to the knee joint assembly 30, and the second gear assembly 50 includes a second gear 51 that is in transmission engagement with the first gear 41. The first gear assembly 40 may include one first gear 41, or may include two or more first gears 41. When the first gear assembly 40 includes two or more first gears 41, the multiple first gears 41 are meshed in sequence. The specifications of the different first gears 41 may be the same or different; the second gear assembly 50 may include one second gear 51, or may include two or more second gears 51. When the second gear assembly 50 includes two or more second gears 51, the multiple second gears 51 are meshed in sequence. The specifications of the different second gears 51 may be the same or different. Those skilled in the art may select the number of first gears 41 and second gears 51 and the specifications of each gear according to the desired transmission ratio, and this application does not impose any restrictions on this.

[0043] Of course, the leg mechanism of the present application may also include an intermediate gear assembly based on actual needs. That is, optionally, the leg mechanism also includes an intermediate gear assembly, which is located between the first gear assembly 40 and the second gear assembly 50, and the intermediate gear assembly meshes with the first gear assembly 40 and the second gear assembly 50, respectively. The intermediate gear assembly may include at least one third gear. When there are multiple third gears, the multiple third gears mesh sequentially. Similarly, the number and specifications of the third gears included in the intermediate gear assembly are not limited by this application and can be determined based on actual needs.

[0044] In this embodiment, the intermediate gear assembly is located between the first gear assembly 40 and the second gear assembly 50 .

[0045] Optionally, the knee joint assembly 30 includes a knee joint 31 and a knee connector 32 drivingly connected to the knee joint 31, and a first gear assembly 40 is fixedly connected to the knee connector 32. The knee joint 31 drives the knee connector 32 to rotate, and the knee connector 32 can drive the first gear assembly 40 to rotate. In this way, the movement of the knee joint 31 can drive the knee connector 32 to rotate, which in turn drives the first gear assembly 40 to rotate. In this way, the second gear assembly 50 meshing with the first gear assembly 40 can drive the calf frame 20 to rotate.

[0046] In order to protect the knee joint component 30, optionally, the thigh frame 10 has an inner cavity, and the knee joint component 30 is located in the inner cavity. In this way, the knee joint component 30 can be built into the inner cavity of the thigh frame 10, thereby protecting the knee joint component 30 and improving the service life of the knee joint component 30.

[0047] Of course, in other embodiments, the knee joint assembly 30 may also be located on the outer wall of the thigh frame 10. In this way, the knee joint assembly 30 can be easily maintained and repaired.

[0048] Another aspect of the present invention provides a humanoid robot comprising the aforementioned leg mechanism. The specific structure and technical effects of the aforementioned leg mechanism have been previously described and illustrated in detail, and therefore will not be further elaborated upon in this application. Because the humanoid robot provided herein utilizes the aforementioned leg mechanism, it can utilize the same type of joints in the leg mechanism, reducing the number of joint types and lowering the design difficulty and production cost of the humanoid robot.

[0049] 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.

[0050] 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 mechanism, characterized in that: The invention comprises a thigh frame (10), a shank frame (20) movably connected to the thigh frame (10), and a knee joint assembly (30) movably connected to the thigh frame (10), and further comprises a first gear assembly (40) and a second gear assembly (50) meshed with the first gear assembly (40); the first gear assembly (40) is fixedly connected to the knee joint assembly (30), and the second gear assembly (50) is connected to the shank frame (20); The knee joint assembly (30) drives the first gear assembly (40) to rotate, and the first gear assembly (40) can drive the second gear assembly (50) to rotate, so that the second gear assembly (50) can drive the calf frame (20) to rotate relative to the thigh frame (10).

2. The leg mechanism according to claim 1, characterized in that: The leg mechanism further comprises a connecting rod structure (60), one end of the connecting rod structure (60) is connected to the second gear assembly (50), and the other end is connected to the calf frame (20).

3. The leg mechanism according to claim 2, characterized in that: The connecting rod structure (60) includes a crank (61) and a connecting rod assembly (62), one end of the crank (61) is hinged to the second gear assembly (50), and the other end is hinged to the connecting rod assembly (62); the end of the connecting rod assembly (62) away from the crank (61) is movably connected to the calf frame (20).

4. The leg mechanism according to claim 2, characterized in that: The connection point between the connecting rod structure (60) and the calf frame (20) is located between the connection point between the thigh frame (10) and the calf frame (20) and the foot of the leg mechanism.

5. The leg mechanism according to any one of claims 1 to 4, characterized in that: The first gear assembly (40) includes a first gear (41) fixedly connected to the knee joint assembly (30), and the second gear assembly (50) includes a second gear (51) in transmission cooperation with the first gear (41).

6. The leg mechanism according to any one of claims 1 to 4, characterized in that: The leg mechanism further includes an intermediate gear assembly, which is located between the first gear assembly (40) and the second gear assembly (50), and is meshed with the first gear assembly (40) and the second gear assembly (50) respectively.

7. The leg mechanism according to any one of claims 1 to 4, characterized in that: The knee joint assembly (30) includes a knee joint (31) and a knee connector (32) driven by the knee joint (31); the first gear assembly (40) is fixedly connected to the knee connector (32); the knee joint (31) drives the knee connector (32) to rotate, and the knee connector (32) can drive the first gear assembly (40) to rotate.

8. The leg mechanism according to any one of claims 1 to 4, characterized in that: The thigh frame (10) has an inner cavity, and the knee joint component (30) is located in the inner cavity.

9. The leg mechanism according to any one of claims 1 to 4, characterized in that: The knee joint assembly (30) is located on the outer wall of the thigh frame (10).

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

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