Parallel flexible driving humanoid lower limb mechanism and system

Abstract

The utility model relates to the technical field of humanoid robots, in particular to a parallel flexible driving humanoid lower limb mechanism and system. A parallel flexible driving human lower limb simulating mechanism comprises a thigh assembly, a first driving mechanism, a second driving mechanism, a driving mechanism and a driving mechanism, wherein the thigh assembly comprises a first motor and a thigh support connected with the output end of the first motor; the shank assembly comprises a second motor and a shank support connected with the output end of the second motor, the shank support is hinged to the thigh support, and the second motor is arranged at the hinged position of the shank support and the thigh support; the foot assembly comprises a third motor and a foot plate, the foot plate is hinged to the shank support, and the output end of the third motor is hinged to the foot plate. The lower limbs can move through cooperative use of all the components. The peak torque of the second motor is reduced in the movement process by adjusting the spring stiffness, so that a servo motor with smaller peak torque is allowed to be selected, the quality of the humanoid lower limb is reduced, the electric energy efficiency is improved, and the working time is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of humanoid robots, in particular to a parallel flexible driven humanoid lower limb mechanism and system. Background Art

[0002] The design and drive method of the lower limbs are key factors in the design of humanoid robots. Analysis and comparison of current research status both domestically and internationally reveals that the main constraint on the development of bipedal robots is that most robots are directly driven by servo motors, which lack sufficient driving force, resulting in suboptimal locomotion and running speed. Furthermore, excessively heavy robot structures increase energy consumption, limiting the robot's endurance. Hydraulically driven parallel flexible lower limb mechanisms offer high output power, but these systems are difficult to maintain, require complex oil and piping systems, are difficult to miniaturize, offer poor safety, and are challenging to control. Utility Model Content

[0003] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and in the abstract and title of the utility model to avoid obscuring the purpose of this section, the abstract and the title of the utility model, and such simplifications or omissions shall not be used to limit the scope of the present invention.

[0004] In view of the above-mentioned problem or the problem in the prior art that general servo motors cannot simultaneously provide sufficient driving force and have excellent endurance, the present utility model is proposed.

[0005] Therefore, the purpose of this utility model is to provide a parallel flexible drive humanoid lower limb mechanism. To solve the above technical problems, this utility model provides the following technical solutions: a thigh assembly, which includes a first motor and a thigh bracket connected to the output end of the first motor; a calf assembly, which includes a second motor and a calf bracket connected to the output end of the second motor, the calf bracket being hinged to the thigh bracket, and the second motor being disposed at the hinge between the calf bracket and the thigh bracket; and a foot assembly, which includes a third motor and a foot plate, the foot plate being hinged to the calf bracket, and the output end of the third motor being hinged to the foot plate.

[0006] As a preferred solution of the parallel flexible driven humanoid lower limb mechanism of the utility model, the thigh component also includes a fixing frame, which is fixedly connected to the first motor and the waist support.

[0007] As a preferred solution of the parallel flexible driven humanoid lower limb mechanism of the utility model, the second motor is fixedly arranged at the bottom end of the thigh support and has two output ends.

[0008] As a preferred solution of the parallel flexible driven humanoid lower limb mechanism described in the present invention, the third motor is fixedly arranged in the middle part of the calf support and a swing arm is provided at its output end, and the swing arm is hinged to the foot plate through a connecting rod.

[0009] As a preferred solution of the parallel flexible driven humanoid lower limb mechanism of the utility model, the thigh support is provided with a plurality of adjustment holes.

[0010] As a preferred solution of the parallel flexible driven humanoid lower limb mechanism of the utility model, it also includes an energy storage component, and the energy storage component includes a reduction motor fixedly arranged on the thigh support.

[0011] As a preferred solution of the parallel flexible driven humanoid lower limb mechanism of the utility model, the energy storage component further includes a first winch arranged at the output end of the reduction motor.

[0012] As a preferred solution of the parallel flexible driven humanoid lower limb mechanism of the utility model, the energy storage component further includes a second winch arranged at the output end of the second motor.

[0013] As a preferred solution of the parallel flexible driven humanoid lower limb mechanism of the utility model, the energy storage component further includes an energy storage spring with two ends respectively connected to the first capstan and the second capstan.

[0014] In order to solve the above technical problems, the present invention also provides the following technical solutions: a parallel flexible driven humanoid lower limb mechanism system includes a parallel flexible driven humanoid lower limb mechanism.

[0015] The beneficial effects of the present invention are as follows: the lower limbs are driven to move by the coordinated use of various components, the pre-tension of the energy storage spring is adjusted by the reduction motor to achieve a variable stiffness effect, and the peak torque of the knee joint motor is reduced during movement by adjusting the spring stiffness, thereby allowing the selection of a servo motor with a smaller peak torque, reducing the mass of the humanoid lower limbs, improving power efficiency, and extending working time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. Among them:

[0017] Figure 1 The overall schematic diagram of the parallel flexible driven humanoid lower limb mechanism.

[0018] Figure 2 A schematic diagram of the thigh component.

[0019] Figure 3 A schematic diagram of the calf assembly.

[0020] Figure 4 A schematic diagram of the foot assembly.

[0021] Figure 5 Schematic diagram of the energy storage component. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0025] Example 1

[0026] Reference Figure 1 , which is the first embodiment of the present utility model, provides a parallel flexible driven humanoid lower limb mechanism, which includes a thigh component 100, a calf component 200 and a foot component 300.

[0027] Specifically, the thigh assembly 100 includes a first motor 101 and a thigh support 102 connected to the output end of the first motor 101. The thigh assembly is fixedly mounted at the lower end of the waist support 500. The first motor 101 is a servo motor that provides driving force for the thigh to swing. The first motor 101 is mounted on the inner top of the thigh support 102. When the first motor 101 is driven, it drives the top of the thigh support 102 to rotate back and forth, thereby causing the entire thigh support 102 to swing back and forth.

[0028] Furthermore, the calf assembly 200 includes a second motor 201 and a calf support 202 connected to the output end of the second motor 201, the calf support 202 is hinged to the thigh support 102, and the second motor 201 is arranged at the hinge between the calf support 202 and the thigh support 102; the bottom end of the thigh support 102 is fixedly connected to the second motor 201, the bottom end of the thigh support 102 is annular and the annular inner wall cooperates with the outer wall of the second motor 201, and the bottom end of the thigh support 102 is fixedly connected to the second motor 201 by bolts.

[0029] The foot assembly 300 includes a third motor 301 and a foot plate 302. The foot plate 302 is hingedly connected to the calf support 202. The output end of the third motor 301 is hingedly connected to the foot plate 302. The third motor 301 is located in the middle of the calf support 202. When the third motor 301 is driven, the output end of the third motor 301 drives the foot plate 302 to rotate, and the hinged connection between the foot plate 302 and the calf support 202 also rotates.

[0030] When in use, start the first motor 101, the second motor 201 and the third motor 301, the thigh support 102 rotates forward, the calf support 202 rotates backward along the hinge of the thigh support 102 and the calf support 202, and the foot plate 302 rotates upward to complete the partial walking process of the lower limbs.

[0031] Example 2

[0032] Reference Figures 2 to 4 , which is the second embodiment of the present utility model, provides a parallel flexible driven humanoid lower limb mechanism, which includes a thigh component 100, a calf component 200 and a foot component 300.

[0033] Specifically, the thigh assembly 100 also includes a fixing frame 103, which is fixedly connected to the first motor 101 and to the waist support 500. The waist support 500 is an L-shaped plate, and one end of the fixing frame 103 is fixedly mounted on the vertical plate of the L-shaped plate by bolts. One end of the fixing frame 103 is annular and cooperates with the outer wall of the first motor 101. The fixing frame 103 is bolted to the outer shell of the first motor 101. The output end of the first motor 101 is connected to the top flange of the thigh support 102. When the first motor 101 is driven, it drives the flange inside the first motor 101 to rotate, thereby causing the thigh support 102 fixedly connected to the flange to rotate. The fixing frame 103 is arranged between the thigh support 102 and the first motor 101.

[0034] Furthermore, a second motor 201 is fixedly mounted at the bottom end of the thigh support 102 and has two output terminals. The two ends of the calf support 202 are respectively mounted at the two ends of the second motor 201. The calf support 202 near the outside of the calf assembly 200 is connected via a flange at one end of the second motor 201, while the calf support 202 at the other end is fixedly connected to the output shaft of the second motor 201. Therefore, when the second motor 201 is driven, the calf support 202 can rotate simultaneously.

[0035] The third motor 301 is fixedly mounted in the middle of the calf support 202, and its output end is provided with a swing arm 303, which is hingedly connected to the foot plate 302 via a connecting rod 304. The output end of the third motor 301 is flange-connected to one end of the swing arm 303, while the other end of the swing arm 303 is bolted to the upper end of the connecting rod 304. The lower end of the connecting rod 304 is fixed to one end of the upper side of the foot plate 302 via a first connecting member 305. The lower end of the calf support 202 is rotatably connected to the foot plate 302 via a second connecting member 306, which is fixed to the upper side of the foot plate 302.

[0036] Preferably, the thigh support 102 is provided with a plurality of adjustment holes 104 for adjusting the position of the reduction motor 401 .

[0037] Preferably, at least one strip groove is provided on the thigh support 102 to reduce the overall mass of the humanoid lower limb mechanism, reduce energy consumption, and improve endurance.

[0038] Preferably, the third motor 301 is arranged on the calf support to save space at the ankle joint, improve the mass center distribution, move the mass center upward, and reduce the difficulty of motion control.

[0039] It should be noted that the first motor 101 , the second motor 201 and the third motor 301 are all servo motors.

[0040] During use, the first motor 101 drives, driving the thigh support 102 to rotate, the second motor 201 drives, the output shafts at both ends rotate and drive the calf support 202 to rotate at the same time, the third motor 301 rotates, and the output end of the third motor 301 drives the swing arm 303 to rotate, and then drives the connecting rod 304 to move up and down, driving the foot plate 302 to rotate.

[0041] Example 3

[0042] Reference Figure 5 , which is the third embodiment of the present utility model. Different from the previous embodiment, an energy storage component 400 is also provided.

[0043] Specifically, the energy storage assembly 400 includes a reduction motor 401 fixedly mounted on the thigh support 102. A motor bracket is fixedly mounted on the side of the thigh support 102, and the reduction motor 401 is fixedly mounted within the motor bracket. The reduction motor 401 has a self-locking function, which adjusts the rotation of the first capstan 402 to adjust the stiffness of the energy storage spring 404.

[0044] Preferably, the energy storage assembly 400 further includes a first capstan 402 disposed at the output end of the reduction motor 401. The first capstan 402 is fixedly connected to the output end of the reduction motor 401 and is used to adjust the preload force of the energy storage spring 404.

[0045] Preferably, the energy storage assembly 400 further includes a second winch 403 provided at the output end of the second motor 201. The second winch 403 is fixedly provided at one end of the calf support 202 close to the thigh support 102, and the second winch 403 is coaxial with the second motor 201.

[0046] Furthermore, the energy storage assembly 400 includes an energy storage spring 404, whose ends are respectively connected to the first capstan 402 and the second capstan 403. Steel wire ropes are fixed to both ends of the energy storage spring 404, and the steel wire ropes are respectively connected to the first capstan 402 and the second capstan 403. When the second motor 201 is driven, the second capstan 403 is driven to rotate simultaneously, and the energy storage spring 404 is stretched.

[0047] It should be noted that the specifications of the energy storage spring 404 can be changed according to actual application. The reduction motor 401 is a worm gear reduction motor.

[0048] During use, the first motor 101 drives the thigh support 102 to rotate along the fixed frame 103. The second motor 201 drives the calf support 202 to rotate. Simultaneously, the rotation of the second capstan 403 stretches the energy storage spring 404, providing additional driving force for the knee joint. The second motor 201 provides the torque required for movement, and the reduction motor 401 adjusts the pretension of the energy storage spring 404 to achieve a variable stiffness effect. By adjusting the stiffness of the energy storage spring 404, the peak torque of the second motor 201 is reduced during movement, allowing the use of a servo motor with lower peak torque, reducing the mass of the humanoid lower limb, improving energy efficiency, and extending operating time.

[0049] In summary, the beneficial effects of the present invention are:

[0050] 1. By using energy storage units to provide additional driving force for the joints, the peak torque of the motor at the joints is reduced, energy consumption is reduced, and endurance time is increased.

[0051] 2. By optimizing the structure of each component, the overall mass is reduced, the instability of the motion process is reduced, and the control accuracy is improved.

[0052] 3. The setting of the energy storage spring can adjust the rigidity of the joint according to different exercise requirements, thereby improving the flexibility and comfort of the exercise process.

[0053] It is important to note that the construction and arrangement of the present application shown in a number of different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, directional changes, etc.) without departing substantially from the novel teachings and advantages of the subject matter described in this application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature or number or position of the discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also an equivalent structure. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0054] Additionally, in order to provide a concise description of example embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0055] It will be appreciated that in the development of any actual embodiment, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will, for those of ordinary skill having the benefit of this disclosure, be a routine undertaking of design, fabrication, and production without undue experimentation.

[0056] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, and all of these should be included in the scope of the claims of the present invention.

Claims

1. A parallel flexible drive humanoid lower limb mechanism, characterized by: include, A thigh assembly (100) comprising a first motor (101) and a thigh support (102) connected to an output end of the first motor (101); A calf assembly (200) comprises a second motor (201) and a calf support (202) connected to an output end of the second motor (201), the calf support (202) being hinged to the thigh support (102), and the second motor (201) being arranged at the hinge between the calf support (202) and the thigh support (102); The foot assembly (300) includes a third motor (301) and a foot plate (302), wherein the foot plate (302) is hinged to the calf support (202), and the output end of the third motor (301) is hinged to the foot plate (302).

2. The parallel flexible driven humanoid lower limb mechanism according to claim 1, characterized in that: The thigh component (100) further comprises a fixing frame (103), wherein the fixing frame (103) is fixedly connected to the first motor (101) and to the waist support (500).

3. The parallel flexible driven humanoid lower limb mechanism according to claim 1 or 2, characterized in that: The second motor (201) is fixedly arranged at the bottom end of the thigh support (102) and has two output ends.

4. The parallel flexible driven humanoid lower limb mechanism according to claim 3, characterized in that: The third motor (301) is fixedly arranged in the middle of the calf support (202) and a swing arm (303) is provided at its output end. The swing arm (303) is hinged to the foot plate (302) through a connecting rod (304).

5. The parallel flexible driven humanoid lower limb mechanism according to claim 4, characterized in that: The thigh support (102) is provided with a plurality of adjustment holes (104).

6. The parallel flexible driven humanoid lower limb mechanism according to claim 4 or 5, characterized in that: It also includes an energy storage assembly (400), wherein the energy storage assembly (400) includes a reduction motor (401) fixedly arranged on the thigh support (102).

7. The parallel flexible driven humanoid lower limb mechanism according to claim 6, characterized in that: The energy storage assembly (400) further includes a first winch (402) arranged at the output end of the reduction motor (401).

8. The parallel flexible driven humanoid lower limb mechanism according to claim 7, characterized in that: The energy storage assembly (400) further includes a second winch (403) arranged at the output end of the second motor (201).

9. The parallel flexible driven humanoid lower limb mechanism according to claim 8, characterized in that: The energy storage assembly (400) further comprises an energy storage spring (404) with two ends respectively connected to the first capstan (402) and the second capstan (403).

10. A parallel flexible drive humanoid lower limb mechanism system, characterized by: It comprises the parallel flexible driven humanoid lower limb mechanism as described in any one of claims 1 to 9.

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