Robot leg structure and humanoid robot

Abstract

The utility model discloses a robot leg structure and a humanoid robot, the robot leg structure comprises a hip joint assembly, thighs and shank assemblies, and the hip joint assembly is used for being connected to the lower part of the trunk of the humanoid robot; the thigh part comprises a first thigh web and a second thigh web which are oppositely arranged in the Y direction, the first thigh web and the second thigh web are detachably connected into a whole, and a mounting cavity is defined between the first thigh web and the second thigh web; the hip joint assembly is rotationally connected into the mounting cavity along the lower end of the Z direction; the upper end of the shank assembly is rotationally connected to the end, deviating from the hip joint assembly, in the mounting cavity in the Y direction. A first driving assembly is arranged in the mounting cavity and used for driving the shank assembly to rotate in the Y direction. According to the utility model, the walking stability of the humanoid robot is improved on the premise that the movement flexibility of the humanoid robot is met.

Description

TECHNICAL FIELD

[0001] The utility model relates to humanoid robot technical field, concretely relates to a robot leg structure and humanoid robot. BACKGROUND

[0002] Since the humanoid robot can well simulate the action of the human body, it is favored by the market, the humanoid robot and the human similar biped walking movement mode are more through than other drive modes such as wheel type or wheel belt type, so how to make the lower limb structure design of the humanoid robot more fit the leg of the human has very important significance.

[0003] Any single leg of the humanoid robot should include a thigh, a shank, a foot, and a corresponding joint module or a push rod actuating device, through the cooperation of the joint module or the connecting rod, the thigh, the shank and the foot are driven to rotate or swing, and the walking movement similar to human action is completed. In the prior art, the stability of the leg structure is abandoned in order to improve the flexibility of the movement, especially the cross section of the thigh part is set to be small. The thigh part is the support main body of the humanoid robot, and is prone to deformation due to insufficient rigidity under long-time working load, causing the humanoid robot to walk unstably. SUMMARY

[0004] Therefore, the technical problem to be solved by the utility model is to overcome the defects that the thigh part applied to the humanoid robot in the prior art is prone to deformation due to insufficient rigidity under long-time working load, causing the humanoid robot to walk unstably, so as to provide a robot leg structure and a humanoid robot.

[0005] In a first aspect, the utility model provides a robot leg structure applied to the lower part of the trunk of a humanoid robot, and the robot leg structure comprises:

[0006] A hip joint assembly is used for connecting to the lower part of the trunk of the humanoid robot.

[0007] A thigh part comprises a first thigh web plate and a second thigh web plate oppositely arranged along the Y direction, the first thigh web plate and the second thigh web plate are detachably connected into one body, and an installation cavity is formed between the first thigh web plate and the second thigh web plate; the lower end of the hip joint assembly along the Z direction is rotationally connected to the installation cavity;

[0008] A shank assembly is rotationally connected to one end of the installation cavity away from the hip joint assembly along the Y direction.

[0009] A first driving assembly is arranged in the installation cavity and is used for driving the shank assembly to rotate along the Y direction.

[0010] According to the robot leg structure of the utility model, at least the following technical effects are achieved:

[0011] By configuring the thigh to be a first thigh web and a second thigh web that are detachably connected as one body, on the one hand, the cross-section of the thigh perpendicular to the Z direction is increased, thereby greatly enhancing the overall impact resistance and bending resistance of the thigh, fully ensuring the rigidity and strength performance of the structure, and ensuring that the thigh is not easily deformed even when bearing a workload for a long time, thereby improving the walking stability of the humanoid robot equipped with the robot leg structure while meeting the movement flexibility. On the other hand, the installation cavity surrounded by the first thigh web and the second thigh web can cover and protect the rotating connection between the thigh and the hip joint assembly, the rotating connection between the thigh and the calf assembly, and the first drive assembly. The first thigh web and the second thigh web can also be disassembled to expose the internal components for maintenance or inspection.

[0012] In an optional embodiment, the first driving assembly includes:

[0013] a knee joint motor, arranged at the upper end of the thigh along the Y direction;

[0014] A first flange is provided at the output end of the knee joint motor;

[0015] A knee joint connecting rod, the upper end of which is hinged to the eccentric position of the first flange, and the lower end of which is hinged to the upper end of the calf assembly;

[0016] The hinge point between the knee joint link and the first flange, the pivot point of the first flange, the hinge point between the knee joint link and the calf assembly, and the pivot point of the calf assembly form an antiparallelogram structure.

[0017] In an optional embodiment, the thigh part is configured as a metal part; a mounting hole is formed through the side wall of the first thigh ventral plate along the Y direction, the knee joint motor is arranged in the mounting hole, and at least part of the knee joint motor extends outside the first thigh ventral plate.

[0018] In an optional embodiment, a first connecting platform is convexly provided on the outer peripheral surface of the first flange, and the knee joint connecting rod is hinged to the first connecting platform; a first arc-shaped guide groove is provided at a position of the first thigh web corresponding to the first connecting platform, and the first connecting platform is rotatably connected to the first arc-shaped guide groove, and the first arc-shaped guide groove is respectively provided with first soft rubber pads on the two end walls along the circumference of the first flange.

[0019] In an alternative embodiment, the hip joint assembly comprises a first support base and a second support base arranged apart along the X direction, and the first support base and the second support base are used for being connected to the lower part of the torso of the humanoid robot; the side of the first support base away from the second support base is provided with a roll shaft motor along the X direction, and the output end of the roll shaft motor is provided with a second flange plate, and the second flange plate is connected with a first mounting seat, and the first mounting seat is arranged between the first support base and the second support base, and the end of the first mounting seat away from the second flange plate along the X direction is rotatably connected to the second support base through a first bearing; the yaw shaft motor is arranged on the first mounting seat along the Z direction, and the output end of the yaw shaft motor is provided with a third flange plate, and the third flange plate is rotatably connected to the first mounting seat through a second bearing, and the lower end of the third flange plate is provided with a second mounting seat, and the two sides of the second mounting seat along the Y direction are respectively provided with a third mounting seat and a fourth mounting seat, and the third mounting seat is rotatably connected to the side of the first thigh web plate away from the second thigh web plate; the pitch shaft motor is arranged in the mounting cavity along the Y direction, and the output end of the pitch shaft motor is connected with a fourth flange plate, and the fourth flange plate is rotatably connected to the second thigh web plate along the Y direction; and the end face of the fourth flange plate away from the pitch shaft motor is fixedly connected to the fourth mounting seat.

[0020] In an alternative embodiment, the side wall of the first thigh web plate is formed with a first assembly hole along the Y direction, and the third mounting seat is rotatably connected to the first assembly hole along the Y direction through a third bearing;

[0021] And / or, the side wall of the second thigh web plate is formed with a second assembly hole along the Y direction, and the fourth flange plate is rotatably connected to the second assembly hole along the Y direction through a fourth bearing.

[0022] In an alternative embodiment, the outer circumferential surface of the second flange plate is protrudingly provided with a second connecting table, the first support base is provided with a second arc-shaped guide groove corresponding to the position of the second connecting table, the second connecting table is rotatably connected to the second arc-shaped guide groove, and the two end walls of the second arc-shaped guide groove along the circumferential direction of the second flange plate are respectively provided with a second soft rubber pad;

[0023] And / or, the outer circumferential surface of the first mounting seat is recessed to form a third arc-shaped guide groove; the upper end of the second mounting seat towards the third flange plate is protrudingly provided with a third connecting table corresponding to the position of the third arc-shaped guide groove, the third connecting table is rotatably connected to the third arc-shaped guide groove, and the two end walls of the third connecting table along the circumferential direction of the third flange plate are respectively provided with a third soft rubber pad;

[0024] And / or, an outer circumferential surface of the fourth flange plate is provided with a fourth connecting platform, the second big thigh web plate is provided with a fourth arc-shaped guide groove corresponding to a position of the fourth connecting platform, the fourth connecting platform is rotationally connected to the fourth arc-shaped guide groove, and the fourth arc-shaped guide groove is respectively provided with a fourth soft rubber pad at two end walls in the circumferential direction of the fourth flange plate.

[0025] In an alternative embodiment, the lower leg assembly comprises a lower leg web plate, one end of the lower leg web plate is provided with a mounting portion in the Z direction and faces the thigh portion, two ends of the mounting portion in the Y direction are respectively rotationally connected to side walls of the first big thigh web plate and the second big thigh web plate, and the other end of the lower leg web plate in the Z direction away from the thigh portion is provided with a connecting piece, the connecting piece is rotationally connected with a foot portion through a cross joint bearing, and the foot portion is driven to rotate around the X direction and the Y direction by the second driving assembly.

[0026] In an alternative embodiment, a cross section of the lower leg web plate perpendicular to the Z direction is provided as a U shape, the lower leg web plate is provided as a metal web plate, the second driving assembly comprises a first motor and a second motor, the first motor and the second motor are both provided in a U-shaped groove of the lower leg web plate parallel to the X direction, the first motor is located directly above the second motor, an output end of the first motor is provided with a fifth flange plate, a first connecting rod is hinged at an eccentric position of the fifth flange plate, the other end of the first connecting rod away from the fifth flange plate is hinged to the foot portion, an output end of the second motor is provided with a sixth flange plate, a second connecting rod is hinged at an eccentric position of the sixth flange plate, the other end of the second connecting rod away from the sixth flange plate is hinged to the foot portion, and the first connecting rod and the second connecting rod are located on a side of the lower leg web plate away from the first motor in the X direction and are oppositely arranged in the Y direction.

[0027] In a second aspect, the utility model also provides a humanoid robot, including the robot leg structure provided by the above-mentioned first aspect.

[0028] According to the humanoid robot, at least the following technical effects are achieved:

[0029] By setting the thigh part into the first thigh web plate and the second thigh web plate which are detachably connected into one, on the one hand, the cross section of the thigh part perpendicular to the Z direction is increased, so that the overall impact resistance and bending resistance of the thigh part are greatly enhanced, the rigidity and strength performance of the structure are fully ensured, the thigh part is not prone to deformation under the working load for a long time, and the walking stability of the humanoid robot is improved while meeting the basic motion flexibility of the humanoid robot; on the other hand, the mounting cavity surrounded by the first thigh web plate and the second thigh web plate can protect the rotating connection between the thigh part and the hip joint assembly, the rotating connection between the thigh part and the lower leg assembly and the first driving assembly; and the first thigh web plate and the second thigh web plate can be split to expose the internal components for maintenance or repair.

[0030] Additional aspects and advantages of the present application will be given in part in the following description, and become apparent from the description, or be learned by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the specific embodiment of the present application or the technical scheme in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiment or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0032] Figure 1 It is a schematic diagram of the three-dimensional structure of a robot leg structure of the present embodiment;

[0033] Figure 2 It is Figure 1 the enlarged schematic diagram of A in the middle;

[0034] Figure 3 It is Figure 1 the exploded structural schematic diagram of;

[0035] Figure 4 It is Figure 3 the partial structural schematic diagram in;

[0036] Figure 5 It is Figure 3 another partial structural schematic diagram in;

[0037] Figure 6 It is a three-dimensional schematic diagram of a partial structure of a robot leg structure of the present embodiment;

[0038] Figure 7 It is Figure 6 the enlarged schematic diagram of B in the middle;

[0039] Figure 8A front view structural schematic diagram of a part structure of a robot leg structure of the embodiment;

[0040] Figure 9 A structural schematic diagram of a calf web of a robot leg structure of the embodiment;

[0041] Figure 10 An exploded schematic diagram of a part structure of the embodiment;

[0042] Figure 11 An exploded schematic diagram of another part structure of the embodiment;

[0043] Figure 12 An enlarged schematic diagram of a part structure of the embodiment

[0044] Figure 13 A structural schematic diagram of a cross joint bearing in a robot leg structure of the embodiment.

[0045] Explanation of reference signs:

[0046] 100-thigh, 110-first thigh web, 111-mounting hole, 112-first arc-shaped guide groove, 113-first soft rubber pad, 114-first assembly hole, 115-threaded hole, 120-second thigh web, 121-second assembly hole, 122-fourth soft rubber pad, 123-countersunk through hole;

[0047] 210-knee joint motor, 220-first flange plate, 221-first connecting table, 230-knee joint connecting rod;

[0048] 310-first support seat, 311-second arc-shaped guide groove, 312-second soft rubber pad, 320-second support seat, 330-roll shaft motor, 341-second flange plate, 3411-second connecting table, 350-yaw shaft motor, 351-first mounting seat, 3511-third arc-shaped guide groove, 352-first bearing, 353-third flange plate, 354-second bearing, 360-pitch shaft motor, 361-second mounting seat, 3611-third connecting table, 3612-third soft rubber pad, 362-third mounting seat, 363-fourth mounting seat, 364-fourth flange plate, 3641-fourth connecting table, 365-third bearing, 366-fourth bearing;

[0049] 400-calf web, 410-mounting part, 411-connecting cavity, 420-connecting piece, 421-second connecting lug, 422-second mounting through hole, 430-cross joint bearing, 431-connecting part, 432-first mounting shaft, 433-second mounting shaft, 440-first limiting table, 441-fifth soft rubber pad, 450-second limiting table, 451-sixth soft rubber pad;

[0050] 500-foot, 510-connection shaft, 520-first connecting lug, 521-first mounting through hole;

[0051] 610-first motor, 620-second motor, 630-fifth flange, 631-fifth connecting table, 640-first connecting rod, 650-sixth flange, 651-sixth connecting table, 660-second connecting rod. DETAILED DESCRIPTION

[0052] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0053] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0054] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0055] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as there is no conflict.

[0056] The embodiments of the present application will be described below in conjunction with Figures 1 to 13

[0057] ​According to the first aspect of the embodiment of the utility model, a kind of robot leg structure is provided, application is connected to the lower part of the trunk of humanoid robot;The robot leg structure includes hip joint component, thigh 100 and shank component, and the hip joint component is used to connect to the lower part of the trunk of humanoid robot;The thigh 100 includes the first thigh web plate 110 and the second thigh web plate 120 oppositely arranged along Y direction, and the first thigh web plate 110 and the second thigh web plate 120 can be detachably connected into an entity, and mounting cavity is formed between the first thigh web plate 110 and the second thigh web plate 120;The lower end of the hip joint component along Z direction is rotationally connected in the mounting cavity;The upper end of the shank component is rotationally connected in the mounting cavity away from one end of the hip joint component along Y direction;First drive assembly is provided in the mounting cavity, and the first drive assembly is used to drive the shank component to rotate along Y direction.It can be understood that X direction, Y direction and Z direction described in the paper refer to X direction, Y direction and Z direction in Figure 1

[0058] The robot leg structure of the embodiment can increase the cross section of the thigh 100 perpendicular to Z direction by setting the thigh 100 into the first thigh web plate 110 and the second thigh web plate 120 which can be detachably connected into an entity, thereby greatly enhancing the overall impact resistance and bending resistance of the thigh 100, fully guaranteeing the rigidity and strength performance of the structure, ensuring that the thigh 100 does not easily deform under long-term working load, and substantially improving the walking stability of the humanoid robot equipped with the robot leg structure of the embodiment while meeting the motion flexibility of the humanoid robot.

[0059] It should be noted that the mounting cavity formed by the first thigh web plate 110 and the second thigh web plate 120 is used to centrally hide the internal components for built-in installation, with high integration, which is conducive to improving the overall stability of the humanoid robot equipped with the robot leg structure of the embodiment.

[0060] The detachable connection structure of the first thigh web plate 110 and the second thigh web plate 120 is described in detail here, such as Figure 3 ​As shown in FIG. 1 1, in some embodiments, the first thigh web plate 1 10 is provided with a plurality of threaded holes 1 15 around the Y direction at the end face facing the second thigh web plate 120, and the second thigh web plate 120 is provided with a corresponding counterbore through hole 123 at the position corresponding to each threaded hole 1 15; when the first thigh web plate 1 10 and the second thigh web plate 120 are assembled into one body, a fastening screw is passed through the counterbore through hole 123 and screwed in the corresponding threaded hole 1 15. In another alternative embodiment, the second thigh web plate 120 is provided with a plurality of threaded holes 1 15 around the Y direction at the end face facing the first thigh web plate 1 10, and the first thigh web plate 1 10 is provided with a corresponding counterbore through hole 123 at the position corresponding to each threaded hole 1 15; when the first thigh web plate 1 10 and the second thigh web plate 120 are assembled into one body, a fastening screw is passed through the counterbore through hole 123 and screwed in the corresponding threaded hole 1 15.

[0061] As shown in FIG. 1 1, in some embodiments, the first thigh web plate 1 10 is provided with a plurality of threaded holes 1 15 around the Y direction at the end face facing the second thigh web plate 120, and the second thigh web plate 120 is provided with a corresponding counterbore through hole 123 at the position corresponding to each threaded hole 1 15; when the first thigh web plate 1 10 and the second thigh web plate 120 are assembled into one body, a fastening screw is passed through the counterbore through hole 123 and screwed in the corresponding threaded hole 1 15. In another alternative embodiment, the second thigh web plate 120 is provided with a plurality of threaded holes 1 15 around the Y direction at the end face facing the first thigh web plate 1 10, and the first thigh web plate 1 10 is provided with a corresponding counterbore through hole 123 at the position corresponding to each threaded hole 1 15; when the first thigh web plate 1 10 and the second thigh web plate 120 are assembled into one body, a fastening screw is passed through the counterbore through hole 123 and screwed in the corresponding threaded hole 1 15. Figure 1 、 Figure 3 、 Figure 4 、 Figure 6 and Figure 7 As shown in FIG. 1 1, in some embodiments, the first thigh web plate 1 10 is provided with a plurality of threaded holes 1 15 around the Y direction at the end face facing the second thigh web plate 120, and the second thigh web plate 120 is provided with a corresponding counterbore through hole 123 at the position corresponding to each threaded hole 1 15; when the first thigh web plate 1 10 and the second thigh web plate 120 are assembled into one body, a fastening screw is passed through the counterbore through hole 123 and screwed in the corresponding threaded hole 1 15. In another alternative embodiment, the second thigh web plate 120 is provided with a plurality of threaded holes 1 15 around the Y direction at the end face facing the first thigh web plate 1 10, and the first thigh web plate 1 10 is provided with a corresponding counterbore through hole 123 at the position corresponding to each threaded hole 1 15; when the first thigh web plate 1 10 and the second thigh web plate 120 are assembled into one body, a fastening screw is passed through the counterbore through hole 123 and screwed in the corresponding threaded hole 1 15.

[0062] The robot leg structure of the embodiment forms a reverse parallelogram structure through the hinge joint point of the knee joint connecting rod 230 and the first flange plate 220, the rotation shaft point of the first flange plate 220, the hinge joint point of the knee joint connecting rod 230 and the calf assembly, and the rotation shaft point of the calf assembly, so that the rotation direction of the output end of the knee joint motor 210 is opposite to the rotation direction of the calf assembly relative to the thigh part 100, that is, when the first flange plate 220 rotates counterclockwise around the Y direction, the calf assembly rotates clockwise around the Y direction, and the knee joint connecting rod 230 is hinged at the eccentric position of the first flange plate 220, so that the knee joint connecting rod 230 performs a small-angle range motion to drive the calf web 400 to perform a large-angle range motion around the Y direction. On the basis of meeting the knee joint large-angle range motion requirement of the humanoid robot equipped with the robot leg structure of the embodiment, the motion angle range of the knee joint connecting rod 230 is reduced, so that the humanoid robot equipped with the robot leg structure of the embodiment has more ideal human simulation effect. The knee joint motor 210 is arranged on the upper end of the side wall of the thigh part 100, so that the robot leg structure of the embodiment has an upwardly shifted gravity center, reduces the driving moment of inertia of the knee joint motor 210, and reduces heat generation. The knee joint motor 210 drives the calf assembly to rotate around the Y direction through the first flange plate 220 and the knee joint connecting rod 230, effectively reduces the torque directly applied to the knee joint motor 210 by the calf assembly, and improves the stability and service life of the knee joint motor 210.

[0063] It should be noted that, because the knee joint connecting rod 230 only needs to perform a small-angle range motion to drive the calf assembly to perform a large-angle range motion relative to the thigh part 100, a small-space installation cavity can meet the needs of covering and protecting the first driving assembly, which is beneficial to enhancing the overall impact resistance and bending resistance of the thigh part 100, fully guaranteeing the rigidity and strength performance of the structure, and more beneficial to ensuring that the thigh part 100 does not easily deform under long-time working load.

[0064] As Figure 1 and Figure 3As shown, specifically, the thigh part 100 is provided as a metal part; a side wall of the first thigh web plate 110 is formed with a mounting hole 111 penetrating through along the Y direction, the knee joint motor 210 is arranged in the mounting hole 111, and at least part of the knee joint motor 210 extends out of the first thigh web plate 110. By contact mounting the knee joint motor 210 with the surrounding wall of the mounting hole 111, the heat generated by the knee joint motor 210 can be quickly transferred to the first thigh web plate 110 and the second thigh web plate 120 made of metal, and relying on the large cross section of the first thigh web plate 110 and the second thigh web plate 120 connected as a whole, the heat can be fully and naturally exchanged with air, and the heat dissipation capacity is greatly enhanced; and because the knee joint motor 210 is arranged at the upper end of the side wall of the first thigh web plate 110 to reduce the driving moment of inertia of the knee joint motor 210 and at least part of the knee joint motor 210 extends out of the first thigh web plate 110 to naturally exchange heat with air, the heat dissipation requirement of the knee joint motor 210 can be met without the need for additional heat dissipation equipment.

[0065] As shown in Figure 6 , Figure 7 , specifically, the outer peripheral surface of the first flange plate 220 is provided with a first connecting table 221, and the knee joint connecting rod 230 is hinged to the first connecting table 221; the first thigh web plate 110 is provided with a first arc-shaped guide groove 112 corresponding to the position of the first connecting table 221, the first connecting table 221 is rotationally connected to the first arc-shaped guide groove 112, and the first arc-shaped guide groove 112 is provided with a first soft rubber pad 113 at the two end walls along the circumference of the first flange plate 220. In this way, no matter whether the first connecting table 221 rotates clockwise to the limit angle position around the Y direction or rotates counterclockwise to the limit position around the Y direction, it is in contact with the first soft rubber pad 113 for soft limiting, has good buffering performance, and greatly improves the safety of the motion operation of the humanoid robot provided with the robot leg structure of the embodiment. By hinging the knee joint connecting rod 230 to the first connecting table 221, the distance between the hinge point of the knee joint connecting rod 230 and the rotation shaft point of the first flange plate 220 is increased, which is more conducive to enabling the knee joint connecting rod 230 to move in a small angle range to drive the lower leg assembly to move in a large angle range around the Y direction.

[0066] As shown in Figure 1 , Figure 3 , Figure 10 , and Figure 11As shown, in some embodiments, the hip joint assembly comprises a first support base 310 and a second support base 320 arranged apart along the X direction, which are used to be connected to the lower part of the torso of the humanoid robot; the side of the first support base 310 away from the second support base 320 is provided with a roll shaft motor 330 along the X direction, the output end of the roll shaft motor 330 is provided with a second flange plate 341, the first mounting seat 351 is connected to the second flange plate 341, the first mounting seat 351 is arranged between the first support base 310 and the second support base 320, one end of the first mounting seat 351 away from the second flange plate 341 is rotatably connected to the second support base 320 through a first bearing 352; the first mounting seat 351 is provided with a yaw shaft motor 350 along the Z direction, the output end of the yaw shaft motor 350 is provided with a third flange plate 353, the third flange plate 353 is rotatably connected to the first mounting seat 351 through a second bearing 354, the lower end of the third flange plate 353 is provided with a second mounting seat 361, the two sides of the second mounting seat 361 along the Y direction are respectively provided with a third mounting seat 362 and a fourth mounting seat 363, the third mounting seat 362 is rotatably connected to the side of the first thigh web 110 away from the second thigh web 120; the upper end of the mounting cavity is arranged with a pitch shaft motor 360 along the Y direction, the output end of the pitch shaft motor 360 is connected with a fourth flange plate 364, the fourth flange plate 364 is rotatably connected to the second thigh web 120 around the Y direction; the end face of the fourth flange plate 364 away from the pitch shaft motor 360 is fixedly connected to the fourth mounting seat 363.

[0067] The robot leg structure of the embodiment is connected to the second support base 320 through the first bearing 352 at the end of the first mounting base 351 away from the second flange plate 341, and the second flange plate 341 is rotationally connected to the first support base 310, so that the opposite sides of the first mounting base 351 along the X direction are supported, rather than in a single-side suspended state, so that the first mounting base 351 can bear the torque in a similar "double-side support" structure, improve the stiffness of the first mounting base 351 to bear the torque, and improve the stability of the roll shaft motor 330 to drive the thigh part 100 to rotate around the X direction. The yaw shaft motor 350 can also bear the torque in a similar "double-side support" structure, improve the stiffness of the yaw shaft motor 350 to bear the torque, ensure the relative position between the rotation axes of the hip joint, and further improve the reliability of the hip joint assembly and the reliability of the humanoid robot equipped with the robot leg structure of the embodiment. At the same time, the third flange plate 353 is rotationally connected to the first mounting base 351 through the second bearing 354, and the second bearing 354 will bear the force from the thigh part 100, thereby reducing the stress on the yaw shaft motor 350 and improving the stability of the yaw shaft motor 350 to drive the thigh part 100 to yaw around the Z direction. The thigh part 100 is connected to the two third mounting bases 362 and fourth mounting bases 363 arranged along the Y direction, so that the opposite sides of the thigh part 100 along the Y direction are supported, rather than in a single-side suspended state, so that the thigh part 100 can bear the torque in a similar "double-side support" structure, improve the stiffness of the thigh part 100 to bear the torque, and ensure that the thigh part 100 does not easily deform under long-term working load, thereby improving the walking stability of the humanoid robot equipped with the robot leg structure of the embodiment while meeting the motion flexibility of the humanoid robot. The pitch shaft motor 360 is hidden and fixed in the mounting cavity, and the fourth flange plate 364 connected to the output end of the pitch shaft motor 360 is rotationally connected to the second thigh web 120 and fixed to the fourth mounting base 363, so that the third mounting base 362 and the fourth mounting base 363 are rotationally connected to the two sides of the thigh part 100 along the Y direction, and the stability of the pitch shaft motor 360 to drive the thigh part 100 to pitch around the Y direction is improved.

[0068] As shown in Figure 11 , specifically, the side wall of the first thigh web 110 is formed with a first assembly hole 114 along the Y direction, and the third mounting base 362 is rotationally connected to the first assembly hole 114 along the Y direction through the third bearing 365. The third mounting base 362 can be flexibly rotated relative to the thigh part 100 along the Y direction, which is conducive to improving the stability of the pitch shaft motor 360 to drive the thigh part 100 to pitch around the Y direction.

[0069] As shown in Figure 3 and Figure 10As shown, specifically, a second assembly hole 121 is formed through the side wall of the second thigh web 120 along the Y direction, and the fourth flange 364 is connected to the second assembly hole 121 by a fourth bearing 366 for rotation around the Y direction. This ensures that the fourth flange 364 can flexibly rotate relative to the thigh 100 around the Y direction, which is beneficial to improving the stability of the pitch-axis motor 360 driving the thigh 100 to perform pitch motion around the Y direction.

[0070] like Figure 10 As shown, specifically, a second connecting platform 3411 is protruding from the outer circumference of the second flange 341. A second arcuate guide groove 311 is provided on the first support seat 310 at a position corresponding to the second connecting platform 3411. The second connecting platform 3411 is rotatably connected to the second arcuate guide groove 311. Second soft rubber pads 312 are provided on both end walls of the second arcuate guide groove 311 along the circumference of the second flange 341. This arrangement ensures that regardless of whether the second flange 341 is rotated clockwise or counterclockwise around the X-direction to the extreme angular position, the second connecting platform 3411 contacts the second soft rubber pad 312 for soft positioning, resulting in excellent buffering performance and greatly improving the safety of movement and operation of a humanoid robot equipped with the robot leg structure of this embodiment.

[0071] like Figure 10 and Figure 11 As shown, specifically, the outer circumferential surface of the first mounting seat 351 is recessed with a third arcuate guide groove 3511; the second mounting seat 361 is provided with a third connecting platform 3611 protruding from the upper end of the third flange 353 at a position corresponding to the third arcuate guide groove 3511. The third connecting platform 3611 is rotatably connected to the third arcuate guide groove 3511, and third soft rubber pads 3612 are provided on both end walls of the third connecting platform 3611 along the circumference of the third flange 353. This arrangement ensures that whether the third flange 353 drives the second mounting seat 361 to rotate clockwise or counterclockwise around the Z direction to the extreme angular position, the third connecting platform 3611 contacts the third soft rubber pad 3612 for soft limit, resulting in excellent buffering performance and greatly improving the safety of movement and operation of a humanoid robot equipped with the robot leg structure of this embodiment.

[0072] like Figure 12As shown, specifically, the outer circumferential surface of the fourth flange plate 364 is provided with a fourth connecting platform 3641, the second thigh web plate 120 is provided with a fourth arc-shaped guide groove corresponding to the position of the fourth connecting platform 3641, the fourth connecting platform 3641 is rotationally connected to the fourth arc-shaped guide groove, and the fourth arc-shaped guide groove is provided with a fourth soft rubber pad 122 at each of the two end walls in the circumferential direction of the fourth flange plate 364. In this way, no matter whether the fourth flange plate 364 rotates clockwise around the Y direction to the limit angle position or rotates counterclockwise around the Y direction to the limit position, the fourth connecting platform 3641 is in contact with the fourth soft rubber pad 122 for soft limiting, the buffering performance is good, and the safety of the motion operation of the humanoid robot provided with the robot leg structure of the embodiment is greatly improved.

[0073] As shown in FIG. 1, Figures 1 to 4 As shown in FIG. 1,

[0074] As shown in FIG. 1, Figures 6 to 9 As shown in FIG. 1, specifically, the upper end of the mounting portion 410 is provided with a connecting cavity 411, and the end of the knee joint connecting rod 230 away from the first flange plate 220 is hinged in the connecting cavity 411; so that the mounting cavity covers and protects the hinged point of the knee joint connecting rod 230 and the first flange plate 220, the rotation shaft point of the first flange plate 220, the hinged point of the knee joint connecting rod 230 and the calf web plate 400, and the rotation shaft point of the calf web plate 400, which is beneficial to improve the structural strength.

[0075] As shown in FIG. 1, Figures 1 to 3 As shown in FIG. 1, Figure 5 As shown in FIG. 1, Figure 6 As shown in FIG. 1,Figure 8 As shown, specifically, the calf web 400 is provided in a U shape in a cross section perpendicular to the Z direction, the calf web 400 is provided as a metal web, the second driving assembly includes a first motor 610 and a second motor 620, the first motor 610 and the second motor 620 are both arranged in a U-shaped groove of the calf web 400 parallel to the X direction, the first motor 610 is located directly above the second motor 620, an output end of the first motor 610 is provided with a fifth flange plate 630, a first connecting rod 640 is hinged at an eccentric position of the fifth flange plate 630, the other end of the first connecting rod 640 away from the fifth flange plate 630 is hinged to the foot 500; an output end of the second motor 620 is provided with a sixth flange plate 650, a second connecting rod 660 is hinged at an eccentric position of the sixth flange plate 650, the other end of the second connecting rod 660 away from the sixth flange plate 650 is hinged to the foot 500; the first connecting rod 640 and the second connecting rod 660 are located on a side of the calf web 400 away from the first motor 610 along the X direction and are oppositely arranged along the Y direction.

[0076] The cross section of the calf web 400 arranged in a U-shaped manner in the robot leg structure of the embodiment is large, so that the overall impact resistance and bending resistance of the calf web 400 are greatly enhanced, the rigidity and strength performance of the structure are fully ensured, the calf web 400 is not prone to deformation even under long-term working load, the walking stability of the humanoid robot is substantially improved while the motion flexibility of the humanoid robot equipped with the robot leg structure of the embodiment is met; the calf web 400 in a U-shaped cross section covers and protects the first motor 610 and the second motor 620; at the same time, because the hinge points of the first connecting rod 640 and the fifth flange plate 630, the shaft points of the fifth flange plate 630, the hinge points of the first connecting rod 640 and the foot 500, and the rotation connection points of the foot 500 and the calf web 400 form a parallelogram structure, and the hinge points of the second connecting rod 660 and the sixth flange plate 650, the shaft points of the sixth flange plate 650, the hinge points of the second connecting rod 660 and the foot 500, and the rotation connection points of the foot 500 and the calf web 400 form a parallelogram structure, the two parallelogram structures are oppositely arranged along the Y direction about the axis of the first motor 610 and the axis of the second motor 620 along the Z direction, so that the foot 500 can be driven to rotate around the X direction when the first motor 610 and the second motor 620 move in the same direction; the foot 500 can be driven to rotate around the Y direction when the movement directions of the first motor 610 and the second motor 620 are opposite, so that the humanoid robot is realized by controlling the flexible movement of the foot 500 around the X direction and the Y direction through the first motor 610 and the second motor 620; at the same time, the first connecting rod 640 and the second connecting rod 660 are arranged on the two sides of the calf web 400 along the X direction, and the first motor 610 and the second motor 620 are hidden and contact installed in the U-shaped groove of the calf web 400, which can make the robot leg structure of the embodiment more compact, and can quickly transfer the heat generated by the first motor 610 and the second motor 620 to the calf web 400 made of metal material, relying on the large cross section of the calf web 400, the heat can be fully and naturally exchanged with the air, and the heat dissipation capacity is greatly enhanced; and because the U-shaped groove of the calf web 400 is not closed, the first motor 610 and the second motor 620 can also be naturally air-cooled, so that the heat dissipation demand of the first motor 610 and the second motor 620 is met without additional cooling equipment.

[0077] As Figure 5 and Figure 8As shown, specifically, the foot 500 is provided with a connecting shaft 510 along the Y direction, and the symmetrical axis of the Z direction, the rotation axis point of the first motor 610 and the rotation axis point of the second motor 620 are located on the same straight line along the Z direction; the first connecting rod 640 and the second connecting rod 660 are respectively hinged to the two ends of the connecting shaft 510. The hinged points of the first connecting rod 640 and the foot 500 and the hinged points of the second connecting rod 660 and the foot 500 are collected on the same component through the connecting shaft 510, so as to smoothly drive the foot 500 to rotate around the X direction and the Y direction.

[0078] As shown in Figure 5 , Figure 9 and Figure 13 , specifically, the upper end of the foot 500 is provided with two first connecting ears 520 which are relatively spaced apart along the X direction, and the two first connecting ears 520 are formed with first mounting through holes 521 along the X direction; the connecting piece 420 includes two second connecting ears 421 which are spaced apart along the X direction, and the two second connecting ears 421 are formed with second mounting through holes 422 along the X direction; the cross joint bearing 430 includes a connecting portion 431, and the connecting portion 431 is provided with a first mounting shaft 432 on each of the two sides along the X direction, and the axes of the two first mounting shafts 432 are located on the same straight line; the connecting portion 431 is provided with a second mounting shaft 433 on each of the two sides along the Y direction, and the axes of the two second mounting shafts 433 are located on the same straight line; during assembly, the two first mounting shafts 432 are respectively rotationally connected in the two first mounting through holes 521, and the two second mounting shafts 433 are respectively rotationally connected in the two second mounting through holes 422, so as to rotationally connect the foot 500 to the calf web 400 around the X direction and the Y direction.

[0079] As shown in Figure 2 , in some embodiments, the outer peripheral surface of the fifth flange plate 630 is provided with a fifth connecting table 631, and the first connecting rod 640 is hinged to the fifth connecting table 631; the calf web 400 is provided with a first limiting table 440 away from the end surface of the first motor 610 along the X direction, the first limiting table 440 is provided with a first avoiding arc groove for avoiding the fifth flange plate 630, and the two end walls along the circumferential direction of the fifth flange plate 630 are respectively provided with a fifth soft rubber pad 441. In this way, no matter whether the fifth connecting table 631 rotates clockwise to the limit angle position around the X direction or rotates counterclockwise to the limit position around the X direction, it will be in contact with the fifth soft rubber pad 441 for soft limiting, the buffering performance is good, and the safety of the motion operation of the humanoid robot provided with the robot leg structure of the embodiment is greatly improved.

[0080] Specifically, the outer circumferential surface of the sixth flange plate 650 is provided with a sixth connecting table 651, and the second connecting rod 660 is hinged to the sixth connecting table 651; the calf web plate 400 is provided with a second limiting table 450 away from the end surface of the second motor 620 along the X direction, and the second limiting table 450 is provided with a second avoiding arc groove for avoiding the sixth flange plate 650, and the two end walls of the second avoiding arc groove along the circumferential direction of the sixth flange plate 650 are respectively provided with a sixth soft rubber pad 451. In this way, no matter whether the sixth connecting table 651 rotates clockwise to the limit angle position along the X direction or rotates counterclockwise to the limit position along the X direction, it will be in soft limiting contact with the sixth soft rubber pad 451, the buffering performance is good, and the safety of the motion operation of the humanoid robot provided with the robot leg structure of the embodiment is greatly improved.

[0081] In the second aspect, the utility model also provides a humanoid robot, including the robot leg structure provided by the first aspect. The humanoid robot of the embodiment is provided with the first thigh web plate 110 and the second thigh web plate 120 which are detachably connected into a whole, on the one hand, the cross section of the thigh part 100 perpendicular to the Z direction is increased, so that the overall impact resistance and bending resistance of the thigh part 100 are greatly enhanced, the rigidity and strength performance of the structure are fully guaranteed, the thigh part 100 is not easy to cause deformation under long-time working load, the walking stability of the humanoid robot of the embodiment is improved while meeting the motion flexibility, on the other hand, the mounting cavity surrounded by the first thigh web plate 110 and the second thigh web plate 120 can protect the rotating connection of the thigh part 100 and the hip joint assembly, the rotating connection of the thigh part 100 and the calf assembly and the first driving assembly, and the first thigh web plate 110 and the second thigh web plate 120 can be split to expose the internal components for maintenance or repair.

[0082] Obviously, the above embodiments are only examples for clearly illustrating, and not limited to the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments need not and cannot be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the utility model.

Claims

1. A robot leg structure, used to connect to the lower part of the torso of a humanoid robot, characterized in that: The robot leg structure comprises: a hip joint assembly for being connected to a lower part of a trunk of a humanoid robot; a thigh part (100) comprising a first thigh web plate (110) and a second thigh web plate (120) oppositely arranged along a Y direction, the first thigh web plate (110) and the second thigh web plate (120) being detachably connected into one body, an installation cavity being formed between the first thigh web plate (110) and the second thigh web plate (120); a lower end of the hip joint assembly being rotationally connected to the installation cavity along a Z direction; a lower leg assembly having an upper end rotationally connected to one end of the installation cavity away from the hip joint assembly along the Y direction; a first driving assembly arranged in the installation cavity and used for driving the lower leg assembly to rotate along the Y direction.

2. The robot leg structure according to claim 1, characterized in that The first driving assembly comprises: a knee joint motor (210) arranged in the thigh part (100) along the Y direction and having an upper end; a first flange plate (220) arranged at an output end of the knee joint motor (210); a knee joint connecting rod (230) having an upper end hingedly connected to an eccentric position of the first flange plate (220) and a lower end hingedly connected to an upper end of the lower leg assembly; the hinged points of the knee joint connecting rod (230) and the first flange plate (220), the rotation axis point of the first flange plate (220), the hinged points of the knee joint connecting rod (230) and the lower leg assembly, and the rotation axis point of the lower leg assembly form an inverse parallelogram structure.

3. The robotic leg structure of claim 2, wherein, The thigh part (100) is arranged as a metal part; a side wall of the first thigh web plate (110) is formed with an installation hole (111) penetrating along the Y direction, the knee joint motor (210) is arranged in the installation hole (111), and at least a part of the knee joint motor (210) extends out of the first thigh web plate (110).

4. The robotic leg structure of claim 2, wherein, An outer peripheral surface of the first flange plate (220) is protrudingly provided with a first connecting table (221), the knee joint connecting rod (230) is hingedly connected to the first connecting table (221); the first thigh web plate (110) is provided with a first arc-shaped guide groove (112) corresponding to a position of the first connecting table (221), the first connecting table (221) is rotationally connected to the first arc-shaped guide groove (112), and the first arc-shaped guide groove (112) is respectively provided with a first soft rubber pad (113) at two end walls along a circumferential direction of the first flange plate (220).

5. A robot leg structure according to any one of claims 1 to 4, characterized in that The hip joint assembly comprises a first support base (310) and a second support base (320) arranged at intervals along the X direction, the first support base (310) and the second support base (320) are used for being connected to the lower part of the torso of the humanoid robot; the side of the first support base (310) away from the second support base (320) is provided with a roll shaft motor (330) along the X direction, the output end of the roll shaft motor (330) is provided with a second flange plate (341), the first mounting seat (351) is connected to the second flange plate (341), the first mounting seat (351) is arranged between the first support base (310) and the second support base (320), and the end of the first mounting seat (351) away from the second flange plate (341) is rotatably connected to the second support base (320) through a first bearing (352); the yaw shaft motor (350) is arranged on the first mounting seat (351) along the Z direction, the output end of the yaw shaft motor (350) is provided with a third flange plate (353), the third flange plate (353) is rotatably connected to the first mounting seat (351) through a second bearing (354), and the lower end of the third flange plate (353) is provided with a second mounting seat (361); the two sides of the second mounting seat (361) along the Y direction are respectively provided with a third mounting seat (362) and a fourth mounting seat (363), and the third mounting seat (362) is rotatably connected to the side of the first thigh web (110) away from the second thigh web (120); the pitch shaft motor (360) is arranged in the installation cavity along the Y direction, the output end of the pitch shaft motor (360) is connected with a fourth flange plate (364), and the fourth flange plate (364) is rotatably connected to the second thigh web (120) around the Y direction; and the end face of the fourth flange plate (364) away from the pitch shaft motor (360) is fixedly connected to the fourth mounting seat (363).

6. The robotic leg structure of claim 5, wherein, A first assembly hole (114) is formed through the side wall of the first thigh web (110) along the Y direction, and the third mounting seat (362) is rotatably connected to the first assembly hole (114) around the Y direction through a third bearing (365); And / or, a second assembly hole (121) is formed through the side wall of the second thigh web (120) along the Y direction, and the fourth flange plate (364) is rotatably connected to the second assembly hole (121) around the Y direction through a fourth bearing (366).

7. The robotic leg structure of claim 5, wherein, The outer circumferential surface of the second flange plate (341) is protrudingly provided with a second connecting table (3411), the first support base (310) is provided with a second arc-shaped guide groove (311) corresponding to the position of the second connecting table (3411), the second connecting table (3411) is rotatably connected to the second arc-shaped guide groove (311), and the two end walls of the second arc-shaped guide groove (311) along the circumferential direction of the second flange plate (341) are respectively provided with a second soft rubber pad (312). And / or, an outer peripheral surface of the first mounting seat (351) is concavely provided with a third arc-shaped guide groove (3511); the second mounting seat (361) is convexly provided with a third connecting table (3611) at a position corresponding to the third arc-shaped guide groove (3511) towards an upper end of the third flange plate (353), the third connecting table (3611) is rotationally connected to the third arc-shaped guide groove (3511), and the third connecting table (3611) is respectively provided with a third soft rubber pad (3612) along two end walls in the circumferential direction of the third flange plate (353). And / or, an outer peripheral surface of the fourth flange plate (364) is convexly provided with a fourth connecting table (3641), and the second thigh web plate (120) is provided with a fourth arc-shaped guide groove at a position corresponding to the fourth connecting table (3641), the fourth connecting table (3641) is rotationally connected to the fourth arc-shaped guide groove, and the fourth arc-shaped guide groove is respectively provided with a fourth soft rubber pad (122) along two end walls in the circumferential direction of the fourth flange plate (364).

8. The robotic leg structure of any one of claims 1 to 4, wherein, The calf assembly comprises a calf web plate (400), one end of the calf web plate (400) towards the thigh part (100) in the Z direction is provided with a mounting part (410), and two ends of the mounting part (410) in the Y direction are respectively rotationally connected to side walls of the first thigh web plate (110) and the second thigh web plate (120); one end of the calf web plate (400) away from the thigh part (100) in the Z direction is provided with a connecting piece (420), and the connecting piece (420) is rotationally connected with a foot part (500) through a cross joint bearing (430), and the foot part (500) is driven to rotate around the X direction and the Y direction by a second driving assembly.

9. The robotic leg structure of claim 8, wherein, A cross section of the calf web plate (400) perpendicular to the Z direction is provided in a U shape, the calf web plate (400) is provided as a metal web plate, the second driving assembly comprises a first motor (610) and a second motor (620), the first motor (610) and the second motor (620) are both provided in a U-shaped groove of the calf web plate (400) parallel to the X direction, the first motor (610) is located directly above the second motor (620), an output end of the first motor (610) is provided with a fifth flange plate (630), a first connecting rod (640) is hinged at an eccentric position of the fifth flange plate (630), the other end of the first connecting rod (640) away from the fifth flange plate (630) is hinged to the foot part (500); an output end of the second motor (620) is provided with a sixth flange plate (650), a second connecting rod (660) is hinged at an eccentric position of the sixth flange plate (650), the other end of the second connecting rod (660) away from the sixth flange plate (650) is hinged to the foot part (500); the first connecting rod (640) and the second connecting rod (660) are located on a side of the calf web plate (400) away from the first motor (610) in the X direction and are oppositely arranged in the Y direction.

10. A humanoid robot, characterized by, The robot leg structure comprises the robot leg structure according to any one of claims 1-9. The robot leg structure comprises the robot leg structure according to any one of claims 1-9.

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