Knee joint assembly and humanoid robot

Abstract

The knee joint assembly comprises a first thigh web, a knee joint motor is arranged at the upper end of the side wall of the first thigh web in the X direction, and the output end of the knee joint motor is connected with a first flange plate; a knee joint connecting rod is hinged to the eccentric part of one end of the first flange away from the knee joint motor; the lower end of the side wall of the first thigh web is rotationally connected with a shank web in the X direction. The end, away from the first flange plate, of the knee joint connecting rod is hinged to the upper end of the shank web. The hinge point of the knee joint connecting rod and the first flange plate, the rotating shaft point of the first flange plate, the hinge point of the knee joint connecting rod and the shank web and the rotating shaft point of the shank web form a contra-parallelogram structure. The motion angle range of the knee joint connecting rod can be narrowed on the basis of meeting the requirement for large-angle-range motion of the knee joint of the humanoid robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to humanoid robot technical field, concretely relates to a knee joint subassembly and humanoid robot. BACKGROUND

[0002] Since the humanoid robot can simulate the action of human body well, 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 humanoid robot more fit the leg of human has very important significance.

[0003] Any single leg of the humanoid robot comprises corresponding leg joints such as knee joint and ankle joint, and in particular, the movement of the knee joint part is one of the key points of fitting the leg movement of human; the movement of the current knee joint part is driven by a parallelogram linkage structure, in order to meet the demand of large angle range movement of the knee joint part, the movement angle range of the knee joint linkage needs to be set relatively large, which leads to low human simulation degree. SUMMARY

[0004] Therefore, the technical problem to be solved by the utility model is to overcome the defects that the knee joint structure applied to the humanoid robot in the prior art needs to set the movement angle range of the knee joint linkage relatively large to meet the use requirement, leading to low human simulation degree, so as to provide a knee joint subassembly and humanoid robot.

[0005] In a first aspect, the utility model provides a knee joint subassembly, which is connected to the lower part of the hip joint structure of the humanoid robot, and the knee joint subassembly comprises:

[0006] A first thigh web plate;

[0007] A knee joint motor is arranged on the upper end of the side wall of the first thigh web plate along the X direction, and the output end of the knee joint motor is connected with a first flange plate;

[0008] A knee joint linkage is hingedly connected to the eccentric position of one end of the first flange plate away from the knee joint motor;

[0009] A calf web plate is rotatably connected to the lower end of the side wall of the first thigh web plate along the X direction, and one end of the knee joint linkage away from the first flange plate along the Z direction is hingedly connected to the upper end of the calf web plate;

[0010] The hinged point of the knee joint linkage and the first flange plate, the rotation axis point of the first flange plate, the hinged point of the knee joint linkage and the calf web plate, and the rotation axis point of the calf web plate form an inverse parallelogram structure.

[0011] According to the knee joint subassembly of the utility model, at least the following technical effects are achieved:

[0012] By forming the knee joint connecting rod and the hinge point of the first flange plate, the rotation axis point of the first flange plate, the hinge point of the knee joint connecting rod and the calf plate and the rotation axis point of the calf plate into a reverse parallelogram structure, the rotation direction of the output end of the knee joint motor is opposite to the rotation direction of the calf plate relative to the first thigh plate, that is, when the first flange plate rotates counterclockwise around the X direction, the calf plate rotates clockwise around the X direction, and the knee joint connecting rod is hinged to the eccentric position of the first flange plate, so that the knee joint connecting rod performs a small angle range movement to drive the calf plate to perform a large angle range movement around the X direction, which reduces the movement angle range of the knee joint connecting rod on the basis of meeting the demand of the knee joint of the humanoid robot assembled with the knee joint assembly for a large angle range movement, so that the humanoid robot assembled with the knee joint assembly has a more ideal human simulation effect; the knee joint motor is arranged on the upper end of the side wall of the first thigh plate, so that the center of gravity of the knee joint assembly is moved upward, the driving moment of inertia of the knee joint motor is reduced, and the heat generation is reduced; and the knee joint motor drives the calf plate to rotate around the X direction through the first flange plate and the knee joint connecting rod, effectively reducing the torque of the calf plate directly applied to the knee joint motor, improving the stability and service life of the knee joint motor.

[0013] In an optional embodiment, the first thigh plate is detachably connected with a second thigh plate along the X direction towards the end face of the knee joint connecting rod, an installation cavity is formed between the second thigh plate and the first thigh plate, the knee joint connecting rod and the first flange plate are arranged in the installation cavity, and the rotation connection position of the calf plate and the first thigh plate is located in the installation cavity.

[0014] In an optional embodiment, the first thigh plate is arranged as a metal plate, a mounting hole is formed through the side wall of the first thigh plate along the X direction, the knee joint motor is arranged in the mounting hole, and at least part of the knee joint motor extends out of the first thigh plate.

[0015] In an optional embodiment, one end of the calf plate towards the first thigh plate is provided with a rotation mounting portion, both ends of the rotation mounting portion along the X direction are rotationally connected to the first thigh plate and the second thigh plate respectively, the upper end of the rotation mounting portion is provided with a connecting cavity, and one end of the knee joint connecting rod away from the first flange plate is hinged in the connecting cavity; a first connecting table is protruded on the outer peripheral surface of the first flange plate, and the knee joint connecting rod is hinged to the first connecting table.

[0016] In an alternative embodiment, the first thigh web plate is provided with a first arc-shaped guide groove at a position corresponding to the first connecting platform, and the first connecting platform is pivotally connected to the first arc-shaped guide groove, and the first arc-shaped guide groove is provided with a first soft rubber pad at each of the two end walls along the circumference of the first flange plate.

[0017] In an alternative embodiment, the foot sole part is pivotally connected to the end of the calf web plate away from the first thigh web plate through a cross joint bearing, and the foot sole part is driven to rotate around the X direction and the Y direction by a driving mechanism.

[0018] In an alternative embodiment, the calf web plate is provided in a U shape in a cross section perpendicular to the Z direction, the driving mechanism comprises a first motor and a second motor, the first motor and the second motor are both arranged in the U-shaped groove of the calf web plate in parallel to the Y direction, the first motor is located directly above the second motor, the output end of the first motor is provided with a second flange plate, a first connecting rod is hinged at the eccentric position of the second flange plate, the other end of the first connecting rod away from the second flange plate is hinged to the foot sole part; the output end of the second motor is provided with a third flange plate, a second connecting rod is hinged at the eccentric position of the third flange plate, the other end of the second connecting rod away from the third flange plate is hinged to the foot sole part; the first connecting rod and the second connecting rod are located on the side of the calf web plate away from the first motor along the Y direction and are arranged opposite to each other along the X direction.

[0019] In an alternative embodiment, the outer circumferential surface of the second flange plate is provided with a second connecting platform, and the first connecting rod is hinged to the second connecting platform; the end surface of the calf web plate away from the first motor along the Y direction is provided with a first limiting platform, the first limiting platform is provided with a first avoiding arc-shaped groove for avoiding the second flange plate, and the first avoiding arc-shaped groove is provided with a second soft rubber pad at each of the two end walls along the circumference of the second flange plate.

[0020] In an alternative embodiment, the outer circumferential surface of the third flange plate is provided with a third connecting platform, and the second connecting rod is hinged to the third connecting platform; the end surface of the calf web plate away from the second motor along the Y direction is provided with a second limiting platform, the second limiting platform is provided with a second avoiding arc-shaped groove for avoiding the third flange plate, and the second avoiding arc-shaped groove is provided with a third soft rubber pad at each of the two end walls along the circumference of the third flange plate.

[0021] In an alternative embodiment, the calf web plate is provided as a metal web plate.

[0022] In an alternative embodiment, the foot sole part is provided with a connecting shaft along the X direction, and the first connecting rod and the second connecting rod are hinged to the two ends of the connecting shaft, respectively.

[0023] The utility model provides a kind of humanoid robot further comprising the knee joint assembly provided in the first aspect.

[0024] According to the humanoid robot of the utility model, at least has following technical effects:

[0025] By forming the reverse parallelogram structure of the hinge point of the knee joint connecting rod and the first flange plate, the rotation axis point of the first flange plate, the hinge point of the knee joint connecting rod and the calf web plate and the rotation axis point of the calf web plate, the rotation direction of the output end of the knee joint motor is opposite to the rotation direction of the calf web plate relative to the first thigh web plate, that is, when the first flange plate rotates counterclockwise around X, the calf web plate rotates clockwise around X, and the knee joint connecting rod is hinged at the eccentric position of the first flange plate, so that the knee joint connecting rod can drive the calf web plate to rotate around X within a large angle range by moving within a small angle range, which reduces the movement angle range of the knee joint connecting rod while meeting the requirement of the knee joint of the humanoid robot to move within a large angle range, and the humanoid effect of the humanoid robot is more ideal.

[0026] The additional aspects and advantages of the utility model will be partially given in the following description, partially will become obvious from the following description, or be understood by the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the specific embodiment of the utility model 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, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can obtain other drawings according to these drawings without creating creative labor.

[0028] Figure 1 It is a perspective structural schematic view of the knee joint assembly of the embodiment;

[0029] Figure 2 It is Figure 1 It is an enlarged schematic view of position A in the knee joint assembly;

[0030] Figure 3 It is Figure 1 It is an exploded structural schematic view of the knee joint assembly;

[0031] Figure 4 It isFigure 3 part structure in FIG. 1;

[0032] Figure 5 Figure 3 another part structure in FIG. 1;

[0033] Figure 6 Figure 1 structure schematic diagram of another view of the second thigh web plate;

[0034] Figure 7 Figure 6 enlarged schematic diagram of B in FIG. 1;

[0035] Figure 8

[0036] Figure 9 structure schematic diagram of the calf web plate in the knee joint assembly of the embodiment;

[0037] Figure 10 structure schematic diagram of the cross joint bearing in the knee joint assembly of the embodiment.

[0038] Explanation of reference signs:

[0039] 110-first thigh web plate, 111-mounting hole, 112-first arc-shaped guide groove, 113-first soft rubber pad, 114-threaded hole, 120-knee joint motor, 130-first flange plate, 131-first connecting table, 140-knee joint connecting rod, 150-second thigh web plate, 151-countersunk through hole;

[0040] 210-calf web plate, 211-rotary mounting portion, 212-connection cavity, 213-first limiting table, 214-second soft rubber pad, 215-second limiting table, 216-third soft rubber pad, 217-second connecting lug, 218-second mounting through hole;

[0041] 310-palm portion, 311-connection shaft, 312-first connecting lug, 313-first mounting through hole, 320-cross joint bearing, 321-connection portion, 322-first mounting shaft, 323-second mounting shaft;

[0042] 410-first motor, 420-second motor, 430-second flange plate, 431-second connecting table, 440-first connecting rod, 450-third flange plate, 451-third connecting table, 460-second connecting rod. DETAILED DESCRIPTION

[0043] ​​​​The technical solutions of the present application will be described clearly and completely in connection with the drawings. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0044] 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 limiting 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.

[0045] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" 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 between two elements inside. 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.

[0046] 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.

[0047] The embodiments of the present application will be described below in connection with Figures 1 to 10 .

[0048] According to the first aspect of the embodiment of the utility model, provide a kind of knee joint assembly, application is connected to the lower part of hip joint structure of humanoid robot;The knee joint assembly includes first thigh web plate 110, the upper end of the side wall of the first thigh web plate 110 is provided with knee joint motor 120 along X direction, the output end of the knee joint motor 120 is connected with first flange plate 130;The eccentricity of the end of first flange plate 130 away from the knee joint motor 120 is hinged with knee joint connecting rod 140;The lower end of the side wall of the first thigh web plate 110 is rotatably connected with calf web plate 210 around X direction, the upper end of the calf web plate 210 is hinged to the end of the knee joint connecting rod 140 away from first flange plate 130 along Z direction;The hinge point of the knee joint connecting rod 140 and the first flange plate 130, the pivot point of the first flange plate 130, the hinge point of the knee joint connecting rod 140 and the calf web plate 210 and the pivot point of the calf web plate 210 form counter parallelogram structure.It can be understood that the X direction, Y direction and Z direction described in the text refer to Figure 1 The X direction, Y direction and Z direction in

[0049] The knee joint assembly of the embodiment forms counter parallelogram structure by the hinge point of the knee joint connecting rod 140 and the first flange plate 130, the pivot point of the first flange plate 130, the hinge point of the knee joint connecting rod 140 and the calf web plate 210 and the pivot point of the calf web plate 210, so that the steering of the output end of the knee joint motor 120 is opposite to the rotation direction of the calf web plate 210 relative to the first thigh web plate 110, i.e. when the first flange plate 130 rotates counterclockwise around X direction, the calf web plate 210 rotates clockwise around X direction, and the knee joint connecting rod 140 is hinged to the eccentricity of the first flange plate 130, so that the knee joint connecting rod 140 performs small-angle range movement to drive the calf web plate 210 to perform large-angle range movement around X direction, which reduces the movement angle range of the knee joint connecting rod 140 on the basis of meeting the demand of large-angle range movement of the knee joint of the humanoid robot equipped with the knee joint assembly of the embodiment, so that the humanoid robot equipped with the knee joint assembly of the embodiment has more ideal human simulation effect;The knee joint motor 120 is arranged on the upper end of the side wall of the first thigh web plate 110, so that the gravity center of the knee joint assembly of the embodiment moves upward, reduces the driving rotational inertia of the knee joint motor 120, and reduces heat generation;And the knee joint motor 120 drives the calf web plate 210 to rotate around X direction through the first flange plate 130 and the knee joint connecting rod 140, effectively reduces the torque of the calf web plate 210 directly applied to the knee joint motor 120, improves the stability and service life of the knee joint motor 120.

[0050] As Figure 1 And Figure 3As shown, in some embodiments, the first thigh web plate 110 is detachably connected with a second thigh web plate 150 along the end surface of the knee joint connecting rod 140 in the X direction, and the second thigh web plate 150 and the first thigh web plate 110 form an installation cavity, the knee joint connecting rod 140 and the first flange plate 130 are arranged in the installation cavity, and the rotating connection between the calf web plate 210 and the first thigh web plate 110 is located in the installation cavity. Because the knee joint connecting rod 140 only needs to move in a small angle range to drive the calf web plate 210 to move in a large angle range relative to the first thigh web plate 110, the knee joint connecting rod 140 is arranged in the installation cavity; the first flange plate 130 and the rotating connection between the calf web plate 210 and the first thigh web plate 110 are also hidden in the installation cavity, realizing the cladding protection of part of the internal components of the knee joint assembly of the embodiment; meanwhile, the first thigh web plate 110 and the second thigh web plate 150 connected as a whole have a larger cross section perpendicular to the Z direction, so that the overall impact resistance and bending resistance of the first thigh web plate 110 and the second thigh web plate 150 are greatly enhanced, fully guaranteeing the rigidity and strength performance of the structure, substantially improving the overall stability of the humanoid robot equipped with the knee joint assembly of the embodiment.

[0051] It should be noted that the installation cavity formed by the first thigh web plate 110 and the second thigh web plate 150 is used for centralized hiding of part of the internal components, has high integration degree, is conducive to improving the overall stability, and is convenient for disassembling the second thigh web plate 150 to expose the internal components for maintenance or repair.

[0052] Hereinafter, the detachable connection structure of the first thigh web plate 110 and the second thigh web plate 150 will be described in detail. Figure 3 As shown, in some embodiments, the end surface of the first thigh web plate 110 towards the second thigh web plate 150 is provided with a plurality of threaded holes 114 along the circumference of the first flange plate 130, and the second thigh web plate 150 is provided with a countersunk through hole 151 corresponding to the position of each threaded hole 114; when the first thigh web plate 110 and the second thigh web plate 150 are assembled as a whole, the fastening screw is screwed in the corresponding threaded hole 114 through the countersunk through hole 151.

[0053] As shown in Figure 1 and Figure 3As shown, in some embodiments, the first thigh web 110 is configured as a metal web, and a mounting hole 111 is formed through the side wall of the first thigh web 110 along the X-direction. The knee joint motor 120 is disposed in the mounting hole 111, and at least a portion of the knee joint motor 120 extends outside the first thigh web 110. By installing the knee joint motor 120 in contact with the wall of the mounting hole 111, the heat generated by the knee joint motor 120 can be quickly transferred to the first thigh web 110 and the second thigh web 150 made of metal. Relying on the large cross-section of the first thigh web 110 and the second thigh web 150 connected as one, they can fully exchange heat with the air naturally, and the heat dissipation capacity is greatly enhanced; and because the knee joint motor 120 is arranged at the upper end of the side wall of the first thigh web 110 to reduce the driving rotational inertia of the knee joint motor 120, and at least part of the knee joint motor 120 extends outside the first thigh web 110 for natural wind heat dissipation, it is possible to meet the heat dissipation requirements of the knee joint motor 120 without the need for additional heat dissipation equipment.

[0054] like Figure 3 、 Figure 4 as well as Figures 6 to 9 As shown, specifically, a rotatable mounting portion 211 is provided at one end of the calf web 210 facing the first thigh web 110. The rotatable mounting portion 211 is rotatably connected to the first thigh web 110 and the second thigh web 150 at both ends along the X-direction. A connecting cavity 212 is provided at the upper end of the rotatable mounting portion 211. The end of the knee joint link 140 facing away from the first flange 130 is hingedly connected within the connecting cavity 212. A first connecting platform 131 is convexly provided on the outer peripheral surface of the first flange 130, and the knee joint link 140 is hingedly connected to the first connecting platform 131. By hingedly connecting the knee joint link 140 to the first connecting platform 131, the distance between the hinge point of the knee joint link 140 and the first flange 130 and the rotation axis of the first flange 130 is increased, which is more conducive to enabling the knee joint link 140 to move within a small angle range while driving the calf web 210 to move within a large angle range around the X-direction. The two ends of the rotating mounting portion 211 are rotatably connected to the first thigh web 110 and the second thigh web 150 respectively, so as to support the calf web 210 in a structural manner similar to "double-sided support", thereby improving the rigidity of the calf web 210 in bearing torque; at the same time, the knee joint link 140 is hinged to the connecting cavity 212 located at the upper end of the rotating mounting portion 211, so as to ensure that the hinge point of the knee joint link 140 and the first flange 130, the pivot point of the first flange 130, the hinge point of the knee joint link 140 and the calf web 210, and the pivot point of the calf web 210 are formed into an anti-parallelogram structure by the first thigh web 110 and the second thigh web 150 to cover and protect it, which is beneficial to improve the structural strength.

[0055] As shown in Figure 7 Specifically, the first thigh web plate 110 is provided with a first arc-shaped guide groove 112 at the position corresponding to the first connecting table 131, the first connecting table 131 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 each of the two end walls along the circumference of the first flange plate 130. In this way, no matter whether the first connecting table 131 rotates clockwise around the X direction to the limit angle position or counterclockwise around the X direction to the limit position, it will be in contact with the first soft rubber pad 113 for soft limiting, with good buffering performance, greatly improving the safety of the motion operation of the humanoid robot equipped with the knee joint assembly of the embodiment.

[0056] In some embodiments, the knee joint assembly further comprises a sole part 310 rotationally connected to one end of the calf web plate 210 away from the first thigh web plate 110 through a cross joint bearing 320, and the sole part 310 is driven to rotate around the X direction and the Y direction by a driving mechanism. By driving the sole part 310 to rotate around the X direction and the Y direction relative to the calf web plate 210 through the driving mechanism, the motion flexibility of the humanoid robot equipped with the knee joint assembly of the embodiment is improved, and the humanoid effect of the humanoid robot equipped with the knee joint assembly of the embodiment is more ideal.

[0057] As shown in Figures 1 to 3 and Figure 5 , Figure 8 and Figure 9As shown, in some embodiments, the calf web 210 is provided with a U-shaped cross section perpendicular to the Z direction, the driving mechanism includes a first motor 410 and a second motor 420, the first motor 410 and the second motor 420 are both arranged in the U-shaped groove of the calf web 210 parallel to the Y direction, the first motor 410 is located directly above the second motor 420, the output end of the first motor 410 is provided with a second flange plate 430, the eccentric portion of the second flange plate 430 is hinged with a first connecting rod 440, the other end of the first connecting rod 440 away from the second flange plate 430 is hinged to the instep 310; the output end of the second motor 420 is provided with a third flange plate 450, the eccentric portion of the third flange plate 450 is hinged with a second connecting rod 460, the other end of the second connecting rod 460 away from the third flange plate 450 is hinged to the instep 310; the first connecting rod 440 and the second connecting rod 460 are located on the side of the calf web 210 away from the first motor 410 along the Y direction and are oppositely arranged along the X direction. The cross section of the calf web 210 provided with a U shape is large, so that the overall impact resistance and bending resistance of the calf web 210 are greatly enhanced, fully guaranteeing the rigidity and strength performance of the structure, substantially improving the overall stability of the humanoid robot equipped with the knee joint assembly of the embodiment while meeting the motion flexibility; at the same time, because the hinge point of the first connecting rod 440 and the second flange plate 430, the rotation axis point of the second flange plate 430, the hinge point of the first connecting rod 440 and the instep 310, and the rotation connection point of the instep 310 and the calf web 210 form a parallelogram structure; and the hinge point of the second connecting rod 460 and the third flange plate 450, the rotation axis point of the third flange plate 450, the hinge point of the second connecting rod 460 and the instep 310, and the rotation connection point of the instep 310 and the calf web 210 form a parallelogram structure, the two parallelogram structures are oppositely arranged along the X direction about the line connecting the axis of the first motor 410 and the axis of the second motor 420 along the Z direction, so that when the first motor 410 and the second motor 420 move in the same direction, the instep 310 can be driven to rotate around the Y direction; when the movement directions of the first motor 410 and the second motor 420 are opposite, the instep 310 can be driven to rotate around the X direction, so that the humanoid robot is realized by controlling the flexible movement of the instep 310 around the X direction and the Y direction through the first motor 410 and the second motor 420; at the same time, the first connecting rod 440 and the second connecting rod 460 are arranged on the two sides of the calf web 210 along the Y direction, and the first motor 410 and the second motor 420 are hiddenly arranged in the U-shaped groove of the calf web 210, so that the knee joint assembly of the embodiment has a more compact structure.

[0058] Specifically, the instep part 310 is provided with a connecting shaft 311 along the X direction, the symmetrical axis of the Z direction, the rotation axis point of the first motor 410 and the rotation axis point of the second motor 420 are located on the same straight line along the Z direction; the first connecting rod 440 and the second connecting rod 460 are respectively hinged to the two ends of the connecting shaft 311. The hinged points of the first connecting rod 440 and the second connecting rod 460 to the instep part 310 are collected on the same part through the connecting shaft 311, so as to smoothly drive the instep part 310 to rotate around the X direction and the Y direction.

[0059] Specifically, the calf web 210 is provided as a metal web. By adopting the calf web 210 with a U-shaped cross section to cover and protect the first motor 410 and the second motor 420, and by contact mounting the first motor 410 and the second motor 420 with the calf web 210, the heat generated by the first motor 410 and the second motor 420 can be quickly transmitted to the calf web 210 made of metal material. Relying on the large cross section of the calf web 210, sufficient natural heat exchange with air can be achieved, and the heat dissipation capacity is greatly enhanced. Moreover, because the U-shaped groove of the calf web 210 is not closed, the first motor 410 and the second motor 420 can also be naturally air-cooled, so that the heat dissipation requirements of the first motor 410 and the second motor 420 can be met without the need for additional cooling equipment.

[0060] As shown in Figure 3 , Figure 5 , Figure 9 and Figure 10 , specifically, the upper end of the instep part 310 is provided with two first connecting ears 312 spaced apart along the Y direction, and the first connecting ears 312 are formed with first mounting through holes 313 penetrating along the Y direction; the end face of the calf web 210 facing the instep part 310 is provided with second connecting ears 217 spaced apart along the X direction, and the second connecting ears 217 are formed with second mounting through holes 218 penetrating along the X direction; the cross joint bearing 320 includes a connecting part 321, the connecting part 321 is provided with a first mounting shaft 322 on each side along the Y direction, and the axes of the two first mounting shafts 322 are located on the same straight line; the connecting part 321 is provided with a second mounting shaft 323 on each side along the X direction, and the axes of the two second mounting shafts 323 are located on the same straight line; during assembly, the two first mounting shafts 322 are respectively rotatably connected in the two first mounting through holes 313, and the two second mounting shafts 323 are respectively rotatably connected in the two second mounting through holes 218, so as to rotatably connect the instep part 310 to the calf web 210 around the X direction and the Y direction.

[0061] As shown in Figure 2As shown, in some embodiments, the outer circumferential surface of the second flange plate 430 is provided with a second connecting table 431, and the first connecting rod 440 is hinged to the second connecting table 431; the calf web plate 210 is provided with a first limiting table 213 away from the end surface of the first motor 410 along the Y direction, and the first limiting table 213 is provided with a first avoiding arc groove for avoiding the second flange plate 430, and the two end walls along the circumferential direction of the second flange plate 430 are respectively provided with a second soft rubber pad 214. In this way, no matter whether the second connecting table 431 rotates clockwise to the limit angle position along the Y direction or counterclockwise to the limit position, it will be in contact with the second soft rubber pad 214 for soft limiting, with good buffering performance, and the safety of the motion operation of the humanoid robot equipped with the knee joint assembly of the embodiment is greatly improved.

[0062] Specifically, the outer circumferential surface of the third flange plate 450 is provided with a third connecting table 451, and the second connecting rod 460 is hinged to the third connecting table 451; the calf web plate 210 is provided with a second limiting table 215 away from the end surface of the second motor 420 along the Y direction, and the second limiting table 215 is provided with a second avoiding arc groove for avoiding the third flange plate 450, and the two end walls along the circumferential direction of the third flange plate 450 are respectively provided with a third soft rubber pad 216. In this way, no matter whether the third connecting table 451 rotates clockwise to the limit angle position along the Y direction or counterclockwise to the limit position, it will be in contact with the third soft rubber pad 216 for soft limiting, with good buffering performance, and the safety of the motion operation of the humanoid robot equipped with the knee joint assembly of the embodiment is greatly improved.

[0063] In a second aspect, the utility model also provides a humanoid robot, including the knee joint subassembly provided by above-mentioned first aspect. The humanoid robot of this embodiment forms the reverse parallelogram structure through the hinge joint point of knee joint connecting rod 140 and first flange plate 130, the pivot point of first flange plate 130, the hinge joint point of knee joint connecting rod 140 and calf web 210 and the pivot point of calf web 210, so that the steering of the output end of knee joint motor 120 is opposite to the rotation direction of calf web 210 relative to first thigh web 110, namely when first flange plate 130 rotates counterclockwise around X, calf web 210 rotates clockwise around X, and knee joint connecting rod 140 is hinged to the eccentric position of first flange plate 130, so that the movement of knee joint connecting rod 140 in a small angle range can drive calf web 210 to rotate around X in a large angle range, which reduces the movement angle range of knee joint connecting rod 140 on the basis of meeting the demand of the knee joint of the humanoid robot of this embodiment for a large angle range movement, and the humanoid effect of the humanoid robot of this embodiment is more ideal.

[0064] Obviously, the above embodiments are only examples for clearly illustrating, but not limitation to the embodiments. For ordinary 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 knee joint assembly to be attached to a lower portion of a hip joint structure of a humanoid robot, characterized by, The knee joint assembly comprises: a first thigh web plate (110); a knee joint motor (120) arranged on the side wall upper end of the first thigh web plate (110) along the X direction, and the output end of the knee joint motor (120) is connected with a first flange plate (130); a knee joint connecting rod (140) hinged to the eccentric position of the end of the first flange plate (130) away from the knee joint motor (120); a lower leg web plate (210) rotationally connected to the side wall lower end of the first thigh web plate (110) along the X direction, and the end of the knee joint connecting rod (140) away from the first flange plate (130) is hinged to the upper end of the lower leg web plate (210) along the Z direction; the hinged point of the knee joint connecting rod (140) and the first flange plate (130), the rotation axis point of the first flange plate (130), the hinged point of the knee joint connecting rod (140) and the lower leg web plate (210), and the rotation axis point of the lower leg web plate (210) form an inverse parallelogram structure.

2. A knee joint assembly according to claim 1, wherein, The end face of the first thigh web plate (110) along the X direction towards the knee joint connecting rod (140) is detachably connected with a second thigh web plate (150), and an installation cavity is formed between the second thigh web plate (150) and the first thigh web plate (110), the knee joint connecting rod (140) and the first flange plate (130) are arranged in the installation cavity, and the rotationally connected position of the lower leg web plate (210) and the first thigh web plate (110) is located in the installation cavity.

3. A knee joint assembly according to claim 2, wherein, The first thigh web plate (110) is arranged as a metal web plate, the side wall of the first thigh web plate (110) is formed with an installation hole (111) penetrating along the X direction, the knee joint motor (120) is arranged in the installation hole (111), and at least part of the knee joint motor (120) extends out of the first thigh web plate (110).

4. A knee joint assembly according to claim 2 or 3, wherein, The end of the lower leg web plate (210) towards the first thigh web plate (110) is provided with a rotation installation part (211), the two ends of the rotation installation part (211) along the X direction are rotationally connected to the first thigh web plate (110) and the second thigh web plate (150) respectively, the upper end of the rotation installation part (211) is provided with a connecting cavity (212), and the end of the knee joint connecting rod (140) away from the first flange plate (130) is hinged to the connecting cavity (212); the outer peripheral surface of the first flange plate (130) is protrudingly provided with a first connecting table (131), and the knee joint connecting rod (140) is hinged to the first connecting table (131).

5. A knee joint assembly according to claim 4, wherein, 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 (131), the first connecting table (131) is rotationally connected to the first arc-shaped guide groove (112), and the two end walls of the first arc-shaped guide groove (112) along the circumference of the first flange plate (130) are respectively provided with a first soft rubber pad (113).

6. A knee joint assembly according to any one of claims 1 to 3, wherein, The foot sole part (310) is rotatably connected to the end of the calf web (210) away from the first thigh web (110) through a cross joint bearing (320), and is driven to rotate around the X direction and the Y direction by a driving mechanism.

7. A knee joint assembly according to claim 6, wherein, The cross section of the calf web (210) perpendicular to the Z direction is provided in a U shape, the driving mechanism comprises a first motor (410) and a second motor (420), the first motor (410) and the second motor (420) are both arranged in the U-shaped groove of the calf web (210) parallel to the Y direction, the first motor (410) is located directly above the second motor (420), the output end of the first motor (410) is provided with a second flange plate (430), the eccentric part of the second flange plate (430) is hinged with a first connecting rod (440), the other end of the first connecting rod (440) away from the second flange plate (430) is hinged to the foot sole part (310); the output end of the second motor (420) is provided with a third flange plate (450), the eccentric part of the third flange plate (450) is hinged with a second connecting rod (460), the other end of the second connecting rod (460) away from the third flange plate (450) is hinged to the foot sole part (310); the first connecting rod (440) and the second connecting rod (460) are located on the side of the calf web (210) away from the first motor (410) along the Y direction, and are oppositely arranged along the X direction.

8. A knee joint assembly according to claim 7, wherein, The outer periphery of the second flange plate (430) is provided with a second connecting table (431), and the first connecting rod (440) is hinged to the second connecting table (431); the end surface of the calf web (210) away from the first motor (410) along the Y direction is provided with a first limiting table (213), and the first limiting table (213) is provided with a first avoiding arc groove for avoiding the second flange plate (430), and the two end walls of the first avoiding arc groove along the circumferential direction of the second flange plate (430) are respectively provided with a second soft rubber pad (214); And / or, the outer periphery of the third flange plate (450) is provided with a third connecting table (451), and the second connecting rod (460) is hinged to the third connecting table (451); the end surface of the calf web (210) away from the second motor (420) along the Y direction is provided with a second limiting table (215), and the second limiting table (215) is provided with a second avoiding arc groove for avoiding the third flange plate (450), and the two end walls of the second avoiding arc groove along the circumferential direction of the third flange plate (450) are respectively provided with a third soft rubber pad (216).

9. A knee joint assembly according to claim 7, wherein, The calf web (210) is provided as a metal web; And / or, the foot sole part (310) is provided with a connecting shaft (311) along the X direction, and the first connecting rod (440) and the second connecting rod (460) are respectively hinged to the two ends of the connecting shaft (311).

10. A humanoid robot, characterized by, The knee joint assembly comprises the knee joint assembly according to any one of claims 1 to 9.

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