Leg assembly and robot

Abstract

The utility model provides a leg assembly and a robot, and relates to the technical field of robots. The leg assembly comprises a hip part, a femoral joint driving part, a thigh part, a knee joint driving part and a shank part, the thigh part is provided with a femoral joint end and a thigh knee joint end, the shank part is provided with a shank knee joint end and a shank ankle joint end, the hip part is provided with a hip joint end, and the femoral joint end is connected with the hip joint end through the femoral joint driving part; the thigh knee joint end is connected with the shank knee joint end through a knee joint driving piece; the femoral joint driving part is configured to be capable of driving the thigh part to rotate relative to the hip part, and the knee joint driving part is configured to be capable of driving the shank part to rotate relative to the thigh part; when the leg assembly is in a buckling state, the thigh knee joint end and the shank knee joint end are located on the rear side, and the femoral joint end and the shank ankle joint end are located on the front side. The leg component provided by the utility model can reduce the working space on the front side of the robot occupied by the knee joint of the leg component for performing leg lifting or squatting actions.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a leg assembly and a robot. Background Technology

[0002] The leg assembly is a representative complex component in bipedal robot systems and is the foundation for humanoid robots to move. In other words, bipedal robots basically mimic the structure of human legs. During the robot's walking and working, the knee joints of the leg assembly occupy the working space in front of the bipedal robot when performing leg lifting or squatting movements, which restricts the robot's range of motion, especially in confined environments. Utility Model Content

[0003] In view of this, the purpose of this utility model is to overcome the shortcomings of the prior art and provide a leg component and a humanoid robot. By improving the design of the robot's leg component, the work space occupied by the knee joint of the leg component when performing leg lifting or squatting actions is reduced, thereby improving the robot's flexibility and increasing the robot's range of motion.

[0004] This utility model provides the following technical solution:

[0005] In a first aspect, embodiments of this application provide a leg assembly, the leg assembly having a front side and a rear side, and the leg assembly including a hip, a femoral joint drive, a thigh, a knee joint drive, and a lower leg, the thigh having a femoral joint end and a thigh knee joint end, the lower leg having a lower leg knee joint end and a lower leg ankle joint end, the hip having a hip joint end, the femoral joint end being connected to the hip joint end via the femoral joint drive, and the thigh knee joint end being connected to the lower leg knee joint end via the knee joint drive;

[0006] The femoral joint drive is configured to drive the thigh to rotate relative to the hip, and the knee joint drive is configured to drive the lower leg to rotate relative to the thigh. When the leg assembly is in a flexed state, the thigh knee joint end and the lower leg knee joint end are located on the posterior side, and the femoral joint end and the lower leg ankle joint end are located on the anterior side.

[0007] In some embodiments of the first aspect, the hip joint end and the femoral joint end are hinged to form a femoral joint hinge axis, the thigh knee joint end and the lower leg knee joint end are hinged to form a knee joint hinge axis, and the femoral joint hinge axis and the knee joint hinge axis are arranged parallel to each other.

[0008] The femoral joint drive component includes a hip joint link, an upper thigh link, and a femoral joint drive part. The hip joint link and the upper thigh link are hinged at one end close to each other to form a first hinge axis. The end of the hip joint link away from the upper thigh link and the portion of the hip part away from the hip joint end are hinged to form a second hinge axis. The end of the upper thigh link away from the hip joint link and the portion of the thigh part away from the femoral joint end are hinged to form a third hinge axis. The first hinge axis, the second hinge axis, the third hinge axis, and the femoral joint hinge axis are arranged parallel to each other.

[0009] The hip, thigh, upper thigh link, and hip joint link form a four-bar linkage. The femoral joint drive unit is connected to the hip joint link and / or the upper thigh link. The femoral joint drive unit is used to drive the hip joint link and / or the upper thigh link to rotate around the femoral joint hinge axis, so that the hip joint link and / or the upper thigh link move closer to or further away from each other.

[0010] In some embodiments of the first aspect, the knee joint drive includes an upper lower leg link, a lower thigh link, and a knee joint drive portion. The upper lower leg link and the lower thigh link are hinged together at one end to form a fourth hinge axis. The end of the lower thigh link away from the upper lower leg link and the portion of the thigh portion away from the knee joint end are hinged together to form a fifth hinge axis. The end of the upper lower leg link away from the lower thigh link and the portion of the lower leg portion away from the knee joint end are hinged together to form a sixth hinge axis. The fourth hinge axis, the fifth hinge axis, the sixth hinge axis, and the knee joint hinge axis are arranged parallel to each other.

[0011] The lower leg, the thigh, the upper lower leg link, and the lower thigh link constitute a four-bar linkage. The knee joint drive unit is connected to the upper lower leg link and / or the lower thigh link. The femoral joint drive unit is used to drive the upper lower leg link and / or the lower thigh link to rotate around the knee joint hinge axis, so that the upper lower leg link and / or the lower thigh link move closer to or further away from each other.

[0012] In some embodiments of the first aspect, the femoral joint drive is configured as a first automatic telescopic rod, the first automatic telescopic rod having a first telescopic end and a first fixed end, the first telescopic end being hinged to the hip joint link and the upper thigh link respectively, and the first fixed end being hinged to the thigh.

[0013] And / or, the knee joint drive unit is configured as a second automatic telescopic rod, the second automatic telescopic rod having a second telescopic end and a second fixed end, the second telescopic end being hinged to the lower thigh link and the upper calf link respectively, and the second fixed end being hinged to the thigh.

[0014] In some embodiments of the first aspect, the second automatic telescopic rod is located on the side of the thigh closer to the front, and the first automatic telescopic rod is located on the side of the thigh closer to the rear.

[0015] In some embodiments of the first aspect, the thigh has a first groove and a second groove, the first groove being located on the side of the thigh closer to the rear side and the second groove being located on the side of the thigh closer to the front side, the first groove being used to receive a portion of the first automatic telescopic rod and the second groove being used to receive a portion of the second automatic telescopic rod.

[0016] In some embodiments of the first aspect, the leg assembly further includes:

[0017] The device includes a foot and a pair of third automatic telescopic rods. The foot has an ankle joint end, which is ball-jointed to the ankle joint end of the lower leg. The pair of third automatic telescopic rods are respectively disposed on both sides of the lower leg. Each third automatic telescopic rod has a third fixed end and a third telescopic end. The third fixed end is hinged to the portion of the lower leg away from the ankle joint end of the lower leg, and the third telescopic end is ball-jointed to the portion of the foot away from the ankle joint end of the lower leg.

[0018] In some embodiments of the first aspect, the third automatic telescopic rod is located on the side of the lower leg closer to the front side.

[0019] In some embodiments of the first aspect, the lower leg has a third groove located on the side of the lower leg near the front, the third groove being used to receive a portion of the third automatic telescopic rod.

[0020] Secondly, this application also provides a robot, the robot including a leg assembly as described in any of the above embodiments.

[0021] The embodiments of this utility model have the following advantages:

[0022] The leg assembly provided by this invention, in the flexed state, has the thigh and lower leg knee joints located posteriorly, reducing the space occupied in front. This allows the robot to perform leg-raising or squatting movements without occupying frontal workspace, especially in confined spaces. Clearly, through this reverse joint design, the robot is more flexible in leg-raising and squatting movements, unrestricted by frontal space limitations. This design allows the robot to move freely even in narrow spaces, improving its flexibility. Furthermore, in the flexed state, the thigh and lower leg knee joints being located posteriorly do not obstruct the view of the front sensors. This helps improve the robot's perception and navigation accuracy, making it more precise in task execution. Moreover, because the reverse joint design reduces frontal space occupation, the robot performs leg-raising and squatting movements more smoothly. This design allows the robot to more flexibly avoid obstacles in complex terrain, enhancing its maneuverability.

[0023] Furthermore, the robot's leg components achieve gait switching through purely mechanical methods, consuming less energy during the switching between standing and swinging movements. This method is energy-efficient, has good load-bearing capacity, and is conducive to long-distance walking. In addition, the leg components have fewer active joints, making them simple to control and with fast dynamic response, thus reducing the requirements for signal transmission speed and sensors.

[0024] This utility model also relates to a robot. Since the above-mentioned leg component has the above-mentioned technical effects, the robot including the leg component should have the same technical effects, which will not be repeated here.

[0025] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A schematic diagram of a leg assembly provided by an embodiment of the present invention is shown from one perspective.

[0028] Figure 2 This diagram illustrates a structural schematic from another perspective of a leg assembly provided by an embodiment of the present invention;

[0029] Figure 3This diagram illustrates a structural schematic from another perspective of a leg assembly provided by an embodiment of the present invention.

[0030] Figure 4 This diagram illustrates a structural schematic from another perspective of a leg assembly provided by an embodiment of the present invention;

[0031] Figure 5 The diagram shows a structural schematic of a robot provided by an embodiment of the present invention from one perspective.

[0032] Explanation of key component symbols:

[0033] 10-Leg assembly; 100-Hip; 110-Hip joint end; 111-Femoral joint hinge axis;

[0034] 200 - Thigh; 210 - Femoral joint end; 220 - Thigh knee joint end; 221 - Fifth hinge axis; 222 - Fourth hinge axis; 223 - Knee joint hinge axis; 224 - Sixth hinge axis; 230 - Second groove;

[0035] 300 - Knee joint drive component; 310 - Knee joint drive unit; 320 - Lower thigh link; 330 - Upper calf link;

[0036] 400 - Femoral joint drive component; 410 - Hip joint link; 420 - Upper thigh link; 430 - Femoral joint drive unit; 411 - First hinge axis; 412 - Second hinge axis; 413 - Third hinge axis.

[0037] 500 - Foot; 510 - Ankle joint end of foot; 600 - Third automatic telescopic rod; 700 - Lower leg; 710 - Knee joint end of lower leg; 720 - Third groove; 730 - Ankle joint end of lower leg. Detailed Implementation

[0038] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0039] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0040] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0043] In related technologies, with the advancement of science and technology, the research and application fields of robots are constantly expanding. Among them, the research and application of humanoid robots or bipedal robots have received particular attention and have become one of the most active research hotspots in the field of robotics.

[0044] The leg assembly 10 is a representative complex component in the bipedal robot system and is the foundation for the humanoid robot to move. In other words, the bipedal robot basically imitates the structure of human legs. During the robot's walking and working, the knee joint of the leg assembly 10 will occupy the working space in front of the bipedal robot when performing leg lifting or squatting movements, which will limit the robot's range of motion, especially in narrow environments.

[0045] like Figure 1As shown, in order to solve the above-mentioned technical problems, this application provides a leg assembly 10. The leg assembly 10 is configured with a front side and a rear side, and the leg assembly 10 includes a hip 100, a femoral joint drive 400, a thigh 200, a knee joint drive 300, and a lower leg 700. The thigh 200 has a femoral joint end 210 and a thigh knee joint end 220. The lower leg 700 has a lower leg knee joint end 710 and a lower leg ankle joint end 730. The hip 100 has a hip joint end 110. The femoral joint end 210 is connected to the hip joint end 110 through the femoral joint drive 400, and the thigh knee joint end 220 is connected to the lower leg knee joint end 710 through the knee joint drive 300.

[0046] The femoral joint drive 400 is configured to drive the thigh 200 to rotate relative to the hip 100, and the knee joint drive 300 is configured to drive the lower leg 700 to rotate relative to the thigh 200. When the leg assembly 10 is in a flexed state, the thigh knee joint end 220 and the lower leg knee joint end 710 are located on the posterior side, and the femoral joint end 210 and the lower leg ankle joint end 730 are located on the anterior side.

[0047] In these embodiments, this application aims to improve the robot's flexibility and range of motion by refining the leg structure. Specifically, the design improves the space occupied by the knee joints on the front of the bipedal robot when performing leg raises or squats.

[0048] It should be noted that the hip 100 of the leg assembly 10 is connected to the robot's torso. Accordingly, the front side of the leg assembly 10 corresponds to the robot's chest side, and the rear side of the leg assembly 10 corresponds to the robot's back side. Of course, in other embodiments, the robot's chest side is also called the front side, and the robot's back side is also called the rear side.

[0049] The hip 100 is the part that connects the torso and the legs, and typically allows the leg assembly 10 to move in multiple directions. The femoral joint drive 400 is responsible for driving the rotation of the thigh 200 relative to the hip 100.

[0050] The thigh 200 has two ends: the femoral joint end 210 (the end near the hip 100) and the thigh knee joint end 220 (the end near the knee).

[0051] The knee joint drive 300 controls the rotation of the lower leg 700 relative to the thigh 200.

[0052] The lower leg 700 also has two endpoints: the lower leg knee joint end 710 (the end closer to the knee joint) and the lower leg ankle joint end 730 (the end closer to the foot 500).

[0053] The femoral joint drive 400 connects the hip 100 and the thigh 200, allowing the thigh 200 to rotate relative to the hip 100, that is, the thigh 200 can rotate forward or backward relative to the hip 100, thus bringing the thigh 200 and hip 100 closer together or further apart. The knee joint drive 300 connects the thigh 200 and the lower leg 700, allowing the lower leg 700 to rotate relative to the thigh 200, that is, the lower leg 700 can rotate forward or backward relative to the thigh 200, thus bringing the thigh 200 and lower leg 700 closer together or further apart. The femoral joint drive 400 can drive the thigh 200 to rotate relative to the hip 100, and the knee joint drive 300 can drive the lower leg 700 to rotate relative to the thigh 200, enabling the leg assembly 10 to switch between a flexed and extended state. Obviously, when the leg assembly 10 is in a flexed state, the thigh knee joint end 220 and the lower leg knee joint end 710 are located on the posterior side, and the femoral joint end 210 and the lower leg ankle joint end 730 are located on the anterior side. This structure causes the leg assembly 10 to form a reverse arch structure similar to that of a bird's leg, that is, the knee joint bends backward.

[0054] In other words, when the leg assembly 10 is in a flexed position, the thigh knee joint end 220 and the lower leg knee joint end 710 face the rear of the leg assembly 10, while the femoral joint end 210 and the lower leg ankle joint end 730 are located in front. This ensures that when performing actions such as lifting the leg or squatting, the leg structure folds backward rather than taking up space forward.

[0055] Clearly, this structure resembles the backward-bowed leg structure of birds, where the knee joint bends backward, reducing the amount of frontal workspace occupied by the robot when raising its leg or crouching. In other words, this design helps reduce the robot's need for frontal space during these movements. Because the knee joint bends backward, the reduced frontal space occupancy improves the robot's dexterity. Furthermore, this design allows the robot to move more flexibly in confined environments, increasing its range of motion. In particular, when performing complex tasks, the robot can better adapt to different working environments, improving its task performance capabilities.

[0056] Furthermore, the gait switching of the robot's leg component 10 is achieved through a purely mechanical method, which consumes less energy during the switching between standing and swinging movements, and is energy-efficient, has good load-bearing capacity, and is conducive to long-distance walking; in addition, the leg component 10 has fewer active joints, making it simple to control and with a fast dynamic response speed, thus reducing the requirements for signal transmission speed and sensors.

[0057] For example, in a confined environment where a robot needs to handle goods, this application provides an improved leg assembly 10 design. By designing the knee joint to bend backward, it reduces the amount of workspace occupied by the robot when lifting or squatting. This design allows the robot to move more flexibly in confined warehouse environments, improving the efficiency and safety of its goods handling.

[0058] like Figure 1 and Figure 2 As shown, in some embodiments, the hip joint end 110 and the femoral joint end 210 are hinged to form a femoral joint hinge axis 111, the thigh knee joint end 220 and the lower leg knee joint end 710 are hinged to form a knee joint hinge axis 223, and the femoral joint hinge axis 111 and the knee joint hinge axis 223 are arranged in parallel.

[0059] The femoral joint drive component 400 includes a hip joint link 410, an upper thigh link 420, and a femoral joint drive part 430. The hip joint link 410 and the upper thigh link 420 are hinged at one end close to each other to form a first hinge axis 411. The end of the hip joint link 410 away from the upper thigh link 420 is hinged to the portion of the hip 100 away from the hip joint end 110 to form a second hinge axis 412. The end of the upper thigh link 420 away from the hip joint link 410 is hinged to the portion of the thigh 200 away from the femoral joint end 210 to form a third hinge axis 413. The first hinge axis 411, the second hinge axis 412, the third hinge axis 413, and the femoral joint hinge axis 111 are arranged parallel to each other.

[0060] The hip 100, the thigh 200, the upper thigh link 420, and the hip joint link 410 constitute a four-bar linkage. The femoral joint drive unit 430 is connected to the hip joint link 410 and / or the upper thigh link 420. The femoral joint drive unit 430 is used to drive the hip joint link 410 and / or the upper thigh link 420 to rotate around the femoral joint hinge axis 111, so that the hip joint link 410 and / or the upper thigh link 420 move closer to or further away from each other.

[0061] In these embodiments, the hip joint end 110 and the femoral joint end 210 are hinged together to form a femoral joint hinge axis 111. This means that the thigh 200 can rotate around the femoral joint hinge axis 111 to move closer to or further away from the hip 100. In this embodiment, the femoral joint hinge axis 111 is horizontally aligned. Of course, in other embodiments, the femoral joint hinge axis 111 can also be inclined, as long as vertical adjustment of the thigh 200 is possible.

[0062] The thigh knee joint end 220 and the lower leg knee joint end 710 are also hinged together, forming a knee joint hinge axis 223. Similarly, the lower leg 700 can rotate about the knee joint hinge axis 223 to move closer to or further away from the thigh 200. For example, in this embodiment, the knee joint hinge axis 223 is set horizontally and linearly. Of course, in other embodiments, the knee joint hinge axis 223 can also be set at an angle, as long as it allows for vertical adjustment of the lower leg 700.

[0063] The femoral joint hinge axis 111 and the knee joint hinge axis 223 are parallel, which allows the leg assembly 10 to move in a smaller space.

[0064] Furthermore, the specific structure of the femoral joint drive component 400 is further defined. The hip joint link 410 is a link component connecting the hip 100 and the thigh 200. The upper thigh link 420 is another link component connecting the thigh 200. The femoral joint drive unit 430 is a device for driving the movement of the hip joint link 410 and the upper thigh link 420.

[0065] The hip joint link 410 and the upper thigh link 420 are hinged at their closest ends to each other to form a first hinge axis 411; for example, the hip joint link 410 and the upper thigh link 420 are hinged together by a first hinge axis, and the axis of the first hinge axis coincides with the first hinge axis 411.

[0066] The other end of the hip joint link 410 is hinged to the hip 100 to form a second hinge axis 412;

[0067] The other end of the upper thigh link 420 is hinged to the thigh 200 to form a third hinge axis 413. These three axes are all parallel to the femoral joint hinge axis 111.

[0068] Furthermore, the hip 100, thigh 200, upper thigh link 420, and hip joint link 410 together constitute a four-bar linkage. The femoral joint drive unit 430 is connected to the hip joint link 410 and / or the upper thigh link 420 to drive these links to rotate around the femoral joint hinge axis 111, thereby enabling the hip joint link 410 and the upper thigh link 420 to move closer or further apart.

[0069] Clearly, this design allows the leg assembly 10, in conjunction with the four-bar linkage, to achieve more precise leg movement control and more complex motion patterns by adjusting the position and angle of each link, while maintaining structural compactness and flexibility. In this way, the leg assembly 10 can move the knee joint to the rear in a flexed state, reducing its footprint in front of the robot and thus enhancing its maneuverability in confined environments.

[0070] like Figure 3 and Figure 4 As shown, in some embodiments, the knee joint drive 300 includes a lower leg upper link 330, a lower thigh link 320, and a knee joint drive portion 310. The lower leg upper link 330 and the lower thigh link 320 are hinged at one end close to each other to form a fourth hinge axis 222. The end of the lower thigh link 320 away from the lower leg upper link 330 and the portion of the thigh portion 200 away from the knee joint end 220 are hinged to form a fifth hinge axis 221. The end of the lower leg upper link 330 away from the lower thigh link 320 and the portion of the lower leg portion 700 away from the knee joint end 710 are hinged to form a sixth hinge axis 224. The fourth hinge axis 222, the fifth hinge axis 221, the sixth hinge axis 224, and the knee joint hinge axis 223 are arranged parallel to each other.

[0071] The lower leg 700, thigh 200, upper lower leg link 330, and lower thigh link 320 constitute a four-bar linkage. The knee joint drive unit 310 is connected to the upper lower leg link 330 and / or the lower thigh link 320. The femoral joint drive unit 430 is used to drive the upper lower leg link 330 and / or the lower thigh link 320 to rotate around the knee joint hinge axis 223, so that the upper lower leg link 330 and / or the lower thigh link 320 move closer to or further away from each other.

[0072] In these embodiments, the calf upper link 330 is hinged to one end of the thigh lower link 320. The thigh lower link 320 is hinged to one end of the calf upper link 330 and to the other end of the thigh portion 200. The thigh portion 200 is hinged to one end of the thigh lower link 320. The calf portion 700 is hinged to one end of the calf upper link 330.

[0073] Fourth hinge axis 222: The axis formed by hinged ends of the upper lower leg link 330 and the lower thigh link 320, allowing the upper lower leg link 330 and the lower thigh link 320 to rotate around the fourth hinge axis 222, thus moving them closer or further apart. For example, the upper lower leg link 330 and the lower thigh link 320 are hinged together by a second hinge axis, the axis of which coincides with the second hinge axis 412.

[0074] Fifth hinge axis 221: The axis formed by the hinge of the lower thigh link 320 away from the upper calf link 330 and the thigh 200, so that the thigh 200 and the lower thigh link 320 can rotate around the fifth hinge axis 221, so that the two can move closer or further apart.

[0075] The sixth hinge axis 224 is the axis formed by the hinge of the end of the lower leg link 330 away from the lower thigh link 320 and the lower leg 700, so that the lower leg link 330 and the lower leg 700 can rotate around the sixth hinge axis 224, so that the two can move closer or further apart.

[0076] The knee joint hinge axis 223 is the axis formed by the hinge between the thigh knee joint end 220 and the lower leg knee joint end 710. Furthermore, the fourth hinge axis 222, the fifth hinge axis 221, the sixth hinge axis 224 and the knee joint hinge axis 223 are arranged parallel to each other.

[0077] The knee joint drive unit 310 is connected to the upper lower leg link 330 and / or the lower thigh link 320 to drive the upper lower leg link 330 and / or the lower thigh link 320 to rotate about the knee joint hinge axis 223, thereby bringing the upper lower leg link 330 and / or the lower thigh link 320 closer to or further away from each other.

[0078] Clearly, the four-bar linkage allows for more complex leg movements, including flexion and extension, while maintaining coordinated movement of all components. When the leg is flexed, the thigh knee joint end 220 and the lower leg knee joint end 710 are located posteriorly, while the femoral joint end 210 and the lower leg ankle joint end 730 are located anteriorly, reducing the space occupied on the front side. Furthermore, the parallel hinge axes make the entire leg assembly 10 more compact, reducing interference during movement.

[0079] like Figure 1 and Figure 4 As shown, in some embodiments, the femoral joint drive unit 430 is configured as a first automatic telescopic rod, the first automatic telescopic rod having a first telescopic end and a first fixed end, the first telescopic end being hinged to the hip joint link 410 and the upper thigh link 420 respectively, and the first fixed end being hinged to the thigh part 200.

[0080] In these embodiments, a specific driving mechanism is mentioned, namely, using an automatic telescopic rod to drive the corresponding component in the four-bar linkage, thereby realizing the movement of the leg assembly 10.

[0081] The first fixed end is hinged to the thigh portion 200. The hip joint link 410 is hinged to one end of the upper thigh link 420. The first telescopic end is hinged to the hip joint link 410. The upper thigh link 420 is hinged to one end of the hip joint link 410. The first telescopic end is also hinged to the upper thigh link 420. The other end of the upper thigh link 420 is hinged to the thigh portion 200. The thigh portion 200 is hinged to one end of the upper thigh link 420. The first fixed end is hinged to the thigh portion 200. For example, the first hinge shaft and the first telescopic end are connected.

[0082] When the first automatic telescopic rod retracts or extends, it drives the hip joint link 410 and the upper thigh link 420 to move together. The extension and retraction of the first automatic telescopic rod drives the hip joint link 410 and the upper thigh link 420 to rotate around the femoral joint hinge axis 111, thereby achieving rotation of the thigh 200 relative to the hip 100, causing the thigh 200 to move closer to or further away from the hip 100. Specifically, when the first automatic telescopic rod extends, the hip joint link 410 and the upper thigh link 420 are pulled further apart, causing the thigh 200 to unfold outward relative to the hip 100. When the first automatic telescopic rod retracts, the hip joint link 410 and the upper thigh link 420 are pulled closer together, causing the thigh 200 to fold inward relative to the hip 100.

[0083] Clearly, the first automatic telescopic rod allows for highly precise control because its extension and retraction can be precisely adjusted, thus enabling precise actuation of the leg assembly 10. Compared to other complex drive mechanisms, the automatic telescopic rod has a relatively simple structure, making it easy to install and maintain. In other words, the extension and retraction of the first automatic telescopic rod allows for multiple movement modes of the leg assembly 10, such as leg lifting and bending, increasing the robot's flexibility. Specifically, when the leg assembly 10 needs to fold backward, the retraction of the telescopic rod allows the thigh 200 to bend backward, reducing the space occupied on the front side.

[0084] In particular, the first automatic telescopic rod drive in this application has a relatively higher power density and provides corresponding power, while reducing weight. This can effectively reduce the weight and inertia of the thigh 200 and calf 700, effectively improving the motion dynamic performance of the leg assembly 10.

[0085] For example, in this embodiment, the first automatic telescopic rod is a linear servo motor. Of course, in other embodiments, the first automatic telescopic rod may also be an electric actuator, a pneumatic cylinder, a hydraulic cylinder, etc.

[0086] like Figure 1 and Figure 4 As shown, in some embodiments, the knee joint drive unit 310 is configured as a second automatic telescopic rod, which has a second telescopic end and a second fixed end. The second telescopic end is hinged to the lower thigh link 320 and the upper calf link 330, respectively, and the second fixed end is hinged to the thigh part 200.

[0087] In these embodiments, the specific implementation of the knee joint drive unit 310 is further clarified, namely, the use of a second automatic telescopic rod to drive the corresponding component in the four-bar linkage, thereby realizing the movement of the knee joint.

[0088] The second telescopic end of the second automatic telescopic rod is hinged to the lower thigh connecting rod 320 and the upper calf connecting rod 330. The second fixed end is hinged to the thigh portion 200. The lower thigh connecting rod 320 is hinged to the second telescopic end and also to the thigh portion 200. The upper calf connecting rod 330 is hinged to the second telescopic end and also to the lower calf portion 700. The thigh portion 200 is hinged to the lower thigh connecting rod 320 and also to the second fixed end. The lower calf portion 700 is hinged to the upper calf connecting rod 330.

[0089] For example, the second telescopic end is connected to the second hinge shaft. Alternatively, in other embodiments, two of the three components—the second telescopic end, the lower thigh link 320, and the upper calf link 330—are hinged together, without specific limitation.

[0090] When the second automatic telescopic rod extends or retracts, it drives the lower thigh link 320 and the upper calf link 330 to move together. The extension and retraction of the second automatic telescopic rod drives the lower thigh link 320 and the upper calf link 330 to rotate around the knee joint hinge axis 223, thereby achieving rotation of the lower leg 700 relative to the thigh 200. Specifically, when the second automatic telescopic rod extends, the lower thigh link 320 and the upper calf link 330 are pulled apart, causing the lower leg 700 to unfold outward relative to the thigh 200. When the second automatic telescopic rod retracts, the lower thigh link 320 and the upper calf link 330 are pulled closer, causing the lower leg 700 to fold inward relative to the thigh 200.

[0091] Clearly, the second automatic telescopic rod allows for highly precise control because its extension and retraction can be precisely adjusted, thus enabling precise actuation of the knee joint. Compared to other complex actuation devices, the second automatic telescopic rod has a simpler structure, making it easier to install and maintain. The extension and retraction of the second automatic telescopic rod allows for various knee joint movement modes, such as flexion and extension, increasing the robot's flexibility. Similarly, when the leg assembly 10 needs to fold backward, the retraction of the telescopic rod allows the lower leg 700 to bend backward, reducing the space occupied on the front side.

[0092] In particular, the second automatic telescopic rod drive in this application has a relatively higher power density and provides corresponding power, while reducing weight. This can effectively reduce the weight and inertia of the thigh 200 and calf 700, and effectively improve the motion dynamic performance of the leg assembly 10.

[0093] For example, in this embodiment, the second automatic telescopic rod is a linear servo motor. Of course, in other embodiments, the second automatic telescopic rod may also be an electric actuator, a pneumatic cylinder, a hydraulic cylinder, etc.

[0094] like Figure 1As shown, in some embodiments, the second automatic telescopic rod is located on the front side of the thigh 200, and the first automatic telescopic rod is located on the rear side of the thigh 200.

[0095] In these embodiments, the specific positional arrangement of the first and second automatic telescopic rods on the thigh 200 is further clarified. Specifically, the second automatic telescopic rod is located on the front side of the thigh 200. The second automatic telescopic rod has a second telescopic end and a second fixed end. The second telescopic end is hinged to the lower thigh connecting rod 320 and the upper calf connecting rod 330. The second fixed end is hinged to the thigh 200.

[0096] The first automatic telescopic rod is located on the posterior side of the thigh section 200. The second automatic telescopic rod has a first telescopic end and a first fixed end. The first telescopic end is hinged to the hip joint link 410 and the upper thigh link 420. The first fixed end is hinged to the thigh section 200.

[0097] When the first automatic telescopic rod extends or retracts, it drives the hip joint link 410 and the upper thigh link 420 to move together. The extension and retraction of the first automatic telescopic rod drives the hip joint link 410 and the upper thigh link 420 to rotate around the femoral joint hinge axis 111, thereby achieving rotation of the thigh 200 relative to the hip 100. Specifically, when the first automatic telescopic rod extends, the hip joint link 410 and the upper thigh link 420 are pulled apart, causing the thigh 200 to unfold outward relative to the hip 100. When the first automatic telescopic rod retracts, the hip joint link 410 and the upper thigh link 420 are pulled closer, causing the thigh 200 to fold inward relative to the hip 100.

[0098] When the second automatic telescopic rod extends or retracts, it drives the lower thigh link 320 and the upper calf link 330 to move together. The extension and retraction of the second automatic telescopic rod drives the lower thigh link 320 and the upper calf link 330 to rotate around the knee joint hinge axis 223, thereby achieving rotation of the lower leg 700 relative to the thigh 200. Specifically, when the second automatic telescopic rod extends, the lower thigh link 320 and the upper calf link 330 are pulled apart, causing the lower leg 700 to unfold outward relative to the thigh 200. When the second automatic telescopic rod retracts, the lower thigh link 320 and the upper calf link 330 are pulled closer, causing the lower leg 700 to fold inward relative to the thigh 200.

[0099] Clearly, by placing the second automatic telescopic rod on the front side of the thigh 200 and the first automatic telescopic rod on the rear side of the thigh 200, the thigh 200 and lower leg 700 can fold back more compactly when the leg is bent, reducing space requirements. Furthermore, the second and first automatic telescopic rods, located at the front and rear respectively, reduce mutual interference, improving the system's reliability and stability.

[0100] Furthermore, because the second automatic telescopic rod experiences the greatest force during movement, it is placed at the front to increase the lever arm of the second automatic telescopic rod relative to the knee joint (i.e., the hinge point between the lower leg 700 and the thigh 200) when the thigh is in a large-angle movement state, thereby reducing the driving force required for the second automatic telescopic rod in the same movement.

[0101] like Figure 1 As shown, in some embodiments, the thigh portion 200 has a first groove and a second groove 230. The first groove is located on the side of the thigh portion 200 near the rear side, and the second groove 230 is located on the side of the thigh portion 200 near the front side. The first groove is used to accommodate a portion of the first automatic telescopic rod, and the second groove 230 is used to accommodate a portion of the second automatic telescopic rod.

[0102] In these embodiments, the specific design of the thigh portion 200 is further clarified. A first groove is located on the rear side of the thigh portion 200. A second groove 230 is located on the front-rear side of the thigh portion 200. The first groove is used to accommodate a portion of the first automatic telescopic rod. The second groove 230 is used to accommodate a portion of the second automatic telescopic rod.

[0103] The first automatic telescopic rod is located on the rear side of the thigh section 200. The first telescopic end is hinged to the hip joint link 410 and the upper thigh link 420. The first fixed end is hinged to the thigh section 200. A portion of the first automatic telescopic rod is located within the first groove to protect and conceal the first telescopic rod while minimizing its impact on external space. Furthermore, it protects the first automatic telescopic rod from external environmental influences, such as impacts or other physical damage, extending the service life of the telescopic rod.

[0104] For example, the first groove extends along the extension direction of the projection of the first automatic telescopic rod in a direction perpendicular to the thigh 200, and the width of the first groove is greater than the width of the first automatic telescopic rod.

[0105] The second automatic telescopic rod is located on the front side of the thigh section 200. The second telescopic end is hinged to the lower thigh connecting rod 320 and the upper calf connecting rod 330. The second fixed end is hinged to the thigh section 200. A portion of the second automatic telescopic rod is located within the second groove 230 to protect and conceal the telescopic rod, while minimizing its impact on external space. Furthermore, this design protects the second automatic telescopic rod from external environmental influences, such as impacts or other physical damage, extending the service life of the telescopic rod.

[0106] For example, the second groove 230 extends along the extension direction of the projection of the second automatic telescopic rod in a direction perpendicular to the thigh 200, and the width of the second groove 230 is greater than the width of the second automatic telescopic rod.

[0107] like Figure 1 As shown, in some embodiments, the leg assembly 10 further includes a foot 500 and a pair of third automatic telescopic rods 600. The foot 500 has an ankle joint end 510, which is ball-jointed to the lower leg ankle joint end 730. The pair of third automatic telescopic rods 600 are respectively disposed on both sides of the lower leg 700. Each third automatic telescopic rod 600 has a third fixed end and a third telescopic end. The third fixed end is hinged to the portion of the lower leg away from the lower leg ankle joint end 730, and the third telescopic end is ball-jointed to the portion of the foot 500 away from the ankle joint end 510.

[0108] In these embodiments, the design of the leg assembly 10 is further extended by introducing a foot 500 and a pair of third automatic telescopic rods 600 to enable more complex foot 500 movements.

[0109] In other words, the lower leg 700 has a pair of third automatic telescopic rods 600, respectively located on both sides of the lower leg 700. The third fixed end is hinged to the portion of the lower leg away from the ankle joint 730. The ankle joint end 510 of the foot is ball-hinged to the ankle joint end 730 of the lower leg, allowing the foot 500 to move in multiple directions. The third telescopic end is ball-hinged to the portion of the foot 500 away from the ankle joint end 510, similarly allowing the foot 500 to move in multiple directions.

[0110] For example, in this embodiment, the third telescopic end and the portion of the foot 500 near the front are hinged. Of course, in other embodiments, the third telescopic end and the portion of the foot 500 near the rear are hinged.

[0111] When the third automatic telescopic rod 600 extends or retracts, it drives the foot 500 to move up and down. Through the extension and retraction of the third automatic telescopic rod 600, the foot 500 can rotate relative to the lower leg 700, thereby enabling the foot 500 to be raised, lowered, and adjusted in other directions.

[0112] For example, the foot lifting action: when the two third automatic telescopic rods 600 extend, the foot 500 will be lifted.

[0113] Lowering action: When the third automatic telescopic bar 600 is shortened, the foot 500 will be lowered.

[0114] Meanwhile, the foot 500 can be adjusted in multiple directions. Through the ball joint design, the foot 500 can be adjusted in multiple directions to adapt to different ground conditions and sports needs. For example, when the extension lengths of the two third automatic telescopic rods 600 are different, the foot 500 can be turned outward or inward to adapt to the ground and ensure that the foot 500 makes stable contact with the ground.

[0115] like Figure 1 As shown, in some embodiments, the third automatic telescopic rod 600 is located on the side of the lower leg 700 near the front.

[0116] In these embodiments, the specific positional arrangement of the third automatic telescopic rod 600 on the lower leg 700 is further clarified.

[0117] When the third automatic telescopic rod 600 is shortened, the front portion of the footrest 500 is raised. When the third automatic telescopic rod 600 is extended, the front portion of the footrest 500 is lowered.

[0118] Clearly, by placing the third automatic telescopic rod 600 on the front side of the lower leg 700, the overall volume of the leg assembly 10 can be reduced, making the robot more compact when folding or retracting the legs. Placing the third automatic telescopic rod 600 on the front side reduces the likelihood of it being hit by external objects, thus protecting the telescopic rod from damage.

[0119] Furthermore, as mentioned above, since the third automatic telescopic rod 600 experiences the greatest force during movement, it is placed on the front side of the lower leg 700 to increase the lever arm of the third automatic telescopic rod 600 relative to the hip joint (i.e., the ball joint between the lower leg 700 and the foot 500) when the foot 500 is in a large-angle movement state, so as to reduce the driving force required for the second automatic telescopic rod in the same movement.

[0120] like Figure 1 and Figure 4 As shown, in some embodiments, the lower leg 700 has a third groove 720 located on the side of the lower leg 700 near the front, the third groove 720 being used to accommodate a portion of the third automatic telescopic rod 600.

[0121] In these embodiments, the lower leg 700 has a third groove 720 for accommodating a portion of the third automatic telescopic rod 600 to protect and conceal the telescopic rod. Furthermore, the third automatic telescopic rod 600 is located on the front side of the lower leg 700 and is partially within the third groove 720, reducing the space occupied by the leg assembly 10 on the front side. This design allows for more spacious front space when the robot performs actions, making it suitable for operation in confined environments.

[0122] Furthermore, it can reduce the overall volume of the leg assembly 10, making the robot more compact when folding or retracting its legs.

[0123] For example, the third groove 720 extends along the extension direction of the projection of the third automatic telescopic rod 600 in the direction perpendicular to the lower leg 700, and the width of the third groove 720 is greater than the width of the third automatic telescopic rod 600.

[0124] like Figure 5 As shown, in some embodiments, this application also provides a robot that includes a leg assembly 10 as described in any of the above embodiments.

[0125] Clearly, this application is not limited to a single leg component 10, but also proposes a novel integrated solution: a robot. This robot integrates the leg component 10 technology described in the various embodiments above, aiming to provide users with a more intelligent, flexible, and efficient automation solution.

[0126] For example, the robot is a humanoid robot. One of the design goals of humanoid robots is to mimic the human body structure and motor abilities to achieve more natural human-computer interaction and a wide range of applications. The leg assembly 10, as an important component of the humanoid robot, undertakes the key responsibility of performing various tasks, such as grasping objects and performing fine motor operations. Of course, in other embodiments, the robot may also be a bipedal robot; this is not specifically limited here.

[0127] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0128] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0129] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A leg assembly, characterized in that, The leg assembly is configured with a front side and a rear side, and the leg assembly includes a hip, a femoral joint drive, a thigh, a knee joint drive, and a lower leg. The thigh has a femoral joint end and a thigh knee joint end, the lower leg has a lower leg knee joint end and a lower leg ankle joint end, the hip has a hip joint end, the femoral joint end is connected to the hip joint end through the femoral joint drive, and the thigh knee joint end is connected to the lower leg knee joint end through the knee joint drive. The femoral joint drive is configured to drive the thigh to rotate relative to the hip, and the knee joint drive is configured to drive the lower leg to rotate relative to the thigh. When the leg assembly is in a flexed state, the thigh knee joint end and the lower leg knee joint end are located on the posterior side, and the femoral joint end and the lower leg ankle joint end are located on the anterior side.

2. The leg assembly according to claim 1, characterized in that, The hip joint end and the femoral joint end are hinged to form a femoral joint hinge axis, the thigh knee joint end and the lower leg knee joint end are hinged to form a knee joint hinge axis, and the femoral joint hinge axis and the knee joint hinge axis are arranged parallel to each other. The femoral joint drive component includes a hip joint link, an upper thigh link, and a femoral joint drive part. The hip joint link and the upper thigh link are hinged at one end close to each other to form a first hinge axis. The end of the hip joint link away from the upper thigh link and the portion of the hip part away from the hip joint end are hinged to form a second hinge axis. The end of the upper thigh link away from the hip joint link and the portion of the thigh part away from the femoral joint end are hinged to form a third hinge axis. The first hinge axis, the second hinge axis, the third hinge axis, and the femoral joint hinge axis are arranged parallel to each other. The hip, thigh, upper thigh link, and hip joint link form a four-bar linkage. The femoral joint drive unit is connected to the hip joint link and / or the upper thigh link. The femoral joint drive unit is used to drive the hip joint link and / or the upper thigh link to rotate around the femoral joint hinge axis, so that the hip joint link and / or the upper thigh link move closer to or further away from each other.

3. The leg assembly according to claim 2, characterized in that, The knee joint drive component includes an upper lower leg link, a lower thigh link, and a knee joint drive part. The upper lower leg link and the lower thigh link are hinged together at one end to form a fourth hinge axis. The end of the lower thigh link away from the upper lower leg link and the portion of the thigh away from the knee joint are hinged together to form a fifth hinge axis. The end of the upper lower leg link away from the lower thigh link and the portion of the lower leg away from the knee joint are hinged together to form a sixth hinge axis. The fourth hinge axis, the fifth hinge axis, the sixth hinge axis, and the knee joint hinge axis are arranged parallel to each other. The lower leg, the thigh, the upper lower leg link, and the lower thigh link constitute a four-bar linkage. The knee joint drive unit is connected to the upper lower leg link and / or the lower thigh link. The femoral joint drive unit is used to drive the upper lower leg link and / or the lower thigh link to rotate around the knee joint hinge axis, so that the upper lower leg link and / or the lower thigh link move closer to or further away from each other.

4. The leg assembly according to claim 3, characterized in that, The femoral joint drive unit is configured as a first automatic telescopic rod, which has a first telescopic end and a first fixed end. The first telescopic end is hinged to the hip joint link and the upper thigh link, respectively, and the first fixed end is hinged to the thigh. And / or, the knee joint drive unit is configured as a second automatic telescopic rod, the second automatic telescopic rod having a second telescopic end and a second fixed end, the second telescopic end being hinged to the lower thigh link and the upper calf link respectively, and the second fixed end being hinged to the thigh.

5. The leg assembly according to claim 4, characterized in that, The second automatic telescopic rod is located on the side of the thigh closer to the front, and the first automatic telescopic rod is located on the side of the thigh closer to the back.

6. The leg assembly according to claim 5, characterized in that, The thigh portion has a first groove and a second groove, the first groove being located on the side of the thigh portion closer to the rear side, and the second groove being located on the side of the thigh portion closer to the front side. The first groove is used to accommodate a portion of the first automatic telescopic rod, and the second groove is used to accommodate a portion of the second automatic telescopic rod.

7. The leg assembly according to claim 1, characterized in that, The leg assembly also includes: The device includes a foot and a pair of third automatic telescopic rods. The foot has an ankle joint end, which is ball-jointed to the ankle joint end of the lower leg. The pair of third automatic telescopic rods are respectively disposed on both sides of the lower leg. Each third automatic telescopic rod has a third fixed end and a third telescopic end. The third fixed end is hinged to the portion of the lower leg away from the ankle joint end of the lower leg, and the third telescopic end is ball-jointed to the portion of the foot away from the ankle joint end of the lower leg.

8. The leg assembly according to claim 7, characterized in that, The third automatic telescopic rod is located on the side of the lower leg near the front.

9. The leg assembly according to claim 8, characterized in that, The lower leg has a third groove located on the side of the lower leg near the front, the third groove being used to accommodate a portion of the third automatic telescopic rod.

10. A robot, characterized in that, The robot includes the leg assembly as described in any one of claims 1 to 9.

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