Movement structure and lower limb structure of humanoid biped robot simulating human muscle contraction movement

Abstract

The utility model relates to the technical field of robots, in particular to a motion structure and a lower limb structure of a humanoid biped robot simulating human muscle contraction movement, which comprise a motion joint formed by rotationally connecting two mechanical arms and a driving component. The human body muscle structure simulation device has the characteristic of high simulation, and can simulate the human body muscle structure, so that the movement is more natural. The rope disc driving system is adopted, the motion mode similar to human muscle contraction can be simulated through fine design and control, and the action of the robot is smoother and more natural. The movable pulley device is arranged at the knee joint part, so that the motor load can be effectively reduced, and the exercise efficiency is improved. The introduction of the movable pulley system not only reduces the power consumption of the motor, but also reduces the mechanical wear of the system, thereby improving the overall performance and service life of the robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically a bipedal humanoid robot motion structure and lower limb structure that mimics human muscle contraction movements. Background Technology

[0002] Currently, robotics technology is developing rapidly worldwide, especially in the medical, industrial, and service sectors. However, bipedal robots still face many challenges in terms of motion stability and realism. Existing robots largely rely on complex sensors and algorithms, failing to perfectly simulate natural human movement. Specifically, industrial robots have made significant improvements in precision and speed, but there is still considerable room for improvement in flexibility and intelligence. Service robots have made some progress in intelligent interaction and environmental adaptability, but their autonomous movement capabilities in complex environments still need improvement. Medical robots perform well in surgical assistance and rehabilitation, but their cost and widespread application remain limited. Furthermore, with the development of artificial intelligence and the Internet of Things (IoT) technologies, the robotics industry is moving towards intelligence, collaboration, and autonomy. In the future, robots will not only be tools but will become intelligent agents capable of autonomous learning and decision-making.

[0003] Motion control, load management, and energy efficiency are the main bottlenecks in the current technological development of bipedal robots. Existing solutions often struggle to achieve a balance between high precision and low energy consumption. Furthermore, adaptability to complex terrain and real-time responsiveness are also pressing issues. Specifically, bipedal robots need to perceive their environment in real time and make dynamic adjustments during walking, which places extremely high demands on the accuracy of sensors and the computing power of processors. In addition, the stability and energy management of bipedal robots during walking are also technical challenges. While traditional servo motors and reducers can provide sufficient power and precision, their large size, heavy weight, and high energy consumption hinder the robot's lightweight design and improved endurance. Therefore, how to reduce system energy consumption and weight while ensuring motion accuracy and stability has become a key challenge in the development of bipedal robot technology. Summary of the Invention

[0004] The technical problem this invention aims to solve is to provide a bipedal robot based on a rope-driven mechanism, designed to achieve more natural movement by mimicking human muscle and skeletal structures. Through biomimetic design, the bipedal robot employs a rope-driven system similar to human muscles, enabling it to simulate human gait and movements. In practical applications, the robot can be programmed with control code to perform complex movements such as squatting, walking, and running, thus demonstrating its application potential in multiple fields. To solve the above technical problem, the technical solution provided by this invention is as follows:

[0005] A bipedal humanoid robot motion structure that mimics human muscle contraction includes a motion joint formed by two robotic arms rotating and connected together, and a drive component.

[0006] The robotic arm includes a first robotic arm and a second robotic arm.

[0007] The drive assembly includes a motor, a guide wheel, and a pull cable. The motor and guide wheel are mounted on the first robotic arm, and the second robotic arm has a connection point. The output shaft of the motor has a rope reel for winding the pull cable. The pull cable passes through the guide wheel and is fixed to the connection point of the second robotic arm.

[0008] The drive assembly consists of two components, located on either side of the robotic arm. The rotation of the two motors controls the forward or reverse rotation of the joints.

[0009] As an improvement, the motion joints and the outer side of the robotic arm are provided with a housing.

[0010] A bipedal humanoid robot lower limb structure includes a base, hip joint, thigh, knee joint, calf, ankle joint, and foot connected in sequence.

[0011] The hip joint is equipped with two sets of drive components, which are used to control the forward and backward rotation, as well as adduction and abduction of the hip joint.

[0012] The knee joint is equipped with a set of drive components for controlling the flexion and extension of the knee joint;

[0013] The ankle joint is equipped with a set of drive components for controlling the flexion and extension of the ankle joint.

[0014] As an improvement, the base is provided with a ball socket, and the top of the thigh is provided with a ball head. The thigh is rotatably connected to the base through the ball socket-ball head structure.

[0015] The drive assembly on the hip joint includes a first motor, a second motor, a third motor, and a fourth motor;

[0016] The first motor is mounted on a base, and the base is also equipped with a first guide wheel. The pull cable is wound on the rope reel of the first motor, passes through the first guide wheel, and is connected to the outer side of the thigh. The fourth motor is mounted at the bottom of the base, and the pull cable is wound on the rope reel of the fourth motor and then connected to the inner side of the thigh. The first motor and the fourth motor work together to control the adduction and abduction of the hip joint.

[0017] The second motor is mounted on a base, which also has a second guide wheel. A cable is wound on the second motor's reel, passes through the second guide wheel, and connects to the front of the thigh. The third motor is mounted on a base, which also has a third guide wheel. A cable is wound on the third motor's reel, passes through the third guide wheel, and connects to the back of the thigh. The second and third motors work together to control the forward and backward rotation of the hip joint.

[0018] As an improvement, a fifth motor and a movable pulley are provided on the thigh. The pull line is wound on the rope reel of the fifth motor and its end is connected to the movable pulley. A first connection point is provided on the front side of the lower leg. The two lines on the movable pulley are respectively connected to the thigh and the first connection point.

[0019] The thigh is equipped with a sixth motor and a second movable pulley. The pull line is wound on the rope reel of the sixth motor and its end is connected to the second movable pulley. The back of the lower leg is equipped with a second connection point. The two lines on the second movable pulley are respectively connected to the thigh and the second connection point.

[0020] The fifth and sixth motors work together to control the forward and backward rotation of the knee joint.

[0021] As an improvement, a seventh motor and a seventh guide wheel are provided on the back side of the lower leg, a seventh connection point is provided on the back of the foot, and the pull rope is wound on the rope reel of the seventh motor, passes through the seventh guide wheel, and then connects to the seventh connection point;

[0022] The lower leg is provided with an eighth motor and an eighth guide wheel, the foot is provided with an eighth connection point, the pull rope is wound on the rope reel of the eighth motor, passes through the eighth guide wheel, and then connects to the eighth connection point;

[0023] The seventh and eighth motors work together to control the flexion and extension of the ankle joint.

[0024] As an improvement, the motor is a stepper motor.

[0025] The advantages of this utility model are:

[0026] 1. This invention features highly realistic simulation capabilities, capable of mimicking human muscle structure and making movement more natural. Utilizing a rope-driven system, this invention can, through precise design and control, simulate movements similar to human muscle contractions, resulting in smoother and more natural robot motion.

[0027] 2. This invention incorporates a movable pulley system in the knee joint, which effectively reduces motor load and improves motion efficiency. The introduction of the movable pulley system not only reduces motor power consumption but also minimizes mechanical wear, thereby enhancing the robot's overall performance and lifespan.

[0028] 3. This utility model has high adaptability; by controlling the working state of one or more stepper motors, the robot can be controlled to complete various actions. Therefore, its control system can be further developed by introducing artificial intelligence and machine learning algorithms, using AI to control each stepper motor, thereby enabling the robot to adaptively adjust in different environments, improving its mobility and task execution capabilities in complex terrains. Attached Figure Description

[0029] Figure 1 This is a structural diagram of the motion structure of a bipedal humanoid robot that mimics human muscle contraction in Example 1.

[0030] Figure 2 This is a structural diagram of the lower limb structure of the bipedal humanoid robot in Example 1.

[0031] Figure 3 This is a structural diagram of the hip joint in the lower limb structure of the bipedal humanoid robot in Example 1.

[0032] Figure 4 This is a structural diagram of the knee joint in the lower limb structure of the bipedal humanoid robot in Example 1.

[0033] Figure 5 This is a structural diagram of the ankle joint in the lower limb structure of the bipedal humanoid robot in Example 1.

[0034] The image shows:

[0035] 1-Robotic arm, 11-First robotic arm, 12-Second robotic arm, 13-Carrier shell, 2-Drive assembly, 21-Motor, 22-Guide wheel, 23-Pull cable, 24-Connection point, 25-Rope reel, 3-Base, 31-Ball socket, 4-Hip joint, 41-First motor, 42-Second motor, 43-Third motor, 44-Fourth motor, 45-First guide wheel, 46-Second guide wheel, 47-Third guide wheel, 5-Thigh, 51-Ball head, 52-Fifth motor, 53-Moving pulley, 54-Sixth motor, 55-Second moving pulley, 6-Knee joint, 7-Lower leg, 71-First connection point, 72-Second connection point, 73-Seventh motor, 74-Seventh guide wheel, 75-Eighth motor, 76-Eighth guide wheel, 8-Ankle joint, 9-Foot, 91-Seventh connection point, 92-Eighth connection point.

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0037] In the description of the embodiments of this utility model, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," or "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0038] Furthermore, the use of terms such as "horizontal," "vertical," and "sag" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0039] In the description of the embodiments of this utility model, "a plurality of" means at least two.

[0040] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of 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. Example

[0041] This embodiment discloses a bipedal humanoid robot motion structure that mimics human muscle contraction, including a motion joint formed by two mechanical arms 1 rotatably connected and a drive component 2.

[0042] Robotic arm 1 includes a first robotic arm 11 and a second robotic arm 12.

[0043] The drive assembly 2 includes a motor 21, a guide wheel 22 and a pull cable 23. The motor 21 and the guide wheel 22 are mounted on the first robotic arm 11, and the second robotic arm 12 is provided with a connection point 24. The output shaft of the motor 21 is provided with a rope spool 25 for winding the pull cable 23. The pull cable 23 passes through the guide wheel 22 and is fixed on the connection point 24 of the second robotic arm 12.

[0044] There are two drive components 2, which are located on both sides of the robotic arm 1. The rotation of the two motors 21 controls the forward or reverse rotation of the joints.

[0045] The motion joints and the outer side of the robotic arm 1 are provided with a housing 13.

[0046] Based on the above principle, this embodiment also discloses a bipedal humanoid robot lower limb structure, including a base 3, a hip joint 4, a thigh 5, a knee joint 6, a lower leg 7, an ankle joint 8, and a foot 9 connected in sequence.

[0047] Two sets of drive components 2 are provided on the hip joint 4, which are used to control the forward and backward rotation, as well as adduction and abduction of the hip joint 4.

[0048] A set of drive components 2 is provided on the knee joint 6 to control the flexion and extension of the knee joint 6.

[0049] An ankle joint 8 is provided with a set of drive components 2 for controlling the flexion and extension of the ankle joint 8.

[0050] The specific structure of this embodiment is as follows:

[0051] The base 3 is provided with a ball socket 31, and the top of the thigh 5 is provided with a ball head 51. The thigh 5 is rotatably connected to the base 3 through the ball socket-ball head structure.

[0052] The drive assembly on the hip joint 4 includes a first motor 41, a second motor 42, a third motor 43, and a fourth motor 44.

[0053] The first motor 41 is mounted on the base 4, and the base 4 is also equipped with a first guide wheel 45. The pull cable 23 is wound on the rope reel of the first motor 41, passes through the first guide wheel 45 and is connected to the outside of the thigh 5. The fourth motor 44 is mounted at the bottom of the base 3, and the pull cable 23 is wound on the rope reel of the fourth motor 44 and is then connected to the inside of the thigh 5. The first motor 41 and the fourth motor 44 work together to control the adduction and abduction of the hip joint 4.

[0054] The second motor 42 is mounted on the base 3, which also has a second guide wheel 46. The pull cable 23 is wound on the rope reel of the second motor 42, passes through the second guide wheel 46, and connects to the front of the thigh 5. The third motor 43 is mounted on the base 3, which also has a third guide wheel 47. The pull cable 23 is wound on the rope reel of the third motor 43, passes through the third guide wheel 47, and connects to the back of the thigh 5. The second motor 42 and the third motor 43 work together to control the forward and backward rotation of the hip joint 4.

[0055] During the movement of each motor controlling the corresponding part, the motors should move simultaneously to control the rope reel to contract the rope. For example, the first motor 41 tightens the rope to control leg abduction, while the fourth motor 44 correspondingly controls the rope reel to release the rope of the corresponding length to ensure the locking and stability of the entire joint. The same principle applies to the following.

[0056] The thigh 5 is equipped with a fifth motor 52 and a movable pulley 53. The pull line 23 is wound on the rope coil of the fifth motor 52 and the end is connected to the movable pulley 53. The front side of the lower leg 7 is equipped with a first connection point 71. The two lines on the movable pulley 53 are respectively connected to the thigh 5 and the first connection point 71.

[0057] The thigh 5 is equipped with a sixth motor 54 and a second movable pulley 55. The pull line 23 is wound on the rope coil of the sixth motor 54 and its end is connected to the second movable pulley 55. The lower leg 7 is equipped with a second connection point 72 on its rear side. The two lines on the second movable pulley 55 are respectively connected to the thigh 5 and the second connection point 72.

[0058] The fifth motor 52 and the sixth motor 54 work together to control the forward and backward rotation of the knee joint 6.

[0059] The lower leg 7 is provided with a seventh motor 73 and a seventh guide wheel 74 on the rear side, and the foot 9 is provided with a seventh connection point 91. The pull line 23 is wound on the rope coil of the seventh motor 73, passes through the seventh guide wheel 74, and then connects to the seventh connection point 91.

[0060] The lower leg 7 is provided with an eighth motor 75 and an eighth guide wheel 76 on the front side, and the foot 9 is provided with an eighth connection point 92 on the front part. The pull line 23 is wound on the rope coil of the eighth motor 75, passes through the eighth guide wheel 76, and then connects to the eighth connection point 92.

[0061] The seventh motor 73 and the eighth motor 75 work together to control the flexion and extension of the ankle joint 8.

[0062] All motors in this embodiment are stepper motors.

[0063] This embodiment only discloses the motion structure that drives walking on both legs. In practical applications, it is necessary to use a gyroscope to sense balance and ensure the stability of the hips.

[0064] To illustrate this embodiment, let's take stepping out with the left foot as an example:

[0065] First, the first and fourth motors use gyroscopes to sense and maintain overall hip stability. The second motor controls the rope reel to contract, and the third motor controls its relaxation; the sixth motor controls contraction, and the fifth motor controls relaxation; the seventh motor controls contraction, and the eighth motor controls relaxation. On the other side, the rope reel's contraction and relaxation correspond to the body's balance state. Because the side requiring relaxation can relax its reel a very short time in advance, and the motors on the contraction and relaxation sides operate at the same pace as the movement, the overall movement can be completed at a relatively fast speed.

[0066] For the jump, the process first requires a slight squat to simulate a human jump, achieved through motor movement. Specifically, the eighth motor controls the rope reel to contract, and the seventh motor controls it to relax; the sixth motor controls the rope reel to contract, and the fifth motor controls it to relax; the second motor controls the rope reel to contract, and the third motor controls it to relax. After this preparation is complete, the corresponding motors quickly reverse their operations to complete the jump.

[0067] Furthermore, the motion joint disclosed in this embodiment can also be applied to the hand. When this structure is used in the hand, it can also complete a series of complex actions such as grasping. Only the corresponding motor pair needs to complete the corresponding control. Moreover, since the power is transmitted through the rope, the power source (motor) can be placed at a more distant position instead of being concentrated on the fingers.

[0068] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A motion structure for a bipedal humanoid robot that mimics human muscle contraction, characterized in that, This includes a motion joint formed by the rotatable connection of two robotic arms and a drive assembly; The robotic arm includes a first robotic arm and a second robotic arm. The drive assembly includes a motor, a guide wheel, and a pull cable. The motor and guide wheel are mounted on the first robotic arm, and the second robotic arm has a connection point. The output shaft of the motor has a rope reel for winding the pull cable. The pull cable passes through the guide wheel and is fixed to the connection point of the second robotic arm. The drive assembly consists of two components, located on either side of the robotic arm. The rotation of the two motors controls the forward or reverse rotation of the joints.

2. The motion structure of a bipedal humanoid robot mimicking human muscle contraction as described in claim 1, characterized in that, The motion joints and the outer side of the robotic arm are equipped with a shell.

3. The motion structure of a bipedal humanoid robot mimicking human muscle contraction as described in claim 1, characterized in that, The motor is a stepper motor.

4. A bipedal humanoid robot lower limb structure based on the human muscle contraction motion structure of a bipedal humanoid robot as described in claim 1, characterized in that, It includes the base, hip joint, thigh, knee joint, calf, ankle joint and foot connected in sequence; The hip joint is equipped with two sets of drive components, which are used to control the forward and backward rotation, as well as adduction and abduction of the hip joint. The knee joint is equipped with a set of drive components for controlling the flexion and extension of the knee joint; The ankle joint is equipped with a set of drive components for controlling the flexion and extension of the ankle joint.

5. The lower limb structure of a bipedal humanoid robot according to claim 4, characterized in that, The base is provided with a ball socket, and the top of the thigh is provided with a ball head. The thigh is rotatably connected to the base through the ball socket-ball head structure. The drive assembly on the hip joint includes a first motor, a second motor, a third motor, and a fourth motor; The first motor is mounted on a base, and the base is also equipped with a first guide wheel. The pull cable is wound on the rope reel of the first motor, passes through the first guide wheel, and is connected to the outer side of the thigh. The fourth motor is mounted at the bottom of the base, and the pull cable is wound on the rope reel of the fourth motor and then connected to the inner side of the thigh. The first motor and the fourth motor work together to control the adduction and abduction of the hip joint. The second motor is mounted on a base, which also has a second guide wheel. A cable is wound on the second motor's reel, passes through the second guide wheel, and connects to the front of the thigh. The third motor is mounted on a base, which also has a third guide wheel. A cable is wound on the third motor's reel, passes through the third guide wheel, and connects to the back of the thigh. The second and third motors work together to control the forward and backward rotation of the hip joint.

6. The lower limb structure of a bipedal humanoid robot according to claim 5, characterized in that, The thigh is equipped with a fifth motor and a movable pulley. The pull line is wound on the rope reel of the fifth motor and its end is connected to the movable pulley. The front side of the lower leg is equipped with a first connection point. The two lines on the movable pulley are respectively connected to the thigh and the first connection point. The thigh is equipped with a sixth motor and a second movable pulley. The pull line is wound on the rope reel of the sixth motor and its end is connected to the second movable pulley. The back of the lower leg is equipped with a second connection point. The two lines on the second movable pulley are respectively connected to the thigh and the second connection point. The fifth and sixth motors work together to control the forward and backward rotation of the knee joint.

7. The lower limb structure of a bipedal humanoid robot according to claim 5, characterized in that, The lower leg is provided with a seventh motor and a seventh guide wheel, and the foot is provided with a seventh connection point. The pull rope is wound on the rope reel of the seventh motor, passes through the seventh guide wheel, and then connects to the seventh connection point. The lower leg is provided with an eighth motor and an eighth guide wheel, the foot is provided with an eighth connection point, the pull rope is wound on the rope reel of the eighth motor, passes through the eighth guide wheel, and then connects to the eighth connection point; The seventh and eighth motors work together to control the flexion and extension of the ankle joint.

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