Lower limb structure and biped robot

Abstract

The lower limb structure comprises a left lower limb, the left lower limb comprises a left thigh, a left knee joint and a left shank which are sequentially connected from top to bottom, a left knee joint motor and a left connecting rod mechanism are installed on the left thigh, and the left knee joint motor is in transmission connection with the left shank through the left connecting rod mechanism; the right lower limb comprises a right thigh, a right knee joint and a right shank which are sequentially connected from top to bottom, a right knee joint motor and a right connecting rod mechanism are installed on the right thigh, and the right knee joint motor is in transmission connection with the right shank through the right connecting rod mechanism; wherein at least one of the left connecting rod mechanism and the right connecting rod mechanism is offset towards the outer side of the lower limb structure, so that the distance between the left knee joint and the right knee joint is larger than the distance between the left thigh and the right thigh.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a lower limb structure and a biped robot. BACKGROUND

[0002] Nowadays, with the increasing trend of labor cost, it has become a trend to replace human labor with intelligent devices to complete various work contents. The biped robot is a kind of intelligent mechanical body with human form and function, which usually has a head, a trunk and limbs, etc. They can capture visual, tactile and auditory information through advanced sensors, and realize functions similar to human neural conduction through control systems, and use servo motors to simulate human joint movement. Unlike traditional robots, which are usually trained through specific databases and applied to a single scene, the biped robot is based on a general large model and does not limit fixed application fields, and can adapt to different environments and tasks. This design makes the biped robot more convenient to use human-designed tools and equipment, and adapt to human living and working space.

[0003] In the traditional technology, the thigh of the biped robot is rotatably connected with the calf through the knee joint, the knee joint motor and the connecting rod mechanism are installed on the thigh, the knee joint motor is connected with the calf through the connecting rod mechanism, and the knee joint motor can drive the calf to bend and lift by means of the rotation freedom provided by the knee joint. But the existing knee joint motor often needs to be dragged outward for a certain distance, causing the thigh to be too wide, which is not aesthetically pleasing. If the knee joint motor is not moved outward, the knee joint will move inward, causing the distance between the left and right knee joints, the left and right calves, and the left and right soles to be too close, and the angle range of the inward swinging of the two legs to be too small, affecting the activity performance and standing stability of the biped robot. CONTENT OF THE UTILITY MODEL

[0004] Therefore, it is necessary to provide a lower limb structure and a biped robot to solve the problem of small inward swinging range of the two legs, poor standing stability and poor aesthetics of the biped robot.

[0005] The first aspect of the present application provides a lower limb structure, which comprises:

[0006] a left lower limb, the left lower limb comprising a left thigh, a left knee joint and a left calf connected in sequence from top to bottom, a left knee joint motor and a left connecting rod mechanism being installed on the left thigh, the left knee joint motor being drivingly connected with the left calf through the left connecting rod mechanism; and

[0007] The right lower limb comprises a right thigh, a right knee joint and a right lower leg connected in sequence from top to bottom, the right thigh is provided with a right knee joint motor and a right linkage mechanism, the right knee joint motor is in transmission connection with the right lower leg through the right linkage mechanism;

[0008] At least one of the left linkage mechanism and the right linkage mechanism is biased towards the outside of the lower limb structure, so that the distance between the left knee joint and the right knee joint is greater than the distance between the left thigh and the right thigh.

[0009] In the lower limb structure of the scheme, the left linkage mechanism is driven to rotate by the left knee joint motor, which can drive the left lower leg to lift with the rotational freedom provided by the left knee joint. Similarly, the right linkage mechanism is driven to rotate by the right knee joint motor, which can drive the right lower leg to lift with the rotational freedom provided by the right knee joint. Since at least one of the left linkage mechanism and the right linkage mechanism is designed as a bias structure towards the outside of the lower limb structure, the distance between the left knee joint and the right knee joint is greater than the distance between the left thigh and the right thigh. In this way, the left knee joint motor and the right knee joint motor do not need to be moved to the outside of the lower limb structure, thereby not increasing the overall width of the left thigh and the right thigh, and ensuring the appearance of the lower limb structure. Moreover, this bias structure can also increase the distance between the left knee joint and the right knee joint, thereby increasing the range of motion of the left lower limb and the right lower limb towards the inside (i.e. increasing the range of swing angle), and enhancing the activity performance of the lower limb structure. Furthermore, the increased distance between the left knee joint and the right knee joint also increases the distance between the left lower leg and the right lower leg, thereby avoiding the left lower limb and the right lower limb being too close, and enhancing the standing balance of the lower limb structure, which is less likely to tip over.

[0010] The technical scheme of the present application is further described as follows:

[0011] In one embodiment, both the left linkage mechanism and the right linkage mechanism are biased towards the outside of the lower limb structure, the left linkage mechanism comprises a first linkage unit and a first arc-shaped rod, one end of the first arc-shaped rod is in transmission connection with the left knee joint motor through the first linkage unit, and the other end of the first arc-shaped rod is in rotational connection with the left lower leg;

[0012] And / or, the right linkage mechanism comprises a second linkage unit and a second arc-shaped rod, one end of the second arc-shaped rod is in transmission connection with the right knee joint motor through the second linkage unit, and the other end of the second arc-shaped rod is in rotational connection with the right lower leg;

[0013] And / or, from the direction of the left thigh to the left lower leg, the first arc-shaped rod extends to the lateral side of the lower limb structure; from the direction of the right thigh to the right lower leg, the second arc-shaped rod extends to the lateral side of the lower limb structure.

[0014] In one of the embodiments, the first arc-shaped rod and the second arc-shaped rod each comprise a first straight segment, an arc-shaped segment and a second straight segment connected in sequence, one end of the first straight segment away from the arc-shaped segment is drivingly connected with the first linkage unit and the second linkage unit, one end of the second straight segment away from the arc-shaped segment is rotationally connected with the left lower leg and the right lower leg.

[0015] The concave sides of the two arc-shaped segments are oppositely arranged.

[0016] In one of the embodiments, the length of the first straight segment is L1 and the length of the second straight segment is L2; wherein L1≦1.2*L2.

[0017] Or, the length of the first straight segment is L1 and the length of the second straight segment is L2; wherein L2≦1.2*L1.

[0018] In one of the embodiments, the length of the first straight segment is equal to the length of the second straight segment.

[0019] In one of the embodiments, the left lower limb further comprises a left hip joint, a vertical plane determined by the center of the left hip joint is set as a first reference, a range constructed by offsetting 5mm to the left and 5mm to the right of the first reference is set as a first installation area, and the center of the left knee joint is arranged in the first installation area.

[0020] The right lower limb further comprises a right hip joint, a vertical plane determined by the center of the right hip joint is set as a second reference, a range constructed by offsetting 5mm to the left and 5mm to the right of the second reference is set as a second installation area, and the center of the right knee joint is arranged in the second installation area.

[0021] In one of the embodiments, the lower limb structure further comprises a lower limb seat, the left lower limb further comprises a left ankle joint and a left foot sole, the left thigh is rotationally connected with the lower limb seat through the left hip joint, the left lower leg is rotationally connected with the left foot sole through the left ankle joint, and the center of the left hip joint, the center of the left knee joint and the center of the left ankle joint are in the same vertical plane.

[0022] The right lower limb further comprises a right ankle joint and a right foot sole, the right thigh is rotationally connected with the lower limb base through the right hip joint, the right shank is rotationally connected with the right foot sole through the right ankle joint, and the center of the right hip joint, the center of the right knee joint and the center of the right ankle joint are in the same vertical plane.

[0023] In one of the embodiments, the motor shafts of the left knee joint motor and the right knee joint motor are connected with first radial force load bearings;

[0024] The lower limb structure further comprises a left thigh lifting motor and a right thigh lifting motor, the left thigh lifting motor is arranged on the left thigh, the right thigh lifting motor is arranged on the right thigh, and the left thigh lifting motor and the left thigh and the right thigh lifting motor and the right thigh are connected with second radial force load bearings.

[0025] In one of the embodiments, the left thigh and the right thigh are configured with a first space, a second space and a third space, the left thigh lifting motor and the right thigh lifting motor are arranged in the corresponding first spaces respectively, the left connecting rod mechanism and the right connecting rod mechanism are arranged in the corresponding second spaces respectively, and the left knee joint motor and the right knee joint motor are arranged in the corresponding third spaces respectively.

[0026] The first space is arranged above the second space and the third space, the second space and the third space are arranged left and right in the width direction of the lower limb structure, and the second space is arranged on the inner side of the third space.

[0027] The second aspect of the present application further provides a biped robot, which comprises:

[0028] a body; and

[0029] The lower limb structure as described above is mounted on the lower end of the body. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, and are incorporated in and constitute a part of this application. The embodiments of these drawings illustrate the embodiments of the present application and, together with the description, serve to explain the principles of the present application, and are not intended to limit the present application in an inappropriate manner.

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0032] Figure 1 Front view structural schematic diagram of lower limb structure according to an embodiment of the present application.

[0033] Figure 2 Front view structural schematic diagram of lower limb structure according to an embodiment of the present application. Figure 1 Partial enlarged view structural schematic diagram at A in FIG. 1.

[0034] Figure 3 Front view structural schematic diagram of lower limb structure according to an embodiment of the present application.

[0035] Figure 4 Front view structural schematic diagram of lower limb structure according to an embodiment of the present application. Figure 3 Partial enlarged view structural schematic diagram at B in FIG. 1.

[0036] Figure 5 Front view structural schematic diagram of lower limb structure according to an embodiment of the present application. Figure 3 Partial enlarged view structural schematic diagram at C in FIG. 1.

[0037] Figure 6 Front view structural schematic diagram of lower limb structure according to an embodiment of the present application. Figure 3 Structural schematic diagram from another perspective.

[0038] Figure 7 Front view structural schematic diagram of lower limb structure according to an embodiment of the present application. Figure 1 Right view structural schematic diagram of lower limb structure according to an embodiment of the present application.

[0039] Explanation of reference signs:

[0040] 100, lower limb structure; 10, left lower limb; 11, left thigh; 12, left knee joint; 13, left shank; 14, left knee joint motor; 15, left connecting rod mechanism; 151, first connecting rod unit; 152, first arc-shaped rod; 20, right lower limb; 21, right thigh; 22, right knee joint; 23, right shank; 24, right knee joint motor; 25, right connecting rod mechanism; 251, second connecting rod unit; 252, second arc-shaped rod; 30, first straight section; 30a, arc-shaped section; 30b, second straight section; 40, lower limb seat; 50, left hip joint; 50a, left ankle joint; 50b, left foot sole; 60, right hip joint; 60a, right ankle joint; 60b, right foot sole; 70, first radial force load bearing; 70a, left thigh lifting motor; 70b, right thigh lifting motor; 70c, second radial force load bearing; 70d, left thigh side swing motor; 70e, right thigh side swing motor; 70f, third radial force load bearing; 80, bolt hole. DETAILED DESCRIPTION

[0041] In order to make the above objectives, features and advantages of the present application more apparent, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, and therefore the present application is not limited to the specific embodiments disclosed below.

[0042] In the description of the present application, it should be understood that, if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, these terms indicate the orientation or positional relationship based on 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 therefore cannot be understood as indicating or implying that the device or element 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.

[0043] In addition, if there are terms such as "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can be explicitly or implicitly included at least one of the features. In the description of the present application, if the term "multiple" appears, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In the present application, unless otherwise explicitly specified and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be broadly understood. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; 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 internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. 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.

[0045] In the present application, unless otherwise explicitly specified and limited, if there are similar descriptions such as "first feature on" or "below" the second feature, the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0046] It is to be noted that when an element is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can be present. In addition, when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present. As used herein the terms "vertical", "horizontal", "up", "down", "left", "right" and the like are described with respect to the drawings and are merely used for purposes of illustration and not limitation.

[0047] Referring to Figure 1 , Figure 3 , Figure 6 and Figure 7 , a lower limb structure 100 according to an embodiment of the present application includes a lower limb base 40, a left lower limb 10 and a right lower limb 20. The left lower limb 10 and the right lower limb 20 are movably mounted on the lower limb base 40 to be integrally mounted by the lower limb base 40. Specifically, the left lower limb 10 and the right lower limb 20 are arranged left and right along the width direction of the lower limb base 40 (i.e. the lower limb structure 100).

[0048] In order to reduce the difficulty of design and manufacture, the left lower limb 10 and the right lower limb 20 are designed in a symmetrical structure.

[0049] The lower limb base 40 can be mounted with a body to realize the assembly and fixation of the lower limb structure 100 and the body.

[0050] In the present application, the left lower limb 10 includes a left thigh 11, a left knee joint 12 and a left lower leg 13 connected in sequence from top to bottom, the left thigh 11 is mounted with a left knee joint motor 14 and a left connecting rod mechanism 15, the left knee joint motor 14 is drivingly connected with the left lower leg 13 through the left connecting rod mechanism 15; the right lower limb 20 includes a right thigh 21, a right knee joint 22 and a right lower leg 23 connected in sequence from top to bottom, the right thigh 21 is mounted with a right knee joint motor 24 and a right connecting rod mechanism 25, the right knee joint motor 24 is drivingly connected with the right lower leg 23 through the right connecting rod mechanism 25.

[0051] Among them, at least one of the left connecting rod mechanism 15 and the right connecting rod mechanism 25 is biased towards the outside of the lower limb structure 100, so that the distance between the left knee joint 12 and the right knee joint 22 is greater than the distance between the left thigh 11 and the right thigh 21.

[0052] It is to be noted that the distance between the left thigh 11 and the right thigh 21 is specifically the distance between the inner side surface (i.e. the side surface facing the right thigh 21) of the left thigh 11 and the inner side surface (i.e. the side surface facing the left thigh 11) of the right thigh 21.

[0053] It is easy to understand that the left connecting rod mechanism 15 is biased towards the left outside of the lower limb structure 100, and the right connecting rod mechanism 25 is biased towards the right outside of the lower limb structure 100.

[0054] In summary, the implementation of the technical scheme of the embodiment can obtain the following beneficial effects: in the lower limb structure 100 of the scheme, the left knee joint motor 14 drives the rotation of the left connecting rod mechanism 15, which can drive the left lower leg 13 to lift with the rotation freedom provided by the left knee joint 12. Similarly, the right knee joint motor 24 drives the rotation of the right connecting rod mechanism 25, which can drive the right lower leg 23 to lift with the rotation freedom provided by the right knee joint 22. Since at least one of the left connecting rod mechanism 15 and the right connecting rod mechanism 25 is designed as a bias structure towards the outside of the lower limb structure 100, the distance between the left knee joint 12 and the right knee joint 22 is greater than the distance between the left thigh 11 and the right thigh 21. In this way, the left knee joint motor 14 and the right knee joint motor 24 do not need to be moved to the outside of the lower limb structure 100, thereby not increasing the overall width of the left thigh 11 and the right thigh 21, and ensuring the appearance of the lower limb structure 100 is beautiful. Moreover, the bias structure can also increase the distance between the left knee joint 12 and the right knee joint 22, thereby increasing the range of motion of the left lower limb 10 and the right lower limb 20 towards the inside (i.e. increasing the swing angle range), and enhancing the activity performance of the lower limb structure 100. Furthermore, the increase in the distance between the left knee joint 12 and the right knee joint 22 also increases the distance between the left lower leg 13 and the right lower leg 23, thereby avoiding the left lower limb 10 and the right lower limb 20 being too close, and enhancing the standing balance of the lower limb structure 100, so that it is not easy to fall over.

[0055] Please continue to refer to Figure 1 and Figure 2 , further, on the basis of the above embodiment, the left connecting rod mechanism 15 and the right connecting rod mechanism 25 are both biased towards the outside of the lower limb structure 100.

[0056] The left connecting rod mechanism 15 includes a first connecting rod unit 151 and a first arc-shaped rod 152, one end of the first arc-shaped rod 152 is drivingly connected with the left knee joint motor 14 through the first connecting rod unit 151, and the other end of the first arc-shaped rod 152 is rotationally connected with the left lower leg 13. The right connecting rod mechanism 25 includes a second connecting rod unit 251 and a second arc-shaped rod 252, one end of the second arc-shaped rod 252 is drivingly connected with the right knee joint motor 24 through the second connecting rod unit 251, and the other end of the second arc-shaped rod 252 is rotationally connected with the right lower leg 23.

[0057] From the direction of the left thigh 11 to the left lower leg 13, the first arc-shaped rod 152 extends and biases towards the outside of the lower limb structure 100. From the direction of the right thigh 21 to the right lower leg 23, the second arc-shaped rod 252 extends and biases towards the outside of the lower limb structure 100.

[0058] It is easy to understand that the first connecting rod unit 151 cooperates with the first arc-shaped rod 152 to form a four-connecting-rod mechanism with bias, and the second connecting rod unit 251 cooperates with the second arc-shaped rod 252 to form a four-connecting-rod mechanism with bias. On the one hand, when the left knee joint motor 14 outputs a rotary driving force to the first connecting rod unit 151 and the right knee joint motor 24 outputs a rotary driving force to the second connecting rod unit 251, the first arc-shaped rod 152 and the second arc-shaped rod 252 can be driven to rotate in the same direction or in the opposite direction respectively or synchronously, so as to drive the left lower leg 13 and the right lower leg 23 to rotate, and enable the lower limb structure 100 to complete lifting and falling, and realize walking, jumping and other actions.

[0059] Please continue to refer to Figure 1 In addition, the first arc-shaped rod 152 and the second arc-shaped rod 252 are both biased and extend in an arc shape towards the outside of the lower limb structure 100, so as to be able to increase the distance between the left knee joint 12 and the right knee joint 22, and between the left lower leg 13 and the right lower leg 23, realize the increase of the swing range of the left lower limb 10 and the right lower limb 20 towards the inside, and improve the standing stability of the lower limb structure 100.

[0060] Furthermore, compared with a broken line type rod, the arc-shaped structure design of the first arc-shaped rod 152 and the second arc-shaped rod 252 can better disperse stress, has a lower fatigue risk when bearing the same load, and has higher durability and reliability.

[0061] Please continue to refer to Figure 1 and Figure 2 Specifically, the first arc-shaped rod 152 and the second arc-shaped rod 252 both include a first straight section 30, an arc-shaped section 30a and a second straight section 30b connected in sequence, one end of the first straight section 30 away from the arc-shaped section 30a is in transmission connection with the first connecting rod unit 151 and the second connecting rod unit 251, and one end of the second straight section 30b away from the arc-shaped section 30a is in rotary connection with the left lower leg 13 and the right lower leg 23.

[0062] When installed and arranged, the concave sides of the two arc-shaped sections 30a are arranged towards each other. In this way, by means of the change characteristics of the arc-shaped structure of the two arc-shaped sections 30a, it is simple and convenient to realize the increase of the distance between the left knee joint 12 and the right knee joint 22 and between the left lower leg 13 and the right lower leg 23 without increasing the width of the left thigh 11 and the right thigh 21 and without moving the left knee joint motor 14 and the right knee joint motor 24 outward.

[0063] In combination with Figure 2 shown, on the basis of any of the above embodiments, the length of the first straight section 30 is set as L1, and the length of the second straight section 30b is set as L2; wherein L1≦1.2*L2; or the length of the first straight section is set as L1, and the length of the second straight section is set as L2; wherein L2≦1.2*L1.

[0064] More preferably, the length of the first straight section 30 is equal to the length of the second straight section 30b.

[0065] In this way, on the one hand, the structural performance of the first arc-shaped rod 152 and the second arc-shaped rod 252 can be increased, and the appropriate length can be controlled, so that the left lower limb 10 and the right lower limb 20 are designed with reasonable length; on the other hand, this design also facilitates the production and processing of the first arc-shaped rod 152 and the second arc-shaped rod 252, and also makes it unnecessary to distinguish the left lower limb 10 and the right lower limb 20 when installing the first arc-shaped rod 152 and the second arc-shaped rod 252, which helps to improve the installation efficiency and convenience.

[0066] In actual manufacturing, installation and use, there will inevitably be factors such as dimensional error, wear and tear, or special appearance requirements for some models, so that there will inevitably be a certain size of positional offset between the left knee joint 12 and the left hip joint 50, and between the right knee joint 22 and the right hip joint 60. Therefore, in an embodiment of the present application, the left lower limb 10 further comprises a left hip joint 50, a vertical plane determined by the center of the left hip joint 50 is set as a first reference, a range constructed by offsetting 5mm to the left and 5mm to the right of the first reference is set as a first installation area, and the center of the left knee joint 12 is arranged in the first installation area; the right lower limb 20 further comprises a right hip joint 60, a vertical plane determined by the center of the right hip joint 60 is set as a second reference, a range constructed by offsetting 5mm to the left and 5mm to the right of the second reference is set as a second installation area, and the center of the right knee joint 22 is arranged in the second installation area. That is, the present application allows a certain size of offset between the left hip joint 50 and the left knee joint 12, and between the right hip joint and the right knee joint 22, to meet various actual working conditions and product forms.

[0067] Please continue to refer to Figure 1 In addition, in still another embodiment, the left lower limb 10 further comprises a left ankle joint 50a and a left foot sole 50b, the left thigh 11 is rotationally connected to the lower limb seat 40 through the left hip joint 50, the left lower leg 13 is rotationally connected to the left foot sole 50b through the left ankle joint 50a, and the center of the left hip joint 50, the center of the left knee joint 12 and the center of the left ankle joint 50a are in the same vertical plane.

[0068] Similarly, the right lower limb 20 further comprises a right ankle joint 60a and a right foot sole 60b, the right thigh 21 is rotationally connected to the lower limb seat 40 through the right hip joint 60, the right lower leg 23 is rotationally connected to the right foot sole 60b through the right ankle joint 60a, and the center of the right hip joint 60, the center of the right knee joint 22 and the center of the right ankle joint 60a are in the same vertical plane.

[0069] It should be noted that, no matter from the front view or from the side view of the lower limb structure 100, the center of the left hip joint 50, the center of the left knee joint 12 and the center of the left ankle joint 50a are in the same vertical plane, and the center of the right hip joint 60, the center of the right knee joint 22 and the center of the right ankle joint 60a are in the same vertical plane. In this way, the left lower limb 10 and the right lower limb 20 can have a more straight and regular appearance, and the lower limb structure 100 can be more visually aesthetic and have stronger structural stability.

[0070] Please continue to refer to Figure 3 In addition, in yet another embodiment, the motor shafts of the left knee joint motor 14 and the right knee joint motor 24 are connected with the first radial force load bearing 70.

[0071] Please continue to refer to Figure 3 and Figure 6 Further, the lower limb structure 100 further comprises a left thigh lifting motor 70a and a right thigh lifting motor 70b, the left thigh lifting motor 70a is installed on the left thigh 11, and the right thigh lifting motor 70b is installed on the right thigh 21. The left thigh lifting motor 70a and the left thigh 11 are connected with the second radial force load bearing 70c, and the right thigh lifting motor 70b and the right thigh 21 are connected with the second radial force load bearing 70c.

[0072] Still further, the lower limb structure 100 further comprises a left thigh lateral swing motor 70d and a right thigh lateral swing motor 70e, the left thigh lateral swing motor 70d and the right thigh lateral swing motor 70e are respectively installed on the lower limb seat 40. The left thigh lateral swing motor 70d and the lower limb seat 40 are connected with the third radial force load bearing 70f, and the right thigh lateral swing motor 70e and the lower limb seat 40 are connected with the third radial force load bearing 70f.

[0073] By adding corresponding radial force load bearings at each joint part, the radial force load bearings and the corresponding arranged motor internal bearings form a simply supported beam configuration, so that each motor only bears radial force and does not bear overturning moment, which helps to improve the bearing and impact resistance of each joint.

[0074] Optionally, the first radial force load bearing 70, the second radial force load bearing 70c and the third radial force load bearing 70f described above specifically adopt but are not limited to deep groove ball bearings.

[0075] Please continue to refer to Figures 3 to 5In the present application, the left hip joint 50, the left knee joint 12, the left ankle joint 50a, the right hip joint 60, the right knee joint 22 and the right ankle joint 60a are each provided with a pin hole 80 for zero calibration. When zero calibration is performed on each motor, the zero calibration pin is inserted into the pin hole 80 at the corresponding joint, thereby limiting each joint to be fixed at a predetermined angle position, ensuring the accuracy of motor zero calibration; after the zero calibration operation is completed, each zero calibration pin is removed from the pin hole 80, and each joint can restore the freedom of rotation.

[0076] In actual use, it is required that each joint can only move within a set range of motion, and when reaching the range boundary, it will touch the limiting structure, so as to prevent the harm caused by the out-of-control robot, including personal harm and damage to the cables, structure, motor, etc. of the robot itself. Therefore, the lower limb structure 100 of the present application is also designed with a limiting structure for each joint, which can be mechanical or electrically controlled, and can be flexibly selected according to actual needs.

[0077] Further, in order to make the structure of the left lower limb 10 and the right lower limb 20 more compact, so as to further reduce the leg width, the left thigh 11 and the right thigh 21 are each constructed with a first space, a second space and a third space, the left thigh lifting motor 70a and the right thigh lifting motor 70b are respectively installed in the corresponding first space, the left connecting rod mechanism 15 and the right connecting rod mechanism 25 are respectively installed in the corresponding second space, and the left knee joint motor 14 and the right knee joint motor 24 are respectively installed in the corresponding third space.

[0078] Among them, the first space is arranged above the second space and the third space, the second space and the third space are arranged left and right in the width direction of the lower limb structure 100, and the second space is arranged inside the third space.

[0079] Specifically, the present application designs a mechanical limiting structure for each joint, which is respectively used to limit the side swing range of the left hip joint 50 and the right hip joint 60, limit the turning range of the left hip joint 50 and the right hip joint 60, limit the forward and backward lifting range of the left hip joint 50 and the right hip joint 60, limit the bending and straightening range of the left knee joint 12 and the right knee joint 22, and limit the forward lifting, backward lifting, inversion and eversion range of the left ankle joint 50a and the right ankle joint 60a.

[0080] In addition, the application also provides a biped robot, which comprises a body, an upper limb structure and the lower limb structure 100 as described in any of the above embodiments, the upper limb structure is installed on the upper end of the body, and the lower limb structure 100 is installed on the lower end of the body. By equipping the lower limb structure 100, the left knee joint motor 14 and the right knee joint motor 24 do not need to be moved to the outside of the biped robot, so that the overall width of the left thigh 11 and the right thigh 21 is not increased, and the appearance of the biped robot can be ensured to be beautiful; and the distance between the left knee joint 12 and the right knee joint 22 is also increased due to the offset structure, so that the swinging range (i.e. the swinging angle range) of the left lower limb 10 and the right lower limb 20 to the inside is increased, and the activity performance of the biped robot is strengthened; in addition, the distance between the left knee joint 12 and the right knee joint 22 is increased, so that the distance between the left lower limb 10 and the right lower limb 20 is also increased, so that the left lower limb 10 and the right lower limb 20 are not too close, and the standing balance of the biped robot is enhanced, and the biped robot is not easy to fall.

[0081] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not contradict each other, they should be considered within the scope of the present application.

[0082] The above-described embodiments only express several implementation manners of the application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent application scope. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the application, and these all belong to the protection scope of the application. Therefore, the patent protection scope of the application should be subject to the appended claims.

Claims

1. A lower limb structure, characterized in that, include: The left lower limb includes the left thigh, left knee joint and left calf connected from top to bottom. The left thigh is equipped with a left knee joint motor and a left linkage mechanism. The left knee joint motor is connected to the left calf through the left linkage mechanism. as well as The right lower limb includes the right thigh, the right knee joint and the right lower leg connected from top to bottom. The right thigh is equipped with a right knee joint motor and a right linkage mechanism. The right knee joint motor is connected to the right lower leg through the right linkage mechanism. In this configuration, at least one of the left linkage mechanism and the right linkage mechanism is offset outward toward the lower limb structure, such that the distance between the left knee joint and the right knee joint is greater than the distance between the left thigh and the right thigh.

2. The lower limb structure according to claim 1, characterized in that, Both the left and right linkage mechanisms are offset towards the outside of the lower limb structure. The left linkage mechanism includes a first linkage unit and a first arc-shaped rod. One end of the first arc-shaped rod is connected to the left knee joint motor through the first linkage unit, and the other end of the first arc-shaped rod is rotatably connected to the left lower leg. And / or, the right linkage mechanism includes a second linkage unit and a second arc-shaped rod, one end of the second arc-shaped rod is connected to the right knee joint motor through the second linkage unit, and the other end of the second arc-shaped rod is rotatably connected to the right lower leg; And / or, in the direction from the left thigh to the left calf, the first arcuate rod extends and is biased toward the outside of the lower limb structure; The second arc-shaped rod extends and is offset toward the outside of the lower limb structure in the direction from the right thigh to the right calf.

3. The lower limb structure according to claim 2, characterized in that, Both the first arc-shaped rod and the second arc-shaped rod include a first straight segment, an arc segment, and a second straight segment connected in sequence. The end of the first straight segment away from the arc segment is connected to the first connecting rod unit and the second connecting rod unit in a transmission manner. The end of the second straight segment away from the arc segment is rotatably connected to the left lower leg and the right lower leg. The concave sides of the two arc-shaped segments are arranged facing each other.

4. The lower limb structure according to claim 3, characterized in that, Let the length of the first straight segment be L1, and the length of the second straight segment be L2; where L1 ≦ 1.2 * L2; Alternatively, the length of the first straight segment can be set as L1, and the length of the second straight segment can be set as L2; ​​where L2 ≦ 1.2 * L1.

5. The lower limb structure according to claim 4, characterized in that, The length of the first straight segment is equal to the length of the second straight segment.

6. The lower limb structure according to claim 1, characterized in that, The left lower limb also includes the left hip joint. A vertical plane defined by the center of the left hip joint is set as the first reference. The range constructed by offsetting the first reference 5mm to the left and 5mm to the right is set as the first mounting area. The center of the left knee joint is arranged within the first mounting area. The right lower limb also includes the right hip joint. A vertical plane defined by the center of the right hip joint is set as the second reference. The range constructed by offsetting the second reference 5mm to the left and 5mm to the right is set as the second mounting area. The center of the right knee joint is arranged in the second mounting area.

7. The lower limb structure according to claim 6, characterized in that, The lower limb structure also includes a lower limb seat, the left lower limb also includes a left ankle joint and a left foot, the left thigh is rotatably connected to the lower limb seat through the left hip joint, the left lower leg is rotatably connected to the left foot through the left ankle joint, and the center of the left hip joint, the center of the left knee joint and the center of the left ankle joint are in the same vertical plane; The right lower limb also includes the right ankle joint and the right foot. The right thigh is rotatably connected to the lower limb seat through the right hip joint. The right lower leg is rotatably connected to the right foot through the right ankle joint. The center of the right hip joint, the center of the right knee joint, and the center of the right ankle joint are in the same vertical plane.

8. The lower limb structure according to claim 1, characterized in that, The motor shafts of both the left knee joint motor and the right knee joint motor are connected to a first radial force load bearing. The lower limb structure also includes a left thigh lifting motor and a right thigh lifting motor. The left thigh lifting motor is installed on the left thigh, and the right thigh lifting motor is installed on the right thigh. A second radial force load bearing is connected between the left thigh lifting motor and the left thigh, and between the right thigh lifting motor and the right thigh.

9. The lower limb structure according to claim 8, characterized in that, Both the left and right thighs are constructed with a first space, a second space, and a third space. The left thigh lifting motor and the right thigh lifting motor are respectively installed in the corresponding first space, the left linkage mechanism and the right linkage mechanism are respectively installed in the corresponding second space, and the left knee joint motor and the right knee joint motor are respectively installed in the corresponding third space. The first space is arranged above the second space and the third space. The second space and the third space are arranged horizontally in the width direction of the lower limb structure, and the second space is arranged inside the third space.

10. A bipedal robot, characterized in that, include: Body; as well as The lower limb structure as described in any one of claims 1 to 9, wherein the lower limb structure is mounted at the lower end of the torso.

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