Leg rotation limiting structure for humanoid robot

Abstract

The utility model discloses a leg rotation limit structure for a humanoid robot, which comprises a foot, a shank structure, a connecting piece and a thigh structure, by arranging the shank structure and the thigh structure, when the humanoid robot moves the legs, the shanks bend towards the right side, and the thigh structure is bent towards the right side. The first connecting rod drives the third connecting rod to move through the second connecting rod, the third connecting rod moves upwards by limiting the sliding block through the guide rod, when the shank bends towards the left side, the lower end face of the sliding block is attached to the trigger switch, and then the feedback control system stops rotation of the shank; the response speed and flexibility of the humanoid robot can be improved through electronic limiting, especially when the movement direction needs to be rapidly changed or complex actions need to be carried out.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robots, and in particular to a leg rotation limiting structure for humanoid robots. Background Technology

[0002] Humanoid robots, due to their resemblance to humans, such as having arms, legs, torso, and head, and possessing artificial intelligence, can perform a variety of services in the home, such as cleaning, entertainment, nanny services, and home security, thus becoming human partners and changing human lifestyles.

[0003] The announcement number CN220721232U discloses "Limiting Component, Lower Leg Rotation Limiting Structure, Bipedal Robot, Humanoid Robot and Robot", which includes a thigh, a lower leg, and a limiting component. The limiting component is constructed with a relief groove and a first limiting surface. The lower end of the thigh is constructed with an end face and a second limiting surface located on both sides of the end face. The limiting surface is fixedly set at the top of the lower leg. The end face of the second connecting part is correspondingly set with the relief groove of the first limiting part on the same side, so that an adjacent first limiting surface and a second limiting surface can cooperate. When the lower leg rotates around the hinge axis or forward or backward to a limited angle, the adjacent first limiting surface and a second limiting surface on the same side will abut against each other, thereby limiting the rotation angle range of the lower leg and avoiding the problem that the lower leg cannot flex and extend normally under abnormal conditions, thus ensuring that the robot walks smoothly.

[0004] While the aforementioned limiting components, lower leg rotation limiting structures, bipedal robots, humanoid robots, and robots have certain advantages in terms of lower leg rotation capabilities, mechanical limiting may restrict the robot's response speed and flexibility, especially when it is necessary to quickly change the direction of movement or perform complex actions. Utility Model Content

[0005] Therefore, in order to overcome the above-mentioned shortcomings, this utility model provides a leg rotation limiting structure for humanoid robots.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a leg rotation limiting structure for a humanoid robot, comprising a foot, a lower leg structure, a connector, and a thigh structure. The upper side of the foot is connected to the lower leg structure, and the upper side of the lower leg structure is connected to the thigh structure via the connector. The lower leg structure includes a lower leg, a first connecting rod, and a second connecting rod. The right end face of the lower leg is fixedly connected to one end of the first connecting rod, and the other end of the first connecting rod is rotatably connected to one end of the second connecting rod via a pivot. The other end of the second connecting rod is rotatably connected to the thigh structure via a pivot.

[0007] Optionally, the thigh structure includes a thigh, a mounting groove, a guide rod, a trigger switch, a sliding block, and a third connecting rod. The right end face of the thigh has a mounting groove. The upper and lower side walls of the mounting groove are fitted with guide rods. The lower side of the guide rod passes through the trigger switch and the sliding block. The lower end face of the sliding block is in contact with the trigger switch. A limit switch is installed on the lower side wall of the mounting groove. The right end face of the sliding block is fixedly connected to one end of the third connecting rod, and the other end of the third connecting rod is rotatably connected to the second connecting rod through a pivot.

[0008] Optionally, the second link is tilted from the upper left to the lower right.

[0009] Optionally, a protective cover is provided on the right side of the mounting slot.

[0010] Optionally, the outer wall of the guide rod is smooth, and the inner wall of the sliding block is in sliding engagement with the guide rod.

[0011] Optionally, the housing of the trigger switch is made of a robust and durable metal.

[0012] The beneficial effects of this utility model are:

[0013] This invention relates to a leg rotation limiting structure for a humanoid robot. By incorporating a lower leg structure and a thigh structure, when the humanoid robot's legs move, the lower leg bends to the right, causing the first link to drive the third link via the second link. The third link moves upward by limiting the sliding block via a guide rod. When the lower leg bends to the left, the lower end of the sliding block engages with a trigger switch, thereby stopping the rotation of the lower leg through the feedback control system. Electronic limiting improves the response speed and flexibility of the humanoid robot, especially when it needs to quickly change the direction of movement or perform complex actions. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0015] Figure 2 This is a schematic diagram of the internal structure of this utility model;

[0016] Figure 3 This is a schematic diagram of the lower leg structure of this utility model;

[0017] Figure 4 This is a three-dimensional schematic diagram of the lower leg structure of this utility model;

[0018] Figure 5 This is a schematic diagram of the thigh structure of this utility model.

[0019] The components are: foot-1, lower leg structure-2, connector-3, thigh structure-4, lower leg-21, first link-22, second link-23, thigh-41, mounting groove-42, guide rod-43, trigger switch-44, sliding block-45, and third link-46. Detailed Implementation

[0020] To further explain the technical solution of this utility model, a detailed description is provided below through specific embodiments.

[0021] Please see Figure 1-4 This utility model provides a leg rotation limiting structure for a humanoid robot, including a foot 1, a lower leg structure 2, a connector 3, and a thigh structure 4. The upper side of the foot 1 is connected to the lower leg structure 2, and the upper side of the lower leg structure 2 is connected to the thigh structure 4 through the connector 3. The lower leg structure 2 includes a lower leg 21, a first connecting rod 22, and a second connecting rod 23. The right end face of the lower leg 21 is fixedly connected to one end of the first connecting rod 22, and the other end of the first connecting rod 22 is rotatably connected to one end of the second connecting rod 23 through a rotating shaft. The other end of the second connecting rod 23 is rotatably connected to the thigh structure 4 through a rotating shaft. The second connecting rod 23 is inclined from the upper left to the lower right to facilitate the movement of the sliding block 45 driven by the second connecting rod 23.

[0022] Please see Figure 5 This utility model provides a leg rotation limiting structure for a humanoid robot. The thigh structure 4 includes a thigh 41, a mounting groove 42, a guide rod 43, a trigger switch 44, a sliding block 45, and a third connecting rod 46. The right end face of the thigh 41 has a mounting groove 42. The guide rod 43 is installed on the upper and lower side walls inside the mounting groove 42. The lower side of the guide rod 43 passes through the trigger switch 44 and the sliding block 45. The lower end face of the sliding block 45 is in contact with the trigger switch 44, and the limiting switch 44 is installed on the lower side wall inside the mounting groove 42. The right end face of the moving block 45 is fixedly connected to one end of the third link 46, and the other end of the third link 46 is rotatably connected to the second link 23 through a rotating shaft. A protective cover is provided on the right side of the mounting groove 42 to facilitate waterproofing and dustproofing. The outer wall of the guide rod 43 is smooth, and the inner wall of the sliding block 45 slides with the guide rod 43 to reduce friction and facilitate the sliding block 45 to slide along the outer wall of the guide rod 43. The outer shell of the trigger switch 44 is made of sturdy and durable metal to protect the internal components and ensure stability under mechanical stress.

[0023] The working principle is as follows:

[0024] First, the new structure is installed on the humanoid robot and the circuit is connected.

[0025] Second, when the humanoid robot moves, the lower leg 21 bends inward, the lower leg 21 drives the first link 22 to move, the first link 22 drives the second link 23 to move, the second link 23 drives the third link 46 to move, the third link 46 drives the sliding block 45 to move, and the sliding block 45 slides upward through the limit of the guide rod 43, so as to complete the bending action of the lower leg 21.

[0026] Third, when the lower leg 21 is straightened, the sliding block 45 moves downward, causing the sliding block 45 to slide downward along the guide rod 43, thereby causing the lower end face of the sliding block 45 to fit against the trigger switch 44. The trigger switch 44 feeds back a control signal to the humanoid robot, causing it to stop the straightening action of the lower leg 21 and preventing the lower leg 21 from rotating beyond the specified angle. Electronic limiting can improve the response speed and flexibility of the humanoid robot, especially when it is necessary to quickly change the direction of movement or perform complex actions.

[0027] The control method of this utility model is to control the device by manually starting and stopping the switch. The wiring diagram of the power element and the supply of power are common knowledge in the field. Since this utility model is mainly used to protect mechanical devices, the control method and wiring layout will not be explained in detail.

[0028] The control method of this utility model is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art. The power supply is also common knowledge in the field. Since this utility model is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail.

[0029] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A leg rotation limiting structure for a humanoid robot, characterized in that: It includes a foot (1), a calf structure (2), a connector (3), and a thigh structure (4). The upper side of the foot (1) is connected to the calf structure (2), and the upper side of the calf structure (2) is connected to the thigh structure (4) through the connector (3). The calf structure (2) includes a calf (21), a first connecting rod (22), and a second connecting rod (23). The right end face of the calf (21) is fixedly connected to one end of the first connecting rod (22). The other end of the first connecting rod (22) is rotatably connected to one end of the second connecting rod (23) through a pivot, and the other end of the second connecting rod (23) is rotatably connected to the thigh structure (4) through a pivot.

2. The leg rotation limiting structure for a humanoid robot according to claim 1, characterized in that: The thigh structure (4) includes a thigh (41), a mounting groove (42), a guide rod (43), a trigger switch (44), a sliding block (45), and a third connecting rod (46). The right end face of the thigh (41) is provided with a mounting groove (42). The upper and lower side walls of the mounting groove (42) are equipped with guide rods (43). The lower side of the guide rod (43) is connected to the trigger switch (44) and the sliding block (45). The lower end face of the sliding block (45) is in contact with the trigger switch (44), and the trigger switch (44) is installed on the lower side wall of the mounting groove (42). The right end face of the sliding block (45) is fixedly connected to one end of the third connecting rod (46), and the other end of the third connecting rod (46) is rotatably connected to the second connecting rod (23) through a pivot.

3. The leg rotation limiting structure for a humanoid robot according to claim 1, characterized in that: The second link (23) tilts from the upper left to the lower right.

4. The leg rotation limiting structure for a humanoid robot according to claim 2, characterized in that: A protective cover is provided on the right side of the mounting slot (42).

5. The leg rotation limiting structure for a humanoid robot according to claim 2, characterized in that: The outer wall of the guide rod (43) is smooth, and the inner wall of the sliding block (45) is in sliding fit with the guide rod (43).

6. The leg rotation limiting structure for a humanoid robot according to claim 2, characterized in that: The housing of the trigger switch (44) is made of a robust and durable metal.

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