Thigh structure of humanoid robot and humanoid robot

Abstract

The utility model discloses a thigh structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, solves the problem that two motors of the thigh structure are both mounted at the upper ends of thighs, and adopts the technical scheme that the thigh structure mainly comprises a thigh bracket and two motors, each motor comprises a shell, a driving unit, a control unit and a transmission unit, the driving units, the control units and the transmission units are mounted in the motors, first hinge ends are formed at the bottom ends of the thigh supports, second hinge ends are formed at the top ends of the thigh supports, mounting cavities are formed in the thigh supports, the shells of the motors are strip-shaped, and the two motors are laid in the length direction of the thigh supports. The transmission units are in transmission connection with an output shaft of the driving power source and used for outputting torque, the transmission unit of one motor is fixedly connected with the shank through a first hinge end, and the transmission unit of the other motor is fixedly connected with the crotch through a second hinge end. The internal space of the thigh structure is fully utilized, and the width of the top end of the thigh structure is reduced.

Description

TECHNICAL FIELD

[0001] The utility model discloses a thigh structure of humanoid robot and humanoid robot belong to humanoid robot technical field. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, and its deep integration with traditional robot industry, humanoid robot has higher simulation degree, and the leg structure of humanoid robot as the most important support component and moving component of robot has received more and more attention and research, and the research of leg structure not only has great scientific significance, but also has shown great potential in practical application.

[0003] For example, the prior art CN118810959A discloses a biped humanoid robot, which comprises a pelvis structure and two leg structures, the pelvis structure is provided with a right thigh motor and a left thigh motor at both ends, the output end of the right thigh motor is connected with the right leg structure, the right thigh motor drives the right thigh to realize the action of swinging forward and backward, the right thigh is provided with a right knee joint motor and a right knee joint rotating connecting rod, the output end of the right knee joint motor is connected with one end of the right knee joint connecting rod, the other end of the right knee joint connecting rod is rotatably connected with the upper end of the right calf, the right knee joint motor drives the right calf to realize the action of swinging forward and backward, the right calf is provided with a right calf motor and a right ankle joint rotating connection, and the right calf motor drives the right ankle joint rotating connecting rod to drive the right foot plate to move.

[0004] In the above patent, the thigh motor and the knee joint motor are installed at the top end of the thigh, and the thigh motor and the knee joint motor are respectively arranged on the two sides of the thigh, so as to increase the width of the upper end of the thigh, so that the distance between the two thighs is too large to make the two thighs unable to normally close, and the leg structure of the humanoid robot is poor in appearance, and even the walking posture of the humanoid robot may be affected. UTILITY MODEL CONTENTS

[0005] The utility model discloses a thigh structure of humanoid robot and humanoid robot belong to humanoid robot technical field.

[0006] To solve the above technical problems, the utility model adopts the following technical scheme:

[0007] The thigh structure of the humanoid robot is connected between the crotch and the lower leg structure of the humanoid robot, and comprises a thigh support and two motors, the motor comprises a shell, a driving unit, a control unit and a transmission unit which are installed in the motor, the bottom end of the thigh support forms a first hinged end which is hinged with the lower leg of the humanoid robot, the top end of the thigh support forms a second hinged end which is hinged with the crotch of the humanoid robot, the inside of the thigh support is hollow to form an installation cavity, the shell of the motor is in a strip shape, the two motors are laid along the length direction of the thigh support and are fixed in the installation cavity, the transmission unit of one of the motors is fixedly connected with the lower leg through the first hinged end, and the transmission unit of the other motor is fixedly connected with the crotch through the second hinged end.

[0008] The thigh structure of the humanoid robot is connected between the crotch and the lower leg structure of the humanoid robot, and comprises a thigh support and two motors, the motor comprises a shell, a driving unit, a control unit and a transmission unit which are installed in the motor, the bottom end of the thigh support forms a first hinged end which is hinged with the lower leg of the humanoid robot, the top end of the thigh support forms a second hinged end which is hinged with the crotch of the humanoid robot, the inside of the thigh support is hollow to form an installation cavity, the shell of the motor is in a strip shape, the two motors are laid along the length direction of the thigh support and are fixed in the installation cavity, the transmission unit of one of the motors is fixedly connected with the lower leg through the first hinged end, and the transmission unit of the other motor is fixedly connected with the crotch through the second hinged end.

[0009] The thigh structure of the humanoid robot is connected between the crotch and the lower leg structure of the humanoid robot, and comprises a thigh support and two motors, the motor comprises a shell, a driving unit, a control unit and a transmission unit which are installed in the motor, the bottom end of the thigh support forms a first hinged end which is hinged with the lower leg of the humanoid robot, the top end of the thigh support forms a second hinged end which is hinged with the crotch of the humanoid robot, the inside of the thigh support is hollow to form an installation cavity, the shell of the motor is in a strip shape, the two motors are laid along the length direction of the thigh support and are fixed in the installation cavity, the transmission unit of one of the motors is fixedly connected with the lower leg through the first hinged end, and the transmission unit of the other motor is fixedly connected with the crotch through the second hinged end.

[0010] As preferred, the thigh support comprises a front plate and two side plates fixed on both sides of the front plate respectively, and an installation cavity is formed between the front plate and the two side plates. With the foregoing technical scheme, the thigh support is spliced by the front plate and the two side plates, so that the installation cavity has multiple openings, providing convenience for the installation and disassembly of the motor, and helping to improve the installation and replacement efficiency of the motor; in addition, the thigh support is formed by only the front plate and the two side plates, which can greatly reduce the overall weight of the thigh support, help to reduce the load of the motor, and can improve the endurance time of the leg structure; secondly, the two side plates are fixed on both sides of the front plate, which can increase the volume of the installation cavity in the length direction of the front plate, and then can provide more installation space for the motor, so that the thigh support can install a larger size motor, so that the motor can output larger torque to the crotch or calf structure.

[0011] As preferred, the two motors are a first motor and a second motor respectively, the first motor is fixed in the installation cavity and close to the front plate, the transmission unit of the first motor extends to the bottom end of the thigh support, the second motor is fixed between the two side plates, the transmission unit of the second motor extends to the top end of the thigh support, and the first motor is between the front plate and the second motor. With the foregoing technical scheme, the transmission unit of the first motor extends to the bottom end of the thigh support, so that the transmission unit of the first motor can be directly connected with the calf structure, and correspondingly the transmission unit of the second motor can be directly connected with the crotch, thereby reducing the transmission mechanism between the motor and the calf structure or the crotch, helping to reduce the energy loss in the power transmission process, and reducing the mechanical wear and failure rate caused by too many transmission parts.

[0012] As preferred, the connection position of the bottom end of the side plate and the front plate is on the upper side of the bottom end of the front plate, the first motor is fixed on the front plate, the transmission unit of the first motor is in transmission connection with the calf, and the first motor drives the calf to rotate through the transmission unit.

[0013] As preferred, the top of the side plate is provided with a mounting hole for fixing the second motor, the transmission unit of the second motor is fixedly connected with the mounting hole, one end of the transmission unit is provided with an inertia disc fixedly connected with the crotch, and the second motor controls the rotation of the inertia disc to realize the relative rotation of the thigh and the crotch.

[0014] As preferred, the front plate and the two side plates are an integral structure. With the foregoing technical scheme, the integral structure can enhance the overall strength of the thigh support, thereby making the leg structure have stronger supporting performance, and also can provide stronger protection for the motor, reducing the possibility of damage of the motor caused by external impact.

[0015] As preferred, the transmission unit comprises a rotating shaft, an inertia disc is drivingly connected to the end of the rotating shaft, the inertia disc is used to connect the lower leg or the hip, a first bevel gear is fixed on the rotating shaft, the output shaft of the driving unit is provided with a second bevel gear meshing with the first bevel gear, the driving unit drives the inertia disc to rotate through the rotating shaft, so as to realize the rotation of the upper leg relative to the lower leg or the hip. By using the foregoing technical scheme, the first bevel gear and the second bevel gear can realize the vertical transmission between the transmission shaft and the output shaft, so that the transmission efficiency between the output shaft and the transmission shaft is higher, and the stable transmission of the torque is ensured; in addition, the output shaft and the transmission shaft are directly meshed, so that the connecting rod can be omitted, the space occupied by the driving unit is larger, and then the size of the driving unit can be increased, so that the motor has higher output torque and output power; secondly, the rotating shaft directly outputs the torque through the inertia disc, realizes the linear transmission of the power, and can reduce the constraint stiffness of the transmission unit; compared with the scheme of using the connecting rod transmission in the prior art, when the simulation is carried out in the design process, the design of the utility model has a larger simulation time step, which is helpful to reduce the training time of the control unit, shorten the research and development time and iteration test time; in addition, the connecting rod transmission is a nonlinear transmission, and few simulation engines can support the simulation when the simulation is carried out, and the solution when the simulation is carried out is only an approximate solution, which is quite different from the real physical situation; the utility model directly transmits the torque to the joint part, which is a linear transmission, and the solution when the simulation is carried out is closer to the real physical situation, so that the actual product motion state is closer to the state when the simulation is carried out; in addition, the linear transmission can reduce the difficulty of inverse kinematics calculation and reduce the calculation cost, which is helpful to directly use the simulation training control unit for the actual product; in addition, in the prior art, in order to arrange the connecting rod structure in the limited leg space, the size of the motor has to be reduced, but in the utility model, the torque is directly transmitted to the joint of the leg structure, so that the length of the motor can be designed to be close to the length of the leg space, so that the motor has stronger performance and outputs larger torque, improves the motion amplitude when the leg moves, and improves the motion performance of the humanoid robot.

[0016] As preferred, the transmission unit further comprises a speed reduction mechanism, the speed reduction mechanism comprises a planetary gear and a ring gear, the end of the rotating shaft is provided with a sun gear, the planetary gear is meshed with the ring gear and the sun gear at the same time, the rotating shaft drives the ring gear to rotate through the planetary gear, and the inertia disc is fixedly connected with the ring gear; or, the ring gear is fixedly connected with the shell, the inertia disc is fixedly connected with the planetary gear, and the output shaft drives the inertia disc to rotate through the planetary gear. By using the foregoing technical scheme, the speed reduction mechanism can slow down the rotating speed of the rotating shaft, and make the inertia disc have larger output torque, so that the motor can stably drive the motion of the leg structure.

[0017] As preferred, the speed reduction mechanism further comprises a speed reduction box, the speed reduction box is fixedly connected with the shell of the motor, the ring gear is fixed to the inner wall of the speed reduction box, the speed reduction box is provided with a through hole, the inertia disc is rotatably installed in the through hole through a bearing, the outer circumferential side of the rotating shaft is rotatably connected with the retainer, the retainer is fixedly connected with the inertia disc, the planetary gear has a rotating shaft, the rotating shaft is connected with the retainer and the inertia disc at both ends respectively, and the inertia disc is provided with a fastener for fixing the calf or the crotch. By adopting the foregoing technical scheme, the planetary gear is limited between the retainer and the inertia disc, the movement of the planetary gear along the axial direction of the sun gear can be avoided, and the stable meshing of the planetary gear with the sun gear and the ring gear can be ensured.

[0018] As preferred, the shell comprises a main shell and an end cover detachably installed at one end of the main shell, the end cover is connected to the end of the main shell away from the driving unit, and the end cover and the main shell form a containing cavity for assembling the control unit. By adopting the foregoing technical scheme, the main shell and the end cover are detachably connected, the installation and dismounting of the control unit can be facilitated, the maintenance and testing of the control unit are more simple and convenient; in addition, the end cover forms the containing cavity at one end of the main shell, the distance between the control unit and the driving unit can be increased, the heat generated by the driving unit can be reduced from entering the containing cavity, the temperature rising speed of the control unit is reduced, and the service life of the control unit is prolonged; in addition, the containing cavity is arranged at one end of the main shell, since the shell is arranged in a strip shape, the volume of the containing cavity can be enlarged by increasing the length of the shell, and then the containing cavity can be installed with a control unit of a larger area, so as to enhance the function of the control unit, and make the leg structure have a faster running speed and a stronger load capacity.

[0019] As preferred, the control unit comprises a plurality of circuit boards, the circuit boards are stacked in the containing cavity along the length direction of the shell, a support column is arranged between adjacent two circuit boards, the support column supports the upper circuit board, and a gap is formed between the adjacent two circuit boards. By adopting the foregoing technical scheme, the control unit is composed of a plurality of circuit boards, and the circuit boards are stacked along the length direction of the shell, so that the area of the circuit board is increased, and the diameter of the control unit is reduced, the circuit board can adapt to the shape of the motor shell, and the overall volume of the motor is prevented from being increased due to the too large diameter of the circuit board; in addition, the increase of the area of the circuit board enables the control unit to be installed with more electronic elements, the control of the motor by the control unit is more accurate, the control unit can output larger voltage and current to the motor, and the motor has a large enough output torque.

[0020] The utility model discloses still demonstrated humanoid robot, including torso, the bottom swing joint of torso has leg structure, leg structure includes crotch, thigh structure, calf structure and foot end spare, the thigh adopts humanoid robot's thigh structure of any one described above.

[0021] The other features and advantages of the present application will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0022] The present application will be further described in conjunction with the drawings as follows:

[0023] Figure 1 Fig. 1 is a structure schematic view of a thigh structure of a humanoid robot according to the present application;

[0024] Figure 2 Fig. 2 is a structure schematic view of a thigh support in the thigh structure of the humanoid robot according to the present application;

[0025] Figure 3 Fig. 3 is a structure schematic view of a motor in the thigh structure of the humanoid robot according to the present application;

[0026] Figure 4 Fig. 4 is an exploded view of the motor in the thigh structure of the humanoid robot according to the present application;

[0027] Figure 5 Fig. 5 is an exploded view of a speed reduction mechanism in the thigh structure of the humanoid robot according to the present application;

[0028] Figure 6 Fig. 6 is a structure schematic view of a control unit in the thigh structure of the humanoid robot according to the present application;

[0029] Figure 7 Fig. 7 is a structure schematic view of a leg structure in the humanoid robot according to the present application;

[0030] Figure 8 Fig. 8 is a structure schematic view of a left leg in the humanoid robot according to the present application.

[0031] Fig. 1 is a structure schematic view of a thigh structure of a humanoid robot according to the present application; Fig. 2 is a structure schematic view of a thigh support in the thigh structure of the humanoid robot according to the present application; Fig. 3 is a structure schematic view of a motor in the thigh structure of the humanoid robot according to the present application; Fig. 4 is an exploded view of the motor in the thigh structure of the humanoid robot according to the present application; Fig. 5 is an exploded view of a speed reduction mechanism in the thigh structure of the humanoid robot according to the present application; Fig. 6 is a structure schematic view of a control unit in the thigh structure of the humanoid robot according to the present application; Fig. 7 is a structure schematic view of a leg structure in the humanoid robot according to the present application; Fig. 8 is a structure schematic view of a left leg in the humanoid robot according to the present application. DETAILED DESCRIPTION

[0032] The technical solutions of the embodiments of the utility model are explained and described below in combination with the drawings of the embodiments of the utility model. However, the following embodiments are only preferred embodiments of the utility model, and not all. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0033] In the description of the utility model, it is understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like is the orientation or position relationship shown based on the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0034] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more, unless otherwise explicitly limited.

[0035] In the utility model, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0036] Embodiment one:

[0037] As Figures 1 to 6As shown, the embodiment shows the thigh structure 2 of the humanoid robot, the thigh structure 2 is connected between the crotch 1 and the lower leg structure 3 of the humanoid robot, the thigh structure 2 comprises a thigh bracket 21 and two motors 5, the motor 5 comprises a shell 51, and a driving unit, a control unit 55 and a transmission unit 53 installed in the motor 5, the bottom end of the thigh bracket 21 forms a first hinged end hinged with the lower leg of the humanoid robot, the top end of the thigh bracket 21 forms a second hinged end hinged with the crotch 1 of the humanoid robot, the inside of the thigh bracket 21 is hollow to form a mounting cavity 22, the shell 51 of the motor 5 is long strip-shaped, and the two motors 5 are laid along the length direction of the thigh bracket 21 and fixed in the mounting cavity 22, the transmission unit 53 is in transmission connection with the output shaft 521 of the driving power source and is used for outputting torque, and the transmission unit 53 of one of the motors 5 is fixedly connected with the lower leg through the first hinged end, and the transmission unit 53 of the other motor 5 is fixedly connected with the crotch 1 through the second hinged end.

[0038] In the embodiment, the inside of the thigh bracket 21 is hollow to form a mounting cavity 22, the shell 51 of the motor 5 is long strip-shaped, the shell 51 is matched with the shape of the thigh bracket 21, thereby the motor 5 can be fixed in the mounting cavity 22 of the thigh bracket 21, the assembly of the thigh bracket 21 and the motor 5 is more compact, the overall space of the thigh structure 2 can be greatly saved, the overall appearance of the thigh structure 2 is more beautiful and more in line with the human body structure, which helps to improve the simulation degree of the thigh structure 2; in addition, in order to avoid the weight of the humanoid robot being too large, the thigh bracket 21 usually adopts a hollow design, and the hollow is formed into a mounting cavity 22 for mounting the motor 5, the internal space of the thigh structure 2 can be fully utilized, the weight of the thigh bracket 21 is reduced, and at the same time, a sufficient mounting space is provided for the motor 5, and the thigh bracket 21 can also protect the motor 5, avoiding the motor 5 directly protruding from the thigh bracket 21 and being easily impacted from the outside, which helps to reduce the possibility of damage of the motor 5; secondly, the motor 5 is laid along the length direction of the thigh bracket 21, which can prevent the motor 5 from being concentratedly mounted at the upper end of the thigh bracket 21, avoid the thigh structure 2 from being unable to normally close due to the width being too large, and the motor 5 is mounted in the inside of the thigh bracket 21, which can keep the upper end of the thigh bracket 21 at a normal width, and make the appearance of the thigh structure 2 more in line with the human body structure, so as to have higher aesthetic and simulation degrees.

[0039] As Figure 1 and Figure 2As shown, the thigh support 21 in this embodiment includes a front plate 211 and two side plates 212. The two side plates 212 are respectively fixed to both sides of the front plate 211 and are arranged in parallel. A mounting cavity 22 is formed between the front plate 211 and the two side plates 212. The mounting cavity 22 has openings on the side away from the front plate 211, at the top end and the bottom end of the two side plates 212. The two motors 5 are a first motor 5a and a second motor 5b. The first motor 5a is installed in the mounting cavity 22 and fixed to the front plate 211. The transmission unit 53 of the first motor 5a extends to the bottom end of the thigh support 21. The second motor 5a... Motor 5b is fixed between the two side plates 212. The transmission unit 53 of the second motor 5b extends to the top of the thigh support 21. The first motor 5a is located between the front plate 211 and the second motor 5b. The transmission unit 53 of the first motor 5a extends to the bottom of the thigh support 21, allowing the transmission unit 53 of the first motor 5a to be directly connected to the lower leg structure 3. Correspondingly, the transmission unit 53 of the second motor 5b can also be directly connected to the hip 1. This reduces the number of transmission units 53 between the motor 5 and the lower leg structure 3 or the hip 1, helping to reduce energy loss during power transmission and lowering mechanical wear and failure rate caused by too many transmission components. It should be noted that the front plate 211 is the front part of the thigh structure 2, and the front side of the thigh structure 2 is the direction the humanoid robot faces.

[0040] like Figure 1 As shown, in this embodiment, the top of the side plate 212 is flush with the top of the front plate 211, and the length of the side plate 212 is less than the length of the front plate 211. That is, the connection position between the bottom end of the side plate 212 and the front plate 211 is above the bottom end of the front plate 211. The transmission unit 53 of the first motor 5a extends to the bottom end of the front plate 211. Only one side of the transmission unit 53 is in contact with the front plate 211, and the other sides are exposed to the outside. The connection between the transmission unit 53 and the lower leg structure 3 is located in the plane of the side plate 212. That is, the connection between the first motor 5a and the lower leg structure 3 is in the plane of the side plate 212. 3. During installation, it will not be affected by the thigh support 21, making the connection between the thigh structure 2 and the lower leg structure 3 more convenient and quick. In addition, shortening the length of the side plate 212 can reduce the overall weight of the thigh support 21 and also reduce the manufacturing cost of the thigh support 21. Secondly, the transmission unit 53 of the first motor 5a extends to the bottom of the front plate 211, which can make the front of the thigh structure 2 have a more complete shape. At the same time, the front plate 211 can also shield the first motor 5a, reducing the possibility of the motor 5 being hit by external impacts during the movement of the humanoid robot.

[0041] like Figure 1 and Figure 2As shown, the top end of the side plate 212 in the embodiment is provided with a mounting hole 213 for fixing the second motor 5b, the mounting hole 213 is located at the edge of the side plate 212 away from the front plate 211, the transmission unit 53 of the second motor 5b extends to the top end of the side plate 212, the transmission unit 53 of the second motor 5b is fixed through the mounting hole 213, the transmission unit 53 is provided with an inertia disc 533, the inertia disc 533 is fixedly connected with the crotch part 1, the motor 5 drives the inertia disc 533 to rotate, thereby realizing the relative rotation of the thigh structure 2 and the crotch part 1.

[0042] In order to improve the overall strength of the thigh support 21, the front plate 211 and the two side plates 212 in the embodiment are of an integrated structure, the use of the integrated structure can enhance the overall strength of the thigh support 21, thereby enabling the leg structure to have stronger supporting performance, and at the same time, can provide more powerful protection for the motor 5, and reduce the possibility of damage of the motor 5 caused by external impact.

[0043] As shown in the figure, Figure 4As shown, the housing 51 in the embodiment includes a main shell 511, a box body 513 and an end cover 512, the box body 513 and the end cover 512 are respectively installed at both ends of the main shell 511, a driving unit is fixed in the main shell 511, an output shaft 521 of the driving unit extends into the box body 513, a transmission unit 53 is installed in the box body 513, a rotating shaft 531 of the transmission unit 53 is rotationally connected with the box body 513, a first bevel gear 532 is fixed on the outer circumferential side of the rotating shaft 531, a second bevel gear 522 is fixed on the end of the output shaft 521, the first bevel gear 532 and the second bevel gear 522 are meshed with each other, an inertia disc 533 is transmissionally connected with one end of the rotating shaft 531, and the inertia disc 533 is outside the box body 513, the output shaft 521 drives the rotating shaft 531 to rotate through the first bevel gear 532 and the second bevel gear 522, the rotating shaft 531 drives the inertia disc 533 to rotate, so as to realize the output of the torque, the first bevel gear 532 and the second bevel gear 522 can realize the vertical transmission between the transmission shaft and the output shaft 521, so that the transmission efficiency between the output shaft 521 and the transmission shaft is higher, and the stable transmission of the torque is ensured; in addition, the output shaft 521 is directly meshed with the transmission shaft, so that the connecting rod can be omitted, the space occupied by the driving unit is larger, and then the size of the driving unit can be increased, so that the motor 5 has higher output torque and output power; secondly, the rotating shaft 531 directly outputs the torque through the inertia disc 533, realizes the linear transmission of the power, can reduce the constraint stiffness of the transmission unit 53, compared with the connecting rod transmission scheme in the prior art, the design of the utility model has larger simulation time step in the simulation simulation in the design process, which is helpful to reduce the training time of the control unit 55, shorten the research and development time and iteration test time, in addition, the connecting rod transmission is nonlinear transmission, and few simulation engines can support simulation simulation, and the solution in simulation simulation is only an approximate solution, which is greatly different from the real physical condition, and the utility model directly transmits the torque to the joint part, which is a linear transmission, and the solution in simulation simulation is closer to the real physical condition, so that the actual product motion state is closer to the state in simulation; in addition, the linear transmission mode can reduce the difficulty of inverse kinematics calculation and reduce the calculation cost, which is helpful to directly use the simulation training control unit 55 for the actual product; in addition, in the prior art, in order to set the connecting rod structure in the limited leg space, the size of the motor must be reduced, and in the utility model, the torque is directly transmitted to the joint of the leg structure, so that the length of the motor can be designed to be close to the length of the leg space, so that the motor has stronger performance, thereby outputting larger torque, improving the motion amplitude of the leg during motion, and improving the motion performance of the humanoid robot.

[0044] As Figure 5As shown, the transmission unit 53 in the embodiment also includes a speed reduction mechanism, which includes a speed reduction box 545 fixed to one side of the box 513, and the speed reduction box 545 is provided with a sun gear 541, a planetary gear 542 and a ring gear 543. One end of the rotating shaft 531 of the transmission unit 53 is rotatably connected to the box 513, and the other end penetrates through the box 513 and extends into the speed reduction box 545. The sun gear 541 is fixed to the end of the rotating shaft 531 and rotates synchronously with the rotating shaft 531. The ring gear 543 is fixed to the inner wall of the speed reduction box 545. The planetary gear 542 is in meshing connection with the ring gear 543 and the sun gear 541. A shaft sleeve is arranged on the outer periphery of the end of the rotating shaft 531 extending into the speed reduction box 545, and the shaft sleeve is fixedly connected to the box 513. A retainer 544 is rotatably connected to the outer periphery of the shaft sleeve. The speed reduction box 545 is provided with a through hole on the side away from the rotating shaft 531. The inertia disc 533 is rotatably connected to the through hole. The retainer 544 is provided with a connecting column 5441 extending to the inertia disc 533. The retainer 544 and the inertia disc 533 are fixedly connected through the connecting column 5441. The planetary gear 542 has a rotating shaft, and the two ends of the rotating shaft are connected to the retainer 544 and the inertia disc 533, respectively. The planetary gear 542 is rotatably arranged between the retainer 544 and the inertia disc 533 through the rotating shaft. The inertia disc 533 is provided with a fastener for connecting the leg structure. After the motor 5 is started, the rotating shaft 531 drives the sun gear 541 to rotate. The sun gear 541 and the ring gear 543 cooperate to drive the planetary gear 542 to rotate circumferentially around the sun gear 541. The planetary gear 542 drives the inertia disc 533 to rotate during the rotation around the sun gear 541, so as to realize the output of the torque. The speed reduction mechanism can slow down the rotating speed of the rotating shaft, and the inertia disc 533 has greater output torque, so that the motor 5 can stably drive the movement of the leg structure.

[0045] In order to make the motor 5 have a more beautiful appearance, the speed reduction mechanism and the first bevel gear 532 in the embodiment are respectively located at the two ends of the rotating shaft 531. The speed reduction mechanism and the first bevel gear 532 are distributed at the two ends of the rotating shaft 531, which can make the overall structure of the transmission unit 53 more uniform, avoid the phenomenon that the speed reduction mechanism and the first bevel gear 532 are located at the same end to cause the protrusion of the side of the motor 5, and make the shell 51 of the motor 5 more regular, which is beneficial to the installation and fixation of the motor 5.

[0046] Of course, it can be understood that in other embodiments, the inertia disc 533 can also be fixedly connected with the ring gear 543, the ring gear 543 is rotatably installed in the speed reduction box 545, the rotating shaft 531 drives the planetary gear 542 to rotate through the sun gear 541, the planetary gear 542 drives the ring gear 543 to rotate, and the ring gear 543 drives the inertia disc 533 to rotate, so as to realize the output of the torque.

[0047] The box 513 in the embodiment can provide firm support and protection for the rotating shaft 531, and reduce the possibility of damage of the rotating shaft 531 caused by external impact. In addition, the box 513 wraps the meshing part of the output shaft 521 and the rotating shaft 531, avoids sundries from entering the meshing part of the output shaft 521 and the rotating shaft 531, reduces the possibility of abrasion of the output shaft 521 and the rotating shaft 531 caused by external friction, and helps to prolong the service life of the output shaft 521 and the rotating shaft 531. Furthermore, the box 513 and the main shell 511 are detachably connected in the embodiment, so that the maintenance of the transmission unit 53 is more simple and convenient, and the maintenance efficiency of the motor 5 is improved.

[0048] As shown in Figure 4 The end of the main shell 511 away from the transmission unit 53 and the end cover 512 form a containing cavity 5121 for assembling the control unit 55 in the embodiment. The main shell 511 and the end cover 512 are detachably connected, so that the installation and disassembly of the control unit 55 are facilitated, and the maintenance and test of the control unit 55 are facilitated. In addition, the end cover 512 forms the containing cavity 5121 at one end of the main shell 511, so that the spacing between the control unit 55 and the driving unit is increased, the heat generated by the driving unit is reduced to enter the containing cavity 5121, the temperature rising speed of the control unit 55 is reduced, and the service life of the control unit 55 is prolonged. In addition, the containing cavity 5121 is arranged at one end of the main shell 511. Since the shell 51 is arranged in a strip shape, the volume of the containing cavity 5121 can be expanded by increasing the length of the shell 51, so that the containing cavity 5121 can be installed with a control unit 55 with a larger area, so as to enhance the function of the control unit 55, and make the leg structure have a faster running speed and a stronger load capacity.

[0049] As shown in Figure 6As shown, the control unit 55 in this embodiment includes at least two circuit boards 551, which are stacked in the length direction of the shell 51 in the accommodating cavity 5121, and a support column 552 is arranged between adjacent two circuit boards 551, the support column 552 supports the upper circuit board 551, so that a gap is formed between adjacent two circuit boards 551, and the adjacent two circuit boards 551 are electrically connected through the pin 553. The control unit 55 is composed of a plurality of circuit boards 551, and the circuit boards 551 are stacked in the length direction of the shell 51, which can increase the area of the circuit board 551 and reduce the diameter of the control unit 55, so that the circuit board 551 can adapt to the shape of the motor 5 shell 51, and avoid that the diameter of the circuit board 551 is too large to increase the overall volume of the motor 5. In addition, increasing the area of the circuit board 551 enables the control unit 55 to install more electronic components, so that the control of the motor 5 by the control unit 55 is more accurate, and the control unit 55 can output larger voltage and current to the motor 5, so that the motor 5 has large enough output torque. Of course, it can be understood that the number of circuit boards 551 can also be more than two, and the installation area of the circuit board 551 can be increased by increasing the number of circuit boards 551, so as to improve the performance of the control unit 55.

[0050] Embodiment two:

[0051] As shown in Figure 7 and Figure 8 The embodiment shows a humanoid robot, which includes a trunk, a leg structure movably connected to the bottom of the trunk, the leg structure including a crotch 1, a thigh structure 2, a lower leg structure 3 and a foot end piece 4. The thigh structure 2 adopts the thigh structure 2 of the humanoid robot as described in embodiment one. The crotch 1 is fixedly connected with the trunk. The crotch 1 is rotatably connected with two thigh structures 2. The bottom end of each thigh structure 2 is rotatably connected with a lower leg structure 3. The foot end piece 4 is rotatably connected to the bottom end of the lower leg structure 3. An installation cavity 22 for installing a motor 5 is formed in the inside of the thigh structure 2. Two motors 5 are fixedly connected in the installation cavity 22 of the thigh structure 2. The inertia disc 533 of one motor 5 is fixedly connected with the crotch 1. When the motor 5 is started, the inertia disc 533 is rotated to realize the relative rotation between the crotch 1 and the thigh structure 2. The inertia disc 533 of the other motor 5 is fixedly connected with the top end of the lower leg structure 3. When the motor 5 is started, the inertia disc 533 is rotated to realize the relative rotation between the thigh structure 2 and the lower leg structure 3. An installation cavity 22 for installing a motor 5 is also formed in the inside of the corresponding lower leg structure 3. One motor 5 is fixedly connected in the installation cavity 22 of the lower leg structure 3. The inertia disc 533 of the motor 5 is fixedly connected with the foot end piece 4. When the motor 5 is started, the inertia disc 533 is rotated to realize the relative rotation between the lower leg structure 3 and the foot end piece 4.

[0052] The above merely describes a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific implementation. Any modification not deviating from the function and structural principle of the present application will be included in the scope of the claims.

Claims

1. A thigh structure of a humanoid robot, the thigh structure being connected between a hip portion and a lower leg structure of the humanoid robot, the thigh structure comprising a thigh bracket and two motors, the motors each including a housing, a drive unit, a control unit, and a transmission unit mounted in the motor, a bottom end of the thigh bracket being formed as a first hinge end to be hingedly connected to the lower leg structure of the humanoid robot, and a top end of the thigh bracket being formed as a second hinge end to be hingedly connected to the hip portion of the humanoid robot, characterized in that, The inside of the thigh support is hollow to form a mounting cavity, the outer shell of the motor is long strip-shaped, the two motors are laid along the length direction of the thigh support and fixed in the mounting cavity, the transmission unit is in transmission connection with the output shaft of the driving power supply and used for outputting torque, the transmission unit of one of the motors is fixedly connected with the lower leg through a first hinged end, and the transmission unit of the other motor is fixedly connected with the crotch through a second hinged end.

2. The structure of the thigh of the humanoid robot according to claim 1, wherein The thigh support comprises a front plate and two side plates fixed on both sides of the front plate, and the mounting cavity is formed between the front plate and the two side plates.

3. The thigh structure of the humanoid robot according to claim 2, wherein The two motors are a first motor and a second motor, the first motor is fixed in the mounting cavity and close to the front plate, the transmission unit of the first motor extends to the bottom end of the thigh support, the second motor is fixed between the two side plates, the transmission unit of the second motor extends to the top end of the thigh support, and the first motor is between the front plate and the second motor.

4. The thigh structure of the humanoid robot according to claim 3, wherein The connection position of the bottom end of the side plate and the front plate is on the upper side of the bottom end of the front plate, the first motor is fixed to the front plate, the transmission unit of the first motor is in transmission connection with the lower leg, and the first motor drives the lower leg to rotate through the transmission unit.

5. The thigh structure of the humanoid robot according to claim 3, wherein The top of the side plate is provided with a mounting hole for fixing the second motor, the transmission unit of the second motor is fixedly connected with the mounting hole, one end of the transmission unit is provided with an inertia disc fixedly connected with the crotch, and the second motor controls the inertia disc to rotate, so as to realize the relative rotation of the thigh and the crotch.

6. The thigh structure of the humanoid robot according to claim 2, wherein The front plate and the two side plates are of an integrated structure.

7. The thigh structure of the humanoid robot according to claim 1, wherein The transmission unit comprises a rotating shaft, the end of the rotating shaft is in transmission connection with an inertia disc, the inertia disc is used for connecting the lower leg or the crotch, a first bevel gear is fixed on the rotating shaft, the end of the output shaft of the driving unit is provided with a second bevel gear in mesh with the first bevel gear, and the driving unit drives the inertia disc to rotate through the rotating shaft, so as to realize the rotation of the thigh relative to the lower leg or the crotch.

8. The thigh structure of the humanoid robot according to claim 7, wherein The transmission unit further comprises a speed reduction mechanism, the speed reduction mechanism comprises a planetary gear and a gear ring, the end of the rotating shaft is provided with a sun gear, the planetary gear is in mesh with the gear ring and the sun gear at the same time, the rotating shaft drives the gear ring to rotate through the planetary gear, and the inertia disc is fixedly connected with the gear ring; or the gear ring is fixed relative to the outer shell, the inertia disc is fixedly connected with the planetary gear, and the output shaft drives the inertia disc to rotate through the planetary gear.

9. The thigh structure of the humanoid robot according to claim 8, wherein The speed reduction mechanism further comprises a speed reduction box, the speed reduction box is fixedly connected with the outer shell of the motor, the gear ring is fixed to the inner wall of the speed reduction box, the speed reduction box is provided with a through hole, the inertia disc is rotatably installed in the through hole through a bearing, a retainer is rotatably connected to the outer periphery of the rotating shaft, the retainer is fixedly connected with the inertia disc, the planetary gear has a rotating shaft, and the two ends of the rotating shaft are connected to the retainer and the inertia disc respectively, and the inertia disc has a fastener for fixing the lower leg or the crotch.

10. The structure of the thigh of the humanoid robot according to claim 1, wherein The outer shell comprises a main shell and an end cover detachably installed at one end of the main shell, the end cover is connected to the end of the main shell away from the transmission unit, and the end cover and the main shell form a containing cavity for assembling the control unit.

11. The thigh structure of the humanoid robot according to claim 10, wherein The control unit comprises a plurality of circuit boards, the circuit boards are stacked in the containing cavity along the length direction of the outer shell, a support column is arranged between adjacent two circuit boards, the support column supports the upper circuit board, and a gap is formed between the adjacent two circuit boards.

12. A humanoid robot comprising a trunk, a leg structure movably connected to a bottom of the trunk, the leg structure comprising a hip, a thigh structure, a lower leg structure, and a foot end piece, characterized in that, The thigh adopts the thigh structure of the humanoid robot as claimed in any one of claims 1 to 11. The thigh adopts the thigh structure of the humanoid robot as claimed in any one of claims 1 to 11.

Images