Biped robot leg structure

Abstract

The utility model discloses a leg structure of a biped robot, belongs to the technical field of humanoid robots, and solves the problem that the mass distribution of a series connection structure is too close to the tail end of a leg in the leg design on the basis of realizing two-degree-of-freedom rotation, namely left-right movement along an X axis and front-back movement along a Y axis. The movement of a human hip joint can be better simulated; the driver of the thigh part firstly drives the middleware, and then the middleware drives the driven part to move, so that relative sliding of the thighbone and the tibia and bending movement of the knee joint are simulated under the assistance of the middleware; the telescopic driving part of the shank part drives the universal joint to rotate at any angle in the telescopic process, meanwhile, the movable plate can conduct front-back pitching, left-right swinging and plane rotation, three-degree-of-freedom movement is achieved, the parallel structure is adopted, and better distribution of force and torque can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to humanoid robot technical field, especially relate to a biped robot leg structure. BACKGROUND

[0002] With the progress of science and technology, intelligent robots are increasingly applied in various industries, especially in the service industry. Previously, the form of intelligent robots was relatively simple, for example, the walking system of intelligent robots generally used a wheeled motion system instead. Now, intelligent robots are increasingly designed to resemble humans, and therefore, biped robots have emerged.

[0003] Any single leg of a humanoid biped robot should include corresponding leg joints such as a hip joint, a knee joint, and an ankle joint. The various leg joints work together to complete walking movements that resemble human actions.

[0004] In the leg design of existing humanoid biped robots, the degrees of freedom of the ankle joint, knee joint, and hip joint are insufficient, and the degrees of freedom of the hip joint, ankle joint, and knee joint are usually only one, and are simple pivoting. Low degrees of freedom mean that the range of motion is limited when the robot performs actions, which will make it difficult for the robot to cope with complex terrain and lack adaptability. Low degrees of freedom will also require more steps when the robot performs certain actions, as it cannot optimize gait and motion like designs with higher degrees of freedom, thereby affecting motion efficiency. Fewer degrees of freedom in the leg structure will make it difficult for the robot to mimic the complex movements of the human leg during walking and other processes, making the movement unnatural and reducing the similarity to human movement. SUMMARY

[0005] To solve the problem of insufficient degrees of freedom in the leg structure of existing biped robots, the utility model provides a biped robot leg structure with sufficient degrees of freedom.

[0006] The technical solution of the utility model is:

[0007] The utility model provides a biped robot leg structure, comprising:

[0008] A hip joint, the hip joint comprising a joint actuator, a driven rotary disc, a driven swing arm, and a fixed rod, the joint actuator drivingly connected to the driven rotary disc, the driven swing arm connected to the driven rotary disc, and the fixed rod connected to the driven swing arm;

[0009] The thigh part comprises a driver, a driven part, an intermediate part, and a fixed block. One end of the intermediate part is connected to the driver, the other end of the intermediate part is connected to the driven part. The driver drives the intermediate part, and the intermediate part drives the driven part. The driver is fixed in the fixed block, and the fixed block is connected to the fixed rod.

[0010] The calf part comprises two movable plates, three telescopic driving parts arranged between the two movable plates, a plurality of universal joints, and a support rod. One end of the universal joint is connected to the movable plate, the other end of the universal joint is connected to the telescopic driving part. The support rod is arranged between the three telescopic driving parts. One end of the support rod is provided with a spherical hinge, the other end of the support rod is fixedly connected to one of the movable plates, and the spherical hinge is connected to the other movable plate. One of the movable plates is connected to the driven part.

[0011] The instep is fixedly connected to the other movable plate.

[0012] Further, the intermediate part comprises a main connecting rod, a side connecting rod, and a limiting block. The main connecting rod and the side connecting rod are arranged in a cross shape. One end of the main connecting rod is fixedly connected to the driver, the other end of the main connecting rod is fixedly connected to the driven part. One end of the limiting block is fixedly connected to a position between the two ends of the main connecting rod, and the other end of the limiting block is fixedly connected to one end of the side connecting rod. The other end of the side connecting rod is fixedly connected to the driven part.

[0013] Further, the driven part is provided with a front mounting position and a rear mounting position. One end of the main connecting rod is arranged in the rear mounting position, and one end of the side connecting rod is arranged in the front mounting position.

[0014] Further, a protrusion is arranged at a position between the two ends of the main connecting rod. One end of the limiting block is provided with a clamping hole, and the clamping hole is arranged on the protrusion.

[0015] Further, the hip joint further comprises a fixed frame. The fixed frame has an integrally formed top surface, a retaining edge, and a partition strip. The retaining edge has two and is symmetrically arranged on both sides of the top surface. The partition strip has two and is arranged between the two retaining edges. The main rotating disc and the corresponding joint actuator are arranged between the adjacent retaining edge and the partition strip.

[0016] Further, the hip joint further comprises a hip joint driver and a fixed plate. The fixed plate is fixedly connected to the fixed frame, and the hip joint driver is arranged on the fixed plate and drives the fixed frame.

[0017] Further, the hip joint further comprises a passive rotating disc and a passive swing arm, the passive rotating disc is arranged between the two spacer strips, the connecting rods of the active rotating disc and the passive rotating disc are arranged, one end of the connecting rod of the active rotating disc is fixedly connected with the active swing arm, one end of the connecting rod of the passive rotating disc is fixedly connected with the passive swing arm, and the other end of the passive swing arm is connected with the other ends of the two active swing arms through the fixed rod.

[0018] Further, the hip joint further comprises a support shaft, coaxial holes are arranged on the two spacer strips, and the support shaft penetrates the coaxial holes of the two spacer strips and the center of the passive rotating disc or the coaxial holes of the two connecting rings and the center of the passive rotating disc.

[0019] Further, the spherical hinge comprises a spherical part and a concave part, the concave part is fixed to one of the movable plates, and the spherical part is movably arranged in the concave part.

[0020] Further, the other end of the limiting block is provided with a connecting hole, and the other end of the side connecting rod is fixedly connected with the connecting hole.

[0021] The hip joint of the utility model has the advantages of:

[0022] The joint actuator in the hip joint drives the active rotating disc to rotate, so that the active swing arm and the fixed rod swing together, two degrees of freedom rotation, i.e. X-axis left and right movement and Y-axis forward and backward movement are realized, the problem that the mass distribution of the series structure is too close to the leg end in the leg design is solved, the movement of the human hip joint can be better simulated, the driver of the thigh part simulates the thigh, the telescopic part of the driver simulates the lower end of the femur, is used for providing driving force for the knee joint, the driven part simulates the upper end of the tibia, the intermediate part simulates the ligament, the driver drives the intermediate part first, the intermediate part drives the driven part to move, so that the relative sliding of the femur and the tibia is simulated under the assistance of the intermediate part, and the knee joint bends; two movable plates are arranged on the lower leg part, three telescopic driving parts, universal joints and support rods are arranged between the two movable plates, the telescopic driving parts drive the universal joints to rotate at any angle in the telescopic process, meanwhile, the movable plates can be forward and backward inclined, left and right swung and plane rotated, three degrees of freedom movement are realized, and the parallel structure can also realize the optimal distribution of force and torque. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is an overall structure schematic view of the leg structure of the biped robot;

[0024] Figure 2 It is an exploded structure schematic view of the hip joint of the leg structure of the biped robot;

[0025] Figure 3 It is the whole structure schematic view of hip joint of the leg structure of the biped robot of the utility model;

[0026] Figure 4 It is the state schematic view of the hip joint of the leg structure of the biped robot of the utility model when moving along X left and right;

[0027] Figure 5 It is the state schematic view of the hip joint of the leg structure of the biped robot of the utility model when moving along Y forward and backward;

[0028] Figure 6 It is the whole structure schematic view of the thigh of the leg structure of the biped robot of the utility model;

[0029] Figure 7 It is the exploded structure schematic view of the thigh of the leg structure of the biped robot of the utility model;

[0030] Figure 8 It is the bending change structure schematic view of the thigh of the leg structure of the biped robot of the utility model;

[0031] Figure 9 It is the whole structure schematic view of the calf of the leg structure of the biped robot of the utility model;

[0032] Figure 10 It is the exploded structure schematic view of the calf of the leg structure of the bipede robot of the utility model;

[0033] Figure 11 It is the exploded structure schematic view of the universal joint of the calf of the leg structure of the bipede robot of the utility model;

[0034] Figure 12 It is the schematic view of the calf of the leg structure of the bipede robot of the utility model and is stretched downward;

[0035] Figure 13 It is the schematic view of the calf of the leg structure of the bipede robot of the utility model and is turned inward;

[0036] Figure 14 It is the schematic view of the calf of the leg structure of the bipede robot of the utility model and is turned inward;

[0037] Fig. 1: hip joint, 11: joint actuator, 12: active rotary disc, 13: active rocker, 131: first connecting head, 132: second connecting head, 14: fixed rod, 141: clamping head, 142: rod body, 15: passive rotary disc, 16: passive rocker, 161: third connecting head, 162: fourth connecting head, 163: fifth connecting head, 17: fixed frame, 171: top surface, 172: blocking edge, 173: partition strip, 174: coaxial hole, 18: support shaft, 192: bearing, 191: connecting rod, 193: fixing ring, 194: nut; 2: thigh part, 21: driver, a: driver, b: telescopic rod, 22: driven part, 221: front mounting position, 222: rear mounting position, 23: intermediate part, 231: main connecting rod, 2311: protrusion, 232: side connecting rod, 233: limiting block, 2331: clamping hole, 2332: connecting hole, 2333: mounting hole, 24: fixing block, 241: through hole, 25: connecting piece; 3: calf part, 31: movable plate, 32: telescopic driver, 32a: first telescopic driver, 32b: second telescopic driver, 32c: third telescopic driver, 33: universal joint, 331: first support, 332: second support, 333: cross shaft, 34: support rod, 35: spherical hinge, 351: spherical part, 352: concave part; 4: foot sole, 5: hip joint driver, 6: fixing plate. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0039] It should be understood that, in the description of the present application, the meaning of "at least two" is two or more than two, unless otherwise explicitly specified.

[0040] In addition, the terms "both sides", "middle", "upper", "both ends", "mutually parallel", "mutually perpendicular", "inner", "bottom" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply 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 present application.

[0041] It should be noted that the terms "first", "second", "third", "fourth", "fifth" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", "third", "fourth", "fifth" and the like can explicitly or implicitly include one or more of the features.

[0042] Embodiment 1

[0043] Please refer to Figure 1 The utility model provides a kind of biped robot leg structure, including hip joint 1, thigh 2, shank 3 and foot sole 4;

[0044] Refer to Figure 2 And Figure 3 The hip joint 1 includes two joint actuators 11, two active rotary discs 12, two active swing arms 13, a fixed rod 14, a passive rotary disc 15, a passive swing arm 16, a fixed frame 17 and a support shaft 18,

[0045] Each joint actuator 11 is provided with a power output end face, which can be a reduction motor, and performs power output;Each active rotary disc 12 is correspondingly provided with a joint actuator 11, specifically: each active rotary disc 12 is movably connected with the power output end face of the corresponding joint actuator 11, and the power output end face of the joint actuator 11 drives the rotation of the active rotary disc 12;One end of each active swing arm 13 is fixedly connected with the corresponding active rotary disc 12, and the active swing arm 13 is equivalent to the bone of the human body, which needs to be driven by the joint to rotate, and the active rotary disc 12 drives the swing of the active swing arm 13;The other end of each active swing arm 13 is fixedly connected with the fixed rod 14, since the two active swing arms 13 cannot rotate separately, the fixed rod 14 is used to fix the two active swing arms 13;The power output end face of the joint actuator 11 drives each active rotary disc 12 to rotate and synchronously swing each active swing arm 13 and the fixed rod 14, that is, parallel transmission is realized;

[0046] A connecting rod 191 is provided on each active rotary disc 12, and the connecting rod 191 is fixedly connected with one end of the correspondingly provided active swing arm 13. A connecting rod 191 is also provided on the passive rotary disc 15, and the connecting rod 191 of the passive rotary disc 15 is fixedly connected with one end of the passive swing arm 16. The other end of the passive swing arm 16 is connected with the other ends of the two active swing arms 13 by the fixed rod 14, and the passive rotary disc 15 is located between the two active rotary discs 12.

[0047] More specifically, each of the main swing arms 13 is provided with a first connecting head 131 and a second connecting head 132, the first connecting head 131 and the second connecting head 132 are respectively located at the two ends of the main swing arm 13, the first connecting head 131 is fixedly connected with the connecting rod 191 of the main rotating disc 12, and the fixed rod 14 penetrates the second connecting head 132.

[0048] The passive swing arm 16 is integrally formed with a third connecting head 161, a fourth connecting head 162 and a fifth connecting head 163, the fourth connecting head 162 and the fifth connecting head 163 are arranged in parallel with each other, the third connecting head 161 is arranged perpendicularly to the fourth connecting head 162 and / or the fifth connecting head 163, the third connecting head 161 is fixedly connected with the connecting rod 191 of the passive rotating disc 15, the fixed rod 14 penetrates the fourth connecting head 162 and the fifth connecting head 163, and the second connecting head 132 of the main swing arm 13 is located between the fourth connecting head 162 and the fifth connecting head 163.

[0049] The fixed rod 14 is integrally formed with a clamping head 141 and a rod body 142, the rod body 142 penetrates the fourth connecting head 162, the second connecting head 132 and the fifth connecting head 163, the clamping head 141 is arranged on the fourth connecting head 162, a fixing ring 193 is detachably connected on the rod body 142, the fixing ring 193 is arranged at the bottom of the fifth connecting head 163, the fourth connecting head 162, the second connecting head 132 and the fifth connecting head 163 are fixed by the clamping head 141 and the fixing ring 193, and the main swing arm 13 and the passive swing arm 16 are also fixed.

[0050] The passive rotating disc 15, the first connecting head 131, the second connecting head 132 and the third connecting head 161 are respectively provided with bearings 192, the support shaft 18 penetrates the bearing 192 of the passive rotating disc 15, the connecting rod 191 penetrates the bearing 192 of the corresponding first connecting head 131 or the second connecting head 132 or the third connecting head 161, a nut 194 is arranged on each of the connecting rods 191, the connecting rod 191 penetrates the center of the bearing 192, and the first connecting head 131, the second connecting head 132 and the third connecting head 161 are respectively screwed on the corresponding connecting rod 191 by the nut 194.

[0051] The main function of the bearing 192 is to support the swing arm to rotate, reduce the friction coefficient of the swing arm in the movement process, and ensure the rotation accuracy of the swing arm; in the passive rotating disc 15, the support shaft 18 penetrates the bearing 192 in the passive rotating disc 15 to support the passive rotating disc 15, and the bearing 192 can also make the passive rotating disc 15 rotate more smoothly.

[0052] The fixed frame 17 has an integral top surface 171, a baffle 172 having two and symmetrically arranged on both sides of the top surface 171, and a partition strip 173 having two and arranged between the two baffles 172. Each of the driving rotary discs 12 and the corresponding joint actuators 11 is arranged between the adjacent baffles 172 and the partition strip 173. The coaxial holes 174 are formed in the baffles 172 and the partition strip 173. The support shaft 18 penetrates the coaxial holes 174 of the two partition strips 173 and the bearing 192 of the passive rotary disc 15. The passive rotary disc 15 is located between the two partition strips 173.

[0053] The fixed frame 17 combines the biped robot leg structure into one body, can divide the three rotary discs into rotary spaces, and can form a modular joint structure, facilitating assembly and use. The support shaft 18 supports the bearing 192 on the passive rotary disc 15 to rotate.

[0054] With reference to Figure 4 , the left and right movement of the leg along the X axis is realized, i.e. the abduction of the thigh (the right hip swings to the right outer side or the left hip swings to the left outer side) or the adduction of the thigh (the right hip swings to the left side or the left hip swings to the right side). With reference to Figure 5 , the forward and backward movement of the leg along the Y axis is also realized, i.e. the flexion of the thigh (lifting the leg forward) and the extension of the thigh (lifting the leg backward), thereby realizing the rotation of two degrees of freedom. The design can improve the physical height of the joint actuators 11 on the leg, thereby reducing the inertia of the end of the leg and being more favorable to motion control. In addition, the two joint actuators 11 can simultaneously generate force. Compared with the joint actuators 11 of the same specification in a series structure, the biped robot leg structure has stronger bearing capacity and greater load.

[0055] Figure 1 In the biped robot leg structure, the hip joint driver 5 and the fixed plate 6 are further included. The fixed plate 6 is fixedly connected with the fixed frame 17. The hip joint driver 5 is arranged on the fixed plate 6 and drivingly connected with the fixed frame 17. The overall rotation of the hip joint is controlled by the hip joint driver 5.

[0056] With reference to Figures 6-8 , the thigh part 2 includes a driver 21, a driven member 22, an intermediate member 23, and a fixed block 24. One end of the intermediate member 23 is connected with the driver 21. The other end of the intermediate member 23 is connected with the driven member 22. The driver 21 drives the intermediate member 23. The intermediate member 23 drives the driven member 22. The driver 21 is fixedly arranged in the fixed block 24. The fixed block 24 is connected with the fixed rod 14. The fixed block 24 is used for limiting the position of the driver 21. When the fixed block 24 is installed on the robot, the fixed block 24 serves as a thigh shell. The driver 21 is fixedly arranged in the fixed block 24.

[0057] Specifically, the intermediate piece 23 comprises a main connecting rod 231, a side connecting rod 232 and a limiting block 233, one end of the main connecting rod 231 is fixedly connected with the driver 21, the other end of the main connecting rod 231 is fixedly connected with the driven piece 22, one end of the limiting block 233 is fixedly connected with the position between the two ends of the main connecting rod 231, the other end of the limiting block 233 is fixedly connected with one end of the side connecting rod 232, the other end of the side connecting rod 232 is fixedly connected with the driven piece 22.

[0058] The driver 21 adopts a motor a and a telescopic rod b, the motor a drives the telescopic rod b to perform telescopic movement.

[0059] The motor a simulates a thigh, the telescopic rod b simulates a lower end of a femur, the driven piece 22 simulates an upper end of a tibia, the driven piece 22 can be connected with a part simulating a lower leg, the main connecting rod 231 simulates an anterior cruciate ligament, the side connecting rod 232 simulates a posterior cruciate ligament, and the limiting block 233 is a mounting and connecting block of the side connecting rod 232; through the telescopic movement of the driver 21, the main connecting rod 231 drives the driven piece 22 to bend or recover, the side connecting rod 232 prevents the driven piece 22 from sliding backward and provides stability for the knee joint, so as to realize the relative sliding of the femur and the tibia and the bending movement of the knee joint.

[0060] With reference to Figure 6 , the main connecting rod 231 and the side connecting rod 232 are cross-connected, which simulates more natural biomechanics and can realize a more similar transmission mode of the human knee joint.

[0061] In addition, the structural principle of the existing knee joint structure performing circular motion is that the driver 21 is directly mounted at the joint part, which can be understood as that the robot comprises both a thigh part 2 and a knee joint, the knee joint bears the weight of the thigh and the driver 21, and in the embodiment, the driver 21 is directly taken as the thigh, without the need of additionally increasing the driver 21, that is, the knee joint part only remains the driven piece 22 and the intermediate piece 23, the setting position of the driver 21 is improved, and the driven piece 22 and the intermediate piece 23 are relatively light in weight, so that the rotational inertia of the knee joint is reduced.

[0062] In summary, the robot adopting the knee joint bears uniform load when performing a task, which can not cause the problems of serious wear of the mechanical structure, overload of the driver 21, increased energy consumption and decreased overall stability.

[0063] Specifically, the driven piece 22 is provided with a front mounting position 221 and a rear mounting position 222, one end of the main connecting rod 231 is arranged on the rear mounting position 222, the other end of the main connecting rod 231 is fixedly connected with a telescopic rod, and one end of the side connecting rod 232 is arranged in the front mounting position 221.

[0064] The position between the two ends of the main connecting rod 231 is provided with a protrusion 2311, and one end of the limiting block 233 is provided with a clamping hole 2331 which is installed on the protrusion 2311.

[0065] Preferably, the position between the two ends of the main connecting rod 231 can be a round hole, the protrusion 2311 is replaced by a connecting shaft, and the clamping hole 2331 is arranged on the connecting shaft.

[0066] The other end of the limiting block 233 is provided with a connecting hole 2332, and the other end of the side connecting rod 232 is fixedly connected with the connecting hole 2332.

[0067] Further comprising a plurality of connecting pieces 25, the connecting piece 25 is a screw, the fixed block 24 is provided with a plurality of through holes 241, referring to Figure 7 , one side of the fixed block 24 is provided with four through holes 241, the limiting block 233 is provided with a plurality of mounting holes 2333, one side of the limiting block 233 is provided with four mounting holes 2333, the through hole 241 is aligned with the mounting hole 2333, the connecting piece 25 penetrates the through hole 241 and the mounting hole 2333, so as to realize the connection of the fixed block 24 and the limiting block 233.

[0068] The limiting block 233 is in the shape of a triangular block, and the three corners of the triangular block are respectively provided with the mounting hole 2333, the clamping hole 2331 and the connecting hole 2332.

[0069] Referring to Figures 9-11 , the lower leg part 3 comprises two movable plates 31 and three telescopic driving pieces 32, a plurality of universal joints 33 and a support rod 34 arranged between the two movable plates 31, one end of the universal joint 33 is connected with the movable plate 31, the other end of the universal joint 33 is connected with the telescopic driving piece 32, the support rod 34 is arranged between the three telescopic driving pieces 32, one end of the support rod 34 is provided with a spherical hinge 35, the other end of the support rod 34 is fixedly connected with one of the movable plates 31, the spherical hinge 35 connects the other movable plate 31, and one of the movable plates 31 is connected with the driven piece 22.

[0070] The telescopic driving piece 32 is used for elongation or shortening, the overall movement is realized by the elongation or shortening of the telescopic driving piece 32, the universal joint 33 is arranged to enable relative movement between the two movable plates 31 and the telescopic driving piece 32, the support rod 34 is arranged among the three telescopic driving pieces 32, the support rod 34 is used for limiting the movement range of the telescopic driving piece 32 and the movable plate 31, and because one end of the support rod 34 is provided with the spherical hinge 35, the support member has a larger movement range in one direction, and can more stably support and bear the weight in the other direction.

[0071] Specifically, the end of the movable plate 31 provided with the ball hinge 35 is connected with the sole 4.

[0072] The ankle joint performs forward and backward tilting movement, referring to Figure 12 When the robot's foot needs to be stretched downward, the three telescopic driving members 32 are respectively named as the first telescopic driving member 32a, the second telescopic driving member 32 and the third telescopic driving member 32, the first telescopic driving member 32 and the second telescopic driving member 32 are simultaneously elongated by the same length, and the third telescopic driving member 32 is shortened; conversely, when the robot's foot needs to be bent upward, the first telescopic driving member 32 and the second telescopic driving member 32 are simultaneously shortened by the same length, and the third telescopic driving member 32 is elongated.

[0073] The ankle joint performs left and right swinging movement, referring to Figure 13 When the robot's foot needs to be turned outward, the second telescopic driving member 32 is shortened, and the first telescopic driving member 32 and the third telescopic driving member 32 are elongated by the same length; conversely, when the robot's foot needs to be turned inward, the third telescopic driving member 32 is shortened, and the first telescopic driving member 32 and the second telescopic driving member 32 are elongated by the same length.

[0074] The ankle joint performs planar rotation movement, referring to Figure 14 When the robot's foot needs to be turned inward, the three telescopic driving members 32 are elongated or shortened by the same length counterclockwise; conversely, when the robot's foot needs to be turned outward, the three telescopic driving members 32 are elongated or shortened by the same length clockwise.

[0075] In summary, three degrees of freedom movement are realized, so that the ankle joint of the robot is more diversified and flexible, has more adjustment options, can cope with more diversified movement tasks, better simulates the biomechanics of the human ankle joint, the robot can be more natural and smooth when walking, running and performing other foot movements, greatly improves the bionics degree of the robot, compared with the series design of most ankle joints, the parallel structure is more compact, so that the size of the ankle joint is more consistent with the actual size of the human ankle joint; the parallel structure also makes the ankle joint have higher control precision and stability.

[0076] The ball hinge 35 includes a spherical part 351 and a concave part 352, the concave part 352 is fixed on one of the movable plates 31, and the spherical part 351 is movably arranged in the concave part 352, and the spherical part 351 can rotate by 360 degrees in the concave part 352.

[0077] The telescopic driving member 32 also includes a motor a and a telescopic rod b, and the motor a is drivingly connected with the telescopic rod b.

[0078] The universal joint 33 comprises a first support 331, a second support 332 and a cross shaft 333, the first support 331 and the second support 332 are connected with the cross shaft 333 respectively, and the first support 331 and the second support 332 rotate around the cross shaft 333.

[0079] One end of the first support 331 is fixedly connected with the movable plate 31, one end of the second support 332 is fixedly connected with the telescopic driving part 32, and the other end of the first support 331 and the other end of the second support 332 are fixedly connected with the cross shaft 333.

[0080] The movable plate 31 is a polygon, referring to Figure 9 , the movable plate 31 is divided into three corners, the center is the setting position of the supporting rod 34, and the three corners are the setting positions of the telescopic driving rods.

[0081] The above embodiment only expresses one embodiment of the utility model, the description is more specific and detailed, but it cannot be understood as the limitation of the utility model patent scope. It should be pointed out that for ordinary skilled person in the art, without departing from the concept of the utility model, a number of modifications and improvements can be made, which belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent should be subject to the appended claims.

Claims

1. A biped robot leg structure characterized by comprising: The utility model relates to a kind of hip joint (1), the hip joint (1) includes joint executor (11), active rotary disc (12), active rocker arm (13) and fixed rod (14), the joint executor (11) driving connection active rotary disc (12), active rocker arm (13) is connected active rotary disc (12), and fixed rod (14) is connected active rocker arm (13);Thigh (2), the thigh (2) includes driver (21), driven part (22), intermediate piece (23) and fixed block (24), one end of the intermediate piece (23) is connected the driver (21), the other end of the intermediate piece (23) is connected the driven part (22), the driver (21) drives the intermediate piece (23), and the intermediate piece (23) drives the driven part (22), and the driver (21) is fixed in the fixed block (24), and the fixed block (24) is connected the fixed rod (14);Shank (3), the shank (3) includes two movable plates (31) and is arranged between two movable plates (31) three telescopic driving parts (32), a plurality of universal joints (33) and support rod (34), one end of the universal joint (33) is connected the movable plate (31), the other end of the universal joint (33) is connected the telescopic driving part (32), the support rod (34) is arranged between three telescopic driving parts (32), one end of the support rod (34) is equipped with ball hinge (35), the other end of the support rod (34) is fixedly connected one movable plate (31), and the ball hinge (35) is connected another movable plate (31), and one movable plate (31) is connected the driven part (22);Sole (4), and another movable plate (31) is fixedly connected the sole (4). The intermediate piece (23) includes main connecting rod (231), side connecting rod (232) and limit block (233), the main connecting rod (231) is crossed with the side connecting rod (232) and is arranged, one end of the main connecting rod (231) is fixedly connected the driver (21), the other end of the main connecting rod (231) is fixedly connected the driven part (22), one end of the limit block (233) is fixedly connected the position between the both ends of the main connecting rod (231), the other end of the limit block (233) is fixedly connected one end of the side connecting rod (232), and the other end of the side connecting rod (232) is fixedly connected the driven part (22). The driven part (22) is equipped with front mounting position (221) and rear mounting position (222), one end of the main connecting rod (231) is arranged on the rear mounting position (222), and one end of the side connecting rod (232) is arranged in the front mounting position (221). The position between the both ends of the main connecting rod (231) is equipped with protrusion (2311), one end of the limit block (233) is equipped with clamping hole (2331), and the clamping hole (2331) is mounted on the protrusion (2311). ​ 2. The biped robot leg structure according to claim 1, characterized by, ​ 3. The biped robot leg structure according to claim 2, characterized by, ​ 4. The biped robot leg structure according to claim 3, characterized by, ​ 5. The biped robot leg structure according to claim 1, characterized by, The hip joint (1) further comprises a fixing frame (17) which has an integral top surface (171), a baffle (172) and a partition strip (173), the baffle (172) has two and is symmetrically arranged on both sides of the top surface (171), the partition strip (173) has two and is arranged between the two baffles (172), and the driving rotary disc (12) and the corresponding joint actuator (11) are arranged between the adjacent baffle (172) and partition strip (173).

6. The biped robot leg structure according to claim 5, wherein Further comprising a hip joint driver (5) and a fixing plate (6), the fixing plate (6) is fixedly connected with the fixing frame (17), and the hip joint driver (5) is arranged on the fixing plate (6) and drivingly connected with the fixing frame (17).

7. The biped robot leg structure according to claim 6, characterized by, The hip joint (1) further comprises a passive rotary disc (15) and a passive rocker arm (16), the passive rotary disc (15) is arranged between the two partition strips (173), and the driving rotary disc (12) and the passive rotary disc (15) are both provided with a connecting rod (191), one end of the connecting rod (191) of the driving rotary disc (12) is fixedly connected with the corresponding driving rocker arm (13), one end of the connecting rod (191) of the passive rotary disc (15) is fixedly connected with the passive rocker arm (16), and the other end of the passive rocker arm (16) is fixedly connected with the other end of the two driving rocker arms (13) through the fixed rod (14).

8. The biped robot leg structure according to claim 7, characterized by, The hip joint (1) further comprises a support shaft (18), coaxial holes (174) are arranged on the two partition strips (173), and the support shaft (18) penetrates the coaxial holes (174) of the two partition strips (173) and the center of the passive rotary disc (15), or the support shaft (18) penetrates the coaxial holes (174) of the two connecting rings and the center of the passive rotary disc (15).

9. The biped robot leg structure according to claim 1, characterized by, The spherical hinge (35) comprises a spherical part (351) and a concave part (352), the concave part (352) is fixed to one of the movable plates (31), and the spherical part (351) is movably arranged in the concave part (352).

10. The biped robot leg structure according to claim 4, characterized by, The other end of the limiting block (233) is provided with a connecting hole (2332), and the other end of the side connecting rod (232) is fixedly connected with the connecting hole (2332).

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