Lightweight humanoid robot

Abstract

The lightweight humanoid robot comprises a thigh assembly, a shank assembly, a foot assembly, a knee joint pitching motor and an ankle joint pitching motor, the knee joint pitching motor is installed on the thigh assembly and used for driving the shank assembly to rotate relative to the thigh assembly, and the ankle joint pitching motor is installed on the shank assembly and used for driving the shank assembly to rotate relative to the thigh assembly. The foot assembly is used for driving the foot assembly to rotate relative to the shank assembly. According to the robot, the arrangement positions of the knee joint pitching motor and the ankle joint pitching motor are moved upwards, so that the rotational inertia of the knee joint and the ankle joint can be reduced; the torque required by a hip joint pitching motor for driving a robot thigh assembly to rotate, a knee joint pitching motor for driving a robot shank assembly to rotate and an ankle joint pitching motor for driving a robot foot assembly to rotate is reduced; therefore, the size and the mass of the hip joint pitching motor, the knee joint pitching motor and the ankle joint pitching motor are reduced, the overall mass and the cost of the robot are reduced, and the light weight of the robot is achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a lightweight humanoid robot. Background Technology

[0002] Humanoid robots are robots that mimic human appearance and movements, structurally resembling a human with a torso, thighs, calves, feet, and hip, knee, and ankle joints. To enable walking, jumping, and turning, motors are needed to drive the rotation of the thighs and calves. In existing humanoid robots, the motors are positioned at the corresponding joints, resulting in large rotational inertia at each joint. This increases the torque required to drive the motors, leading to larger motors and ultimately increasing the overall weight and cost of the robot. Utility Model Content

[0003] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a lightweight humanoid robot that can reduce the overall weight and cost of the robot.

[0004] To solve the above problems, the technical solution adopted by this utility model is as follows: A lightweight humanoid robot includes a thigh assembly, a lower leg assembly, a foot assembly, a knee joint pitch motor, and an ankle joint pitch motor. The thigh assembly and the lower leg assembly are rotatably connected, and the lower leg assembly and the foot assembly are rotatably connected. The knee joint pitch motor is mounted on the thigh assembly and is used to drive the lower leg assembly to rotate relative to the thigh assembly. The ankle joint pitch motor is mounted on the lower leg assembly and is used to drive the foot assembly to rotate relative to the lower leg assembly.

[0005] Compared with the prior art, the beneficial effects of this utility model are as follows: By moving the knee joint pitch motor and ankle joint pitch motor of this robot upwards and not placing them at the knee and ankle joints respectively, the rotational inertia of the knee and ankle joints can be reduced. This reduces the rotational inertia of the robot's thigh assembly, lower leg assembly, and foot assembly, thereby reducing the torque required for the hip joint pitch motor that drives the rotation of the robot's thigh assembly, the knee joint pitch motor that drives the rotation of the robot's lower leg assembly, and the ankle joint pitch motor that drives the rotation of the robot's foot assembly. This reduces the size and mass of the hip joint pitch motor, knee joint pitch motor, and ankle joint pitch motor, thereby reducing the overall weight and cost of the robot and achieving lightweighting of the robot.

[0006] In the aforementioned lightweight humanoid robot, the thigh assembly and the lower leg assembly are rotatably connected via a first rotating shaft; the output end of the knee joint pitch motor is fixedly connected to an active pulley, and a driven pulley is fixedly connected to the first rotating shaft; the active pulley and the driven pulley are connected via a synchronous belt; the knee joint pitch motor can drive the active pulley to rotate, which in turn drives the driven pulley to rotate via the synchronous belt, ultimately causing the lower leg assembly to rotate relative to the thigh assembly around the first rotating shaft.

[0007] The aforementioned lightweight humanoid robot also has a tensioning wheel installed on its thigh assembly, with the outer periphery of the tensioning wheel abutting against the surface of the synchronous belt.

[0008] In the aforementioned lightweight humanoid robot, the tensioning wheel is mounted on the thigh assembly via a fixing frame. The thigh assembly has a sliding groove, and the fixing frame is slidably inserted into the sliding groove to drive the tensioning wheel to move toward or away from the timing belt.

[0009] The aforementioned lightweight humanoid robot includes a thigh assembly comprising a thigh skeleton, which is a U-shaped skeleton with a first U-shaped groove inside. The driving pulley, the driven pulley, and the synchronous belt are all located within the first U-shaped groove.

[0010] In the aforementioned lightweight humanoid robot, a first reinforcement component is connected to the opening of the first U-shaped groove, and multiple first reinforcement components are distributed along the length direction of the thigh skeleton.

[0011] In the aforementioned lightweight humanoid robot, the lower leg assembly and the foot assembly are rotatably connected via a second pivot; the upper end of the ankle joint pitch motor is rotatably connected to the lower leg assembly, and the output end of the ankle joint pitch motor is rotatably connected to the foot assembly via a third pivot; the ankle joint pitch motor can directly or indirectly push and pull the foot assembly to make the foot assembly rotate relative to the lower leg assembly around the second pivot.

[0012] The aforementioned lightweight humanoid robot includes a lower leg assembly comprising a lower leg skeleton, which is a U-shaped skeleton. The lower leg skeleton has a second U-shaped groove inside, and a second reinforcing member is connected to the opening of the second U-shaped groove. The second reinforcing member is distributed along the length direction of the lower leg skeleton.

[0013] The aforementioned lightweight humanoid robot includes a foot frame as its foot component. A sensor mounting compartment is provided at the bottom of the foot frame, and pressure sensors are evenly distributed within the sensor mounting compartment.

[0014] The aforementioned lightweight humanoid robot also includes a rubber sole that fits over the foot frame in its foot assembly.

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0016] Figure 1 This is a partial structural diagram of the humanoid robot according to an embodiment of the present invention (with the upper limbs and head structure hidden);

[0017] Figure 2 This is a schematic diagram of the thigh assembly according to an embodiment of the present invention;

[0018] Figure 3 for Figure 2 Rear view of the structure shown;

[0019] Figure 4 This is a side view of the thigh skeleton according to an embodiment of the present utility model;

[0020] Figure 5 This is a schematic diagram illustrating the interaction between the lower leg assembly and the ankle joint pitch motor in an embodiment of this utility model.

[0021] Figure 6 This is a schematic diagram of the foot component according to an embodiment of the present invention;

[0022] Figure 7 for Figure 6 The diagram shows the structure from a downward angle after the rubber sole is hidden.

[0023] Explanation of icon numbers:

[0024] 100 Thigh assembly, 110 Thigh frame, 111 Sliding groove, 112 First U-shaped groove, 113 First reinforcing component;

[0025] 200 Lower leg assembly, 210 Lower leg frame, 211 Second U-shaped groove, 212 Second reinforcing component;

[0026] 300 Foot assembly, 310 Foot frame, 311 Second pivot, 312 Third pivot, 313 Sensor mounting compartment, 314 Pressure sensor, 320 Rubber sole;

[0027] 400 knee flexion motor;

[0028] 500 ankle flexion / extension motor;

[0029] 610 First rotating shaft, 620 driving pulley, 630 driven pulley, 640 synchronous belt, 650 tensioner, 660 fixed frame. Detailed Implementation

[0030] The embodiments of this utility model are described in detail below, with reference to Figures 1 to 7 The present invention provides a lightweight humanoid robot, including a thigh assembly 100, a lower leg assembly 200, a foot assembly 300, a knee joint pitch motor 400, and an ankle joint pitch motor 500. The thigh assembly 100 and the lower leg assembly 200 are rotatably connected, and the lower leg assembly 200 and the foot assembly 300 are rotatably connected. The knee joint pitch motor 400 is mounted on the thigh assembly 100 and is used to drive the lower leg assembly 200 to rotate relative to the thigh assembly 100. The ankle joint pitch motor 500 is mounted on the lower leg assembly 200 and is used to drive the foot assembly 300 to rotate relative to the lower leg assembly 200. This robot moves the knee pitch motor 400 and ankle pitch motor 500 upwards, instead of placing them at the knee and ankle joints respectively. This reduces the rotational inertia of the knee and ankle joints, thereby lowering the rotational inertia of the robot's thigh assembly 100, lower leg assembly 200, and foot assembly 300. Consequently, the torque required to drive the hip pitch motor (for the thigh assembly 100), the knee pitch motor (for the lower leg assembly 200), and the ankle pitch motor (for the foot assembly 300) is reduced. This results in a reduction in the size and weight of the hip pitch motor, knee pitch motor 400, and ankle pitch motor 500, thus reducing the overall weight and cost of the robot and achieving lightweight design.

[0031] Furthermore, referring to Figures 1 to 3 The thigh assembly 100 and the lower leg assembly 200 are rotatably connected via a first rotating shaft 610. A drive pulley 620 is fixedly connected to the output end of the knee joint pitch motor 400, and a driven pulley 630 is fixedly connected to the first rotating shaft 610. The drive pulley 620 and the driven pulley 630 are connected via a synchronous belt 640. The knee joint pitch motor 400 drives the drive pulley 620 to rotate, which in turn drives the driven pulley 630 to rotate via the synchronous belt 640, ultimately causing the lower leg assembly 200 to rotate relative to the thigh assembly 100 around the first rotating shaft 610. In this robot, the movement of the knee joint is achieved by the knee joint pitch motor 400 driving the synchronous belt 640. This not only allows the knee joint pitch motor 400 to continue driving the lower leg assembly 200 to rotate normally after it moves upward, but also offers advantages such as smooth operation, low noise, and efficient transmission. Furthermore, it provides good buffering capacity against impact and vibration, increasing the impact resistance of the robot's vulnerable knee joint.

[0032] Furthermore, referring to Figure 3 and Figure 4The thigh assembly 100 is also equipped with a tensioner 650, the outer periphery of which abuts against the surface of the timing belt 640 to adjust the preload of the timing belt 640. The tensioner 650 is detachably connected to the thigh assembly 100 to facilitate interchangeability between smooth and toothed tensioners, suitable for both forward and reverse rotation of the timing belt 640. Furthermore, the tensioner 650 is mounted on the thigh assembly 100 via a mounting bracket 660. The thigh assembly 100 has a groove 111, and the mounting bracket 660 is slidably inserted into the groove 111 via a screw assembly. When the screw assembly is loosened, the mounting bracket 660 can slide along the groove 111, thereby moving the tensioner 650 toward or away from the timing belt 640 to adjust the preload. After adjusting to the target position, tightening the screw assembly fixes the mounting bracket 660 to the thigh assembly 100.

[0033] Furthermore, referring to Figure 2 and Figure 3 The thigh assembly 100 includes a thigh frame 110, which is a U-shaped frame. The thigh frame 110 has a first U-shaped groove 112 inside, within which the drive pulley 620, driven pulley 630, and timing belt 640 are all located. The U-shaped frame design not only reduces the weight of the thigh frame 110 but also facilitates the installation of the drive pulley 620, driven pulley 630, and timing belt 640, thereby reducing the overall size of the robot. Furthermore, a first reinforcing member 113 is connected to the opening of the first U-shaped groove 112. Multiple first reinforcing members 113 are distributed along the length of the thigh frame 110 to increase the structural strength of the thigh frame 110, ensuring that the thigh frame 110 meets both lightweight and strength requirements.

[0034] Furthermore, referring to Figure 1 , Figures 5 to 7 The lower leg assembly 200 and the foot assembly 300 are rotatably connected via a second rotating shaft 311. The upper end of the ankle joint pitch motor 500 is rotatably connected to the lower leg assembly 200, and the output end of the ankle joint pitch motor 500 is rotatably connected to the foot assembly 300 via a third rotating shaft 312. The ankle joint pitch motor 500 can directly or indirectly push and pull the foot assembly 300, causing the foot assembly 300 to rotate relative to the lower leg assembly 200 around the second rotating shaft 311. By moving the position of the ankle joint pitch motor 500 upward and driving the foot assembly 300 to rotate via a crank-slider mechanism, the rotational inertia at the ankle joint can be reduced. When the ankle joint pitch motor 500 rotates, the rotational motion can be converted into linear motion through an internal planetary ball screw mechanism, thereby pushing and pulling the foot assembly 300 at the position of the third rotating shaft 312, causing the foot assembly 300 to rotate relative to the lower leg assembly 200 around the second rotating shaft 311.

[0035] Furthermore, continue to refer to Figure 5 The lower leg assembly 200 includes a lower leg skeleton 210, which is a U-shaped skeleton. The lower leg skeleton 210 has a second U-shaped groove 211 inside, and a second reinforcing member 212 is connected to the opening of the second U-shaped groove 211. The second reinforcing member 212 is distributed along the length of the lower leg skeleton 210. The U-shaped skeleton design reduces the weight of the lower leg skeleton 210, thus better achieving the robot's lightweight design. The second reinforcing member 212 increases the structural strength of the lower leg skeleton 210, ensuring that the lower leg skeleton 210 meets both lightweight and strength requirements.

[0036] Furthermore, referring to Figure 6 and Figure 7 The foot assembly 300 includes a foot frame 310. A sensor mounting chamber 313 is located at the bottom of the foot frame 310. Pressure sensors 314 are evenly distributed within the sensor mounting chamber 313, ensuring proper fixation and sensing accuracy of the pressure sensors 314. This allows the robot to accurately receive signals from foot contact with the ground, facilitating gait planning and reducing ground impact. The foot assembly 300 also includes a rubber sole 320 fitted over the foot frame 310. This increases friction between the robot and the ground, improving stability and reducing impact when the robot's feet contact the ground. It also reduces contact stress between the sole and the ground, increasing the robot's rigidity and operational stability.

[0037] It should be noted that in the description of this utility model, any descriptions of orientation, such as up, down, front, back, left, right, etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and should not be construed as a limitation of this utility model.

[0038] In the description of this utility model, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is mentioned, it is only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0039] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0040] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A lightweight humanoid robot, characterized in that, The device includes a thigh assembly (100), a calf assembly (200), a foot assembly (300), a knee pitch motor (400), and an ankle pitch motor (500). The thigh assembly (100) and the calf assembly (200) are rotatably connected, and the calf assembly (200) and the foot assembly (300) are rotatably connected. The knee pitch motor (400) is mounted on the thigh assembly (100) and is used to drive the calf assembly (200) to rotate relative to the thigh assembly (100). The ankle pitch motor (500) is mounted on the calf assembly (200) and is used to drive the foot assembly (300) to rotate relative to the calf assembly (200). The lower leg assembly (200) includes a lower leg skeleton (210), which is a U-shaped skeleton. The lower leg skeleton (210) has a second U-shaped groove (211) inside. A second reinforcement member (212) is connected to the opening of the second U-shaped groove (211). The second reinforcement member (212) is distributed along the length direction of the lower leg skeleton (210).

2. The lightweight humanoid robot according to claim 1, characterized in that, The thigh assembly (100) and the lower leg assembly (200) are rotatably connected via a first pivot (610); The output end of the knee joint pitch motor (400) is fixedly connected to a drive pulley (620), and a driven pulley (630) is fixedly connected to the first rotating shaft (610). The drive pulley (620) and the driven pulley (630) are connected by a synchronous belt (640). The knee joint pitch motor (400) can drive the active pulley (620) to rotate, and then drive the driven pulley (630) to rotate through the synchronous belt (640), and finally drive the lower leg assembly (200) to rotate relative to the thigh assembly (100) around the first rotating shaft (610).

3. The lightweight humanoid robot according to claim 2, characterized in that, The thigh assembly (100) is also equipped with a tensioner (650), the outer periphery of which abuts against the belt surface of the timing belt (640).

4. The lightweight humanoid robot according to claim 3, characterized in that, The tensioning wheel (650) is mounted on the thigh assembly (100) via a fixing bracket (660). The thigh assembly (100) has a sliding groove (111). The fixing bracket (660) is slidably inserted into the sliding groove (111) to drive the tensioning wheel (650) to move toward or away from the timing belt (640).

5. The lightweight humanoid robot according to claim 2, characterized in that, The thigh assembly (100) includes a thigh frame (110), which is a U-shaped frame. The thigh frame (110) has a first U-shaped groove (112) inside. The driving pulley (620), the driven pulley (630), and the synchronous belt (640) are all located in the first U-shaped groove (112).

6. The lightweight humanoid robot according to claim 5, characterized in that, The first U-shaped groove (112) is connected to a first reinforcement member (113) at the opening, and multiple first reinforcement members (113) are distributed along the length direction of the thigh skeleton (110).

7. The lightweight humanoid robot according to claim 1, characterized in that, The lower leg assembly (200) and the foot assembly (300) are rotatably connected via a second pivot (311); The upper end of the ankle joint pitch motor (500) is rotatably connected to the lower leg assembly (200), and the output end of the ankle joint pitch motor (500) is rotatably connected to the foot assembly (300) via a third rotating shaft (312). The ankle joint pitch motor (500) can directly or indirectly push and pull the foot assembly (300) so that the foot assembly (300) rotates relative to the lower leg assembly (200) about the second pivot (311).

8. The lightweight humanoid robot according to claim 1, characterized in that, The foot assembly (300) includes a foot frame (310), and a sensor mounting compartment (313) is provided at the bottom of the foot frame (310). Pressure sensors (314) are evenly distributed in the sensor mounting compartment (313).

9. The lightweight humanoid robot according to claim 8, characterized in that, The foot assembly (300) also includes a rubber sole (320) fitted over the foot frame (310).

Images