Mechanical leg of humanoid robot

Abstract

The utility model discloses a humanoid robot mechanical leg which comprises a first connecting base, a thigh component, a shank component and a second connecting base arranged between the thigh component and the shank component, wherein the first connecting base, the thigh component and the shank component are sequentially arranged. A servo electric cylinder set is arranged on the thigh component, a first connecting rod assembly is arranged between the servo electric cylinder set and the first connecting base, and a second connecting rod assembly is arranged between the servo electric cylinder set and the second connecting base. A servo electric cylinder set comprising a first servo electric cylinder and a second servo electric cylinder is arranged on a thigh component, the first servo electric cylinder is connected with a first connecting base through a first connecting rod assembly, and the second servo electric cylinder is connected with a second connecting base through a second connecting rod assembly; linear motion generated by the servo electric cylinder is successfully converted into rotation motion for driving the hip joint and the knee joint. By means of double-cylinder driving and a multi-connecting-rod mechanism, large-range rotation of the joints is achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a humanoid robot mechanical leg. Background Technology

[0002] As a key component for humanoid robots to achieve mobility functions such as walking, running, and climbing, the mechanical leg's structural design and drive method directly affect the robot's overall motion performance, load capacity, and adaptability.

[0003] Existing humanoid robotic legs typically include hip, knee, and ankle joints that mimic the human leg to achieve multi-degree-of-freedom movement. The hip joint is responsible for the leg's forward and backward swinging, lateral swinging, and rotation; the knee joint is mainly responsible for the leg's flexion and extension; and the ankle joint needs to enable multi-directional rotation of the foot to adapt to terrain and maintain balance.

[0004] In terms of drive methods, servo motor drives are the mainstream solution to meet the requirements of humanoid robots for high precision, high response speed, and high output force / torque. Among them, servo electric cylinders, as an integrated drive unit that converts the rotational motion of a servo motor into linear motion through a lead screw mechanism (such as a ball screw or planetary roller screw), have shown application potential in robot joint drives due to their advantages such as precise control, large thrust, compact structure, easy integration, and simple maintenance.

[0005] However, how to effectively utilize linear actuators such as servo electric cylinders to drive the wide range of high-torque joint rotations (especially the flexion / extension / swing of the knee and hip joints) of humanoid robot mechanical legs is a technical problem that needs to be solved. Utility Model Content

[0006] The main purpose of this invention is to provide a humanoid robot mechanical leg to solve the above-mentioned technical problems.

[0007] The objective of this utility model can be achieved by adopting the following technical solution:

[0008] A humanoid robot mechanical leg includes: a first connecting seat, a thigh component, and a lower leg component arranged sequentially, and a second connecting seat disposed between the thigh component and the lower leg component; a servo electric cylinder assembly is disposed on the thigh component, a first linkage assembly is disposed between the servo electric cylinder assembly and the first connecting seat, and a second linkage assembly is disposed between the servo electric cylinder assembly and the second connecting seat; the first linkage assembly has a plurality of first connecting parts, and the second linkage assembly has a plurality of second connecting parts;

[0009] The servo electric cylinder assembly includes a first servo electric cylinder and a second servo electric cylinder. Both the first servo electric cylinder and the second servo electric cylinder have a fixed end and an output end that are arranged opposite to each other. The output end of the first servo electric cylinder and the fixed end of the second servo electric cylinder are respectively connected to the corresponding first connecting part, and the fixed end of the first servo electric cylinder and the output end of the second servo electric cylinder are respectively connected to the corresponding second connecting part.

[0010] The first linkage assembly has at least four first connecting portions along its length, the at least four first connecting portions comprising:

[0011] The first end rotating part is connected to the first connecting seat;

[0012] The second end fixing part connected to the fixed end of the second servo electric cylinder; and

[0013] At least two first intermediate rotating portions are disposed between the first end rotating portion and the second end fixed portion;

[0014] The output end of the first servo electric cylinder is connected to the first intermediate rotating part of the at least two first intermediate rotating parts that is adjacent to the first end rotating part.

[0015] The first linkage assembly includes a first Y-shaped linkage and a first H-shaped linkage disposed opposite to each other, and a first arc-shaped linkage rotatably connected between the first Y-shaped linkage and the first H-shaped linkage. The first Y-shaped linkage, the first arc-shaped linkage, and the first H-shaped linkage are sequentially connected to form four first connecting parts.

[0016] The second linkage assembly has at least four second connecting portions along its length, the at least four second connecting portions comprising:

[0017] The third end rotating part is connected to the second connecting seat;

[0018] A fourth end-point fixing part connected to the fixed end of the first servo electric cylinder; and

[0019] At least two second intermediate rotating portions are disposed between the third end rotating portion and the fourth end fixed portion;

[0020] The output end of the second servo electric cylinder is connected to the second intermediate rotating part of the at least two second intermediate rotating parts that is adjacent to the third endpoint rotating part.

[0021] The second linkage assembly includes a second H-shaped linkage and a second Y-shaped linkage disposed opposite to each other, and a second arc-shaped linkage rotatably connected between the second H-shaped linkage and the second Y-shaped linkage. The second H-shaped linkage, the second Y-shaped linkage, and the second arc-shaped linkage are sequentially connected to form the four second connecting parts.

[0022] The thigh component includes two opposing side plates, and the first connecting seat and the second connecting seat are rotatably connected between the two side plates.

[0023] The first connecting seat has a first mounting hole on each of its opposite sides at the bottom, and each side plate has a first shaft hole at the top. The first mounting hole communicates with the corresponding first shaft hole, and a first pin passes through the first mounting hole and the corresponding first shaft hole.

[0024] The second connecting seat has a second mounting hole on each of its opposite sides at the top, and a second shaft hole is provided at the bottom of each side plate. The second mounting hole communicates with the corresponding second shaft hole, and a second pin passes through the second mounting hole and the corresponding second shaft hole.

[0025] It also includes a foot component disposed at the bottom of the lower leg component, and a third connecting seat is provided between the lower leg component and the foot component. The third connecting seat is rotatably connected to the lower leg component and fixedly connected to the foot component.

[0026] The lower leg component has a third servo electric cylinder on each of its opposite sides. Each third servo electric cylinder has a fixed end and an output end that are arranged opposite to each other. The output ends of the two third servo electric cylinders are connected to a connecting shaft, which is fixedly connected to the third connecting seat. The third connecting seat is rotatably connected to the lower leg component through a connector, which allows the third connecting seat to rotate up and down and left and right relative to the lower leg component.

[0027] The beneficial technical effects of this utility model are as follows:

[0028] By assembling a servo electric cylinder assembly containing first and second servo electric cylinders on the thigh component, and connecting the first servo electric cylinder to a first connecting seat using a first linkage assembly, and connecting the second servo electric cylinder to a second connecting seat using a second linkage assembly, the linear motion generated by the servo electric cylinders is successfully converted into rotational motion driving the hip and knee joints. Utilizing this dual-cylinder drive and the leverage effect of the multi-link mechanism, a wide range of joint rotation and high torque output are achieved, effectively solving the problem in the background art of how to use linear actuators to drive the legs of a humanoid robot to achieve a wide range of high-torque joint rotation.

[0029] Furthermore, by setting a third servo electric cylinder on each side of the lower leg component, and connecting the common shaft of their output ends to a third connecting seat, the third connecting seat can rotate up and down and left and right relative to the lower leg component through a connecting piece, thus realizing multi-degree-of-freedom movement of the ankle joint. This design effectively simulates the function of the human ankle joint, enhancing the adaptability of the mechanical leg to uneven ground and its stability and flexibility during walking. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a side view of the internal structure of the humanoid robot's mechanical leg provided in an embodiment of the present invention;

[0032] Figure 2 A three-dimensional schematic diagram of the mechanical legs of a humanoid robot provided in an embodiment of this utility model;

[0033] Figure 3 This is a three-dimensional schematic diagram of the internal structure of the mechanical leg of the humanoid robot provided in an embodiment of the present utility model;

[0034] Figure 4 A schematic diagram showing the connection between the output end of the third servo electric cylinder of the humanoid robot's mechanical leg and the connecting shaft, provided in an embodiment of this utility model.

[0035] Figure 5 A three-dimensional schematic diagram of the humanoid robot mechanical leg connector provided in an embodiment of this utility model.

[0036] Explanation of reference numerals in the attached figures:

[0037] In the diagram: 100-First connecting seat, 110-First mounting hole, 111-First pin, 200-Thigh component, 210-Side plate, 211-First shaft hole, 212-Second shaft hole, 300-Lower leg component, 310-Third servo electric cylinder, 311-Fixing end of the third servo electric cylinder, 312-Output end of the third servo electric cylinder, 313-Connecting shaft, 314-Connecting piece, 315-First rotating shaft, 316-Second rotating shaft, 320-Accommodation groove, 400-Second connecting seat, 410-Second mounting hole, 411-Second pin, 51 0 - First servo electric cylinder, 511 - Fixed end of the first servo electric cylinder, 512 - Output end of the first servo electric cylinder, 520 - Second servo electric cylinder, 521 - Fixed end of the second servo electric cylinder, 522 - Output end of the second servo electric cylinder, 600 - First connecting rod assembly, 620 - First Y-type connecting rod, 630 - First H-type connecting rod, 640 - First arc-shaped connecting rod, 700 - Second connecting rod assembly, 720 - Second H-type connecting rod, 730 - Second Y-type connecting rod, 740 - Second arc-shaped connecting rod, 800 - Foot component, 900 - Third connecting seat. Detailed Implementation

[0038] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0039] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0040] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0041] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0042] like Figures 1-5As shown in the figure, the present invention provides a humanoid robot mechanical leg, which aims to solve the technical problem in the prior art of how to effectively use linear actuators such as servo electric cylinders to drive humanoid robot mechanical legs (especially knee and hip joints) to achieve a wide range of joint rotation while maintaining the overall structural compactness.

[0043] The humanoid robot's mechanical leg includes: a first connecting seat 100, a thigh component 200, and a lower leg component 300 arranged sequentially, and a second connecting seat 400 disposed between the thigh component 200 and the lower leg component 300; a servo electric cylinder assembly is disposed on the thigh component 200, a first link assembly 600 is disposed between the servo electric cylinder assembly and the first connecting seat 100, and a second link assembly 700 is disposed between the servo electric cylinder assembly and the second connecting seat 400, the first link assembly 600 having multiple first connecting parts, and the second link assembly 700 having multiple second connecting parts; the servo electric cylinder assembly includes a first servo electric cylinder 510 and a second servo electric cylinder 520, both of which have a fixed end and an output end disposed opposite to each other; the output end 512 of the first servo electric cylinder and the fixed end 521 of the second servo electric cylinder are respectively connected to the corresponding first connecting parts, and the fixed end 511 of the first servo electric cylinder and the output end 522 of the second servo electric cylinder are respectively connected to the corresponding second connecting parts.

[0044] In this embodiment, the first connecting seat 100 is used to connect the mechanical leg to the torso or waist of the humanoid robot, serving as a base to simulate the human hip joint. The thigh component 200 is the part connecting the first connecting seat 100 and the lower leg component 300, simulating the human thigh. The lower leg component 300 is connected to the bottom end of the thigh component 200, simulating the human lower leg.

[0045] In order to enable the thigh component 200 to rotate relative to the first connecting seat 100 (simulating the flexion / extension / swing of the hip joint) and the lower leg component 300 to rotate relative to the thigh component 200 (simulating the flexion / extension / swing of the knee joint), this embodiment provides a second connecting seat 400 between the thigh component 200 and the lower leg component 300, so that the lower leg component 300 can rotate relative to the thigh component 200 around the second connecting seat 400.

[0046] In this embodiment, a servo electric cylinder assembly is provided on the thigh component 200. This servo electric cylinder assembly is the power source for generating driving force. In order to effectively convert the linear motion generated by the servo electric cylinder assembly into rotation of the hip and knee joints, this embodiment further provides a transmission mechanism. Specifically, a first linkage assembly 600 is provided between the servo electric cylinder assembly and the first connecting seat 100, and a second linkage assembly 700 is provided between the servo electric cylinder assembly and the second connecting seat 400.

[0047] To achieve motion transmission, the first linkage assembly 600 has multiple first connecting portions, allowing relative rotation between different parts of the first linkage assembly 600 or between the first linkage assembly 600 and other components. Similarly, the second linkage assembly 700 also has multiple second connecting portions, achieving a similar function.

[0048] Furthermore, to achieve independent actuation of the hip and knee joints, the servo electric cylinder assembly in this embodiment specifically includes a first servo electric cylinder 510 and a second servo electric cylinder 520. Both servo electric cylinders have a fixed end and an output end that are arranged opposite to each other. The fixed end of the servo electric cylinder refers to the portion of its cylinder body away from the output end, and the output end refers to its retractable piston rod portion.

[0049] The specific connection relationship between these two servo electric cylinders is as follows:

[0050] The output end 512 of the first servo electric cylinder is connected to a first connecting part on the first link assembly 600; the fixed end 521 of the second servo electric cylinder is connected to another corresponding first connecting part on the first link assembly 600; at the same time, the fixed end 511 of the first servo electric cylinder is connected to a second connecting part on the second link assembly 700; and the output end 522 of the second servo electric cylinder is connected to another corresponding second connecting part on the second link assembly 700.

[0051] With this connection method, the extension and retraction movement of the output end 512 of the first servo electric cylinder is transmitted to the first connecting seat 100 through the first linkage assembly 600, driving the thigh component 200 to rotate relative to the first connecting seat 100; the extension and retraction movement of the output end 522 of the second servo electric cylinder is transmitted to the second connecting seat 400 through the second linkage assembly 700, driving the lower leg component 300 to rotate relative to the thigh component 200. The independent drive of the two servo electric cylinders enables the robot's leg to achieve corresponding movement postures.

[0052] This embodiment uses a servo electric cylinder assembly as the power source, taking advantage of the servo electric cylinder's precise control, large thrust, and ease of integration. Simultaneously, the linear motion of the servo electric cylinder assembly is converted into the rotational motion of the joint via the first link assembly 600 and the second link assembly 700.

[0053] In summary, this embodiment, by employing a servo electric cylinder assembly and designing a first link assembly 600 and a second link assembly 700, effectively transforms linear drive into a wide-range, high-torque rotary drive for the joints. This achieves the goal of using a servo electric cylinder to drive key joints of the human leg, and has the advantages of high control precision, fast response, and strong load capacity.

[0054] In one embodiment, the first linkage assembly 600 has at least four first connecting portions along its length. The at least four first connecting portions include: a first end rotating portion connected to the first connecting seat 100; a second end fixing portion connected to the fixed end 521 of the second servo electric cylinder; and at least two first intermediate rotating portions disposed between the first end rotating portion and the second end fixing portion. The output end 512 of the first servo electric cylinder is connected to the first intermediate rotating portion adjacent to the first end rotating portion among the at least two first intermediate rotating portions.

[0055] In this embodiment, these first connecting portions are connection points that realize the motion conversion of the first linkage assembly 600. Specifically, at least four first connecting portions include:

[0056] First End Rotating Part: This rotating part is located at one end of the first connecting rod assembly 600 and is used to rotatably connect the first connecting rod assembly 600 to the first connecting seat 100. Through this connection, the movement of the first connecting rod assembly 600 can be transmitted to the first connecting seat 100. At the same time, this connection also means that a definite kinematic correspondence is established between the rotation angle of the thigh member 200 and the extension and retraction state of the servo electric cylinder through the first connecting rod assembly 600.

[0057] Second end fixing part: This fixing part is located at the opposite end of the first link assembly 600 and is used to fix it to the fixing end 521 of the second servo electric cylinder. At the same time, this fixing part is also fixedly connected to the side plate 210, so as to fix the relative position between the first link assembly 600 and the second servo electric cylinder. Here, the second end fixing part can be part of the thigh member 200.

[0058] At least two first intermediate rotating parts: These at least two rotating parts are disposed between the first end rotating part and the second end fixed part, and are distributed along the length direction of the first connecting rod assembly 600.

[0059] In order to effectively input the driving force of the first servo electric cylinder 510 into the first linkage assembly 600, the output end 512 of the first servo electric cylinder, i.e., the retractable piston rod portion, is connected to one of at least two first intermediate rotating parts. Specifically, it is connected to the first intermediate rotating part adjacent to the first end rotating part, i.e., the rotating part near the end connected to the first connecting seat 100.

[0060] With this design, the linear motion of the servo electric cylinder can be converted into rotation of the thigh member 200 relative to the first connecting seat 100 through the first linkage assembly 600.

[0061] In one embodiment, the first linkage assembly 600 includes a first Y-shaped linkage 620 and a first H-shaped linkage 630 disposed opposite to each other, and a first arcuate linkage 640 rotatably connected between the first Y-shaped linkage 620 and the first H-shaped linkage 630. The first Y-shaped linkage 620, the first arcuate linkage 640 and the first H-shaped linkage 630 are sequentially connected to form four first connecting parts.

[0062] In this embodiment, the first linkage assembly 600 specifically includes three linkage elements: a first Y-type linkage 620, a first H-type linkage 630, and a first arc-shaped linkage 640. The arrangement of these three linkage elements is as follows:

[0063] The first Y-type link 620 and the first H-type link 630 are arranged opposite to each other, forming the two ends of the first link assembly 600.

[0064] The first arc-shaped connecting rod 640 is rotatably disposed between the first Y-shaped connecting rod 620 and the first H-shaped connecting rod 630. That is, one end of the first arc-shaped connecting rod 640 is rotatably connected to the first Y-shaped connecting rod 620, and the other end is rotatably connected to the first H-shaped connecting rod 630, thus playing the role of connecting and transmitting motion.

[0065] These three linkage elements, through their interconnection and connection with external components, together form four first connection points. Specifically:

[0066] The rotating portion of the first Y-shaped link 620 used to connect the first connecting seat 100 corresponds to the first end rotating portion. The rotating portion of the first Y-shaped link 620 used to connect the output end 512 of the first servo electric cylinder to one end of the first arc-shaped link 640 corresponds to the first intermediate rotating portion adjacent to the first end rotating portion. The rotating portion of the first arc-shaped link 640 used to connect the first H-shaped link 630 corresponds to another first intermediate rotating portion. The portion of the first H-shaped link 630 used to connect the fixed end 521 of the second servo electric cylinder corresponds to the second end fixed portion.

[0067] By adopting a combination of specific shapes and connection methods such as the first Y-shaped link 620, the first H-shaped link 630, and the first arc-shaped link 640, a first link assembly 600 with three rotation points can be constructed, thereby effectively and stably converting the linear motion of the servo electric cylinder into the rotational motion required to simulate hip joint motion, and meeting specific spatial layout and force transmission requirements.

[0068] In one specific embodiment, such as Figure 3 As shown, the overall outline of the first Y-shaped link 620 presents a shape similar to the letter "Y". It has a main body and two arms extending from one end of the main body.

[0069] The other end of the main section of the first Y-shaped connecting rod 620 has a through hole (not shown in the figure) extending along its thickness direction. In the assembled state, this through hole is aligned with and connected to a corresponding pre-set through hole (not shown in the figure) on the first connecting seat 100. A pin (not shown in the figure) passes through these two connected through holes, thereby rotatably mounting the first Y-shaped connecting rod 620 onto the first connecting seat 100. This part on the first Y-shaped connecting rod 620, used to achieve rotatable connection with the first connecting seat 100, constitutes the "first end rotating part" of the first connecting rod assembly 600.

[0070] The two arms of the first Y-shaped link 620 are used to connect the output end 512 of the first servo electric cylinder and the first arc-shaped link 640. Specifically, a through hole runs through the ends of the two arms. In the assembled state, this through hole is aligned with and connected to a corresponding through hole pre-set at one end of the first arc-shaped link 640 and to the connection hole on the output end 512 of the first servo electric cylinder. A pin or similar rotating shaft passes through these three connected holes, forming a hinge point. This hinge point allows the linear motion of the output end 512 of the first servo electric cylinder to be transmitted to the first Y-shaped link 620 through this arm, and allows relative rotation between the two. This part on the first Y-shaped link 620, which is used to achieve rotatable connection with the output end 512 of the first servo electric cylinder and the first arc-shaped link 640, constitutes the "first intermediate rotating part adjacent to the first end rotating part" of the first link assembly 600.

[0071] The first arc-shaped connecting rod 640 has an overall arc shape. This shape helps optimize the spatial relationship between components and avoid interference during the movement of the first connecting rod assembly 600. The first arc-shaped connecting rod 640 has two ends, one end for connecting the first Y-type connecting rod 620 and the output end 512 of the first servo electric cylinder, and the other end for connecting the first H-type connecting rod 630. Specifically:

[0072] Connection to the first Y-shaped connecting rod 620 and the output end 512 of the first servo electric cylinder: One end of the first arc-shaped connecting rod 640 has a through hole extending along its thickness direction. In the assembled state, this through hole is aligned and connected to the common through hole at the ends of the two arms of the first Y-shaped connecting rod 620 and the connection hole of the output end 512 of the first servo electric cylinder. As mentioned above, a pin or similar rotating shaft passes through the aligned connection holes on these three components, connecting this end of the first arc-shaped connecting rod 640, the arm of the first Y-shaped connecting rod 620, and the output end 512 of the first servo electric cylinder together.

[0073] Connection with the first H-shaped connecting rod 630: The other end of the first arc-shaped connecting rod 640 also has a through hole extending along its thickness direction. In the assembled state, this through hole aligns with and communicates with a corresponding pre-set through hole on the first H-shaped connecting rod 630. A pin or similar rotating shaft passes through these two communicating through holes, rotatably connecting this end of the first arc-shaped connecting rod 640 to the first H-shaped connecting rod 630. This portion on the first arc-shaped connecting rod 640 used to achieve rotatable connection with the first H-shaped connecting rod 630 constitutes the "other first intermediate rotating part" of the first connecting rod assembly 600.

[0074] The first H-shaped connecting rod 630 generally presents an "H" shape or a similar shape with parallel structural features. As the other end of the first connecting rod assembly 600 relative to the first Y-shaped connecting rod 620, it is mainly used to connect the first arc-shaped connecting rod 640 and the fixed end 521 of the second servo electric cylinder. Specifically:

[0075] Connection with the first arc-shaped connecting rod 640: One end of the first H-shaped connecting rod 630 has a through hole extending along its thickness direction. In the assembled state, this through hole aligns with and communicates with the through hole at the other end of the first arc-shaped connecting rod 640. As mentioned earlier, a pin passes through these two communicating through holes, rotatably connecting the first H-shaped connecting rod 630 and the first arc-shaped connecting rod 640.

[0076] Connection to the fixed end 521 of the second servo electric cylinder: The other end of the first H-shaped connecting rod 630 also has a through hole extending along its thickness direction. In the assembled state, this through hole aligns with and communicates with the pre-set mounting hole or connecting lug hole on the fixed end 521 of the second servo electric cylinder. A fixing shaft passes through these two communicating through holes, fixing the first H-shaped connecting rod 630 to the fixed end 521 of the second servo electric cylinder. This part on the first H-shaped connecting rod 630 used to fix the connection to the fixed end 521 of the second servo electric cylinder constitutes the "second end point fixing part" of the first connecting rod assembly 600. Simultaneously, the first H-shaped connecting rod 630 is also fixedly connected to the side plate 210.

[0077] In summary, the first Y-shaped link 620 and the first H-shaped link 630 are arranged opposite each other in the overall layout, forming the two ends of the first link assembly 600, while the first arc-shaped link 640 serves as the intermediate connection. This design efficiently converts the linear push / pull motion of the output end 512 of the first servo electric cylinder into the rotational motion of the first Y-shaped link 620 relative to the first connecting seat 100 (simulating the hip joint base).

[0078] In one embodiment, the second linkage assembly 700 has at least four second connecting portions along its length. The at least four second connecting portions include: a third end rotating portion connected to the second connecting seat 400; a fourth end fixing portion connected to the fixed end 511 of the first servo electric cylinder; and at least two second intermediate rotating portions disposed between the third end rotating portion and the fourth end fixing portion. The output end 522 of the second servo electric cylinder is connected to the second intermediate rotating portion adjacent to the third end rotating portion among the at least two second intermediate rotating portions.

[0079] In this embodiment, the second linkage assembly 700 is used to transmit the linear motion of the servo electric cylinder to the second connecting seat 400, that is, the rotational joint between the thigh component 200 and the lower leg component 300, to simulate the knee joint, so as to realize the rotation of the lower leg component 300 relative to the thigh component 200.

[0080] These second connecting parts constitute the connection points for the motion conversion of the second linkage assembly 700. Specifically, at least four second connecting parts include:

[0081] Third end rotating part: This rotating part is disposed at one end of the second link assembly 700 and is used to rotatably connect the second link assembly 700 to the second connecting seat 400. Through this third end rotating part, the movement of the second link assembly 700 can drive the lower leg component 300 to rotate around the knee joint.

[0082] Fourth end fixing part: This fixing part is located at the other opposite end of the second link assembly 700, and is used to fix it to the fixing end 511 of the first servo electric cylinder, and also to the side plate 210. This fixes the positions of the second link assembly 700 and the first servo electric cylinder 510.

[0083] At least two second intermediate rotating parts: These at least two rotating parts are disposed between the third end rotating part and the fourth end fixed part, and are distributed along the length direction of the second link assembly 700, and are nodes that constitute the internal motion relationship of the second link assembly 700.

[0084] In order to effectively input the driving force of the second servo electric cylinder 520 into the second linkage assembly 700, the output end 522 of the second servo electric cylinder, i.e., the retractable piston rod portion, is connected to one of at least two second intermediate rotating parts. Specifically, it is the second intermediate rotating part connected to the rotating part adjacent to the third end point, i.e., the rotating part near the end point connected to the second connecting seat 400.

[0085] With this design, the linear motion of the servo electric cylinder can be converted into rotation of the lower leg component 300 relative to the thigh component 200 (knee flexion and extension motion) via the second linkage assembly 700. This structure utilizes the servo electric cylinder to drive the knee joint, achieving a wide range of high-torque rotation.

[0086] In one embodiment, the second linkage assembly includes a second H-shaped linkage 720 and a second Y-shaped linkage 730 disposed opposite to each other, and a second arcuate linkage 740 rotatably connected between the second H-shaped linkage 720 and the second Y-shaped linkage 730. The second H-shaped linkage 720, the second Y-shaped linkage 730 and the second arcuate linkage 740 are sequentially connected to form four second connecting parts.

[0087] In this embodiment, the second linkage assembly 700 specifically includes three linkage elements: a second H-type linkage 720, a second Y-type linkage 730, and a second arc-shaped linkage 740. These three linkages are connected sequentially via pins or other means, and are connected to the servo electric cylinder assembly and the second connecting seat 400, together forming a multi-link mechanism for transmitting knee joint motion.

[0088] The arrangement and connection of these linkage elements are as follows, to form the aforementioned four second connection parts:

[0089] One end of the second Y-shaped link 730 is used to connect to the second connecting seat 400, and this end corresponds to the third end rotating part. One end of the second H-shaped link 720 is used to connect to the fixed end 511 of the first servo electric cylinder. This connection part constitutes the fourth end fixing part, which serves as a fixing point for the second link assembly 700 relative to the thigh member 200.

[0090] The second arc-shaped connecting rod 740 serves as an intermediate connector, with its two ends rotatably connected by pins: one end is connected to the other end of the second Y-shaped connecting rod 730, forming a second intermediate rotating part; the other end is connected to the other end of the second H-shaped connecting rod 720, forming another second intermediate rotating part.

[0091] The output end 522 of the second servo electric cylinder is connected to the hinge point between the second Y-shaped connecting rod 730 and the second arc-shaped connecting rod 740. This point is the second intermediate rotating part, which is located between the third end rotating part and the fourth end fixed part and is adjacent to the third end rotating part.

[0092] By employing a combination of specific shapes and connection methods such as the second H-shaped link 720, the second Y-shaped link 730, and the second arc-shaped link 740, a second link assembly 700 with three rotation points can be constructed. This structural design not only effectively and stably converts the linear push-pull motion of the second servo electric cylinder 520 into the rotational motion of the second connecting seat 400 (which in turn drives the lower leg component 300) relative to the thigh component 200 (i.e., flexion and extension of the knee joint), but also avoids component interference during the movement. The shape of the second Y-shaped link 730 facilitates multi-point connection near the knee joint, the second H-shaped link 720 provides a stable base connection, and the shape of the second arc-shaped link 740 helps to meet spatial layout requirements.

[0093] In one specific embodiment, the second Y-shaped link 730 has an overall outline resembling the letter "Y", comprising a main body and two arms extending from one end of the main body.

[0094] Connection to the second connecting seat 400: A through hole is provided at the other end of the main body of the second Y-shaped connecting rod 730. During assembly, this through hole is aligned with the corresponding mounting hole on the second connecting seat 400, and a pin passes through it, thereby rotatably connecting the second Y-shaped connecting rod 730 to the second connecting seat 400.

[0095] Connection with the second arc-shaped connecting rod 740 and the output end 522 of the second servo electric cylinder: The two arm ends of the second Y-shaped connecting rod 730 together form a hinge area, which is provided with a through hole. This through hole is aligned and connected with the through hole at one end of the second arc-shaped connecting rod 740 and the connection hole of the output end 522 of the second servo electric cylinder during assembly. A pin passes through these three aligned holes, hinged together the arm of the second Y-shaped connecting rod 730, one end of the second arc-shaped connecting rod 740, and the output end 522 of the second servo electric cylinder.

[0096] The second arc-shaped link 740 has an overall arc shape, which helps to avoid collisions or interference during link movement. The second arc-shaped link 740 has two ends:

[0097] Connection with the second Y-shaped connecting rod 730 and the output end 522 of the second servo electric cylinder: As above, one end of the second arc-shaped connecting rod 740 is provided with a through hole, and is hinged to the arm of the second Y-shaped connecting rod 730 and the output end 522 of the second servo electric cylinder by means of a pin.

[0098] Connection to the second H-shaped link 720: The other end of the second arc-shaped link 740 is also provided with a through hole. During assembly, this through hole is aligned with the corresponding through hole on the second H-shaped link 720, and a pin passes through it to rotatably connect this end of the second arc-shaped link 740 to the second H-shaped link 720.

[0099] The overall outline of the second H-type connecting rod 720 is roughly "H" shaped or has a shape similar to a parallel beam structure. As the other end part of the second connecting rod assembly 700 relative to the second Y-type connecting rod 730, it has a top end and a bottom end.

[0100] Connection to the second arc-shaped connecting rod 740: As described above, the bottom end of the second H-shaped connecting rod 720 is provided with a through hole, which is rotatably connected to the other end of the second arc-shaped connecting rod 740 via a pin. This bottom end is also fixedly connected to the side plate 210.

[0101] Connection to the fixed end 511 of the first servo electric cylinder: A through hole is provided at the top end of the second H-shaped connecting rod 720. During assembly, this through hole is aligned with and connected to a pre-set mounting hole or connecting lug on the fixed end 511 of the first servo electric cylinder. The second H-shaped connecting rod 720 is fixedly mounted on the fixed end 511 of the first servo electric cylinder and the side plate 210 by passing a fixing shaft through these two aligned holes.

[0102] In summary, in this specific embodiment, the second Y-shaped link 730 and the second H-shaped link 720 are arranged opposite each other in structural layout, forming the connection base at both ends of the second link assembly 700. The second arc-shaped link 740, as an intermediate connector, is rotatably connected between the second Y-shaped link 730 and the second H-shaped link 720, together constituting a multi-link mechanism for transmitting knee joint motion.

[0103] In one embodiment, the thigh component 200 includes two opposing side plates 210, and a first connecting seat 100 and a second connecting seat 400 are rotatably connected between the two side plates 210.

[0104] In this embodiment, the main load-bearing structure of the thigh component 200 consists of two opposing side plates 210, which are arranged in parallel or approximately parallel. To ensure sufficient structural strength and rigidity while controlling the overall weight, these side plates 210 can be made of high-strength, lightweight materials, such as aerospace-grade aluminum alloy. The first connecting seat 100 and the second connecting seat 400 are both installed between the two side plates 210 and can rotate relative to the side plates 210.

[0105] By employing this structural design, in which the two side plates 210 serve as the main supports and the first connecting seat 100 and the second connecting seat 400 are rotatably mounted between them, a structurally stable and spatially defined mechanical leg frame can be constructed. The two side plates 210 not only provide reliable support and rotational reference for simulating the rotation of the hip and knee joints, but also contribute to achieving a compact overall layout of the mechanical leg.

[0106] In one embodiment, the bottom of the first connecting seat 100 is provided with first mounting holes 110 on opposite sides, and each side plate 210 is provided with a first shaft hole 211 on the top. The first mounting holes 110 are connected to the corresponding first shaft holes 211, and a first pin 111 is inserted between the first mounting holes 110 and the corresponding first shaft holes 211.

[0107] In this embodiment, the first connecting seat 100 is generally block-shaped, and first mounting holes 110 are respectively provided on opposite sides of its bottom. At the same time, the two oppositely arranged side plates 210 that constitute the main frame of the thigh member 200 are also respectively provided with first shaft holes 211 at their tops, that is, at corresponding positions near the area connected to the first connecting seat 100.

[0108] During assembly, the first connecting seat 100 is placed between two opposite side plates 210 and its position is adjusted so that the first mounting holes 110 on both sides of the first connecting seat 100 are aligned with the first shaft holes 211 on the corresponding side plate 210, ensuring that the hole axes are collinear, thereby achieving connection.

[0109] Subsequently, a first pin 111 of matching size is selected and passed sequentially through the first shaft hole 211 of one side plate 210, the first mounting hole 110 of the first connecting seat 100, and the first shaft hole 211 of the other side plate 210. Fasteners such as shaft caps can be installed at both ends of the first pin 111 to fix it to the corresponding side plate 210, while allowing the first connecting seat 100 to rotate freely around the axis of the first pin 111.

[0110] In this way, through the first mounting hole 110, the first shaft hole 211 and the first pin 111 passing through them, a rotatable connection between the first connecting seat 100 and the thigh component 200 is achieved, forming the hip joint rotation pair of the mechanical leg, which provides a structural basis for the subsequent servo electric cylinder group to drive the thigh swing.

[0111] In one embodiment, the top of the second connecting seat 400 is provided with second mounting holes 410 on opposite sides, and each side plate 210 is provided with a second shaft hole 212 at the bottom. The second mounting holes 410 communicate with the corresponding second shaft holes 212, and a second pin 411 passes through the second mounting holes 410 and the corresponding second shaft holes 212.

[0112] In this embodiment, the second connecting seat 400 is generally block-shaped, and second mounting holes 410 are respectively provided on opposite sides of its top. At the same time, the two oppositely arranged side plates 210 that constitute the main frame of the thigh member 200 are also provided with second shaft holes 212 at their bottom, that is, at the corresponding positions near the area connected to the second connecting seat 400.

[0113] During assembly, the second connecting seat 400 is placed between the bottoms of the two opposite side plates 210, and its position is adjusted so that the second mounting holes 410 on both sides of the second connecting seat 400 are aligned with the second shaft holes 212 on the corresponding side plate 210, ensuring that the hole axes are collinear, thereby achieving connection.

[0114] Subsequently, a second pin 411 of matching size is selected and sequentially passed through the second shaft hole 212 of one side plate 210, the second mounting hole 410 of the second connecting seat 400, and the second shaft hole 212 of the other side plate 210. Both ends of the second pin 411 can be fixed to the corresponding side plate 210 using fasteners such as shaft caps to prevent axial movement, while allowing the second connecting seat 400 to rotate freely around the axis of the second pin 411.

[0115] In this way, through the second mounting hole 410, the second shaft hole 212 and the second pin 411 passing through them, a rotatable connection is achieved between the second connecting seat 400 and the thigh member 200, forming a knee joint rotating pair of the mechanical leg, so that the lower leg member 300 connected to the second connecting seat 400 can perform flexion and extension movements relative to the thigh member 200.

[0116] In one embodiment, a graphite copper sleeve (not separately marked in the figure) is provided in both the first mounting hole 110 and the second mounting hole 410, and the first pin 111 and the second pin 411 pass through the corresponding graphite copper sleeve.

[0117] In this embodiment, graphite copper sleeves are pre-installed in the first mounting holes 110 on both sides of the bottom of the first connecting seat 100 and in the second mounting holes 410 on both sides of the top of the second connecting seat 400 by press fitting or other means. The inner holes of these graphite copper sleeves match the corresponding first pin 111 or second pin 411, which can reduce the frictional resistance when the pin rotates, making the rotation smoother and more fluid.

[0118] In one embodiment, a foot component 800 is also provided at the bottom of the lower leg component 300. A third connecting seat 900 is provided between the lower leg component 300 and the foot component 800. The third connecting seat 900 is rotatably connected to the lower leg component 300 and fixedly connected to the foot component 800.

[0119] In this embodiment, the humanoid robot's mechanical leg also includes a foot component 800 disposed at the bottom of the lower leg component 300. This foot component 800 simulates the foot of a human and is the part of the mechanical leg that contacts the ground or other supporting surface.

[0120] In order to enable the foot component 800 to move relative to the lower leg component 300 to simulate the movement of the ankle joint, such as plantar flexion / dorsiflexion, a third connecting seat 900 is provided between the lower leg component 300 and the foot component 800.

[0121] Specifically, the third connector 900 is connected in the following manner:

[0122] The third connecting seat 900 is rotatably connected to the lower leg component 300. The third connecting seat 900 and the foot component 800 fixed thereto can rotate up and down and left and right relative to the lower leg component 300. This connection constitutes the ankle joint of the mechanical leg. At the same time, the third connecting seat 900 is fixedly connected to the foot component 800. When the third connecting seat 900 rotates relative to the lower leg component 300, the foot component 800 will rotate along with it.

[0123] By adding a foot component 800 and a third connecting seat 900 located between the foot component 800 and the lower leg component 300, the mechanical leg of this embodiment has the function of simulating the ankle joint, increasing the degree of freedom of movement, enabling it to better adapt to different terrains, and laying the foundation for achieving more stable and flexible gait control.

[0124] In one embodiment, a third servo electric cylinder 310 is provided on each of the opposite sides of the lower leg component 300. Each third servo electric cylinder 310 has a fixed end and an output end arranged opposite to each other. The output ends 312 of the two third servo electric cylinders are connected to a connecting shaft 313. The connecting shaft 313 is fixedly connected to a third connecting seat 900. The third connecting seat 900 is rotatably connected to the lower leg component 300 through a connector 314. The connector 314 enables the third connecting seat to rotate up and down and left and right relative to the lower leg component 300.

[0125] Please continue to refer to this. Figure 1 , Figure 2 and Figure 4 To achieve active control of the rotation of the foot component 800 relative to the lower leg component 300 via the third connecting seat 900 (i.e., driving ankle joint movement), in this embodiment, third servo electric cylinders 310 are respectively provided on the left and right sides of the lower leg component 300. These two third servo electric cylinders 310 are symmetrically arranged on both sides of the lower leg component 300 to achieve more stable control of the foot component 800. The term "third" is used in the third servo electric cylinder 310 to distinguish it from the first servo electric cylinder 510 and the second servo electric cylinder 520 used to drive the hip and knee joints in the aforementioned embodiments. Each third servo electric cylinder 310 has a fixed end (cylinder body portion) and an output end (retractable piston rod portion) arranged opposite to each other.

[0126] The installation and connection methods for these two third servo electric cylinders 310 are as follows:

[0127] The fixed ends 311 of the two third servo electric cylinders are fixedly connected to the top end (or near the top end) of the lower leg component 300. The output ends 312 of the two third servo electric cylinders are connected to the same connecting shaft 313, which is horizontally arranged and fixedly connected to the third connecting seat 900. The third connecting seat 900 is a structure that connects the lower leg component 300 and the foot component 800 and can rotate relative to the lower leg component 300 up and down and left and right. Specifically, the third connecting seat 900 is connected to the lower leg component 300 through a connector 314, which has an upper part and a lower part. A first rotating shaft 315 is provided between the upper part and the lower leg component 300, which allows the connecting shaft 313 to drive the third connecting seat 900 to rotate up and down; a second rotating shaft 316 is provided between the lower part and the third connecting seat 900, which allows the connecting shaft 313 to drive the third connecting seat 900 to rotate left and right.

[0128] With this arrangement, when the output ends 312 of the two third servo electric cylinders located on both sides of the lower leg member 300 extend or retract simultaneously, the resulting linear push / pull force acts on the third connecting seat 900, causing the third connecting seat 900 and its fixed foot member 800 to move up and down relative to the lower leg member 300. When the extension and retraction strokes of the output ends 312 of the two third servo electric cylinders are inconsistent, the left and right rotation (inward or outward) of the foot member 800 can be achieved.

[0129] By setting third servo electric cylinders 310 on both sides of the lower leg component 300 and connecting them in the manner described above, this embodiment provides an effective ankle joint drive scheme that can realize pitch and inversion control, thereby enhancing the motion capability of the humanoid robot's mechanical leg.

[0130] In one specific embodiment, in order to better accommodate and protect the servo electric cylinder that drives the ankle joint, and to optimize the overall structural layout and contour of the robotic leg, a through receiving groove 320 is provided between the left and right sides of the lower leg component 300. This receiving groove 320 is a channel formed inside the lower leg component 300, the purpose of which is to integrate the servo electric cylinder into the lower leg, rather than exposing it completely to the outside.

[0131] The specific installation method of the two third servo electric cylinders 310 is as follows:

[0132] They are respectively disposed within the receiving groove 320. More specifically, one third servo electric cylinder 310 is arranged near the portion of the receiving groove 320 facing the left side of the lower leg, and the other third servo electric cylinder 310 is arranged near the portion of the receiving groove 320 facing the right side of the lower leg, and the two are relatively parallel in the internal space.

[0133] The two third servo electric cylinders 310, which are disposed in the receiving groove 320, have their output ends extending downward and protruding through the lower end opening of the receiving groove 320, and are rotatably connected to the third connecting seat 900.

[0134] By incorporating the third servo electric cylinder 310 into the internal receiving groove 320 of the lower leg component 300, the external contour size of the mechanical leg is reduced, making it closer to a biomimetic shape.

[0135] Therefore, by setting a through receiving slot 320 and arranging the third servo electric cylinder 310 therein, this embodiment optimizes the structural integration of the mechanical leg while realizing the ankle joint driving function.

[0136] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A humanoid robot mechanical leg characterized by, include: A first connecting seat, a thigh component, and a lower leg component are arranged sequentially, and a second connecting seat is disposed between the thigh component and the lower leg component; A servo electric cylinder assembly is provided on the thigh component. A first connecting rod assembly is provided between the servo electric cylinder assembly and the first connecting seat. A second connecting rod assembly is provided between the servo electric cylinder assembly and the second connecting seat. The first connecting rod assembly has multiple first connecting parts, and the second connecting rod assembly has multiple second connecting parts. The servo electric cylinder assembly includes a first servo electric cylinder and a second servo electric cylinder. Both the first servo electric cylinder and the second servo electric cylinder have a fixed end and an output end that are arranged opposite to each other. The output end of the first servo electric cylinder and the fixed end of the second servo electric cylinder are respectively connected to the corresponding first connecting part, and the fixed end of the first servo electric cylinder and the output end of the second servo electric cylinder are respectively connected to the corresponding second connecting part.

2. The mechanical leg of claim 1, wherein, The first linkage assembly has at least four first connecting portions along its length, the at least four first connecting portions comprising: The first end rotating part is connected to the first connecting seat; The second end fixing part connected to the fixed end of the second servo electric cylinder; and At least two first intermediate rotating portions are disposed between the first end rotating portion and the second end fixed portion; The output end of the first servo electric cylinder is connected to the first intermediate rotating part of the at least two first intermediate rotating parts that is adjacent to the first end rotating part.

3. The mechanical leg of claim 2, wherein, The first linkage assembly includes a first Y-shaped linkage and a first H-shaped linkage disposed opposite to each other, and a first arc-shaped linkage rotatably connected between the first Y-shaped linkage and the first H-shaped linkage. The first Y-shaped linkage, the first arc-shaped linkage, and the first H-shaped linkage are sequentially connected to form four first connecting parts.

4. The mechanical leg of claim 1, wherein, The second linkage assembly has at least four second connecting portions along its length, the at least four second connecting portions comprising: The third end rotating part is connected to the second connecting seat; A fourth end-point fixing part connected to the fixed end of the first servo electric cylinder; and At least two second intermediate rotating portions are disposed between the third end rotating portion and the fourth end fixed portion; The output end of the second servo electric cylinder is connected to the second intermediate rotating part of the at least two second intermediate rotating parts that is adjacent to the third endpoint rotating part.

5. The mechanical leg of claim 4, wherein, The second linkage assembly includes a second H-shaped linkage and a second Y-shaped linkage disposed opposite to each other, and a second arc-shaped linkage rotatably connected between the second H-shaped linkage and the second Y-shaped linkage. The second H-shaped linkage, the second Y-shaped linkage, and the second arc-shaped linkage are sequentially connected to form the four second connecting parts.

6. The mechanical leg of claim 1, wherein, The thigh component includes two opposing side plates, and the first connecting seat and the second connecting seat are rotatably connected between the two side plates.

7. The mechanical leg of claim 6, wherein, The bottom of the first connecting seat is provided with first mounting holes on opposite sides, and each side plate is provided with a first shaft hole on its top. The first mounting holes are connected to the corresponding first shaft holes, and a first pin is inserted between the first mounting holes and the corresponding first shaft holes.

8. The mechanical leg of claim 6, wherein, The second connecting seat has a second mounting hole on each of its opposite sides at the top, and a second shaft hole is provided at the bottom of each side plate. The second mounting hole communicates with the corresponding second shaft hole, and a second pin passes through the second mounting hole and the corresponding second shaft hole.

9. The mechanical leg of claim 1, wherein, It also includes a foot component disposed at the bottom end of the lower leg component, and a third connecting seat is provided between the lower leg component and the foot component. The third connecting seat is rotatably connected to the lower leg component and fixedly connected to the foot component.

10. The mechanical leg of claim 9, wherein, A third servo electric cylinder is provided on each of the opposite sides of the lower leg component. Each third servo electric cylinder has a fixed end and an output end arranged opposite to each other. The output ends of the two third servo electric cylinders are connected to a connecting shaft, which is fixedly connected to the third connecting seat. The third connecting seat is rotatably connected to the lower leg component through a connector, which allows the third connecting seat to rotate up and down and left and right relative to the lower leg component.

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