Leg structure and humanoid robot
By designing the cross-axis and joint modules in the leg structure, the humanoid robot's feet were able to perform pitching and lateral movements, solving the problem that the feet in existing technologies cannot adapt to uneven ground, and improving the robot's stability and walking stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN SYBORG ROBOT CO LTD
- Filing Date
- 2025-06-06
- Publication Date
- 2026-04-17
AI Technical Summary
In existing technologies, humanoid robots' feet have difficulty adapting to uneven ground, resulting in unstable walking and a tendency to tip over, mainly because the feet are less able to swing sideways compared to the lower legs.
A leg structure was designed, including a cross axis and joint module at the ankle. Through the free rotation of the roll axis and pitch axis, the foot can perform pitch and lateral movements, increasing the foot's operating space.
It improves the stability of humanoid robots on uneven ground and reduces the possibility of tipping over.
Smart Images
Figure CN224131180U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics, and more specifically, to a leg structure and a humanoid robot. Background Technology
[0002] Currently, there are many challenges in the research and development of humanoid robots. For example, humanoid robots walk with stiff and unstable gaits, especially when faced with uneven surfaces. Because the feet of current humanoid robots can only pitch up relative to their lower legs and cannot swing sideways, their feet are not adapted to uneven ground. This is one of the reasons why current humanoid robots often tip over when walking on uneven ground. Utility Model Content
[0003] The purpose of this invention is to provide a leg structure and a humanoid robot, which aims to solve the technical problem that the feet of existing humanoid robots are difficult to swing to the side relative to their lower legs.
[0004] In a first aspect, embodiments of the present invention provide a leg structure, comprising:
[0005] The sole of the foot (2);
[0006] Lower leg (3); and
[0007] Ankle (1) is configured to connect the foot (2) and the lower leg (3);
[0008] The ankle (1) includes:
[0009] An ankle support (10) having protruding first mounting platforms (11) and second mounting platforms (12) arranged opposite to each other; the first mounting platform (11) having a first bearing mounting hole (111), and the second mounting platform (12) having a second bearing mounting hole (121); and
[0010] A cross axis (14) includes a roll axis (141) and a pitch axis (142) connected in a cross shape, wherein the roll axis (141) is freely rotatable relative to the pitch axis (142);
[0011] The two ends of the rolling shaft (141) are rotatably mounted in the first bearing mounting hole (111) and the second bearing mounting hole (121) respectively via the first bearing (151) and the second bearing (152);
[0012] The lower leg (3) has a first connecting ear (33) and a second connecting ear (34) arranged opposite to each other at one end facing the foot (2). The first connecting ear (33) forms a third bearing mounting hole (331), and the second connecting ear (34) forms a fourth bearing mounting hole (341). The two ends of the pitch shaft (142) are rotatably mounted in the third bearing mounting hole (331) and the fourth bearing mounting hole (341) respectively via the third bearing (153) and the fourth bearing (154).
[0013] In some embodiments, the pitch axis (142) has a through hole through which the roll axis (141) passes, and the roll axis (141) is rotatably mounted in the through hole so that the roll axis (141) can rotate freely relative to the pitch axis (142).
[0014] In some embodiments, the third bearing (153) and the fourth bearing (154) are both deep groove ball bearings.
[0015] In some embodiments, both the first bearing (151) and the second bearing (152) are spherical bearings.
[0016] In some embodiments, the ankle support (10) also has a shaft hole (132) through which the rotating shaft (131) passes, and the rotating shaft (131) is rotatably installed in the shaft hole (132); the leg structure also includes a first joint module (31) and a second joint module (32) installed on the lower leg (3), and the output end (311) of the first joint module and the output end (321) of the second joint module are respectively connected to the two ends of the rotating shaft (131) through a first rocker arm (312) and a second rocker arm (322).
[0017] In some embodiments, a pair of fisheye connectors are also included, wherein the first rocker (312) and the second rocker (322) are respectively connected to the two ends of the rotating shaft (131) via the pair of fisheye connectors.
[0018] In some embodiments, the lower leg portion (3) is provided with a first mounting hole (351) for mounting the first joint module (31) and a second mounting hole (352) for mounting the second joint module (32).
[0019] In some embodiments, along the axial direction of the lower leg portion (3), the first mounting hole (351) is located above the second mounting hole (352).
[0020] In some embodiments, the orientation of the output end (311) of the first joint module is opposite to the orientation of the output end (321) of the second joint module.
[0021] In a second aspect, this utility model provides a humanoid robot, including the aforementioned leg structure. Attached Figure Description
[0022] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0023] Figure 1 This is a schematic diagram of the external shape of the leg structure provided in an embodiment of the present utility model;
[0024] Figure 2 for Figure 1 A schematic diagram of the lower leg structure within the mid-leg structure;
[0025] Figure 3 for Figure 1 A schematic diagram of the ankle structure within the mid-leg.
[0026] Icons: 1-Ankle; 10-Ankle Bracket; 11-First Mounting Platform; 12-Second Mounting Platform; 111-First Bearing Mounting Hole; 121-Second Bearing Mounting Hole; 131-Rotation Axis; 132-Axis Hole; 14-Cross Axis; 141-Roll Axis; 142-Pitch Axis; 151-First Bearing; 152-Second Bearing; 153-Third Bearing; 154-Fourth Bearing; 2-Foot; 3-Lower Leg; 31-First Joint Module; 311-Output End of First Joint Module; 312-First Joystick; 322-Second Joystick; 32-Second Joint Module; 321-Output End of Second Joint Module; 33-First Connecting Ear; 331-Third Bearing Mounting Hole; 34-Second Connecting Ear; 341-Fourth Bearing Mounting Hole; 351-First Mounting Hole; 352-Second Mounting Hole; 4-Thigh; 5-Hinge. Detailed Implementation
[0027] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0030] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0031] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0032] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0033] Please refer to Figures 1 to 3 The leg structure for humanoid robots provided in this embodiment includes: a foot part 2, a lower leg 3, and an ankle part 1 connecting the foot part 2 and the lower leg 3.
[0034] The foot part 2 is used to contact the support surface, which can be the ground or a workbench, etc.
[0035] The upper end of the lower leg 3 is connected to the thigh 4, and the lower leg 3 can be hinged to the thigh 4, for example, by a hinge 5.
[0036] The lower end of the lower leg 3 is connected to the foot 2 via the ankle 1. In this embodiment, the ankle 1 allows the foot 2 to tilt and sway relative to the lower leg 3. Figure 1 and Figure 3 Pitch refers to rotation around the X-axis along the Y-axis, and yaw refers to rotation around the Y-axis along the X-axis. The X-axis and Y-axis are perpendicular to each other.
[0037] The ankle part 1 in this embodiment mainly includes: ankle support 10 and cross shaft 14.
[0038] The ankle support 10 has a first mounting platform 11 and a second mounting platform 12 arranged opposite to each other. The first mounting platform 11 has a first bearing mounting hole 111 and the second mounting platform 12 has a second bearing mounting hole 121.
[0039] The cross axis 14 includes a roll axis 141 and a pitch axis 142 connected in a cross shape. The roll axis 141 can rotate freely relative to the pitch axis 142. For details, please refer to [reference needed]. Figure 3 The roll axis 141 can rotate about the Y-axis. Specifically, the pitch axis 142 may have a through hole through which the roll axis 141 passes, and the roll axis 141 is rotatably mounted in the through hole so that the roll axis 141 can rotate freely relative to the pitch axis 142.
[0040] The two ends of the rolling shaft 141 are rotatably mounted in the first bearing mounting hole 111 and the second bearing mounting hole 121 via the first bearing 151 and the second bearing 152, respectively.
[0041] The lower leg 3, at the end opposite to the foot 2 (i.e., the end facing the thigh 4), is provided with a first mounting hole 351 for mounting the first joint module 31 and a second mounting hole 352 for mounting the second joint module 32. The first mounting hole 351 and the second mounting hole 352 are arranged along the longitudinal extension direction of the lower leg 3 and are axially upward along the lower leg 3. The first mounting hole 351 is located above the second mounting hole 352. The periphery of the first mounting hole 351 and the periphery of the second mounting hole 352 are provided with a number of screw holes. These screw holes are used for screws to fix the fixed end of the first joint module 31 and the fixed end of the second joint module 32 into the first mounting hole 351 and the second mounting hole 352, respectively.
[0042] The lower leg 3 has a first connecting ear 33 and a second connecting ear 34 arranged opposite to each other at the end facing the foot 2. The first connecting ear 33 and the second connecting ear 34 can be integrally formed with the lower leg 3. For example, the lower leg 3 can be made by casting, forging, 3D printing, etc.
[0043] The ankle support 10 also has a shaft hole 132 through which the rotating shaft 131 passes, and the rotating shaft 131 can rotate freely within the shaft hole 132.
[0044] The output end 311 of the first joint module and the output end 321 of the second joint module are respectively connected to the two ends of the rotating shaft 131 via the first rocker arm 312 and the second rocker arm 322. The orientation of the output end 311 of the first joint module is opposite to that of the output end 321 of the second joint module, so that the first rocker arm 312 and the second rocker arm 322 are arranged approximately in parallel.
[0045] Specifically, in this embodiment, the ends of the first rocker arm 312 and the second rocker arm 322 facing the rotation shaft 131 can both be connected to the two ends of the rotation shaft 131 through a fisheye connector. The fisheye connector can not only realize the rotation of the rotation shaft 131 relative to the first rocker arm 312 and the second rocker arm 322, but also realize the deflection and oscillation of the rotation shaft 131 relative to the first rocker arm 312 and the second rocker arm 322.
[0046] It is important to understand that the output terminal 311 of the first joint module and the output terminal 321 of the second joint module refer to the rotating parts of each joint module, such as the rotating flange connected to the reducer.
[0047] In this embodiment, the first connecting lug 33 also forms a third bearing mounting hole 331, and the second connecting lug 34 also forms a fourth bearing mounting hole 341. The two ends of the pitch shaft 142 are rotatably mounted in the third bearing mounting hole 331 and the fourth bearing mounting hole 341 respectively via the third bearing 153 and the fourth bearing 154. The third bearing 153 and the fourth bearing 154 can be deep groove ball bearings. Alternatively, the first bearing 151 and the second bearing 152 can be spherical plain bearings.
[0048] Overall, the cross shaft 14 is located within the area enclosed by the first mounting platform 11, the second mounting platform 12, the first connecting ear 33, and the second connecting ear 34.
[0049] As described above, when the first joint module 31 and the second joint module 32 drive the first rocker arm 312 and the second rocker arm 322 to swing, for example, when the first rocker arm 312 and the second rocker arm 322 drive the rotating shaft 131 to pull upward simultaneously, the upward pulling force can be transmitted through the rotating shaft 131 to one end of the ankle support 10 facing the shaft hole 132 (i.e., the end of the foot part 2 near its heel), thereby driving the ankle support 10 and the foot part 2 connected to the ankle support 10 to perform a pitching action around the pitch axis 142 at the rotation center of the pitch axis 142.
[0050] Since the first bearing 151 and the second bearing 152 can be spherical bearings, a larger pitch range is provided for the pitch movement of the roll axis 141 relative to the pitch axis 142, thereby giving the ankle support 10 and the foot part 2 connected to the ankle support 10 a larger operating space to perform pitch movements.
[0051] When the first rocker arm 312 and the second rocker arm 322 pull the rotating shaft 131 upwards at different speeds, the pulling forces on both ends of the rotating shaft 131 are different. Since the roll shaft 141 can rotate freely relative to the pitch shaft 142, the rotating shaft 131 can drive the ankle support 10 and the foot part 2 connected to the ankle support 10 to perform a lateral swinging motion around the roll shaft 141 as the rotation center. Since the third bearing 153 and the fourth bearing 154 can be joint bearings, a larger lateral swinging range can be provided for the pitch shaft 142 relative to the roll shaft 141, thereby giving the ankle support 10 and the foot part 2 connected to the ankle support 10 a larger operating space to perform lateral swinging motions.
[0052] In another embodiment of this utility model, a humanoid robot is also provided, which includes the above-described leg structure. Since this humanoid robot adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.
[0053] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
[0054] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A leg structure, characterized by, include: The sole of the foot (2); Lower leg (3); as well as Ankle (1) is configured to connect the foot (2) and the lower leg (3); The ankle (1) includes: An ankle support (10) having protruding first mounting platforms (11) and second mounting platforms (12) arranged opposite to each other; the first mounting platform (11) having a first bearing mounting hole (111), and the second mounting platform (12) having a second bearing mounting hole (121); and A cross axis (14) includes a roll axis (141) and a pitch axis (142) connected in a cross shape, wherein the roll axis (141) is freely rotatable relative to the pitch axis (142); The two ends of the rolling shaft (141) are rotatably mounted in the first bearing mounting hole (111) and the second bearing mounting hole (121) respectively via the first bearing (151) and the second bearing (152); The lower leg (3) has a first connecting ear (33) and a second connecting ear (34) arranged opposite to each other at one end facing the foot (2). The first connecting ear (33) forms a third bearing mounting hole (331), and the second connecting ear (34) forms a fourth bearing mounting hole (341). The two ends of the pitch shaft (142) are rotatably mounted in the third bearing mounting hole (331) and the fourth bearing mounting hole (341) respectively via the third bearing (153) and the fourth bearing (154).
2. The leg structure of claim 1, wherein The pitch axis (142) has a through hole through which the roll axis (141) passes, and the roll axis (141) is rotatably mounted in the through hole so that the roll axis (141) can rotate freely relative to the pitch axis (142).
3. The leg structure of claim 1, wherein Both the third bearing (153) and the fourth bearing (154) are deep groove ball bearings.
4. The leg structure of claim 1, wherein Both the first bearing (151) and the second bearing (152) are spherical plain bearings.
5. The leg structure of claim 1, wherein The ankle support (10) also has a shaft hole (132) through which the rotating shaft (131) passes, and the rotating shaft (131) is rotatably installed in the shaft hole (132); the leg structure also includes a first joint module (31) and a second joint module (32) installed on the lower leg (3), and the output end (311) of the first joint module and the output end (321) of the second joint module are respectively connected to the two ends of the rotating shaft (131) through a first rocker arm (312) and a second rocker arm (322).
6. The leg structure of claim 5, wherein It also includes a pair of fisheye connectors, with the first rocker (312) and the second rocker (322) respectively connected to the two ends of the rotating shaft (131) via the pair of fisheye connectors.
7. The leg structure of claim 5, wherein The lower leg (3) has a first mounting hole (351) for mounting the first joint module (31) and a second mounting hole (352) for mounting the second joint module (32).
8. The leg structure according to claim 7, characterized in that, Along the axial direction of the lower leg (3), the first mounting hole (351) is located above the second mounting hole (352).
9. The leg structure of claim 7, wherein, The output end (311) of the first joint module is oriented in the opposite direction to the output end (321) of the second joint module.
10. A humanoid robot, characterized by, The leg structure according to any one of claims 1 to 9.