Leg structure and biped robot

Abstract

The utility model discloses a leg structure and a biped robot, and relates to the technical field of robotics.The leg structure comprises a hip lateral extension assembly fixing base and two hip lateral extension assemblies fixedly installed on the hip lateral extension assembly fixing base respectively, and the two hip lateral extension assemblies are arranged in a front-back staggered mode along the output axis of the hip lateral extension assemblies; the mounting directions of the two hip lateral extension assemblies are opposite. According to the leg structure, by means of the arrangement mode of the hip lateral extension assemblies which are staggered front and back and are opposite in installation direction, the transverse size of the hip is reduced, the movement flexibility in a narrow space is improved, and meanwhile load balanced distribution and rich gait movement are achieved through a reasonable force transmission path; and the limitation of a traditional structure on the joint movement range is broken through to adapt to high-difficulty actions, so that the application adaptability of the biped robot in many fields is enhanced.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a leg structure and a bipedal robot. Background Technology

[0002] Bipedal robots possess a locomotion mechanism similar to humans, enabling them to move freely in various complex environments where human activity takes place. They can assist or even replace humans in performing dangerous, heavy, and complex tasks, improving work efficiency and quality, and are widely used in various industries such as manufacturing, military, education, and daily life. The leg structure is a crucial component of bipedal robots, directly determining their stability and flexibility.

[0003] Currently, the hip abduction components of bipedal robots are generally installed in a left-right arrangement. While this traditional layout achieves hip abduction to some extent, it has revealed several problems in practical applications: Firstly, the left-right arrangement results in a larger lateral dimension of the hip, making the overall shape of the bipedal robot less compact and limiting its mobility in confined spaces. Secondly, the force transmission path under this layout is relatively simple, making it difficult to achieve more complex gait movements, and the load distribution is uneven, affecting the stability and balance of the bipedal robot's movement. In addition, the traditional structure also has limitations in the range of joint motion, failing to meet the hip movement requirements of some complex movements, thus restricting the application of bipedal robots in more scenarios. Utility Model Content

[0004] The purpose of this application is to provide a leg structure and a bipedal robot. By arranging the hip abduction components in a staggered manner with opposite installation directions, the lateral size of the hip is reduced and the flexibility of movement in narrow spaces is improved. At the same time, the load is evenly distributed and the gait is rich through a reasonable force transmission path. It also breaks through the limitations of traditional structures on the range of motion of joints to adapt to high-difficulty movements, thereby enhancing the adaptability of bipedal robots in many fields.

[0005] The embodiments of this application are implemented as follows:

[0006] A first aspect of this application provides a leg structure, including a hip abduction component mounting base and two hip abduction components respectively fixedly mounted on the hip abduction component mounting base. The two hip abduction components are arranged in a staggered manner along the output axis of the hip abduction components, and the installation directions of the two hip abduction components are opposite. This leg structure, through the staggered arrangement of the hip abduction components with opposite installation directions, reduces the lateral dimension of the hip and improves the flexibility of movement in narrow spaces. At the same time, it achieves balanced load distribution and rich gait movements through a reasonable force transmission path. Furthermore, it breaks through the limitations of traditional structures on the range of joint motion to adapt to high-difficulty movements, thereby enhancing the adaptability of bipedal robots in many fields.

[0007] As one possible implementation, it further includes two hip pitching components and two hip rotation components. The two hip pitching components are arranged left and right along the output axis of the hip pitching components on opposite sides of the hip abduction component fixing base, and the two hip pitching components are connected to the two hip abduction components in a one-to-one correspondence. The two hip rotation components are arranged left and right along the output axis of the hip pitching components on opposite sides of the hip abduction component fixing base, and the two hip rotation components are connected to the two hip pitching components in a one-to-one correspondence.

[0008] As one possible implementation, a connecting frame is also included. The hip abduction assembly includes a hip abduction connector and a hip abduction joint connected to the hip abduction connector. The hip pitch assembly includes a hip pitch connector and a hip pitch joint connected to the hip pitch connector. The hip abduction connector is fixedly installed on the hip abduction assembly mounting base. The output end of the hip abduction joint is connected to the output end of the hip pitch joint through the connecting frame.

[0009] In one possible implementation, the connecting frame includes a first connecting arm, a second connecting arm, and a connecting plate connecting the first connecting arm and the second connecting arm. The first connecting arm and the second connecting arm are arranged in a front-to-back configuration on the outer side of the hip abduction assembly along the output axis of the hip abduction joint. The first connecting arm is rotatably connected to the hip abduction assembly mounting base via a bearing. The second connecting arm is fixedly connected to the output end of the hip abduction joint. The connecting plate is fixedly connected to the output end of the hip pitch joint.

[0010] In one possible implementation, there are two connecting frames, which are connected one-to-one with the two hip abduction components. The first connecting arm of one connecting frame and the second connecting arm of the other connecting frame are installed on the same side of the hip abduction component fixing seat, and the second connecting arm of one connecting frame and the first connecting arm of the other connecting frame are installed on the other side of the hip abduction component fixing seat.

[0011] In one possible implementation, the rotation axis of the first connecting arm and the output axis of the hip abduction joint are coaxial.

[0012] As one possible implementation, it also includes a thigh frame, the hip rotation assembly including a hip rotation connector and a hip rotation joint connected to the hip rotation connector, the hip pitch connector being connected to the output end of the hip rotation joint, and the hip rotation connector being connected to the thigh frame.

[0013] As one possible implementation, it further includes a hip pitch housing disposed on the outside of the hip pitch assembly and a thigh housing disposed on the outside of the hip rotation assembly; the hip pitch connector is fixedly installed on the hip pitch housing, and the hip pitch connector is fixedly connected to the output end of the hip rotation joint through the hip pitch housing; the hip rotation connector is fixedly installed on the thigh housing, and the hip rotation connector is fixedly connected to the thigh skeleton through the thigh housing.

[0014] In one possible implementation, the output axes of the hip abduction assembly, the hip pitch assembly, and the hip rotation assembly are perpendicular to each other; the output axes of the two hip abduction assemblies are parallel to each other and staggered along the front and rear sides of the hip abduction assembly mounting base, the output axes of the two hip pitch assemblies are coaxial, and the output axes of the two hip rotation assemblies are parallel to each other and coplanar along the left and right sides of the hip abduction assembly mounting base.

[0015] A second aspect of this application provides a bipedal robot including the aforementioned leg structure. This leg structure, through the staggered arrangement of hip abduction components with opposite installation directions, reduces the lateral dimension of the hip and improves mobility in confined spaces. Simultaneously, it achieves balanced load distribution and diverse gait movements through a rational force transmission path. Furthermore, it overcomes the limitations of traditional structures on joint range of motion to adapt to more complex movements, thereby enhancing the adaptability of the bipedal robot in numerous fields.

[0016] The beneficial effects of the embodiments of this application include:

[0017] The leg structure includes a hip abduction assembly mount and two hip abduction assemblies fixedly mounted on the mount. The two hip abduction assemblies are arranged in a staggered, front-to-back configuration along their output axes, and their installation directions are opposite. By staggering the two hip abduction assemblies along their output axes and ensuring their opposite installation directions, the structure and performance of the bipedal robot's hip are significantly optimized. From a spatial layout perspective, the staggered arrangement effectively reduces the lateral dimension of the hip, making the overall structure of the bipedal robot more compact and greatly improving its mobility in confined spaces, enabling it to adapt to more complex environments. In terms of force transmission and motion control, the two hip abduction assemblies with opposite installation directions form a more rational force transmission path, achieving not only a balanced load distribution and enhanced stability of the bipedal robot's movement, but also enabling richer and more diverse gait movements through the synergistic effect of different components, thus expanding the bipedal robot's range of motion. At the same time, this unique layout breaks through the limitations of traditional structures on the range of motion of joints, enabling the hip to complete greater and more complex movements, making it possible for bipedal robots to perform high-difficulty actions, thereby improving the adaptability of bipedal robots in many fields. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is one of the structural schematic diagrams of the leg structure provided in the embodiments of this application;

[0020] Figure 2 This is the second schematic diagram of the leg structure provided in the embodiments of this application;

[0021] Figure 3 This is the third schematic diagram of the leg structure provided in the embodiments of this application;

[0022] Figure 4 Fourth schematic diagram of the leg structure provided in the embodiments of this application;

[0023] Figure 5 for Figure 4 A magnified view of a portion of the enclosure concealing the hip abduction side;

[0024] Figure 6 Fifth schematic diagram of the leg structure provided in the embodiments of this application;

[0025] Figure 7 for Figure 6 A magnified view of a portion of the image.

[0026] Icons: 10-Hip abduction assembly; 11-Hip abduction joint; 12-Hip abduction connector; 20-Hip pitch assembly; 21-Hip pitch joint; 22-Hip pitch connector; 30-Hip rotation assembly; 31-Hip rotation joint; 32-Hip rotation connector; 40-Thigh skeleton; 50-Lower leg skeleton; 51-First lateral plate; 60-Knee joint assembly; 61-Knee joint; 62-Knee connector; 70-First link assembly; 71-Knee crank; 72-Knee link; 80A, 80B-Ankle assembly; 81-Ankle joint; 82-Ankle connector; 90-Foot; 91-Second lateral plate; 92-Foot shell; 93-Foot body; 94-Foot sole plate; 100-Second link assembly; 101-Ankle crank; 102-Ankle Linkage; 110-Cross shaft; 111-First shaft; 112-Second shaft; 120-Inertial measurement unit; 130-Hip abduction assembly mounting base; 131-Second hip abduction side cover; 140-First hip abduction side cover; 150-Anterior hip cover; 160-Posterior hip cover; 170-Hip reinforcement plate; 180-Connecting frame; 181-First connecting arm; 182-Second connecting arm; 190-Hip pitch inner cover; 200-Hip pitch outer cover; 210-Hip pitch protective cover; 220-Inner thigh shell; 230-Outer thigh shell; 240-Lumbar joint adapter; 250-Hip bearing outer cover; 251-Bearing; 260-Inner knee pivot; 270-Outer knee pivot; 280-Ankle adapter; 290-Hip rotator assembly adapter. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application 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 this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[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 application, 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 application is in use. They are only for the convenience of describing this application 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, and therefore should not be construed as a limitation on this application. 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 application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "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 a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] Please refer to the reference. Figures 1 to 7 This application provides a leg structure, including a hip abduction assembly 10, a hip pitch assembly 20, a hip rotation assembly 30, a thigh frame 40, and a calf frame 50 connected in sequence, and a knee joint assembly 60 connected to the thigh frame 40 and the calf frame 50; the output axes of the hip abduction assembly 10, the hip pitch assembly 20, and the hip rotation assembly 30 are perpendicular to each other, and the output axis of the hip pitch assembly 20 is parallel to the output axis of the knee joint assembly 60; the hip abduction assembly 10 can drive the thigh frame 40 to rotate around the output axis of the hip abduction assembly 10 through the hip pitch assembly 20 and the hip rotation assembly 30, the hip pitch assembly 20 can drive the thigh frame 40 to rotate around the output axis of the hip pitch assembly 20 through the hip rotation assembly 30, the hip rotation assembly 30 can drive the thigh frame 40 to rotate around the output axis of the hip rotation assembly 30, and the knee joint assembly 60 can drive the calf frame 50 to rotate relative to the thigh frame 40. This leg structure reduces the end mass of the leg structure and decreases the moment of inertia, thereby improving the flexibility and endurance of the bipedal robot.

[0034] It should be noted that, as Figure 1 , Figure 2 and Figure 6 As shown, the leg structure includes a hip abduction assembly 10, a hip pitch assembly 20, a hip rotation assembly 30, a thigh skeleton 40, a calf skeleton 50, and a knee joint assembly 60. The hip abduction assembly 10 can drive the thigh skeleton 40 to rotate around the output axis of the hip pitch assembly 20 and the hip rotation assembly 30, thereby realizing the abduction movement of the leg structure. The hip pitch assembly 20 can drive the thigh skeleton 40 to rotate around the output axis of the hip pitch assembly 20, thereby realizing the pitch movement of the leg structure. The hip rotation assembly 30 can drive the thigh skeleton 40 to rotate around the output axis of the hip rotation assembly 30, thereby realizing the rotation movement of the leg structure. The knee joint assembly 60 can drive the calf skeleton 50 to rotate relative to the thigh skeleton 40, thereby realizing the flexion and extension movement of the knee.

[0035] In the actual assembly process, the hip abduction component 10, hip pitch component 20, hip rotation component 30, thigh frame 40, and lower leg frame 50 are sequentially connected to form the leg structure. For example, as shown... Figure 1 and Figure 4 As shown, in this embodiment, the hip pitch component 20 is located to the left or right of the hip abduction component 10, the hip rotation component 30 is located below the hip abduction component 10, the thigh frame 40 is located below the hip rotation component 30, the calf frame 50 is located below the thigh frame 40, and the knee joint component 60 is connected to the thigh frame 40 and the calf frame 50. For example, the knee joint component 60 may be located inside the thigh frame 40. Furthermore, the output axes of the hip abduction component 10 (i.e., in the thickness direction of the leg structure), the output axis of the hip pitch component 20 (i.e., in the width direction of the leg structure), and the output axis of the hip rotation component 30 (i.e., in the length direction of the leg structure) are perpendicular to each other, and the output axis of the hip pitch component 20 is parallel to the output axis of the knee joint component 60.

[0036] Compared to existing technologies, this application, through a reasonable arrangement of the aforementioned components, allows the hip pitch component 20 to be moved upwards and closer to the waist of the bipedal robot. Simultaneously, it allows the knee joint component 60 to be moved upwards and closer to the body of the bipedal robot. On one hand, this makes the mass of the bipedal robot more concentrated. By optimizing the mass distribution of the leg structure, the end mass of the leg structure can be reduced, thereby reducing the inertia of the leg structure, lowering power consumption, and improving the bipedal robot's mobility and endurance. On the other hand, it allows the hip pitch component 20 to have a larger range of motion, and the thigh skeleton 40 protects the knee joint component 60, preventing the risk of parts being exposed.

[0037] As one possible implementation method, such as Figure 2 , Figure 4 and Figure 5As shown, the hip abduction assembly 10 includes a hip abduction connector 12 and a hip abduction joint 11 connected to the hip abduction connector 12; the hip pitch assembly 20 includes a hip pitch connector 22 and a hip pitch joint 21 connected to the hip pitch connector 22; and the hip rotation assembly 30 includes a hip rotation connector 32 and a hip rotation joint 31 connected to the hip rotation connector 32.

[0038] In this way, when the output end of the hip abduction joint 11 is driven to rotate relative to the hip abduction connector 12, it can drive the thigh skeleton 40 to rotate around the output axis of the hip abduction joint 11, thereby realizing abduction movements similar to the human hip joint opening outward or closing inward, thus changing the position and posture of the leg structure in the horizontal direction; when the output end of the hip pitch joint 21 is driven to rotate relative to the hip pitch connector 22, it can drive the thigh skeleton 40 to rotate around the output axis of the hip pitch joint 21, thereby simulating the pitching and flexing movements of the human hip joint, thus realizing a movement posture similar to the human walking posture of the thigh skeleton 40 opening forward and flexing backward; when the output end of the hip rotation joint 31 is driven to rotate relative to the hip rotation connector 32, it can drive the thigh skeleton 40 to rotate around the output axis of the hip rotation joint 31, thereby completing the rotational movement of the thigh skeleton 40 in the horizontal plane, thus realizing a movement posture similar to the human turning in place, where the hip joint drives the leg structure to rotate.

[0039] As one possible implementation method, such as Figure 4 and Figure 5 As shown, the leg structure also includes a hip abduction component fixing seat 130. There are two hip abduction components 10, two hip pitch components 20, and two hip rotation components 30. The two hip abduction components 10 are arranged in a staggered manner along the output axis of the hip abduction components 10, and the two hip abduction components 10 are installed in opposite directions. The two hip pitch components 20 are arranged in a left-right manner on opposite sides of the hip abduction component fixing seat 130 along the output axis of the hip pitch components 20, and the two hip pitch components 20 are connected to the two hip abduction components 10 in a one-to-one correspondence. The two hip rotation components 30 are arranged in a left-right manner on opposite sides of the hip abduction component fixing seat 130 along the output axis of the hip pitch components 20, and the two hip rotation components 30 are connected to the two hip pitch components 20 in a one-to-one correspondence.

[0040] Two hip abduction components 10 are arranged in a staggered manner along their output axes. Correspondingly, the output axes of the two hip abduction components 10 are parallel to each other and staggered along the front and rear sides of the hip abduction component mounting base 130. Two hip pitch components 20 are arranged left and right on opposite sides of the hip abduction component mounting base 130 along their output axes. Correspondingly, the output axes of the two hip pitch components 20 are coaxial. Two hip rotation components 30 are arranged left and right on opposite sides of the hip abduction component mounting base 130 along their output axes. Correspondingly, the output axes of the two hip rotation components 30 are parallel to each other and coplanar along the left and right sides of the hip abduction component mounting base 130. Thus, the two thigh skeletons 40 of the leg structure can correspondingly realize abduction, pitch, and rotation movements.

[0041] Compared to existing technologies, this application significantly optimizes the structure and performance of the hip of a bipedal robot by arranging two hip abduction components 10 in a staggered, front-to-back configuration along their output axes and with opposite installation directions. From a spatial perspective, the staggered arrangement effectively reduces the lateral dimension of the hip, making the overall structure of the bipedal robot more compact and greatly improving its mobility in confined spaces, enabling it to adapt to more complex environments. In terms of force transmission and motion control, the two hip abduction components 10 with opposite installation directions form a more rational force transmission path, achieving not only a balanced load distribution and enhanced stability of the bipedal robot's movement, but also enabling richer and more diverse gait movements through the synergistic effect of different components, thus expanding the robot's range of motion. Simultaneously, this unique layout breaks through the limitations of traditional structures on joint range of motion, allowing the hip to perform larger and more complex movements, making it possible for bipedal robots to perform high-difficulty actions, thereby improving the application adaptability of bipedal robots.

[0042] As one possible implementation method, such as Figure 2 , Figure 4 and Figure 5 As shown, the hip abduction connectors 12 of the two hip abduction components 10 are respectively fixedly installed on the hip abduction component fixing base 130. The output end of the hip abduction joint 11 is connected to the output end of the hip pitch joint 21, the hip pitch connector 22 is connected to the output end of the hip rotation joint 31, and the hip rotation connector 32 is connected to the thigh skeleton 40.

[0043] It should be noted that the hip abduction assembly mounting base 130, as a basic support component, can be connected to the robot torso via bolts or slots. The hip abduction connector 12 is rigidly fixed to the hip abduction assembly mounting base 130 using a connection method such as welding or high-strength bolts, forming the installation reference for the entire leg structure. The output end of the hip abduction joint 11 is connected to the output end of the hip pitch joint 21, the hip pitch connector 22 is connected to the output end of the hip rotation joint 31, and the hip rotation connector 32 is connected to the thigh skeleton 40. This allows the hip abduction joint 11 to drive the thigh skeleton 40 to rotate around the output axis of the hip abduction joint 11 through the hip pitch assembly 20 and the hip rotation assembly 30, thereby realizing the abduction movement of the leg structure. The hip pitch joint 21 can drive the thigh skeleton 40 to rotate around the output axis of the hip pitch joint 21 through the hip rotation assembly 30, thereby realizing the pitch movement of the leg structure. The hip rotation joint 31 can drive the thigh skeleton 40 to rotate around the output axis of the hip rotation joint 31, thereby realizing the rotation movement of the leg structure.

[0044] As another possible implementation, the hip abduction assembly 10, hip pitch assembly 20, and hip rotation assembly 30 are connected sequentially, i.e., the hip abduction connector 12, hip abduction joint 11, hip pitch connector 22, hip pitch joint 21, hip rotation connector 32, and hip rotation joint 31 are connected sequentially. For example, since the output end of the hip abduction joint 11 is fixed to the hip pitch connector 22, when the hip abduction joint 11 rotates, it can drive the hip pitch connector 22 and the subsequent hip pitch joint 21 to move synchronously, thereby achieving a lateral abduction movement similar to the outward or inward adduction of the human hip joint. The principle of the hip pitch assembly 20 and hip rotation assembly 30 achieving their respective movements is the same as above, and will not be repeated here. Regarding the hip abduction assembly 10, hip pitch assembly 20, and hip rotation assembly 30, those skilled in the art should be able to select a suitable connection method according to actual needs, and no specific limitations are made here.

[0045] As one possible implementation method, such as Figure 4 and Figure 5As shown, the leg structure also includes a connecting frame 180, through which the output end of the hip abduction joint 11 and the output end of the hip pitch joint 21 are connected. In some embodiments, the connecting frame 180 can be a U-shaped connecting frame, which is disposed on the outer side of the hip abduction assembly 10 along the output axis of the hip abduction joint 11. One connecting arm of the U-shaped connecting frame is rotatably connected to the hip abduction assembly fixing seat 130 via a bearing 251, so as to achieve a supporting function through the connecting arm and ensure the stability of the connection between the U-shaped connecting frame and the hip abduction assembly fixing seat 130. The rotatable connection through the bearing 251 can also avoid interference with the rotation of the output end of the hip abduction joint 11. The other connecting arm of the U-shaped connecting frame is fixedly connected to the output end of the hip abduction joint 11, and the output end of the hip pitch joint 21 is fixedly connected to the connecting plate connecting the two connecting arms of the U-shaped connecting frame, so as to realize the transmission between the output end of the hip abduction joint 11 and the output end of the hip pitch joint 21 through the connecting arm and the connecting plate. In this way, the hip abduction assembly 10 and the hip pitch assembly 20 can be connected through the U-shaped connecting frame, and the reversing function can be achieved.

[0046] Specifically, the U-shaped connecting frame includes a first connecting arm 181, a second connecting arm 182, and a connecting plate connecting the first connecting arm 181 and the second connecting arm 182. The first connecting arm 181 and the second connecting arm 182 are arranged in a front-to-back manner on the outer side of the hip abduction assembly 10 along the output axis of the hip abduction joint 11. The first connecting arm 181 is rotatably connected to the hip abduction assembly fixing seat 130 through a bearing 251. The second connecting arm 182 is fixedly connected to the output end of the hip abduction joint 11. The connecting plate is fixedly connected to the output end of the hip flexion joint 21.

[0047] When there are two U-shaped connecting frames, the installation directions of the two hip abduction components 10 are opposite, which means that the two U-shaped connecting frames are connected to the two hip abduction components 10 in a one-to-one correspondence. The first connecting arm 181 of one U-shaped connecting frame and the second connecting arm 182 of the other U-shaped connecting frame are installed on the same side of the hip abduction component fixing seat 130, and the second connecting arm 182 of one U-shaped connecting frame and the first connecting arm 181 of the other U-shaped connecting frame are installed on the other side of the hip abduction component fixing seat 130.

[0048] As one possible implementation method, such as Figure 5 As shown, the rotation axis of the first connecting arm 181 and the output axis of the hip abduction joint 11 are coaxially arranged. At this time, when the output end of the hip abduction joint 11 is driven to rotate, the first connecting arm 181 and the second connecting arm 182 of the same U-shaped connecting frame can swing coaxially, thereby improving the uniformity of force and transmission stability of transmission and reversal through the U-shaped connecting frame.

[0049] As one possible implementation method, such as Figure 4As shown, the leg structure also includes a hip abduction housing disposed outside the hip abduction assembly mounting base 130. The hip abduction housing includes two first hip abduction side covers 140 and two second hip abduction side covers 131, which are correspondingly disposed on the left and right sides of the hip abduction assembly 10 along the output axis of the hip pitch joint 21. The hip abduction housing also includes a front hip cover 150 and a rear hip cover 160, which are mutually disposed on the front and rear sides of the hip abduction assembly 10 along the output axis of the hip abduction joint 11. For example, the front hip cover 150 and the rear hip cover 160 extend toward the side closer to the robot torso (e.g., the waist joint adapter 240), and the front hip cover 150, the rear hip cover 160, and the hip reinforcement plate 170 located below the hip abduction assembly 10 are all connected to the hip assembly. For example, a hip bearing outer cover 250 is also provided on the inner side of the anterior hip cover 150 to fix the bearing 251. In this way, the hip abduction assembly 10 can be protected in all directions by the two first hip abduction side covers 140, the two second hip abduction side covers 131, the anterior hip cover 150, the posterior hip cover 160 (and the hip reinforcement plate 170).

[0050] As one possible implementation method, such as Figure 6 As shown, the leg structure also includes a hip pitch housing disposed on the outside of the hip pitch assembly 20 and a thigh housing disposed on the outside of the hip rotation assembly 30; the hip pitch connector 22 is fixedly installed on the hip pitch housing, and the hip pitch connector 22 is fixedly connected to the output end of the hip rotation joint 31 through the hip pitch housing and / or the hip rotation assembly adapter 290; the hip rotation connector 32 is fixedly installed on the thigh housing, and the hip rotation connector 32 is fixedly connected to the thigh frame 40 through the thigh housing, or the hip rotation connector 32 can be directly formed on the thigh housing so that when the hip rotation joint 31 rotates, the thigh frame 40 can be rotated through the hip rotation connector 32 and the thigh housing.

[0051] As one possible implementation method, such as Figure 6 As shown, the hip pitch housing includes a hip pitch inner cover 190, a hip pitch outer cover 200, and a hip pitch protective cover 210 arranged sequentially along the output axis of the hip pitch joint 21. The hip pitch inner cover 190, hip pitch outer cover 200, and hip pitch protective cover 210 are mutually coordinated and disposed on the outside of the hip pitch assembly 20, thereby providing all-round protection for the hip pitch assembly 20. The hip pitch connector 22 is fixedly installed on the hip pitch outer cover 200. The hip pitch connector 22 is fixedly connected to the output end of the hip rotation joint 31 through the hip pitch outer cover 200 and / or the hip rotation assembly adapter 290, so that when the hip rotation joint 31 rotates, the hip rotation connector 32 and the thigh housing can drive the thigh skeleton 40 to rotate.

[0052] As one possible implementation method, such as Figure 6 As shown, the thigh shell includes an inner thigh shell 220 and an outer thigh shell 230. The inner thigh shell 220 and the hip pitch inner cover 190 are located on the same side of the hip pitch assembly 20, while the outer thigh shell 230 and the hip pitch protective cover 210 are located on the other side of the hip pitch assembly 20. The inner thigh shell 220 and the outer thigh shell 230 are mutually fitted and disposed on the outside of the hip rotation assembly 30 and the knee joint assembly 60. The hip rotation connector 32 is fixedly installed or directly formed on the inner thigh shell 220 and / or the outer thigh shell 230. The hip rotation connector 32 is fixedly connected to the thigh skeleton 40 through the inner thigh shell 220 and / or the outer thigh shell 230. In this way, the inner thigh shell 220 and the outer thigh shell 230 can act as connectors in terms of connection relationship and as outer shell parts in terms of appearance.

[0053] Through the aforementioned connection method, the hip rotation assembly 30 connects the hip pitch assembly 20 to the inner thigh shell 220 and the outer thigh shell 230, facilitating direct disassembly of the inner thigh shell 220 and the outer thigh shell 230 during maintenance, thus increasing the maintainability of the leg structure. Furthermore, compared to existing technologies, this application, through the rational design of the aforementioned components, enables each component to not only provide structural support but also aesthetic protection. This eliminates the need for complex exterior components, resulting in a more streamlined leg structure and enhanced protection for the internal components.

[0054] As one possible implementation method, such as Figures 1 to 3 , Figure 6 As shown, the knee joint assembly 60 includes a knee connector 62 and a knee joint 61 connected to the knee connector 62. The knee connector 62 is fixedly connected to the thigh frame 40, and the output end of the knee joint 61 is connected to the lower leg frame 50 via a transmission connection. When the output end of the knee joint 61 is driven to rotate relative to the knee connector 62, it can drive the lower leg frame 50 to rotate relative to the thigh frame 40, thereby completing the flexion and extension movements of the lower leg frame 50, realizing the flexion and extension function of the knee joint 61 in activities such as walking and running. For example, the thigh frame 40 near the lower leg frame 50 is also provided with an inner knee pivot 260 and an outer knee pivot 270, so as to connect the end of the thigh frame 40 near the lower leg frame 50 and the end of the lower leg frame 50 near the thigh frame 40 through the inner knee pivot 260 and the outer knee pivot 270.

[0055] As one possible implementation method, such as Figure 3As shown, the leg structure also includes a first link assembly 70. The output end of the knee joint 61 is connected to the lower leg skeleton 50 through the first link assembly 70, so that the lower leg skeleton 50 can be moved by the first link assembly 70, thereby realizing the flexion and extension of the knee of the bipedal robot.

[0056] For example, such as Figure 3 As shown, in this embodiment, the first linkage assembly 70 includes a knee crank 71 and a knee link 72. The two ends of the knee crank 71 are rotatably connected to the output end of the knee joint 61 and the knee link 72, respectively. The end of the knee link 72 away from the knee crank 71 is rotatably connected to the lower leg frame 50. In this way, when the output end of the knee joint 61 drives the knee crank 71 to rotate, the knee crank 71 can drive the knee link 72 to rotate, which in turn drives the lower leg frame 50 to rotate relative to the thigh frame 40. This transmission method is simple and efficient.

[0057] As one possible implementation method, such as Figure 1 and Figure 2 As shown, the leg structure also includes two ankle components (ankle component 80A and ankle component 80B) arranged sequentially along the extension direction of the calf skeleton 50 (i.e., the length direction of the leg structure) and a foot 90 located at the end of the calf skeleton 50 away from the thigh skeleton 40. Both ankle components include an ankle connector 82 and an ankle joint 81 connected to the ankle connector 82. The output axes of the ankle joints 81 of the two ankle components are parallel to each other. The ankle connectors 82 of the two ankle components are fixedly connected to the calf skeleton 50, and the opposite sides of the foot 90 are movably connected to the output ends of the ankle joints 81 of the two ankle components.

[0058] For example, such as Figure 1 and Figure 2 As shown, in this embodiment, ankle component 80A is located above ankle component 80B. The output axes of the ankle joints 81 of the two ankle components are parallel to each other. The ankle connectors 82 of the two ankle components are fixedly connected to the calf frame 50, respectively. The installation directions of the two ankle components are opposite, and the output ends of the ankle joints 81 of the two ankle components are movably connected to the opposite sides of the foot 90, respectively. Thus, by the cooperation of the ankle connectors 82 of ankle component 80A and ankle connectors 82 of ankle component 80B, the forward lifting, backward lifting, and lateral swinging movements of the foot 90 can be realized.

[0059] Specifically, when the output ends of the ankle joint 81 of ankle component 80A and ankle joint 81 of ankle component 80B move synchronously, the forward or backward movement of foot 90 can be achieved; when the output ends of the ankle joint 81 of ankle component 80A and ankle joint 81 of ankle component 80B move asynchronously, the lateral movement of foot 90 can be achieved, i.e., the inversion or eversion movement of foot 90. The specific implementation methods of the aforementioned forward, backward, inversion, and eversion movements of foot 90 should be derived by those skilled in the art through logical and simple reasoning based on the leg structure provided in this application, and will not be elaborated further here.

[0060] As one possible implementation method, such as Figures 1 to 3 As shown, the leg structure also includes two second link assemblies 100. The opposite sides of the foot 90 are respectively movably connected to the output ends of the ankle joints 81 of the two ankle assemblies via the two second link assemblies 100, thereby realizing various movements of the bipedal robot's foot 90. It is worth noting that the two second link assemblies 100 have different lengths, so that the lengths of the two second link assemblies 100 are adapted to the distance between the output ends of the ankle joints 81 of the two ankle assemblies (ankle assembly 80A and ankle assembly 80B) arranged sequentially along the extension direction of the lower leg skeleton 50 (i.e., the length direction of the leg structure) and the foot 90.

[0061] For example, such as Figure 3 As shown, in this embodiment, the second linkage assembly 100 includes an ankle crank 101 and an ankle link 102. The two ends of the ankle crank 101 are rotatably connected to the output end of the ankle joint 81 and the ankle link 102, respectively. The end of the ankle link 102 away from the ankle crank 101 is rotatably connected to the foot 90. In this way, when the output end of the ankle joint 81 is driven to rotate relative to the ankle connector 82, it will drive the ankle crank 101 to rotate, thereby driving the ankle link 102 to rotate, and then driving the foot 90 to rotate relative to the lower leg skeleton 50 through the ankle crank 101. The transmission structure is simple and the transmission method is efficient.

[0062] As one possible implementation method, such as Figure 6 and Figure 7 As shown, the lower leg skeleton 50 has two first side plates 51 spaced apart at the end near the foot 90, and each of the two first side plates 51 has a first shaft hole; the foot 90 has two second side plates 91 spaced apart at the end near the lower leg skeleton 50, and each of the two second side plates 91 has a second shaft hole. The extending directions of the two first side plates 51 and the two second side plates 91 are perpendicular to each other, and the line connecting the two first shaft holes and the line connecting the two second shaft holes form a cross shape. For example, as... Figure 6 and Figure 7As shown, the foot 90 includes a foot shell 92, a foot body 93, and a foot plate 94 arranged sequentially along the extension direction of the calf skeleton 50 (i.e., the length direction of the leg structure). The second side plate 91 is disposed above the foot shell 92. In addition to the second side plate 91, an ankle adapter 280 is also provided at one end of the foot 90 near the calf skeleton 50 to connect with the ankle link 102.

[0063] Based on the above structure, such as Figure 6 and Figure 7 As shown, the leg structure also includes a cross shaft 110, which comprises a first shaft 111 and a second shaft 112 arranged orthogonally. The two ends of the first shaft 111 pass through two first shaft holes, and the two ends of the second shaft 112 pass through two second shaft holes. In this way, the lower leg skeleton 50 and the foot 90 can be connected via the cross shaft 110, allowing the ankle abduction motion axis and the ankle flexion motion axis to intersect at a single point (i.e., the intersection point of the cross shaft 110), making it easier to control and resulting in a more compact layout.

[0064] A second aspect of this application provides a bipedal robot including the leg structure described above. The bipedal robot may further include a robot torso, to which the leg structure is connected. Since the structure and beneficial effects of the leg structure have been described in detail in the foregoing embodiments, they will not be repeated here. For example, as... Figure 4 As shown, in this embodiment, the inertial measurement unit 120 of the bipedal robot is mounted on the hip extension assembly 10 to monitor the motion inertia of the leg structure in real time.

[0065] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0066] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not describe the various possible combinations separately.

Claims

1. A leg structure, characterized in that, It includes a hip abduction assembly mounting base (130) and two hip abduction assemblies (10) respectively fixedly mounted on the hip abduction assembly mounting base (130). The two hip abduction assemblies (10) are arranged in a staggered manner along the output axis of the hip abduction assembly (10), and the two hip abduction assemblies (10) are installed in opposite directions.

2. The leg structure according to claim 1, characterized in that, It also includes two hip pitching components (20) and two hip rotation components (30). The two hip pitching components (20) are arranged left and right along the output axis of the hip pitching components (20) on opposite sides of the hip abduction component fixing base (130), and the two hip pitching components (20) are connected to the two hip abduction components (10) in a one-to-one correspondence. The two hip rotation components (30) are arranged left and right along the output axis of the hip pitching components (20) on opposite sides of the hip abduction component fixing base (130), and the two hip rotation components (30) are connected to the two hip pitching components (20) in a one-to-one correspondence.

3. The leg structure according to claim 2, characterized in that, It also includes a connecting frame (180). The hip abduction assembly (10) includes a hip abduction connector (12) and a hip abduction joint (11) connected to the hip abduction connector (12). The hip pitch assembly (20) includes a hip pitch connector (22) and a hip pitch joint (21) connected to the hip pitch connector (22). The hip abduction connector (12) is fixedly installed on the hip abduction assembly mounting base (130). The output end of the hip abduction joint (11) is connected to the output end of the hip pitch joint (21) through the connecting frame (180).

4. The leg structure according to claim 3, characterized in that, The connecting frame (180) includes a first connecting arm, a second connecting arm, and a connecting plate connecting the first connecting arm and the second connecting arm. The first connecting arm and the second connecting arm are arranged in a front-to-back manner on the outside of the hip abduction assembly (10) along the output axis of the hip abduction joint (11). The first connecting arm is rotatably connected to the hip abduction assembly fixing seat (130) through a bearing. The second connecting arm is fixedly connected to the output end of the hip abduction joint (11). The connecting plate is fixedly connected to the output end of the hip pitch joint (21).

5. The leg structure according to claim 4, characterized in that, There are two connecting frames (180), and the two connecting frames (180) are connected to the two hip abduction components (10) one by one. The first connecting arm of one connecting frame (180) and the second connecting arm of the other connecting frame (180) are installed on the same side of the hip abduction component fixing seat (130), and the second connecting arm of one connecting frame (180) and the first connecting arm of the other connecting frame (180) are installed on the other side of the hip abduction component fixing seat (130).

6. The leg structure according to claim 4, characterized in that, The rotation axis of the first connecting arm and the output axis of the hip abduction joint (11) are coaxial.

7. The leg structure according to claim 3, characterized in that, It also includes a thigh frame (40), the hip rotation assembly (30) includes a hip rotation connector (32) and a hip rotation joint (31) connected to the hip rotation connector (32), the hip pitch connector (22) is connected to the output end of the hip rotation joint (31), and the hip rotation connector (32) is connected to the thigh frame (40).

8. The leg structure according to claim 7, characterized in that, It also includes a hip pitch housing disposed on the outside of the hip pitch assembly (20) and a thigh housing disposed on the outside of the hip rotation assembly (30); the hip pitch connector (22) is fixedly installed on the hip pitch housing, and the hip pitch connector (22) is fixedly connected to the output end of the hip rotation joint (31) through the hip pitch housing; the hip rotation connector (32) is fixedly installed on the thigh housing, and the hip rotation connector (32) is fixedly connected to the thigh skeleton (40) through the thigh housing.

9. The leg structure according to any one of claims 2 to 8, characterized in that, The output axes of the hip abduction assembly (10), the hip pitch assembly (20), and the hip rotation assembly (30) are perpendicular to each other; the output axes of the two hip abduction assemblies (10) are parallel to each other and staggered along the front and rear sides of the hip abduction assembly fixing seat (130); the output axes of the two hip pitch assemblies (20) are coaxial; and the output axes of the two hip rotation assemblies (30) are parallel to each other and coplanar along the left and right sides of the hip abduction assembly fixing seat (130).

10. A bipedal robot, characterized in that, Includes the leg structure as described in any one of claims 1 to 9.

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