Thigh mechanism and humanoid robot

Abstract

This application relates to the field of robotics, and more particularly to a thigh mechanism and a humanoid robot. The thigh mechanism includes a thigh shell, a drive assembly, and a connecting assembly. One end of the thigh shell is rotatably connected to the lower leg mechanism of the humanoid robot. The drive assembly is located on the thigh shell and connected to the lower leg mechanism, and is used to drive the lower leg mechanism to rotate. The connecting assembly includes a hip joint connector and a crossed roller bearing. The hip joint connector is located at the other end of the thigh shell and is connected to the drive end of the hip joint mechanism of the humanoid robot. The crossed roller bearing is sleeved on the hip joint connector and embedded in the hip joint mechanism. The design of the crossed roller bearing allows it to withstand loads in multiple directions. By embedding the crossed roller bearing, the connection between the hip joint mechanism and the thigh mechanism can effectively balance and absorb external impact forces, reducing the possibility of impact forces being directly transmitted to the motor of the hip joint mechanism, thereby reducing the risk of mechanical failure and damage.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more particularly to a thigh mechanism and a humanoid robot. Background Technology

[0002] With the development of intelligent technology, robotics has become a research hotspot. As a key load-bearing structure connecting the hip and knee joints of a robot, the robot's thigh has also attracted increasing attention from researchers.

[0003] When a robot executes commands, especially during high-speed movements of the hip and knee joints, external impacts and off-center torques may be directly transmitted to the motors in the hip joints, leading to motor damage or performance degradation. Utility Model Content

[0004] Based on this, this application provides a thigh mechanism and a humanoid robot to balance external impacts and off-center load torque, and prevent impact forces from damaging the motor.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] On one hand, this application provides a thigh mechanism disposed on a humanoid robot, including a thigh shell, a drive assembly, and a connecting assembly. One end of the thigh shell is rotatably connected to the lower leg mechanism of the humanoid robot. The drive assembly is disposed on the thigh shell and connected to the lower leg mechanism. The drive assembly is used to drive the lower leg mechanism to rotate. The connecting assembly includes a hip joint connector and a cross roller bearing. The hip joint connector is disposed at the other end of the thigh shell and connected to the drive end of the hip joint mechanism of the humanoid robot. The cross roller bearing is sleeved on the hip joint connector and embedded in the hip joint mechanism.

[0007] In one possible implementation, the thigh shell includes a first shell and a second shell, which are fixedly connected by bolts, and one end of the hip joint connector is embedded between the first shell and the second shell.

[0008] In one possible implementation, the drive assembly includes a drive member and a four-bar linkage. The drive member is disposed on the first housing, and the four-bar linkage is disposed between the first housing and the second housing, with one side connected to the drive member and the other side connected to the lower leg mechanism.

[0009] In one possible implementation, the four-bar linkage includes a first link and a second link. The first end of the first link is connected to the drive end of the drive member, and the second end of the first link is rotatably connected to the second housing. The second end of the first link is rotatably connected to one end of the second link, and the other end of the second link is rotatably connected to the lower leg mechanism. The lower leg mechanism is rotatably located between the first housing and the second housing.

[0010] In one possible implementation, the four-bar linkage also includes a first shaft system, through which the second end of the first link is rotatably connected to one end of the second link.

[0011] In one possible implementation, the first shaft system includes a first pin, a first bearing, a first washer, a first anti-loosening screw, and a first anti-loosening set screw. One end of the first pin has a shoulder, and the other end of the first pin passes through a first connecting rod and a second connecting rod. The first bearing is sleeved on the first pin, and the first washer is sleeved on the first pin and located on the side of the first bearing away from the shoulder. The first anti-loosening screw is fixedly connected to the other end of the first pin, and the other end of the first pin has an anti-loosening groove. The first anti-loosening set screw passes through the first anti-loosening screw and is located in the anti-loosening groove.

[0012] In one possible implementation, the four-bar linkage further includes an oil-free bushing and a locking bolt. The second housing has an inner hole, and the oil-free bushing is disposed in the inner hole. The second side of the first end of the first link has an insertion part, which is rotatably disposed in the oil-free bushing. The locking bolt is located on the side of the oil-free bushing away from the first link and is connected to the insertion part.

[0013] In one possible implementation, the hip joint connector has a perforated hole, and the thigh housing has a through-hole on the side with the drive component. The perforated hole and through-hole are used for internal wiring.

[0014] In one possible implementation, the thigh shell is provided with a first marking part, and the hip joint mechanism is provided with a second marking part that mates with the first marking part. Both the first marking part and the second marking part are provided with marking holes.

[0015] On the other hand, this application provides a humanoid robot, including the aforementioned thigh mechanism.

[0016] This application provides a thigh mechanism and a humanoid robot. One end of the thigh shell is rotatably connected to the lower leg mechanism, and a hip joint connector is provided at the other end of the thigh shell. The hip joint connector is connected to the drive end of the hip joint mechanism, and a crossed roller bearing is fitted on the hip joint connector, so that the crossed roller bearing is embedded in the hip joint mechanism. The design of the crossed roller bearing allows it to bear loads in multiple directions, which makes the thigh mechanism more stable and reliable during movement. The crossed roller bearing can effectively handle bending moments, ensuring smooth robot movement. By using the embedded crossed roller bearing and corresponding components, the connection between the hip joint mechanism and the thigh mechanism can effectively balance and absorb external impact forces, reducing the possibility of impact forces being directly transmitted to the motor of the hip joint mechanism, thereby reducing the risk of mechanical failure and damage, extending the service life of the humanoid robot, and reducing maintenance and replacement costs. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the thigh mechanism provided in an embodiment of this application;

[0019] Figure 2 for Figure 1 A partially exploded structural diagram of the thigh mechanism shown.

[0020] Figure 3 for Figure 1 One of the cross-sectional views of the thigh mechanism shown;

[0021] Figure 4 for Figure 1 The second sectional view of the thigh mechanism shown;

[0022] Figure 5 This is a structural schematic diagram of the humanoid robot provided in an embodiment of this application.

[0023] Explanation of reference numerals in the attached figures:

[0024] 100-Thigh mechanism; 10-Thigh housing; 11-First housing; 111-Through slot; 112-Fixing hole; 12-Second housing; 121-Inner hole; 13-First standard part; 131-Standard hole; 14-Third standard part; 20-Drive assembly; 21-Drive component; 22-Four-bar linkage; 221-First link; 2211-Insertion part; 222-Second link; 223-Oil-free bushing; 224-Locking bolt; 23-First shaft system; 231-First pin; 2311-Shoulder; 2312-Anti-loosening groove; 232-First bearing; 233-First washer; 234-First anti-loosening screw; 2 35-First anti-loosening set screw; 24-Second shaft system; 241-Second pin; 242-Second bearing; 243-Second washer; 244-Second anti-loosening screw; 245-Second anti-loosening set screw; 25-Third shaft system; 251-Third pin; 252-Third bearing; 253-Third washer; 254-Third anti-loosening screw; 255-Third anti-loosening set screw; 30-Connecting assembly; 31-Hip joint connector; 311-Hollow hole; 32-Cross roller bearing; 40-Protective component; 200-Humanoid robot; 201-Lower leg mechanism; 202-Hip joint mechanism; 203-Second standard part; 204-Fourth standard part. Detailed Implementation

[0025] 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0026] With the development of intelligent technology, robotics has become a research hotspot. As a key load-bearing structure connecting the hip and knee joints of a robot, the robot's thigh has also attracted increasing attention from researchers.

[0027] When a robot executes commands, especially during high-speed movements of the hip and knee joints, external impacts and off-center torques may be directly transmitted to the motors in the hip joints, leading to motor damage or performance degradation.

[0028] To overcome the shortcomings of existing technologies, after repeated consideration and verification, the inventors discovered that connecting the thigh to the hip joint via a crossed roller bearing at the top of the thigh not only achieves a rotatable connection between the thigh and hip joint but also effectively balances the impact loads and external bending moments generated during movement. The crossed roller bearing itself possesses high rigidity and high load-bearing capacity, preventing impact forces from being directly transmitted to the rotary motor within the hip joint assembly, thereby reducing the risk of motor damage. This bearing-embedded structure effectively enhances the robot's impact resistance when walking on complex terrain or performing tasks, strengthening the overall stability and reliability of the robot.

[0029] In view of this, this application provides a thigh mechanism disposed on a humanoid robot, including a thigh shell, a drive assembly, and a connecting assembly. One end of the thigh shell is rotatably connected to the lower leg mechanism of the humanoid robot. The drive assembly is disposed on the thigh shell and connected to the lower leg mechanism. The drive assembly is used to drive the lower leg mechanism to rotate. The connecting assembly includes a hip joint connector and a cross roller bearing. The hip joint connector is disposed at the other end of the thigh shell and connected to the drive end of the hip joint mechanism of the humanoid robot. The cross roller bearing is sleeved on the hip joint connector and embedded in the hip joint mechanism.

[0030] One end of the thigh shell is rotatably connected to the lower leg mechanism, and a hip joint connector is set at the other end of the thigh shell. The hip joint connector is connected to the drive end of the hip joint mechanism, and a cross roller bearing is fitted on the hip joint connector, so that the cross roller bearing is embedded in the hip joint mechanism. The design of the cross roller bearing allows it to bear loads in multiple directions, which makes the thigh mechanism more stable and reliable during movement. The cross roller bearing can effectively handle bending moments, ensuring smooth robot movement. By using the embedded cross roller bearing, the connection between the hip joint mechanism and the thigh mechanism can effectively balance and absorb external impact forces, reducing the possibility of impact forces being directly transmitted to the motor of the hip joint mechanism, thereby reducing the risk of mechanical failure and damage, extending the service life of the humanoid robot, and reducing maintenance and replacement costs.

[0031] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0032] Figure 1 This is a schematic diagram of the thigh mechanism provided in an embodiment of this application. Figure 2 for Figure 1 The diagram shows a partial exploded view of the thigh mechanism. Figure 3 for Figure 1 One of the cross-sectional views of the thigh mechanism shown. Figure 4 for Figure 1 The second sectional view of the thigh mechanism shown. Figure 5 This is a structural schematic diagram of the humanoid robot provided in an embodiment of this application.

[0033] The following sections will provide a detailed description of the specific structure of the thigh mechanism and various possible implementation methods.

[0034] like Figure 1 and Figure 5 As shown, the thigh mechanism 100 provided in this embodiment is used on a humanoid robot 200. The humanoid robot 200 also includes a lower leg mechanism 201 and a hip joint mechanism 202. The thigh mechanism 100 is used to connect the lower leg mechanism 201 and the hip joint mechanism 202.

[0035] The thigh mechanism 100 includes a thigh housing 10, a drive assembly 20, and a connecting assembly 30. The drive assembly 20 and the connecting assembly 30 are respectively disposed on the thigh housing 10.

[0036] Please also refer to Figure 2One end of the thigh shell 10 is rotatably connected to the lower leg mechanism 201 of the humanoid robot 200. The drive assembly 20 is disposed on the thigh shell 10 and connected to the lower leg mechanism 201. The drive assembly 20 is used to drive the lower leg mechanism 201 to rotate, thereby realizing the rotation of the lower leg mechanism 201 relative to the thigh mechanism 100, that is, the pitching motion of the knee joint of the humanoid robot 200.

[0037] The connecting assembly 30 includes a hip joint connector 31 and a crossed roller bearing 32. The hip joint connector 31 is located at the other end of the thigh shell 10 and is connected to the drive end of the hip joint mechanism 202 of the humanoid robot 200. The crossed roller bearing 32 is sleeved on the hip joint connector 31 and embedded in the hip joint mechanism 202.

[0038] In one possible implementation, the top end of the hip joint connector 31 is connected to the drive end of the rotation motor of the hip joint mechanism 202, thereby causing the thigh mechanism 100 to rotate relative to the hip joint mechanism 202 under the drive of the rotation motor, which is the rotational movement of the humanoid robot 200's thigh. The crossed roller bearing 32 is embedded in the structural components of the hip joint mechanism 202.

[0039] The cross roller bearing 32 is designed to withstand loads in multiple directions, providing high-precision rotational support and enabling a rotatable connection between the thigh mechanism 100 and the hip joint mechanism 202. This makes the thigh mechanism 100 more stable and reliable during movement. The cross roller bearing 32 can effectively handle bending moments, ensuring smooth robot movement. By using the embedded cross roller bearing 32, which itself has high rigidity and high load-bearing capacity, the connection between the hip joint mechanism 202 and the thigh mechanism 100 can effectively absorb and disperse external impact forces, reducing the possibility of impact forces being directly transmitted to the motor of the hip joint mechanism 202. This reduces the risk of mechanical failure and damage, extends the service life of the humanoid robot 200, and reduces maintenance and replacement costs. This design maintains high performance while keeping the structure compact and lightweight, contributing to improved robot energy efficiency and portability.

[0040] Please also refer to Figure 3 and Figure 4 In one possible implementation, the thigh shell 10 includes a first shell 11 and a second shell 12, which are fixedly connected by bolts, and one end of the hip joint connector 31 is embedded between the first shell 11 and the second shell 12.

[0041] By using bolts for fastening, a robust connection is formed between the first housing 11 and the second housing 12, providing excellent mechanical strength and stability, ensuring consistent performance of the thigh mechanism 100 during movement. The bolted connection simplifies disassembly and assembly, facilitates maintenance and repair, and reduces maintenance costs and time. The segmented design and bolted connection of the thigh housing 10 more effectively disperse and absorb external impact forces, reducing direct impact on internal components, helping to protect precision parts and extend the robot's service life.

[0042] Designing the thigh shell 10 as two independent parts makes the entire mechanism more modular, facilitating production and assembly, and also providing convenience for future upgrades and improvements. By rationally designing the structure of the first shell 11 and the second shell 12, overall weight can be optimized while maintaining strength, contributing to improved robot energy efficiency and mobility.

[0043] By embedding the hip joint connector 31 between the first housing 11 and the second housing 12, the designer can fine-tune the position and angle of the hip joint connector 31 without affecting the overall structure, which helps to optimize the accuracy and range of robot movement.

[0044] In one possible implementation, the first housing 11 and the second housing 12 function as both structural and aesthetic components, achieving a design for an integrated thigh assembly. The interiors of the first housing 11 and the second housing 12 can be designed with shell-drawing and reinforcing rib structures, which achieves both lightweight design of the thigh mechanism 100 and ensures its strength, while also maintaining aesthetics, thus realizing a modular and integrated mechanical structure layout.

[0045] The structural design of the first shell 11 and the second shell 12 ensures good mechanical strength and the ability to withstand loads transmitted by multi-joint motion, while reducing the overall weight and helping to improve the energy efficiency and dynamic response performance of the robot system.

[0046] In addition, the structure of the first shell 11 and the second shell 12 can be industrially designed in terms of appearance, so that the surface lines are smooth and the overall shape is compact, thereby enhancing the integrity of the robot's appearance and the aesthetics of industrial design.

[0047] In one possible implementation, the bottom of the hip joint connector 31 is fitted into the first housing 11 and the second housing 12 through a cylindrical surface fit, and the hip joint connector 31, the first housing 11 and the second housing 12 are locked together by bolts.

[0048] In one possible implementation, the thigh mechanism 100 further includes a protective member 40. The protective member 40 is located on the outside of the thigh housing 10.

[0049] The protective component 40 is used to prevent external debris from entering the internal structure of the thigh mechanism 100. Especially during the movement of the knee joint, the drive component 20 is also in motion. The protective component 40 can prevent foreign objects from entering the internal components and can also prevent fingers from being pinched, thus avoiding pinching accidents or damage to internal components.

[0050] In one possible implementation, the protective element 40 is made of a flexible material. The protective element 40 is fixed to the sides of the first housing 11 and the second housing 12 by bolts.

[0051] In one possible implementation, the drive assembly 20 includes a drive member 21 and a four-bar linkage 22. The drive member 21 is disposed on the first housing 11, and the four-bar linkage 22 is disposed between the first housing 11 and the second housing 12, with one side connected to the drive member 21 and the other side connected to the lower leg mechanism 201.

[0052] The four-bar linkage 22 can convert the rotational motion of the drive component 21 into smooth linear or complex motion. This conversion mechanism helps to achieve smoother leg movements and improves the robot's gait naturalness and stability. The four-bar linkage 22 can effectively transmit and amplify the force generated by the drive component 21, enabling the lower leg mechanism 201 to obtain sufficient power to perform various actions, thereby improving the robot's motion efficiency and load capacity. Because the four-bar linkage 22 connects the lower leg mechanism 201 and the drive component 21, the drive component 21 does not directly drive the lower leg. The center of gravity can be closer to the thigh, reducing the rotational inertia and decreasing the overall rotational inertia of the thigh.

[0053] Placing the four-bar linkage 22 between the first housing 11 and the second housing 12 helps maintain the compactness of the thigh mechanism 100, saving space, reducing the possibility of external interference, and improving the robot's overall flexibility. The four-bar linkage 22 provides a variety of motion trajectory possibilities; designers can adjust the length and angle of the links according to the robot's application requirements to optimize motion performance, enabling the robot to adapt to different tasks and environments. The four-bar linkage 22 can absorb and buffer external impacts to a certain extent, reducing direct impact on the drive unit 21 and other precision components, thereby improving the system's durability and reliability. Due to the modular design of the drive unit 21 and the four-bar linkage 22, maintenance and component replacement become simpler, reducing maintenance costs and downtime. Optimizing the design of the four-bar linkage 22 allows for higher mechanical efficiency, reduced energy loss, and improved robot endurance.

[0054] In one possible implementation, the fixed end of the drive member 21 is fixed to the first housing 11 by bolts.

[0055] In one possible implementation, the four-bar linkage 22 includes a first link 221 and a second link 222. The first end of the first link 221 is connected to the drive end of the drive member 21, and the second end of the first link 221 is rotatably connected to the second housing 12. The second end of the first link 221 is rotatably connected to one end of the second link 222, and the other end of the second link 222 is rotatably connected to the lower leg mechanism 201. The lower leg mechanism 201 is rotatably disposed between the first housing 11 and the second housing 12.

[0056] The first end and the second end of the first link 221 are the two connection points of the four-bar linkage 22. The first side and the second side of the first end of the first link 221 are two parts of the first link 221 that are opposite to each other at the first end, that is, the second side of the first end of the first link 221 is the side of the first end of the first link 221 that is opposite to the drive member 21.

[0057] The configuration of the first link 221 and the second link 222 provides multiple support points, making the entire structure more stable during movement, helping to reduce vibration and unnecessary swaying, and improving the overall motion smoothness of the robot. By adjusting the length and angle of the first link 221 and the second link 222, designers can customize the robot's range of motion and trajectory to adapt to different task requirements, enabling the robot to perform diverse actions.

[0058] Placing the lower leg mechanism 201 and the four-bar linkage 22 between the first housing 11 and the second housing 12 helps maintain the compactness of the entire thigh mechanism 100, saves space, reduces the possibility of external interference, and improves the robot's flexibility.

[0059] In one possible implementation, the driving end of the driving member 21 drives the first link 221 to rotate around axis A, the second end of the first link 221 connected to the second link 222 rotates around axis B, the second link 222 rotates around axis C with the lower leg mechanism 201, and the lower leg mechanism 201 rotates around axis D with the thigh shell 10.

[0060] In one possible implementation, the first link 221 is embedded in the drive end of the drive member 21 via bolts and reinforcing ribs. If only bolts are used for connection, shear failure may occur; therefore, a nested reinforcing rib structure is adopted to improve the connection strength between the first link 221 and the drive end of the drive member 21.

[0061] In one possible implementation, the four-bar linkage 22 further includes a first shaft system 23. The second end of the first link 221 and one end of the second link 222 are rotatably connected via the first shaft system 23, which is used to realize the relative rotation of the first link 221 and the second link 222 about axis B.

[0062] The first axis system 23 provides a precise rotation axis, making the movement between the first link 221 and the second link 222 more controllable, facilitating the achievement of more complex and precise motion trajectories, and improving the robot's motion performance. The design of the first axis system 23 provides a low-friction rotary connection, which helps reduce friction and wear between the first link 221 and the second link 222, thereby extending the component's lifespan and reducing maintenance requirements. Through the connection of the first axis system 23, the connection between the first link 221 and the second link 222 is more stable, reducing potential loosening or misalignment during movement and improving the robot's overall motion smoothness and reliability. The connection of the first axis system 23 can effectively withstand and disperse forces from different directions, improving the load-bearing capacity of the four-bar structure 22, enabling the robot to perform more demanding tasks. The connection of the first axis system 23 can also absorb vibrations and impacts generated during movement to a certain extent, reducing the impact on other components and thus improving the system's durability. By using the first axis 23 to connect the first link 221 and the second link 222, designers can more easily adjust the length and angle of the first link 221 and the second link 222 to optimize the robot's motion characteristics, enabling the robot to adapt to diverse application scenarios. The design of the first axis 23 facilitates assembly and disassembly, which simplifies the assembly and maintenance process of the entire four-bar structure 22, reducing maintenance costs and time.

[0063] In one possible implementation, the first shaft system 23 includes a first pin 231, a first bearing 232, a first washer 233, a first anti-loosening screw 234, and a first anti-loosening set screw 235. One end of the first pin 231 has a shoulder 2311, and the other end has an anti-loosening groove 2312. A first connecting rod 221 and a second connecting rod 222 pass through the other end of the first pin 231. The first bearing 232 is sleeved on the first pin 231. The first washer 233 is sleeved on the first pin 231 and is located on the side of the first bearing 232 away from the shoulder 2311. The first anti-loosening screw 234 is fixedly connected to the other end of the first pin 231. The first anti-loosening set screw 235 passes through the first anti-loosening screw 234 and is disposed in the anti-loosening groove 2312. The design of the first anti-loosening screw 234 and the first anti-loosening set screw 235 improves the anti-loosening ability and structural stability of the connection, avoids the deflection and wear of the mechanism caused by loose threads, and improves the rotational flexibility and service life of the four-bar linkage 22.

[0064] The multi-layered fixing and anti-loosening design of the first shaft system 23 improves the safety of the entire system and reduces the risk of failure due to component loosening.

[0065] The first bearing 232 is sleeved on the first pin 231, providing low-friction rotational support, ensuring smooth movement between the first connecting rod 221 and the second connecting rod 222, and improving motion efficiency and accuracy.

[0066] One end of the first pin 231 is provided with a shoulder 2311 to prevent the bearing 232, the first connecting rod 221 and the second connecting rod 222 from sliding axially, thus ensuring the stability and consistency of the assembly.

[0067] The use of the first washer 233 helps to distribute the load and reduce wear on the first bearing 232 and other components, which not only extends the service life of the components but also simplifies the assembly and maintenance process. The combination of the shoulder 2311 and the first washer 233 ensures uniform force distribution, reduces local stress concentration, and extends the service life of the components.

[0068] By using a first anti-loosening screw 234 and a first anti-loosening set screw 235, the design provides a double anti-loosening mechanism. The first anti-loosening screw 234 is fixedly connected to the other end of the first pin 231 to prevent the screw from loosening. The first anti-loosening set screw 235 passes through the first anti-loosening screw 234 and is located in the anti-loosening groove 2312 to further ensure the reliability of the connection and prevent loosening under vibration or impact.

[0069] In one possible implementation, the head of the first anti-loosening screw 234 is provided with multiple eccentric threaded holes, allowing the first anti-loosening set screw 235 to be inserted into the anti-loosening groove 2312 of the first pin 231, thereby preventing the first anti-loosening screw 234 from falling out. The design of multiple eccentric threaded holes ensures that at least one first anti-loosening set screw 235 can pass through and be located in the anti-loosening groove 2312, achieving the anti-loosening function and ensuring the reliability and stability of the rotary connection of the four-bar linkage 22.

[0070] In one possible implementation, the four-bar linkage 22 further includes a second shaft system 24, with the other end of the second link 222 rotatably connected to the lower leg mechanism 201 via the second shaft system 24. The second shaft system 24 is used to realize the relative rotation of the second link 222 and the lower leg mechanism 201 about the C-axis.

[0071] In one possible implementation, the second shaft system 24 includes a second pin 241, a second bearing 242, a second washer 243, a second anti-loosening screw 244, and a second anti-loosening set screw 245. One end of the second pin 241 also has a shoulder 2311, and the other end also has an anti-loosening groove 2312. The other end of the second pin 241 passes through a second connecting rod 222 and a lower leg mechanism 201. The second bearing 242 is sleeved on the second pin 241. The second washer 243 is sleeved on the second pin 241 and is located on the side of the second bearing 242 away from the shoulder 2311. The second anti-loosening screw 244 is fixedly connected to the other end of the second pin 241. The second anti-loosening set screw 245 passes through the second anti-loosening screw 244 and is located in the anti-loosening groove 2312.

[0072] In one possible implementation, the four-bar linkage 22 further includes a third shaft system 25, through which the lower leg mechanism 201 and the thigh housing 10 are rotatably connected. The third shaft system 25 is used to realize the relative rotation of the lower leg mechanism 201 and the thigh housing 10 about the D-axis.

[0073] In one possible implementation, the third shaft system 25 includes a third pin 251, a third bearing 252, a third washer 253, a third anti-loosening screw 254, and a third anti-loosening set screw 255. One end of the third pin 251 also has a shoulder 2311, and the other end also has an anti-loosening groove 2312. The other end of the third pin 251 passes through the lower leg mechanism 201 and the thigh housing 10. The third bearing 252 is sleeved on the third pin 251. The third washer 253 is sleeved on the third pin 251 and abuts against the lower leg mechanism 201. The third anti-loosening screw 254 is fixedly connected to the other end of the third pin 251. The third anti-loosening set screw 255 passes through the third anti-loosening screw 254 and is located in the anti-loosening groove 2312.

[0074] In one possible implementation, the third shaft system 25 includes two third bearings 252 and a third washer 253. The outer rings of the two third bearings 252 are respectively disposed on the first housing 11 and the second housing 12, and the inner rings of both are fitted onto the third pin 251, thereby providing lubrication for the rotation of the knee joint. The two third washers 253 are located between the two third bearings 252. The third washers 253 are used to prevent the lower leg mechanism 201 from wobbling left and right on the third pin 251.

[0075] The lower leg mechanism 201 forms a third link between the C-axis and the D-axis. The thigh mechanism 100 forms a fourth link between the D-axis and the A-axis.

[0076] In one possible implementation, the four-bar linkage 22 is a parallelogram structure, meaning the distance between axes A and B is equal to the distance between axes C and D; and the distance between axes A and D is equal to the distance between axes B and C. This improves the convenience of subsequent control algorithms, allowing the knee joint movement to be directly driven by a single motor. The motion values ​​(including angle and velocity) at the drive component 21 can be directly mapped to the motion of the lower leg mechanism 201, i.e., the knee joint swing angle at the D-axis. This eliminates the need for complex inverse kinematics calculations when performing motion control tasks, allowing the control system to directly control the knee joint swing angle through the rotation angle and velocity of the drive component 21. This simplifies the control system design, reduces the difficulty of implementing the control algorithm, and improves the system's response speed and real-time performance.

[0077] Specifically, in the four-bar linkage 22, the distance between the A-axis and the B-axis, which is the first linkage 221, is the driving link (crank 1); the distance between the B-axis and the C-axis, which is the second linkage 222, is the rocker arm; the distance between the C-axis and the D-axis, which is the distance on the lower leg mechanism 201, is the crank 2; and the distance between the A-axis and the D-axis, which is the distance on the thigh housing 10, serves as the frame part of the entire four-bar linkage 22.

[0078] In one possible implementation, the four-bar linkage 22 further includes an oil-free bushing 223 and a locking bolt 224. The second housing 12 has an inner hole 121. The oil-free bushing 223 is disposed in the inner hole 121, and an insertion part 2211 is provided on the second side of the first end of the first link 221. The insertion part 2211 is rotatably disposed in the oil-free bushing 223, and the locking bolt 224 is located on the side of the oil-free bushing 223 opposite to the first link 221 and is connected to the insertion part 2211.

[0079] The use of the oil-free bushing 223 provides a low-friction rotating interface, allowing the insertion portion 2211 of the first link 221 to rotate smoothly within the inner bore 121 of the second housing 12, reducing wear and improving motion efficiency and component lifespan. The oil-free bushing 223 requires no additional lubrication, reducing maintenance needs and associated costs, while avoiding potential contamination problems associated with lubricants. The material properties of the oil-free bushing 223 help absorb some vibration and noise, improving the robot's quietness and comfort.

[0080] The insertion part 2211, through the precise fit between the oil-free bushing 223 and the inner hole 121, provides stable support, reducing potential swaying or displacement during movement and improving the overall structural stability. The locking bolt 224 secures the insertion part 2211 within the oil-free bushing 223, preventing loosening or detachment during movement, thus improving connection reliability and ensuring continuous and consistent movement. The combined design of the oil-free bushing 223 and the locking bolt 224 simplifies assembly and disassembly, reducing assembly time and complexity.

[0081] In one possible implementation, the oil-free bushing 223 is inserted into the inner hole 121 of the second housing 12 from the side of the second housing 12 away from the first connecting rod 221, and is abutted against the second housing 12 by the locking bolt 224, thereby fixing the oil-free bushing 223 and preventing it from falling off.

[0082] The first connecting rod 221, the first housing 11, the second housing 12, and the oil-free bushing 223 rotate around the A-axis, which can avoid the cantilevered and eccentric load on the first connecting rod 221 and improve the stability and service life of each component.

[0083] In one possible implementation, the hip joint connector 31 has a perforated hole 311. The thigh housing 10 has a through-hole 111 on the side where the drive member 21 is located, that is, the first housing 11 has a through-hole 111 on the side where the drive member 21 is located. The perforated hole 311 and the through-hole 111 are used for internal wiring.

[0084] By designing perforations 311 and through-holes 111 on the hip joint connector 31 and thigh housing 10, the internal space can be effectively utilized for the arrangement of wires and other connectors. This optimization helps maintain the compactness of the overall structure. The internal wiring design reduces the possibility of wires being exposed to the external environment, thereby reducing the risk of wear, breakage, or external damage, and improving the reliability and durability of the system. A well-designed internal wiring system makes it easier to inspect, maintain, and replace wires, simplifying the maintenance process and reducing maintenance costs and time. Concealing wires and other connectors within the internal wiring improves the robot's appearance, making it neater and more aesthetically pleasing. Internal wiring better organizes and shields wires, reducing the impact of electromagnetic interference on other electronic components and improving the system's electromagnetic compatibility. By arranging wires internally, the risk of tripping or accidental pulling is reduced, improving the robot's operational safety. The internal wiring design provides flexibility, allowing for adjustments and optimizations to circuitry and connections without affecting the external structure to accommodate different functional requirements.

[0085] The hollow design of the hip joint connector 31 allows the power supply and signal lines from the hip joint mechanism 202 to be routed directly inside the thigh housing 10. Furthermore, by creating a through-hole 111 on the first housing 11, the internal wiring can be connected to the drive component 21, resulting in a unified appearance of the overall structure and achieving a lightweight design.

[0086] In one possible implementation, the single-leg drive control of the humanoid robot 200 adopts a serial connection, that is, the motors on one leg are connected to each other in sequence. The drive unit 21 and the subsequent lower leg mechanism 201 can also be wired downward through the slot 111 and the inside of the thigh shell 10 to realize the internal wiring of the whole machine.

[0087] The design of the cutout holes 311 and through slots 111 allows all components of the humanoid robot 200 to be fully internally wired, avoiding exposed wires, thereby improving the overall aesthetics and integration, and reducing the possibility of cables being damaged, tangled or detached externally.

[0088] In one possible implementation, the thigh shell 10 is provided with a first marking part 13, and the hip joint mechanism 202 is provided with a second marking part 203 that cooperates with the first marking part 13. Both the first marking part 13 and the second marking part 203 are provided with marking holes 131.

[0089] The zero-point holes 131 on the first reference part 13 and the second reference part 203 can be used as alignment reference points during the assembly process, ensuring precise alignment between the thigh housing 10 and the hip joint mechanism 202, thus improving assembly accuracy and consistency. The zero-point holes 131 provide clear reference points, enabling quick and accurate adjustment of the component's position and angle during calibration, reducing calibration time and improving efficiency. By using the first reference part 13, the second reference part 203, and the zero-point holes 131, assemblers can complete component installation and alignment more quickly, reducing trial and error and adjustment time during assembly. When disassembly and reassembly are required, the first reference part 13, the second reference part 203, and the zero-point holes 131 provide clear references, making maintenance simpler and more efficient. This design reduces maintenance costs and downtime.

[0090] In complex mechanical systems, the accumulation of errors can lead to performance degradation. The use of the first marking part 13, the second marking part 203, and the zero-marking hole 131 helps to reduce the accumulation of errors and improve the overall reliability of the system during assembly and maintenance. The zero-marking hole 131 can also serve as a quality control checkpoint, ensuring that each component conforms to design specifications and quality standards during production and assembly.

[0091] The first marking part 13 and the second marking part 203 are set on the thigh shell 10 and the hip joint mechanism 202, respectively, to mark the rotational motor of the hip joint mechanism 202 to zero, that is, to mark the rotational degree of freedom of the hip joint to zero, so as to achieve high-precision initialization setting. At the same time, the zeroing hole 131 is designed in these two places, and a pin can be inserted into the zeroing hole 131 to lock and limit the rotational motor, which facilitates the assembly, debugging and motion range control of the humanoid robot 200.

[0092] In one possible implementation, the thigh housing 10 is further provided with a third marking part 14, and the lower leg mechanism 201 is provided with a fourth marking part 204 that mates with the third marking part 14. The third marking part 14 and the fourth marking part 204 are also provided with marking holes 131.

[0093] The third marking part 14 and the fourth marking part 204 are set on the thigh shell 10 and the lower leg mechanism 201, respectively, to zero-calibrate the drive component 21, that is, to zero-calibrate the pitch degree of freedom of the knee joint, so as to achieve high-precision initialization setting. At the same time, the zero-calibration hole 131 is designed in these two places, and the drive component 21 can be locked and limited by inserting a pin into the zero-calibration hole 131, which facilitates the assembly, debugging and motion range control of the humanoid robot 200.

[0094] In one possible implementation, the first housing 11 is further provided with two fixing holes 112. Bolts pass through the fixing holes 112 to fix the first housing 11 to the second housing 12.

[0095] In one possible implementation, the fixing hole 112 adopts a boss design, which can limit the rotation of the first link 221 to the upper and lower limits, ensuring that the four-bar linkage 22 operates within the range of motion and preventing mechanical over-displacement from causing structural damage.

[0096] The thigh mechanism 100 provided in this application embodiment includes a thigh shell 10, a drive component 20, and a connecting component 30. One end of the thigh shell 10 is rotatably connected to the lower leg mechanism 201 of the humanoid robot 200. The drive component 20 is disposed on the thigh shell 10 and connected to the lower leg mechanism 201. The drive component 20 is used to drive the lower leg mechanism 201 to rotate. The connecting component 30 includes a hip joint connector 31 and a cross roller bearing 32. The hip joint connector 31 is disposed at the other end of the thigh shell 10 and connected to the drive end of the hip joint mechanism 202 of the humanoid robot 200. The cross roller bearing 32 is sleeved on the hip joint connector 31 and embedded in the hip joint mechanism 202.

[0097] One end of the thigh shell 10 is rotatably connected to the lower leg mechanism 201. A hip joint connector 31 is provided at the other end of the thigh shell 10. The hip joint connector 31 is connected to the drive end of the hip joint mechanism 202. A cross roller bearing 32 is fitted on the hip joint connector 31, so that the cross roller bearing 32 is embedded in the hip joint mechanism 202. The design of the cross roller bearing 32 allows it to bear loads in multiple directions, which makes the thigh mechanism 100 more stable and reliable during movement. The cross roller bearing 32 can effectively handle bending moments and ensure smooth robot movement. By using the embedded cross roller bearing 32, the connection between the hip joint mechanism 202 and the thigh mechanism 100 can effectively balance and absorb external impact forces, reducing the possibility of impact forces being directly transmitted to the motor of the hip joint mechanism 202, thereby reducing the risk of mechanical failure and damage, extending the service life of the humanoid robot 200, and reducing maintenance and replacement costs.

[0098] On the other hand, this application also provides a humanoid robot 200, including the thigh mechanism 100 described above.

[0099] Given that the humanoid robot 200 in this embodiment includes the thigh mechanism 100 described in any of the above embodiments, the structural features and beneficial effects of the thigh mechanism 100 in the humanoid robot 200 will not be elaborated further in this embodiment.

[0100] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0101] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0102] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0103] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A thigh mechanism, disposed on a humanoid robot (200), characterized in that, The system includes a thigh shell (10), a drive assembly (20), and a connecting assembly (30). One end of the thigh shell (10) is rotatably connected to the lower leg mechanism (201) of the humanoid robot (200). The drive assembly (20) is disposed on the thigh shell (10) and connected to the lower leg mechanism (201). The drive assembly (20) is used to drive the lower leg mechanism (201) to rotate. The connecting assembly (30) includes a hip joint connector (31) and a cross roller bearing (32). The hip joint connector (31) is disposed at the other end of the thigh shell (10) and connected to the drive end of the hip joint mechanism (202) of the humanoid robot (200). The cross roller bearing (32) is sleeved on the hip joint connector (31) and embedded in the hip joint mechanism (202).

2. The thigh mechanism according to claim 1, characterized in that, The thigh shell (10) includes a first shell (11) and a second shell (12), the first shell (11) and the second shell (12) are fixedly connected by bolts, and one end of the hip joint connector (31) is embedded between the first shell (11) and the second shell (12).

3. The thigh mechanism according to claim 2, characterized in that, The drive assembly (20) includes a drive member (21) and a four-bar linkage (22). The drive member (21) is disposed on the first housing (11), and the four-bar linkage (22) is disposed between the first housing (11) and the second housing (12), with one side connected to the drive member (21) and the other side connected to the lower leg mechanism (201).

4. The thigh mechanism according to claim 3, characterized in that, The four-bar linkage (22) includes a first link (221) and a second link (222). The first end of the first link (221) is connected to the driving end of the driving member (21). The second end of the first link (221) is rotatably connected to the second housing (12). The second end of the first link (221) is rotatably connected to one end of the second link (222). The other end of the second link (222) is rotatably connected to the lower leg mechanism (201). The lower leg mechanism (201) is rotatably disposed between the first housing (11) and the second housing (12).

5. The thigh mechanism according to claim 4, characterized in that, The four-bar linkage (22) further includes a first shaft system (23), wherein the second end of the first link (221) and the first end of the second link (222) are rotatably connected through the first shaft system (23).

6. The thigh mechanism according to claim 5, characterized in that, The first shaft system (23) includes a first pin (231), a first bearing (232), a first washer (233), a first anti-loosening screw (234), and a first anti-loosening set screw (235). One end of the first pin (231) is provided with a shoulder (2311). The other end of the first pin (231) is provided with the first connecting rod (221) and the second connecting rod (222). The first bearing (232) is sleeved on the first pin (231). The first washer (233) is sleeved on the first pin (231) and is located on the side of the first bearing (232) away from the shoulder (2311). The first anti-loosening screw (234) is fixedly connected to the other end of the first pin (231). The other end of the first pin (231) is provided with an anti-loosening groove (2312). The first anti-loosening set screw (235) passes through the first anti-loosening screw (234) and is located in the anti-loosening groove (2312).

7. The thigh mechanism according to claim 4, characterized in that, The four-bar linkage (22) also includes an oil-free bushing (223) and a locking bolt (224). The second housing (12) has an inner hole (121). The oil-free bushing (223) is disposed in the inner hole (121). The first connecting rod (221) has an insertion part (2211) on the second side of the first end. The insertion part (2211) is rotatably disposed in the oil-free bushing (223). The locking bolt (224) is located on the side of the oil-free bushing (223) away from the first connecting rod (221) and is connected to the insertion part (2211).

8. The thigh mechanism according to claim 3, characterized in that, The hip joint connector (31) is provided with a hollow hole (311), and the thigh shell (10) is provided with a through groove (111) on the side where the drive (21) is located. The hollow hole (311) and the through groove (111) are used for internal wiring.

9. The thigh mechanism according to claim 1, characterized in that, The thigh shell (10) is provided with a first marking part (13), and the hip joint mechanism (202) is provided with a second marking part (203) that cooperates with the first marking part (13). Both the first marking part (13) and the second marking part (203) are provided with marking holes (131).

10. A humanoid robot, characterized in that, Includes the thigh mechanism (100) as described in any one of claims 1-9.

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