Leg structure of humanoid robot

Abstract

The utility model relates to robot technical field, the utility model provides a kind of leg structure of humanoid robot, including thigh and shank, thigh is hinged with shank by pivot, and the upper portion of thigh is provided with swing mechanism, swing mechanism is transmission connection with shank for driving shank flexion and extension by connecting rod, and the one end of connecting rod is hinged with swing mechanism, and the other end of connecting rod is hinged with shank, swing assembly is moved up to the upper portion position of thigh, and the transmission path of leg dynamics chain is restructured, so that quality distribution is more close to human biomechanics characteristics, the moment of inertia of distal extremity is reduced, and knee joint acceleration response capability is improved, and structural foundation is laid for high-speed motion of robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a leg structure for a humanoid robot. Background Technology

[0002] The design of the leg structure of humanoid robots directly affects their mobility and load-bearing capacity, making it one of the core research directions in the field of biomimetic robotics. In existing technologies, leg drive mechanisms often employ partial integration of the lower leg or proximal placement at the knee joint, using motors, hydraulics, or other drive units in conjunction with gearboxes or synchronous belts to achieve joint movement. Typical structures include series joint drives and parallel linkage transmissions. While these designs can achieve basic motion functions, they still face significant bottlenecks in terms of dynamic performance and structural efficiency.

[0003] Traditional layouts, with drive units concentrated at the distal end of the lower limbs, significantly increase the leg's moment of inertia. This not only increases joint load and energy loss but also limits motion acceleration and disturbance resistance. Furthermore, mechanical interference restricts the leg's backward swing angle, hindering omnidirectional obstacle avoidance and severely limiting adaptability to complex environments. These shortcomings collectively limit the load-bearing capacity and dynamic performance boundaries of humanoid robots, necessitating breakthroughs through structural innovation. Utility Model Content

[0004] The purpose of this invention is to provide a leg structure for a humanoid robot, which solves the problems of large moment of inertia, poor dynamic performance and structural efficiency of existing robot legs.

[0005] This utility model is achieved through the following technical solution: a leg structure for a humanoid robot, including a thigh and a lower leg. The thigh is hinged to the lower leg via a pivot. A swing mechanism is provided on the upper part of the thigh. The swing mechanism is connected to the lower leg via a connecting rod to drive the flexion and extension of the lower leg. One end of the connecting rod is hinged to the swing mechanism, and the other end of the connecting rod is hinged to the lower leg.

[0006] Furthermore, the swing mechanism includes a swing arm, one end of which is rotatably connected to the thigh, and the other end of which is hinged to a connecting rod. A linear actuator is connected to one end of the swing arm near the thigh joint via an intermediate rod. One end of the intermediate rod is hinged to the swing arm, and the other end of the intermediate rod is hinged to the output shaft of the linear actuator.

[0007] Furthermore, the linear actuator is housed and fixed within the thigh.

[0008] Furthermore, both the connecting rod and the rocker arm are provided with light-reducing holes.

[0009] Furthermore, the swing mechanism includes a motor, which is rotatably connected to a swing disk. The swing disk is hinged to a connecting rod, and the hinge point between the connecting rod and the swing disk is eccentrically arranged with respect to the output shaft of the motor.

[0010] Furthermore, both the connecting rod and the swing disk are provided with light-reducing holes.

[0011] Furthermore, a connector for connecting to the robot's hip is provided at the upper end of the thigh.

[0012] Furthermore, the side profile of the thigh conforms to the curve of the human thigh, and the connecting rod is a curved rod.

[0013] This invention has at least the following advantages and beneficial effects: by setting up a swing component and moving it to the upper part of the thigh, the force transmission path of the leg dynamic chain is reconstructed, making the mass distribution closer to the biomechanical characteristics of the human body, reducing the rotational inertia of the distal limb, improving the acceleration response capability of the knee joint, and laying a structural foundation for the high-speed movement of the robot. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the outer side of the leg structure of a humanoid robot provided in Embodiment 1 of this utility model.

[0015] Figure 2 This is a front view of the leg structure of a humanoid robot provided in Embodiment 1 of this utility model.

[0016] Figure 3 This is a schematic diagram of the inner side of the leg structure of a humanoid robot provided in Embodiment 1 of this utility model.

[0017] Figure 4 This is a cross-sectional view of the leg structure of a humanoid robot provided in Embodiment 1 of this utility model.

[0018] Figure 5 This is a cross-sectional view of the leg structure of a humanoid robot provided in Embodiment 2 of this utility model.

[0019] Reference numerals: 1-thigh, 11-connector, 2-lower leg, 3-rotating shaft, 4-swing mechanism, 40-lightening hole, 41-swing rod, 42-intermediate rod, 43-linear driver, 44-motor, 45-swing disk, 5-connecting rod. Detailed Implementation

[0020] The specific implementation method is described below with reference to the accompanying drawings.

[0021] Example 1

[0022] like Figures 1 to 4As shown, this embodiment mainly discloses a leg structure for a humanoid robot, including a thigh 1 and a lower leg 2. The thigh 1 is hinged to the lower leg 2 via a pivot 3. A swing mechanism 4 is provided on the upper part of the thigh 1. The swing mechanism 4 is connected to the lower leg 2 via a connecting rod 5 to drive the flexion and extension of the lower leg 2. One end of the connecting rod 5 is hinged to the swing mechanism 4, and the other end of the connecting rod 5 is hinged to the lower leg 2. Specifically, the hinge point between the thigh 1 and the lower leg 2 is located in the popliteal fossa of the human body. The hinged part of the lower leg 2 and the connecting rod 5 can retract inside the thigh to ensure that the lower leg 2 can smoothly achieve flexion and extension. The swing mechanism 4, as the core component for driving the flexion and extension of the lower leg 2, reconstructs the force transmission path of the leg dynamic chain by moving the core drive component to the upper part of the thigh, making the mass distribution closer to the biomechanical characteristics of the human body. This layout reduces the rotational inertia of the distal limb, significantly improves the acceleration response capability of the knee joint, and lays a structural foundation for the high-speed movement of the robot.

[0023] Furthermore, in a specific implementation, the swing mechanism 4 provided in this embodiment of the present invention includes a motor 44, which is rotatably connected to a swing disk 45. The swing disk 45 is hinged to a connecting rod 5, and the hinge point between the connecting rod 5 and the swing disk 45 is eccentrically arranged with respect to the output axis of the motor 44. By adjusting the speed and direction of the motor 44, the joint motion speed curve can be dynamically changed. This feature enables the robot to quickly switch between multiple motion modes such as walking, running, and crawling.

[0024] Furthermore, in specific implementations, both the connecting rod 5 and the swing disk 45 provided in this embodiment of the present invention are provided with light-reducing holes 40. Specifically, the connecting rod 5 and the swing disk 45 can be made of aluminum alloy. The light-reducing holes 40 of the connecting rod 5 are located in the middle of the connecting rod 5, and the light-reducing holes 40 of the swing disk 45 are arranged at intervals along the circumference of the swing disk 45. This reduces the rotational inertia of the transmission components while ensuring structural strength.

[0025] Furthermore, in a specific implementation, a connector 11 for connecting to the robot's hip is provided at the upper end of the thigh 1 provided in this embodiment of the utility model. The connector 11 is reserved for connection to the hip to enable quick assembly and disassembly of the leg and torso. At the same time, the connector 11 has an opening for passing wires.

[0026] Furthermore, in a specific implementation, the side profile of the thigh portion 1 provided in this embodiment conforms to the curve of the human thigh, and the connecting rod 5 is a curved rod. The geometric nonlinear characteristics of the curved rod structure can automatically compensate for inertial disturbances during motion.

[0027] Example 2

[0028] like Figure 5As shown, in this embodiment, the main structure is completely consistent with that of Embodiment 1. The difference lies in that the swing mechanism 4 includes a swing rod 41. One end of the swing rod 41 is rotatably connected to the thigh 1, and the other end of the swing rod 41 is hinged to the connecting rod 5. The middle part of the swing rod 41, near the connection point to the thigh 1, is connected to a linear actuator 43 via an intermediate rod 42. One end of the intermediate rod 42 is hinged to the swing rod 41, and the other end of the intermediate rod 42 is hinged to the output shaft of the linear actuator 43. Specifically, the linear actuator 43 can be a linear electric cylinder. The swing rod 41 converts the reciprocating motion of the linear actuator 43 into the curvilinear motion of the connecting rod 5. Compared with the pure rotation drive scheme, this can generate nonlinear torque characteristics that are closer to those of a biological joint. The leverage effect of the intermediate rod 42 can amplify the output force, transforming the small-stroke linear motion of the linear actuator 43 into a large-amplitude flexion and extension movement of the lower leg 2, while maintaining the stability of the movement. In addition, the intermediate rod 42, the linear actuator 43, the swing rod 41, the connecting rod 5, the swing rod 41, and the lower leg 2 form a multi-level articulated structure with motion redundancy characteristics. When a certain articulation point is slightly stuck, the other joints can maintain basic motion functions through deformation compensation. This characteristic has a natural buffering effect on sudden impact loads.

[0029] Furthermore, in a specific implementation, the linear actuator 43 provided in this embodiment is housed and fixed within the thigh 1. Specifically, the swing mechanism 4 is also housed within the thigh 1, making full use of the cavity inside the thigh 1 to achieve a wide range of joint movements within a limited space. The centralized drive layout reduces exposed mechanical parts of the lower limbs, lowering the risk of damage to the transmission mechanism from external impacts. Simultaneously, by housing the linear actuator 43, the mass distribution of the leg structure is brought closer to the hip joint axis, significantly reducing the inertial torque during leg swinging, which is beneficial for the bipedal robot to achieve posture stability during rapid gait switching.

[0030] Furthermore, in specific implementations, both the connecting rod 5 and the swing rod 41 provided in this embodiment of the present invention have weight-reduction holes 40. Specifically, the weight-reduction holes 40 on the swing rod 41 are located between the hinge point of the intermediate rod 42 and the hinge point of the connecting rod 5, significantly reducing the mass of the moving parts while ensuring structural strength. The lightweight design improves the joint angular acceleration, and at the same time, the reduced component mass reduces inertial load.

Claims

1. A leg structure for a humanoid robot, characterized in that, It includes a thigh (1) and a calf (2). The thigh (1) is hinged to the calf (2) via a pivot (3). A swing mechanism (4) is provided on the upper part of the thigh (1). The swing mechanism (4) is connected to the calf (2) via a connecting rod (5) to drive the calf (2) to flex and extend. One end of the connecting rod (5) is hinged to the swing mechanism (4), and the other end of the connecting rod (5) is hinged to the calf (2). The swing mechanism (4) includes a swing rod (41), one end of which is rotatably connected to the thigh (1), and the other end of which is hinged to the connecting rod (5). A linear actuator (43) is connected to one end of the middle part of the swing rod (41) near the connection point of the thigh (1) via an intermediate rod (42). One end of the intermediate rod (42) is hinged to the swing rod (41), and the other end of the intermediate rod (42) is hinged to the output shaft of the linear actuator (43).

2. The leg structure of a humanoid robot according to claim 1, characterized in that, The linear actuator (43) is housed and fixed within the thigh (1).

3. The leg structure of a humanoid robot according to claim 1, characterized in that, Both the connecting rod (5) and the swing rod (41) are provided with light-reducing holes (40).

4. The leg structure of a humanoid robot according to claim 1, characterized in that, The upper end of the thigh (1) is provided with a connector (11) for connecting to the robot's hip.

5. The leg structure of a humanoid robot according to claim 1, characterized in that, The side profile of the thigh (1) conforms to the curve of the human thigh, and the connecting rod (5) is a curved rod.

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