Humanoid robot leg device

Abstract

The utility model discloses a humanoid robot leg device, including thigh fixing part, shank fixing part, knee motor rotating mechanism, first foot drive motor, first leg link, second foot drive motor, second leg link, foot palm piece, knee motor rotating mechanism is located shank fixing part top, and the thigh fixing part is correspondingly arranged on the knee motor rotating mechanism, and the first foot drive motor, second foot drive motor are located shank fixing part, and first leg link one end, second leg link one end are connected first foot transmission part, second foot transmission part respectively, and the universal joint is equipped on foot palm piece, and the bottom of shank fixing part is connected the universal joint, and the foot palm piece correspondingly is equipped with foot transmission shaft, and first leg link other end, second leg link other end correspondingly connect foot transmission shaft. The utility model can improve the stability and flexibility when humanoid robot stands and walks.

Description

Technical Field

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

[0002] Humanoid robots represent a significant research area in robotics, with one of their core objectives being to mimic human bipedal walking. The leg system, as a crucial actuator in humanoid robots, directly determines the robot's mobility, stability, and energy consumption. Current humanoid robots feature complex leg designs, resulting in poor walking flexibility and difficulty adapting to complex terrain. Utility Model Content

[0003] The technical problem to be solved by this utility model embodiment is to provide a humanoid robot leg device to improve the walking flexibility of the humanoid robot.

[0004] To address the aforementioned technical problems, this utility model provides a humanoid robot leg device, comprising a thigh fixation component, a lower leg fixation component, a knee motor rotation mechanism, a first foot drive motor, a first leg link, a second foot drive motor, a second leg link, and a foot assembly. The knee motor rotation mechanism is located on the top of the lower leg fixation component, and the thigh fixation component is correspondingly located on the knee motor rotation mechanism. The first and second foot drive motors are located on the lower leg fixation component, and the first and second foot drive motors are respectively equipped with a first foot transmission component and a second foot transmission component. One end of the first leg link and one end of the second leg link are respectively connected to the first and second foot transmission components. The foot assembly is equipped with a universal joint, and the bottom of the lower leg fixation component is connected to the universal joint. A foot drive shaft is correspondingly located on the foot assembly, and the other ends of the first and second leg links are correspondingly connected to the foot drive shaft.

[0005] Furthermore, the bottom of the foot piece is equipped with anti-slip components.

[0006] Furthermore, the first foot drive motor and the second foot drive motor are horizontally mounted on the lower leg fixing component, staggered vertically.

[0007] Furthermore, the output ends of the first foot drive motor and the second foot drive motor face the left and right sides respectively.

[0008] Furthermore, the other ends of the first leg link and the second leg link are respectively connected to the two ends of the foot drive shaft.

[0009] Furthermore, the thigh and calf fixation components feature a partially openwork design.

[0010] The beneficial effects of this invention are as follows: This invention achieves multi-degree-of-freedom relative rotation (such as pitch and roll) between the lower leg and foot through a universal joint, allowing the humanoid robot's feet to better conform to uneven ground, improving stability and flexibility when standing and walking; This invention transmits power to the feet through two leg linkages, allowing the humanoid robot's feet to swing faster and more flexibly when taking steps, thereby improving the dynamic performance and energy efficiency of the gait; This invention has a compact and reliable structure, and can independently and precisely control the knee and ankle joints, thus enabling more natural and stable walking, climbing stairs, and even running and other complex movements. Attached Figure Description

[0011] Figure 1 This is a three-dimensional structural diagram of the humanoid robot leg device from one angle according to an embodiment of the present invention.

[0012] Figure 2 This is a three-dimensional structural view of the humanoid robot leg device from another angle, according to an embodiment of this utility model.

[0013] Figure 3 This is a three-dimensional structural diagram of the two humanoid robot leg devices according to an embodiment of the present invention.

[0014] Figure 4 This is a three-dimensional structural diagram of the foot component from one angle according to an embodiment of the present invention.

[0015] Figure 5 This is a three-dimensional structural view of the foot component from another angle according to an embodiment of the present invention.

[0016] Explanation of icon numbers 100. Humanoid robot leg assembly; 101. Thigh fixation component; 102. Lower leg fixation component; 103. Knee motor rotation mechanism; 104. First foot drive motor; 105. First leg link; 106. Second foot drive motor; 107. Second leg link; 108. Foot assembly; 109. Universal joint; 110. Foot drive shaft; 111. First foot transmission component; 112. Second foot transmission component; 113. Anti-slip component. Detailed Implementation

[0017] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] In this embodiment of the invention, directional indicators (such as up, down, left, right, front, back, etc.) are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the attached figure). If the specific posture changes, the directional indicators will also change accordingly.

[0019] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0020] Please refer to Figures 1-5 The humanoid robot leg device of this utility model embodiment includes a thigh fixation component, a calf fixation component, a knee motor rotation mechanism, a first foot drive motor, a first leg link, a second foot drive motor, a second leg link, and a foot component.

[0021] The knee motor rotation mechanism is located at the top of the lower leg fixation component, and the thigh fixation component is correspondingly located on the knee motor rotation mechanism. The knee motor rotation mechanism controls the knee joint, drives the movement of the lower leg, and improves the flexibility of the humanoid robot's legs.

[0022] The first and second foot drive motors are mounted on the lower leg fixing component, and each motor has a first and second foot transmission component. One end of the first leg connecting rod and one end of the second leg connecting rod are connected to the first and second foot transmission components, respectively. A universal joint is provided on the foot component, and the bottom of the lower leg fixing component is connected to the universal joint. A corresponding foot drive shaft is provided on the foot component, and the other ends of the first and second leg connecting rods are connected to the foot drive shaft. The foot component can be shaped like a human foot, and the first and second foot drive motors drive the multi-degree-of-freedom relative rotation between the foot component and the lower leg.

[0023] This invention enables multi-degree-of-freedom relative rotation (such as pitch and roll) between the lower leg and foot through a universal joint, allowing the humanoid robot's feet to better conform to uneven ground, thus improving stability and flexibility when standing and walking.

[0024] As one implementation method, the bottom of the foot component is provided with an anti-slip component, which increases the friction between the humanoid robot's leg device and the ground when walking, thereby improving the stability of the humanoid robot when walking.

[0025] In one implementation, the first and second foot drive motors are horizontally mounted on the lower leg fixing component with their heights staggered, resulting in a more compact overall structure. The output ends of the first and second foot drive motors face left and right sides, respectively. The other ends of the first and second leg connecting rods are connected to the two ends of the foot drive shaft, respectively. In practice, the first and second foot drive motors can be driven independently, improving the flexibility of the foot component.

[0026] As one implementation method, the thigh fixation component and the calf fixation component adopt a partially hollowed-out design, which can reduce the overall weight.

[0027] In practical implementation, a humanoid robot includes two leg devices of this invention, which are symmetrically mounted on the humanoid robot from left to right. Please refer to [reference needed]. Figure 3 .

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A humanoid robot leg device, characterized in that, The device includes a thigh fixation component, a calf fixation component, a knee motor rotation mechanism, a first foot drive motor, a first leg linkage, a second foot drive motor, a second leg linkage, and a foot assembly. The knee motor rotation mechanism is located on the top of the calf fixation component, and the thigh fixation component is correspondingly located on the knee motor rotation mechanism. The first and second foot drive motors are located on the calf fixation component, and the first and second foot drive motors are respectively equipped with a first foot transmission component and a second foot transmission component. One end of the first leg linkage and one end of the second leg linkage are respectively connected to the first and second foot transmission components. The foot assembly is equipped with a universal joint, and the bottom of the calf fixation component is connected to the universal joint. The foot assembly is correspondingly equipped with a foot drive shaft, and the other ends of the first and second leg linkages are correspondingly connected to the foot drive shaft.

2. The humanoid robot leg device as described in claim 1, characterized in that, The bottom of the foot piece is equipped with anti-slip components.

3. The humanoid robot leg device as described in claim 1, characterized in that, The first and second foot drive motors are horizontally mounted on the lower leg fixing component, staggered vertically.

4. The humanoid robot leg device as described in claim 3, characterized in that, The output ends of the first foot drive motor and the second foot drive motor face to the left and right sides, respectively.

5. The humanoid robot leg device as described in claim 3, characterized in that, The other end of the first leg link and the other end of the second leg link are respectively connected to the two ends of the foot drive shaft.

6. The humanoid robot leg device as described in claim 1, characterized in that, The thigh and calf fixation components feature a partially openwork design.

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