Humanoid robot lower limb shell

Abstract

The utility model provides a kind of humanoid robot lower limbs shell, thigh shell and shank shell are all used split type structure, can solve existing humanoid robot lower limbs shell is vulnerable to damage by impact, the problem of inconvenient installation. The humanoid robot lower limbs shell, comprising: thigh shell, knee shell and shank shell;The thigh shell is split type structure, including thigh front shell and thigh rear shell;The shank shell is split type structure, including shank front shell and shank rear shell;The thigh front shell, thigh rear shell, shank front shell inside are all provided with reinforcing rib.

Description

Technical Field

[0001] This utility model relates to a robot structure, specifically a lower limb shell for a humanoid robot, and belongs to the field of robot structure technology. Background Technology

[0002] With the development of science and technology and breakthroughs in artificial intelligence, humanoid robots are being used more and more widely in various fields, such as industrial automation, home services, and medical assistance. The lower limbs of a humanoid robot are key components that enable it to walk, jump, and perform other actions; therefore, the structural design of the lower limb shell has a significant impact on the robot's performance.

[0003] The lower limb shells of humanoid robots are usually made of rigid non-metallic materials. Existing humanoid robot lower limb shells have problems such as being unable to withstand large loads, being easily deformed, being easily damaged, and being inconvenient to install. Furthermore, they are difficult to replace and maintain quickly. Utility Model Content

[0004] In view of this, the present invention provides a humanoid robot lower limb shell, wherein the thigh shell and the lower leg shell are both of a split structure, which can solve the problems of existing humanoid robot lower limb shells being easily damaged by impact and inconvenient to install.

[0005] The technical solution of this utility model is as follows: a lower limb shell for a humanoid robot, comprising: a thigh shell, a knee shell, and a lower leg shell; the thigh shell is a split structure, comprising a front thigh shell and a rear thigh shell; the lower leg shell is a split structure, comprising a front lower leg shell and a rear lower leg shell; reinforcing ribs are provided inside the front thigh shell, the rear thigh shell, and the front lower leg shell.

[0006] In a preferred embodiment of this utility model, the inner surface of the front thigh shell has reinforcing ribs A arranged in a grid pattern; the inner surface of the rear thigh shell has reinforcing ribs B arranged in a grid pattern.

[0007] As a preferred embodiment of this utility model, some reinforcing ribs A are locally heightened; some reinforcing ribs B are locally heightened.

[0008] In a preferred embodiment of this utility model, the inner wall surface of the front thigh shell is provided with a plurality of mounting hole posts A and a plurality of reinforcing posts A; the mounting hole posts A are used to provide mounting holes for mounting to the front thigh structure of the humanoid robot.

[0009] The inner wall of the rear thigh shell has several mounting hole posts B and several reinforcing posts B; the mounting hole posts B are used to provide mounting holes for mounting the rear thigh structure of the humanoid robot.

[0010] In a preferred embodiment of this utility model, the reinforcing column A and the mounting hole column A, as well as the reinforcing column B and the mounting hole column B, are all tapered.

[0011] In a preferred embodiment of this utility model, a groove structure is provided at the split end face of the front thigh shell, and a boss structure is correspondingly provided at the split end face of the rear thigh shell; the boss structure and the groove structure are interference-fitted.

[0012] As a preferred embodiment of this utility model, the upper part of both the front thigh shell and the rear thigh shell is provided with an installation positioning surface that matches the surface of the humanoid robot structural component at the corresponding position.

[0013] The positioning surface is provided with a protrusion, and a hexagonal mounting nut is pre-embedded inside the protrusion.

[0014] In a preferred embodiment of this utility model, the knee housing is provided with a plurality of mounting holes for connection with the front shell of the lower leg; and the mounting holes located on the left and right sides of the knee housing are not coaxial.

[0015] In a preferred embodiment of this utility model, the front shell of the lower leg is provided with an upper reinforcing structure, a middle reinforcing structure and a lower reinforcing structure; the outline shape of the middle reinforcing structure is consistent with the shape of the humanoid robot's lower leg structure at the corresponding position.

[0016] As a preferred embodiment of this utility model, the inner wall surface of the front part of the lower leg housing is provided with a plurality of mounting hole columns C;

[0017] The mounting posts C of the aforementioned mounting holes are respectively provided with mounting holes for mounting the knee housing and the front structure of the lower leg of the humanoid robot;

[0018] The inner wall of the lower leg rear shell has several mounting hole posts D, which are used to provide mounting holes for mounting the lower leg rear structural components of the humanoid robot.

[0019] Beneficial effects:

[0020] (1) In the lower limb shell of the humanoid robot of this utility model, the thigh shell is divided into two parts: the front thigh shell and the back thigh shell, and the lower leg shell is divided into two parts: the front lower leg shell and the back lower leg shell, which can solve the problem of inconvenient installation.

[0021] (2) In the lower limb shell of the humanoid robot of this utility model, reinforcing columns are provided inside both the front and rear thigh shells. When subjected to external impact, the reinforcing columns and the locally raised reinforcing ribs can fit tightly against the corresponding humanoid robot structural components, preventing the non-metallic cavity from being stressed. This enhances the structure's impact resistance without making the shell too heavy. Thus, by locally raising the reinforcing ribs and using reinforcing columns, the problem of the shell being easily damaged by impact is solved, and the overall weight of the shell is effectively reduced.

[0022] (3) In the lower limb shell of the humanoid robot of this utility model, the front shell of the thigh and the rear shell of the thigh are closely matched with the thigh structure of the humanoid robot through the surface to achieve rapid installation and positioning.

[0023] (4) In the lower limb shell of the humanoid robot of this utility model, the front shell of the thigh and the rear shell of the thigh solve the problem of gap after the two shells are installed by interference fit between the boss and the groove.

[0024] (5) In the lower limb shell of the humanoid robot of this utility model, the left and right mounting holes of the knee shell are not on the same axis, which solves the problem of rotation around the axis and unstable installation after installation.

[0025] (6) In the lower limb shell of the humanoid robot of this utility model, the front shell of the lower leg is closely fitted with the lower leg structure of the humanoid robot through the positioning protrusion to achieve quick installation and positioning. Through the three internal reinforcement structures, there is a reasonable gap between the shell and the structure, which solves the problem of the shell being easily damaged by impact and effectively reduces the overall weight of the shell. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the lower limb shell of the humanoid robot of this utility model;

[0027] Figure 2 This is a schematic diagram of the overall structure of the lower limb shell of the humanoid robot in this utility model from another perspective;

[0028] Figure 3 This is a schematic diagram of the outer shell structure of the front thigh.

[0029] Figure 4 A schematic diagram of the outer shell structure of the posterior thigh;

[0030] Figure 5 This is a schematic diagram of the internal structure of the front part of the thigh shell;

[0031] Figure 6 A schematic diagram of the internal structure of the outer shell at the back of the thigh;

[0032] Figure 7 Schematic diagram of the boss and groove at the joint between the front and back outer shells of the thigh;

[0033] Figure 8 A schematic diagram of the positioning surface of the thigh shell;

[0034] Figure 9 This is a schematic diagram of the knee shell structure;

[0035] Figure 10 This is a schematic diagram of the outer shell structure of the lower leg;

[0036] Figure 11 This is a schematic diagram of the outer shell structure of the lower leg.

[0037] Wherein: 1-front thigh shell, 101-reinforcing rib A, 102-mounting hole post A, 103-reinforcing post A, 104-groove structure, 2-knee shell, 201-positioning notch, 202-mounting hole; 3-front lower leg shell, 301-reinforcing rib C, 302-mounting hole post C, 303-upper reinforcing structure, 304-middle reinforcing structure, 305-lower reinforcing structure, 306-positioning boss; 4-rear lower leg shell, 401-mounting hole post D, 402-positioning structure; 5-rear thigh shell, 501-reinforcing rib B, 502-mounting hole post B, 503-reinforcing post B, 504-boob structure; 6-mounting positioning surface, 601-surface protrusion. Detailed Implementation

[0038] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0039] This embodiment provides a humanoid robot lower limb shell that can solve the problems of existing humanoid robot lower limb shells being easily damaged by impact and inconvenient to install.

[0040] like Figure 1 and Figure 2 As shown, the robot's lower limb shell includes a thigh shell, a knee shell, and a lower leg shell, with an overall thickness of 3-5 mm. The material is photosensitive resin or nylon, and the shell is formed using additive manufacturing. The thigh shell is installed outside the humanoid robot's thigh structure, and the lower leg shell is installed outside the humanoid robot's lower leg structure.

[0041] For ease of installation, the thigh shell is manufactured and installed in two separate parts; that is, the thigh shell has a split structure, including a front thigh shell 1 and a rear thigh shell 5. For example... Figure 3 and Figure 5 As shown, the inner part of the front thigh shell 1 is designed with reinforcing ribs A101. The reinforcing ribs 101A are distributed in a grid pattern to enhance the strength and rigidity of the shell structure.

[0042] The inner wall of the front thigh shell 1 has several mounting hole posts A102 (five in this example). Each mounting hole post A102 is a post structure with a central threaded hole on the inner wall of the front thigh shell 1. This threaded hole serves as the mounting hole for the front thigh shell 1 to mate with the mounting holes of the humanoid robot's front thigh structural component (generally a metal structural component). The positions of the mounting hole posts A102 correspond to the mounting hole positions on the humanoid robot's front thigh structural component. The central mounting hole of the mounting hole post A102 is a stepped through hole, and the height of the mounting hole post A102 ensures normal contact with the mounting holes of the humanoid robot's front thigh structural component. The front thigh shell 1 is connected and fixed to the humanoid robot's front thigh structural component via threaded fasteners that mate with the mounting holes of the mounting hole posts A102.

[0043] To ensure aesthetics, a large gap exists between the front thigh shell 1 and the metal structural component of the humanoid robot's front thigh. Since the front thigh shell 1 is made of non-metallic material, its hollow structure is prone to breakage upon impact. To address this issue, several reinforcing columns A103 are installed within the inner cavity of the front thigh shell 1, creating a small, appropriate gap between the reinforcing columns A103 and the humanoid robot's front thigh structural component (i.e., the length of the reinforcing column A103 is slightly less than the gap between the front thigh shell 1 and the humanoid robot's front thigh structural component at the corresponding location). This compensates for the gap between the front thigh shell 1 and the humanoid robot's front thigh structural component at that location. Alternatively, some reinforcing ribs A10 can be locally heightened to create a small, appropriate gap between them and the humanoid robot's front thigh structural component. Therefore, when subjected to external impact, the locally raised sections of the reinforcing column A103 and reinforcing rib A101 can fit tightly against the front structure of the humanoid robot's thigh at the corresponding location, avoiding stress on the non-metallic cavity. This can enhance the structure's impact resistance without making the outer shell too heavy.

[0044] As an example, both the reinforcing column A103 and the mounting hole column A102 have an appropriate taper to increase strength; that is, the reinforcing column A103 and the mounting hole column A102 are tapered, with the large end connected to the inner wall of the front housing 1 of the leg.

[0045] like Figure 4 and Figure 6As shown, the interior of the rear thigh shell 5 is also designed with reinforcing ribs B501, which are distributed in a grid pattern to enhance the strength and rigidity of the shell structure. The rear thigh shell 5 has several (five in this example) mounting hole posts B502. Each mounting hole post B502 is a post structure with a central threaded hole on the inner wall of the rear thigh shell 5. This threaded hole serves as the mounting hole for the rear thigh shell 5 to mate with the mounting holes of the humanoid robot's rear thigh structural component (generally a metal structural component). The positions of the mounting hole posts B502 correspond to the mounting hole positions on the humanoid robot's rear thigh structural component. The central mounting hole of the mounting hole post A102 is a stepped through hole, and the height of the mounting hole post A102 ensures normal contact with the mounting holes of the humanoid robot's rear thigh structural component. The rear thigh shell 5 is connected and fixed to the humanoid robot's rear thigh structural component via threaded fasteners that mate with the mounting holes of the mounting hole posts A102.

[0046] To ensure aesthetics, a large gap exists between the rear thigh shell 5 and the rear thigh structure of the humanoid robot. The rear thigh shell 5 is made of non-metallic material, making its hollow structure prone to breakage upon impact. To address this issue, a reinforcing column B503 is installed inside the front thigh shell 5, creating a small, appropriate gap between the reinforcing column B503 and the rear thigh structure of the humanoid robot (i.e., the length of the reinforcing column B503 is slightly less than the gap between the rear thigh shell 5 and the rear thigh structure at the corresponding location). This reinforces the gap between the rear thigh shell 5 and the rear thigh structure at that location. In addition, some reinforcing ribs B501 are locally raised to create a small gap between them and the structural components of the humanoid robot's thigh. As a result, when subjected to external impact, the raised parts of the reinforcing column B503 and the reinforcing ribs B501 can fit tightly against the structural components of the humanoid robot's thigh at the corresponding positions, avoiding stress on the non-metallic cavity. This can enhance the structure's impact resistance without making the outer shell too heavy.

[0047] As an example, the mounting hole post B502 and the reinforcing post B503 have an appropriate taper to increase strength; that is, the mounting hole post B502 and the reinforcing post B503 are tapered, with the large end connected to the inner wall of the rear housing 5 of the leg.

[0048] like Figure 7As shown, to avoid gaps between the front thigh shell 1 and the rear thigh shell 5 after installation (each installed with the corresponding humanoid robot structural component), a groove structure 104 is provided at the split end face of the front thigh shell 1 (that is, at the split end face where the thigh shell is divided into the front thigh shell 1 and the rear thigh shell 5), and a corresponding boss structure 504 is provided at the split end face of the rear thigh shell 5. After installation, the boss structure 504 and the groove structure 104 are interference-fitted, thereby ensuring that the front thigh shell 1 and the rear thigh shell 5 are tightly joined to eliminate gaps between them.

[0049] like Figure 8 As shown, the upper part of the front thigh shell 1 and the upper part of the rear thigh shell 5 are both provided with mounting and positioning surfaces 6 that match the profiles of the humanoid robot structural components at corresponding positions. These mounting and positioning surfaces 6 can tightly fit with the humanoid robot thigh structural components, ensuring accurate shell installation and positioning. Each mounting and positioning surface 6 has a protrusion 601, with a hexagonal mounting nut pre-embedded inside. During installation, the mounting and positioning surface 6 tightly fits with the corresponding humanoid robot thigh structural component. First, the hexagonal nut pre-embedded in the upper protrusion 601 is screwed onto the corresponding humanoid robot thigh structural component. This ensures that the remaining mounting holes on the thigh shell are aligned with the mounting holes on the humanoid robot thigh structural component. The remaining holes are then tightened with screws. After all mounting screws are tightened, the screw surface is lower than the shell surface, ensuring that the mounting screws are not exposed.

[0050] like Figure 9 As shown, the knee housing 2 is provided with several mounting holes 202. In this example, there are 3 mounting holes 202, located in the middle and on the left and right sides respectively. M3 hexagonal nuts are pre-embedded inside the mounting holes 202. The mounting holes 202 are provided inside the columns on the left and right sides of the knee housing 2, and the left and right columns are not coaxial. The columns on the outside of the knee housing 2 used to set the mounting holes 202 have positioning notches 201.

[0051] During installation, the knee housing 2 is fixedly installed on the front of the lower leg housing 3 by fasteners that are threaded into the center threaded hole of the mounting hole 202; the positioning notch 201 on the outside of the knee housing 2 serves as the installation positioning function, and the left and right sides of the knee housing 2 are used to provide the non-axial support of the mounting hole 202 to ensure that it will not rotate around the axis, thus ensuring the stability of the installation.

[0052] For ease of installation, the lower leg shell is also manufactured and installed in separate parts, that is, the lower leg shell adopts a separate structure, including the front lower leg shell 3 and the rear lower leg shell 4.

[0053] like Figure 10As shown, the front shell 3 of the lower leg is provided with reinforcing ribs C301, which are arranged in a longitudinal and transverse non-intersecting pattern. As an example, such as... Figure 10 As shown, the reinforcing rib C301 inside the front shell 3 of the lower leg includes a vertical reinforcing rib in the middle and transverse reinforcing ribs symmetrically arranged on the left and right sides of the vertical reinforcing rib. The transverse reinforcing ribs are not connected to the vertical reinforcing ribs.

[0054] The front shell 3 of the lower leg has several mounting hole posts C302 (seven in this example). Each mounting hole post C302 is a post structure with a central threaded hole on the inner wall of the front shell 3. This threaded hole serves as the mounting hole for the front shell 3 of the lower leg to mate with the mounting holes of the front lower leg structural components (generally metal structural components) of the humanoid robot. The three upper mounting hole posts C302 are knee mounting holes (one in the upper middle position and one on each of the left and right sides), used to mate with mounting holes 202 on the knee shell 2 to securely mount the knee shell 2. The corresponding upper three mounting hole posts C302 have positioning structures machined on them to mate with positioning notches 201. The remaining four mounting hole posts C302 are positioned corresponding to the mounting hole positions on the front lower leg structural components of the humanoid robot, used for securing the front shell 3 of the lower leg to the front lower leg structural components of the humanoid robot. The mounting hole at the center of the mounting post C302 is a stepped through hole, and the height of the mounting post C302 can ensure normal contact with the mounting hole of the front structural component of the humanoid robot's lower leg.

[0055] Three reinforcing structures are installed inside the front shell 3 of the lower leg, located in the upper, middle, and lower parts of the shell, namely the upper reinforcing structure 303, the middle reinforcing structure 304, and the lower reinforcing structure 305. The outline of the middle reinforcing structure 304 is consistent with the shape of the humanoid robot's lower leg structure. Appropriate small gaps exist between the three reinforcing structures and the humanoid robot's lower leg structure. Furthermore, some reinforcing ribs C301 can be locally raised to create appropriate small gaps between them and the front structure of the humanoid robot's lower leg. Therefore, when subjected to external impact, the reinforcing structures and the raised parts of the reinforcing ribs C301 can fit tightly against the humanoid robot's lower leg structure, preventing stress on the non-metallic cavity. This enhances the structure's impact resistance without making the shell too heavy.

[0056] The lower leg front housing 3 has a positioning boss 306 inside. When installing the lower leg front housing 3, the knee housing 2 is first installed on the lower leg front housing 3 by threaded connection. When the positioning boss 306 inside the lower leg front housing 3 is tightly fitted with the humanoid robot lower leg structure, the mounting hole on the lower leg front housing 3 is aligned with the mounting hole of the humanoid robot lower leg structure. Then, the lower leg front housing 3 is installed on the humanoid robot lower leg structure by threaded fastener that matches the mounting hole of the mounting hole column C302.

[0057] like Figure 11 As shown, the rear shell 4 of the lower leg has several mounting hole posts D401 (five in this example). Each mounting hole post D401 is a post structure with a central threaded hole on the inner wall of the rear shell 4. This threaded hole serves as the mounting hole for the rear shell 4 of the lower leg to mate with the mounting holes of the rear structural components of the humanoid robot's lower leg (generally metal structural components). The positions of the mounting hole posts D401 correspond to the mounting hole positions on the rear structural components of the humanoid robot's lower leg. The mounting holes of the mounting hole posts D401 are stepped through holes. The mounting hole posts D401 have an appropriate taper to increase strength. The height of the mounting hole posts A102 ensures normal contact with the mounting holes of the humanoid robot's lower leg structural components.

[0058] The lower leg rear shell 4 has a positioning structure 402 inside. The outline of the positioning structure 402 is consistent with the shape of the humanoid robot lower leg structure at the corresponding position, which serves as a positioning function. During installation, the lower leg rear shell 4 is connected and fixed to the humanoid robot lower leg structure by threaded fasteners that mate with the mounting holes of the mounting post D401.

[0059] In summary, the above are merely preferred embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A shell for the lower limbs of a humanoid robot, characterized in that: include: Thigh shell, knee shell (2) and calf shell; The thigh shell is a split structure, including a front thigh shell (1) and a rear thigh shell (5). The lower leg shell is a split structure, including a front lower leg shell (3) and a rear lower leg shell (4). The front thigh shell (1), the back thigh shell (5), and the front calf shell (3) are all equipped with reinforcing ribs.

2. The humanoid robot lower limb shell as described in claim 1, characterized in that, The front thigh shell (1) has reinforcing ribs A (101) arranged in a grid pattern inside; the rear thigh shell (5) has reinforcing ribs B (201) arranged in a grid pattern inside.

3. The humanoid robot lower limb shell as described in claim 2, characterized in that, Partial reinforcement A (101) is locally heightened; partial reinforcement B (201) is locally heightened.

4. The humanoid robot lower limb shell as described in claim 2 or 3, characterized in that, The inner wall of the front thigh shell (1) is provided with a plurality of mounting hole posts A (102) and a plurality of reinforcing posts A (103); the mounting hole posts A (102) are used to provide mounting holes for mounting to the front thigh structure of the humanoid robot; The inner wall of the posterior thigh shell (5) is provided with a plurality of mounting hole posts B (502) and a plurality of reinforcing posts B (503); the mounting hole posts B (502) are used to provide mounting holes for mounting the posterior thigh structure of the humanoid robot.

5. The humanoid robot lower limb shell as described in claim 4, characterized in that, The reinforcing column A (103) and mounting hole column A (102), as well as the reinforcing column B (503) and mounting hole column B (502), are all tapered.

6. The humanoid robot lower limb shell as described in claim 1, 2, or 3, characterized in that, A groove structure (104) is provided at the split end face of the front thigh shell (1), and a boss structure (504) is provided at the split end face of the rear thigh shell (5); the boss structure (504) and the groove structure (104) are interference fit.

7. The humanoid robot lower limb shell as described in claim 1, 2, or 3, characterized in that, The upper part of the front thigh shell (1) and the rear thigh shell (5) are provided with mounting and positioning surfaces (6) that match the surface of the humanoid robot structural component at the corresponding position. The positioning surface (6) is provided with a protrusion (601), and a hexagonal mounting nut is pre-embedded inside the protrusion (601).

8. The humanoid robot lower limb shell as described in claim 1, 2, or 3, characterized in that, The knee shell (2) is provided with a number of mounting holes (202) for connecting with the front shell (3) of the lower leg; and the mounting holes (202) located on the left and right sides of the knee shell (2) are not coaxial.

9. The humanoid robot lower limb shell as described in claim 1, characterized in that, The front shell (3) of the lower leg is provided with an upper reinforcing structure (303), a middle reinforcing structure (304) and a lower reinforcing structure (305); the outline shape of the middle reinforcing structure (304) is consistent with the shape of the humanoid robot's lower leg structure at the corresponding position.

10. The humanoid robot lower limb shell as described in claim 9, characterized in that, The inner wall of the front shell (3) of the lower leg has several mounting holes and uprights C (302). A plurality of the mounting hole posts C (302) are respectively provided with mounting holes for mounting to the knee shell (2) and to the front structure of the lower leg of the humanoid robot; The inner wall of the lower leg rear shell (4) has several mounting hole posts D (401) for providing mounting holes for mounting the lower leg rear structure of the humanoid robot.

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