A humanoid robot leg structure

Abstract

The utility model relates to robot technical field discloses a kind of humanoid robot leg structure, including thigh subassembly, shank subassembly, with the sole subassembly of shank subassembly lower end rotation connection, the lower end both sides of thigh subassembly are equipped with bearing seat, bearing is equipped in the bearing seat, concave cavity is formed between two bearing seats, the upper end of shank subassembly is inserted into the concave cavity, the outside of one bearing seat is equipped with motor, the motor is fixedly connected with bearing seat, motor shaft passes through bearing and is connected with shank subassembly, two bearings are distributed in the both ends of motor shaft, the upper end of shank subassembly is distributed between two bearings;The motor shaft and shank subassembly are configured as synchronous rotation. Therefore, the utility model has the beneficial effects of compact structure, good impact resistance.

Description

Technical Field

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

[0002] With the continuous development of robotics technology, the applications of robots are becoming more widespread. Currently, common legged robots simulate human walking by using a thigh support, lower leg support, and foot in conjunction with power. They control the rotation between the thigh and lower leg components using electric cylinders, or by directly installing joint modules at the joints of the thigh and lower leg components to drive the rotation of the lower leg components. However, because robots typically bear a significant load when walking, both the electric cylinders and joint modules must withstand substantial impacts and loads during movement, leading to a reduction in the lifespan of the electric cylinders or joint modules and affecting overall stability. Utility Model Content

[0003] In order to solve the above-mentioned problems in the prior art, this utility model provides a humanoid robot leg structure that is stable, compact, and has good impact resistance.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A humanoid robot leg structure includes a thigh assembly, a lower leg assembly, and a foot assembly rotatably connected to the lower end of the lower leg assembly. Bearing seats are provided on both sides of the lower end of the thigh assembly, each bearing seat containing a bearing. A cavity is formed between the two bearing seats. The upper end of the lower leg assembly extends into the cavity. A motor is located on the outer side of one of the bearing seats and is fixedly connected to the bearing seat. The motor shaft passes through the bearing and connects to the lower leg assembly. Two bearings are distributed at both ends of the motor shaft, and the upper end of the lower leg assembly is positioned between the two bearings. The motor shaft and the lower leg assembly are configured to rotate synchronously.

[0005] By adopting the above technical solution: the two ends of the motor shaft are connected and supported by bearings and bearing seats, and the motor shaft is directly connected to the lower leg assembly and drives the lower leg assembly to rotate, making the overall structure more compact and stable; the impact force and vibration generated during walking are directly borne by the motor shaft and bearings, thereby preventing the impact force from being transmitted to the inside of the motor and protecting the motor.

[0006] Preferably, the upper end of the lower leg assembly is provided with a limiting hole, and the surface of the motor shaft is provided with a limiting surface. When the motor shaft passes through the limiting hole, the limiting surface and the limiting hole cooperate to make the motor shaft and the lower leg assembly rotate synchronously. When the motor shaft passes through the limiting hole, the limiting surface on the motor shaft cooperates with the limiting hole to achieve circumferential limiting between the motor shaft and the limiting hole. The motor shaft directly drives the lower leg assembly to rotate and move, resulting in a stable and compact overall structure.

[0007] Preferably, the cross-section of the limiting hole is rectangular, and the cross-section of the motor shaft corresponding to the limiting surface is configured as a rectangle corresponding to the limiting hole. The axial length of the limiting surface is the same as the axial length of the limiting hole. The limiting surface on the motor shaft achieves both circumferential and axial limiting of the limiting hole.

[0008] Preferably, the lower leg assembly has a connecting seat at its upper end, and the connecting seat is detachably connected to the lower leg assembly. The upper end of the lower leg assembly has an upper limit groove, and the lower end of the connecting seat has a lower limit groove. When the connecting seat is connected to the lower leg assembly, the open ends of the upper and lower limit grooves align to form the limiting hole. The limiting grooves are formed by the connection of the upper and lower limit grooves, making the installation and disassembly of the lower leg assembly and the motor shaft more convenient.

[0009] Preferably, the bearing housing has several circumferentially distributed connecting holes on its outer side, and one end of the motor has a flange with flange holes corresponding to the connecting holes. The flange holes and connecting holes are connected by fasteners. The flange holes on the motor are directly connected to the bearing housing by fasteners, making installation and disassembly more convenient.

[0010] Preferably, the outer end of the motor shaft is provided with a limiting end cap, which is bolted to the outer end of the motor shaft. The limiting end cap limits the axial movement of the motor shaft.

[0011] Preferably, a cover is provided on the outer side of the bearing housing located on the same side as the limiting end cover, and the cover is detachably connected to the bearing housing. The cover provides a certain sealing function to prevent debris, particles, etc. from entering the bearing.

[0012] Preferably, the bearing housing has a bearing mounting hole, and a retaining ring (102) is provided at the inner end of the bearing mounting hole. The retaining ring limits the axial movement of the bearing.

[0013] Preferably, the upper end of the thigh assembly is provided with a hip seat, and a rotating seat is provided between the hip seat and the thigh assembly. A second motor for driving the thigh to walk is provided within the hip seat and connected to the rotating seat. A lateral swinging force is provided between the rotating seat and the upper end of the thigh assembly to drive the thigh assembly to swing outward. The second motor drives the thigh assembly to rotate and walk, and the lateral swinging force causes the thigh assembly to swing laterally, further improving the degree of freedom of the thigh assembly and making the robot's walking more maneuverable and flexible.

[0014] Therefore, this utility model has the beneficial effects of stable and compact structure and good impact resistance. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of one structure of the present utility model.

[0016] Figure 2 for Figure 1 A sectional view.

[0017] Figure 3 This is an exploded view of the connection between the thigh and calf components.

[0018] Figure 4 This is an exploded view of the connector and lower leg assembly.

[0019] Figure 5 This is a schematic diagram of a motor structure.

[0020] Figure 6 An exploded view of the connection between the thigh assembly and the rotating seat. Detailed Implementation

[0021] To make the technical problem to be solved, the technical solution, and the beneficial technical effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the scope of protection of the present utility model.

[0022] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.

[0023] like Figures 1-5 The humanoid robot leg structure shown includes a thigh assembly 1, a lower leg assembly 2, and a foot assembly 3 rotatably connected to the lower end of the lower leg assembly 2. Bearing seats 10 are provided on both sides of the lower end of the thigh assembly 1, and bearings 11 are provided inside the bearing seats 10. A cavity is formed between the two bearing seats 10. The upper end of the lower leg assembly 2 extends into the cavity. A motor 12 is provided on the outer side of one of the bearing seats 10. The motor 12 is fixedly connected to the bearing seat 10. A motor shaft 13 passes through the bearing 11 and is connected to the lower leg assembly 2. Two bearings 11 are distributed at both ends of the motor shaft 13. The upper end of the lower leg assembly 2 is distributed between the two bearings 11. The motor shaft 13 and the lower leg assembly 2 are configured to rotate synchronously.

[0024] The lower leg assembly 2 has a limiting hole 20 at its upper end, and the motor shaft 13 has a limiting surface 130 on its surface. When the motor shaft 13 passes through the limiting hole 20, the limiting surface 130 cooperates with the limiting hole 20 to make the motor shaft 13 and the lower leg assembly 2 rotate synchronously. The lower leg assembly 2 has a connecting seat 21 at its upper end, and the connecting seat 21 is detachably connected to the lower leg assembly 2. The lower leg assembly 2 has an upper limiting groove 200 at its upper end, and the connecting seat 21 has a lower limiting groove 210 at its lower end. When the connecting seat 21 is connected to the lower leg assembly 2, the opening ends of the upper limiting groove 200 and the lower limiting groove 210 are joined together to form the limiting hole 20.

[0025] In some embodiments, the cross-section of the limiting hole 20 is rectangular, and the cross-section of the motor shaft 13 corresponding to the limiting surface 130 is configured as a rectangle corresponding to the limiting hole 20. The axial length of the limiting surface 130 is the same as the axial length of the limiting hole 20. Thus, when the limiting surface mates with the limiting hole, the limiting hole is limited in both the axial and circumferential directions by the limiting surface.

[0026] The bearing housing 10 has several circumferentially distributed connecting holes 100 on its outer side. One end of the motor 12 is provided with a flange 120. The flange 120 is provided with flange holes 121 corresponding to the connecting holes 100. The flange holes 121 and the connecting holes 100 are connected by fasteners.

[0027] The outer end of the motor shaft 13 is provided with a limiting end cover 14, and the limiting end cover 14 is connected to the outer end of the motor shaft 13 by bolts 15; the outer side of the bearing seat 10 located on the same side as the limiting end cover is provided with a sealing cover 16, and the sealing cover 16 is detachably connected to the bearing seat 10.

[0028] like Figure 3 As shown, the bearing housing 10 is provided with a bearing mounting hole 101, and the inner end of the bearing mounting hole 101 is provided with a limiting retaining ring 102.

[0029] like Figure 1 The upper end of the thigh assembly 1 is provided with a hip seat 5, and a rotating seat 6 is provided between the hip seat 5 and the thigh assembly 1. A second motor 7 for driving the thigh to move is provided inside the hip seat 5 and connected to the rotating seat 6. A lateral swing force 8 for driving the thigh assembly 1 to swing outward is provided between the rotating seat and the upper end of the thigh assembly 1. The connection between the thigh assembly and the rotating seat is as follows: Figure 6As shown, its connection method is the same as or similar to that of the thigh assembly and calf assembly. Specifically, the rotating seat 6 has a U-shaped structure, and bearings 11 are coaxially distributed on both sides of the rotating seat 6. The lateral swing force 8 is configured as a third motor 80. The upper end of the thigh assembly 1 is provided with a thigh seat 9, which extends into the rotating seat. The thigh seat 9 is provided with a second limiting hole 90, and the third motor shaft 81 is provided with a second limiting surface 810. The third motor is fixedly connected to the rotating seat, and the third motor shaft passes through the bearings 11 and the second limiting hole 90. The bearings 11 are located at both ends of the third motor shaft, and the thigh seat is located between the two bearings. The second limiting surface 810 cooperates with the second limiting hole 90 to keep the thigh assembly and the third motor shaft rotating synchronously. The axis of the third motor shaft is perpendicular to the axis of the motor shaft, thereby realizing the lateral swing motion of the thigh assembly.

[0030] During walking, the legs of this humanoid robot rotate by a motor driving the lower leg assembly, and a second motor drives the upper leg assembly to rotate, thus achieving stable walking. During walking, the impact force of the lower leg assembly is transmitted to the bearing and bearing seat through the motor shaft, thereby preventing the impact force from being transmitted to the motor and protecting the motor.

[0031] In the description of this utility model, it should be understood that the directions or positional relationships indicated by up, down, left, right, inner end, outer end, one end, and the other end are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of more clearly describing the technical solution of this utility model, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as a limitation of this utility model.

[0032] Although specific embodiments of the present invention are described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the present invention. Various substitutions, alterations, and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A humanoid robot leg structure, comprising a thigh assembly (1), a lower leg assembly (2), and a foot assembly (3) rotatably connected to the lower end of the lower leg assembly (2), characterized in that, The thigh assembly (1) has bearing seats (10) on both sides of its lower end. Each bearing seat (10) contains a bearing (11), and a cavity is formed between the two bearing seats (10). The upper end of the calf assembly (2) extends into the cavity. A motor (12) is provided on the outside of one of the bearing seats (10). The motor (12) is fixedly connected to the bearing seat (10). The motor shaft (13) passes through the bearing (11) and is connected to the calf assembly (2). The two bearings (11) are distributed at both ends of the motor shaft (13). The upper end of the calf assembly (2) is distributed between the two bearings (11). The motor shaft (13) and the calf assembly (2) are configured to rotate synchronously.

2. The humanoid robot leg structure according to claim 1, characterized in that, The upper end of the lower leg assembly (2) is provided with a limiting hole (20), and the surface of the motor shaft (13) is provided with a limiting surface (130). When the motor shaft (13) passes through the limiting hole (20), the limiting surface (130) cooperates with the limiting hole (20) to make the motor shaft (13) and the lower leg assembly (2) rotate synchronously.

3. The humanoid robot leg structure according to claim 2, characterized in that, The lower leg assembly (2) has a connecting seat (21) at its upper end. The connecting seat (21) is detachably connected to the lower leg assembly (2). The lower leg assembly (2) has an upper limit groove (200) at its upper end and a lower limit groove (210) at its lower end. When the connecting seat (21) is connected to the lower leg assembly (2), the opening ends of the upper limit groove (200) and the lower limit groove (210) are joined together to form the limiting hole (20).

4. A humanoid robot leg structure according to claim 2 or 3, characterized in that, The cross-section of the limiting hole (20) is rectangular. The cross-section of the motor shaft (13) corresponding to the limiting surface (130) is configured as a rectangle corresponding to the limiting hole (20). The axial length of the limiting surface (130) is consistent with the axial length of the limiting hole (20).

5. A humanoid robot leg structure according to claim 1, 2, or 3, characterized in that, The bearing housing (10) has several circumferentially distributed connecting holes (100) on its outer side. One end of the motor (12) is provided with a flange (120). The flange (120) is provided with flange holes (121) corresponding to the connecting holes (100). The flange holes (121) and the connecting holes (100) are connected by fasteners.

6. The humanoid robot leg structure according to claim 5, characterized in that, The outer end of the motor shaft (13) is provided with a limiting end cover (14), and the limiting end cover (14) is bolted (15) to the outer end of the motor shaft (13).

7. The humanoid robot leg structure according to claim 6, characterized in that, A cover (16) is provided on the outside of the bearing seat (10) located on the same side as the limiting end cover, and the cover (16) is detachably connected to the bearing seat (10).

8. The humanoid robot leg structure according to claim 1, characterized in that, The bearing housing (10) is provided with a bearing mounting hole (101), and a limiting retaining ring (102) is provided at the inner end of the bearing mounting hole (101).

9. The humanoid robot leg structure according to claim 1, characterized in that, The upper end of the thigh assembly (1) is provided with a hip seat (5), and a rotating seat (6) is provided between the hip seat (5) and the thigh assembly (1). The hip seat (5) is provided with a second motor (7) connected to the rotating seat (6) for driving the thigh to walk. The rotating seat and the upper end of the thigh assembly (1) are provided with a lateral swing force (8) that drives the thigh assembly (1) to swing outward.

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