A leg and foot assembly capable of side-swaying and pitching and a humanoid robot

Abstract

The utility model provides a kind of leg and foot assembly that can side swing and pitch, it is related to the field of robot, the leg and foot assembly that can side swing and pitch includes: foot, calf and ankle assembly, the upper end and lower end of ankle assembly are respectively articulated calf and foot, and the foot can pitch and side swing relative to calf.The foot includes: foot sole;Mounting table is mounted on foot sole;Fixed end is fixed on the foot module of mounting table, and the output end of foot module is connected with foot gear.The calf includes: calf module is fixed on calf with fixed end, and the output end of calf module is connected with calf gear.The ankle assembly includes: ankle body;Upper ankle gear is fixed to ankle body, and upper ankle gear is engaged with calf gear;Lower ankle gear is fixed to ankle body, and lower ankle gear is engaged with foot gear.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a leg assembly capable of tilting and pitching, and a humanoid robot. Background Technology

[0002] Currently, existing humanoid robots have small ankle joint rotation angles and complex linkage structures. The ankle joint's pitch and lateral swing are parallel structures and cannot operate independently. Utility Model Content

[0003] The purpose of this invention is to provide a leg assembly that can tilt and pitch to solve the above problems.

[0004] In a first aspect, embodiments of the present invention provide a leg assembly capable of lateral tilting and pitching, comprising: a foot, a lower leg, and an ankle assembly. The upper and lower ends of the ankle assembly are respectively hinged to the lower leg and the foot, and the foot can tilt and sway relative to the lower leg. The foot includes: soles of the feet; Mounting platform installed on the sole of the foot; The fixed end is fixed to the foot module on the mounting platform, and the output end of the foot module is connected to a foot gear; The lower leg includes: A lower leg module is fixed to the lower leg at the fixed end, and a lower leg gear is connected to the output end of the lower leg module; Ankle components include: Ankle body; An upper ankle gear is fixed to the ankle body, and the upper ankle gear meshes with the lower leg gear; A lower ankle gear is fixed to the ankle body, and the lower ankle gear meshes with the foot gear.

[0005] In some embodiments, the foot and the mounting platform are integrally constructed.

[0006] In some embodiments, the mounting platform is formed with mounting platform fixing holes for accommodating and fixing the fixing end of the foot module.

[0007] In some embodiments, the lower leg portion is formed with a lower leg fixing hole for accommodating and fixing the fixing end of the lower leg module.

[0008] In some embodiments, an upper fixing base for fixing the upper ankle gear may be provided on the ankle body.

[0009] In some embodiments, a lower fixing base for fixing the lower ankle gear may be provided on the ankle body.

[0010] In some embodiments, the calf gear is larger than the ankle gear.

[0011] In some embodiments, the axis of the upper ankle gear is perpendicular to the axis of the lower ankle gear.

[0012] In some embodiments, the ankle assembly further includes a semi-enclosed cover extending upward from the periphery of the ankle body.

[0013] In a second aspect, this utility model provides a humanoid robot, including the aforementioned side-swinging and pitching leg assembly. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 A schematic diagram of a side-swinging and tilting leg assembly structure provided in an embodiment of the present utility model; Figure 2 for Figure 1 A schematic diagram of the structure of the side-swinging and tilting leg assembly after the enclosure has been removed; Figure 3 for Figure 2 A structural diagram of the leg assembly that can tilt and lean to the side, with the lower leg removed, from another perspective; Figure 4 for Figure 3 A schematic diagram of the ankle body of the leg assembly that can swing to the side and tilt to the side. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0017] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0018] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0019] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0020] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0021] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] Please refer to Figures 1 to 4 This embodiment provides a side-swinging and pitching leg assembly for use in a humanoid robot. The side-swinging and pitching leg assembly includes a foot 1 and a lower leg 3, which are rotatably connected via an ankle assembly 2, enabling the foot 1 to pitch and swing relative to the lower leg 3.

[0023] In this embodiment, the foot 1 may specifically include: foot 12, which is a flat plate, slender in shape, and can be stamped from stainless steel. The foot 12 is used to contact the ground and support the weight of the entire robot's legs.

[0024] The foot 1 may further include a mounting platform 13 installed on the foot ball 12. The mounting platform 13 may be integrally molded with the foot ball 12, which will result in better structural strength. The mounting platform 13 is generally a rectangular block structure and has mounting platform fixing holes.

[0025] The foot 1 may further include: a foot module 11 with its fixed end fixed to the mounting platform 13. The fixed end of the foot module 11 can be fixed in the mounting platform fixing hole by fasteners such as screws. The output end of the foot module 11 extends out of the mounting platform 13. The output end of the foot module 11 is connected to a foot gear 24. As the output end of the foot module 11 rotates, the foot gear 24 will be driven to rotate at the same angular velocity.

[0026] The lower leg portion 3 includes: a lower leg module 31 with a fixed end fixed to the lower leg portion 3. For example, a lower leg fixing hole for limiting and fixing the fixed end of the lower leg module 31 can be opened on the lower leg portion 3. The fixed end of the lower leg module 31 can be fixed in the lower leg fixing hole by fasteners such as screws. The output end of the lower leg module 31 extends out of the lower leg fixing hole. The output end of the lower leg module 31 is connected to a lower leg gear 32. As the output end of the lower leg module 31 rotates, the lower leg gear 32 will be driven to rotate at the same angular velocity.

[0027] The ankle assembly 2 includes an ankle body 21, which has a cross-shaped structure and is a one-piece molded part. It mainly serves as a transition piece that pivotally connects the mounting platform 13 and the lower leg 3. Therefore, the ankle body 21 is preferably manufactured by forging.

[0028] The upper end of the ankle body 21 is hinged to the bottom end of the lower leg 3, and the lower end of the ankle body 21 is hinged to the top end of the mounting platform 13. Specifically, for example, a rotating post is formed at the upper end of the ankle body 21, and a rotating post rotating hole is formed at the lower end. A mounting platform rotating hole corresponding to the rotating hole is formed at the top end of the mounting platform 13. The rotating post rotating hole and the mounting platform rotating hole are hinged by a pin.

[0029] The ankle assembly 2 also includes an upper ankle gear 22 fixed to the ankle body 21, which meshes with the calf gear 32. For example, an upper fixing base for fixing the upper ankle gear 22 may be provided on the ankle body 21.

[0030] The ankle assembly 2 also includes a lower ankle gear 23 fixed to the ankle body 21, which meshes with the foot gear 24. For example, a lower fixing base for fixing the lower ankle gear 23 may be provided on the ankle body 21.

[0031] In this embodiment, the upper ankle gear 22 and the lower ankle gear 23 are arranged alternately, preferably orthogonally, that is, the axis of the upper ankle gear 22 is perpendicular to the axis of the lower ankle gear 23. This facilitates the execution of pitch and yaw movements in two staggered planes.

[0032] As described above, when the calf module 31 is started, the output end of the calf module 31 drives the calf gear 32 to rotate, the calf gear 32 then drives the upper ankle gear 22 meshing with it to rotate, and the upper ankle gear 22 then drives the ankle component 2 fixed to it, as well as the mounting platform 13 and the foot 1 connected to the ankle component 2, to perform a pitching motion as a whole.

[0033] When the foot module 11 is activated, the output end of the foot module 11 drives the foot gear 24 to rotate. Since the lower ankle gear 23 is fixed to the ankle body 21, this causes the foot gear 24 to mesh and rotate around the lower leg gear 32, thereby causing the foot module 11 and the upper ankle gear 22, which is fixed to the fixed end of the foot module 11, to perform a lateral swinging motion as a whole. Since the power transmission in this embodiment is achieved using a gear structure, the response speed is extremely fast and the transmission reliability is high. Using a series of gear structures to achieve power transmission can greatly simplify the structure without increasing the size of the ankle component 2, and can improve the pitch and lateral swing angle range. When the humanoid robot adopts the above-mentioned lateral swinging and pitching leg component, its large pitch and lateral swing angle range can also greatly improve the working range of the humanoid robot.

[0034] Furthermore, when the lower leg gear 32 is much larger than the upper ankle gear 22, that is, when the transmission ratio is large, the lower leg gear 32 can rotate within a small range to achieve a larger angle of rotation of the upper ankle gear 22, thereby achieving a larger angle of pitching motion.

[0035] In addition, the ankle assembly 2 also includes a semi-enclosed cover 14 extending upward from the periphery of the ankle body 21. The cover 14 is used to cover the ankle gear 22, the foot module 11 and the foot gear 24, which can effectively prevent dust or water stains from touching the foot module 11 and the foot gear 24 when the ankle body 21 is walking on the ground, which is beneficial to the service life of the side-swinging and tilting leg assembly.

[0036] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A leg assembly capable of tilting and swaying laterally, comprising: Foot, calf, and ankle components, The upper and lower ends of the ankle assembly are respectively hinged to the lower leg and the foot, and the foot can tilt and sway relative to the lower leg. Its features are: The foot includes: soles of the feet; Mounting platform installed on the sole of the foot; The fixed end is fixed to the foot module on the mounting platform, and the output end of the foot module is connected to a foot gear; The lower leg includes: A lower leg module is fixed to the lower leg at the fixed end, and a lower leg gear is connected to the output end of the lower leg module; Ankle components include: Ankle body; An upper ankle gear is fixed to the ankle body, and the upper ankle gear meshes with the lower leg gear; A lower ankle gear is fixed to the ankle body, and the lower ankle gear meshes with the foot gear.

2. The laterally tilting and pitching leg-foot assembly according to claim 1, characterized in that The foot and the mounting platform are an integral structure.

3. The laterally tilting and pitching leg-foot assembly according to claim 1, characterized in that The mounting platform has mounting platform fixing holes for accommodating and fixing the fixing end of the foot module.

4. The laterally tilting leg assembly of claim 1 wherein, The lower leg portion has a lower leg fixing hole for accommodating and fixing the fixing end of the lower leg module.

5. The lateral tilting and pitching leg assembly according to claim 1, characterized in that, An upper fixing base for fixing the upper ankle gear can be protruded from the ankle body.

6. The lateral tilting and pitching leg assembly according to claim 1, characterized in that, A lower fixing base for fixing the lower ankle gear can be protruded from the ankle body.

7. The lateral tilting and pitching leg assembly according to claim 1, characterized in that, The calf gear is larger than the ankle gear.

8. The lateral tilting and pitching leg assembly according to claim 1, characterized in that, The axis of the upper ankle gear is perpendicular to the axis of the lower ankle gear.

9. The lateral tilting and pitching leg assembly according to claim 8, characterized in that, The ankle assembly also includes a semi-enclosed cover extending upward from the periphery of the ankle body.

10. A humanoid robot, characterized in that, Includes the lateral tilting and pitching leg assembly as described in any one of claims 1-9.

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