Bionic leg segments and robots

Abstract

The present disclosure relates to a bionic leg segment and a robot. The bionic leg segment comprises a thigh skeleton, a shank skeleton, a knee rotation shaft, a foot and an ankle rotation shaft, the knee rotation shaft being rotationally connected to the thigh skeleton and the shank skeleton, and the ankle rotation shaft being rotationally connected to the foot and the shank skeleton; the bionic leg segment further comprises: a knee joint motor, the knee joint motor being fixedly arranged at an end of the thigh skeleton away from the shank skeleton, and the knee joint motor being configured to drive the shank skeleton and the foot to swing synchronously relative to the thigh skeleton; a first hip joint motor, the first hip joint motor being configured to drive the thigh skeleton, the shank skeleton, the foot and the knee joint motor to swing synchronously; and an ankle joint motor, the ankle joint motor being fixedly connected to the shank skeleton and being arranged in a gravity direction of the bionic leg segment and spaced apart from the ankle rotation shaft, and the ankle joint motor being configured to drive the foot to rotate relative to the shank skeleton.

Description

Technical Field

[0001] This disclosure relates to the field of terminal technology, and more particularly to a bionic leg segment and robot. Background Technology

[0002] Robotics is a cutting-edge technology that integrates multiple disciplines. Currently, various robots have been developed both domestically and internationally, and have been applied to some extent.

[0003] In the limb structure of robots, the joint design can usually be modeled after the structure of human arms and legs. Due to the large number of degrees of freedom, the number of joint motors increases, and the mass of the limb structure increases accordingly, which is not conducive to controlling limb movement and results in poor control accuracy. Utility Model Content

[0004] This disclosure provides a bionic leg segment and robot to address the shortcomings of related technologies.

[0005] According to a first aspect of the present disclosure, a bionic leg segment is provided, including a thigh skeleton, a lower leg skeleton, a knee pivot, a foot, and an ankle pivot, wherein the knee pivot rotatably connects the thigh skeleton and the lower leg skeleton, and the ankle pivot rotatably connects the foot and the lower leg skeleton; The bionic leg segment also includes: A knee joint motor is fixedly mounted on the end of the thigh frame away from the lower leg frame. The knee joint motor is used to drive the lower leg frame and the foot to swing synchronously relative to the thigh frame. A first hip joint motor is used to drive the thigh skeleton, the lower leg skeleton, the foot, and the knee joint motor to swing synchronously. An ankle joint motor is fixedly connected to the lower leg skeleton and is spaced apart from the ankle rotation axis in the direction of gravity of the bionic leg segment. The ankle joint motor is used to drive the foot to rotate relative to the lower leg skeleton.

[0006] Optionally, the knee joint motor is used to drive the lower leg skeleton to pitch forward and backward relative to the thigh skeleton, and the first hip joint motor is used to drive the thigh skeleton, the lower leg skeleton, the foot, the ankle joint motor and the knee joint motor to pitch forward and backward synchronously.

[0007] Optionally, the rotor axis of the first hip joint motor and the rotor axis of the knee joint motor are arranged coaxially.

[0008] Optionally, the first hip joint motor includes a first output end, and the knee joint motor includes a second output end, with the first output end and the second output end arranged face to face.

[0009] Optionally, the knee joint motor includes a second output terminal, and the bionic leg segment further includes: A transmission linkage assembly, one end of which is rotatably connected to the second output end and the other end of which is rotatably connected to the knee pivot, so as to drive the thigh skeleton to rotate relative to the lower leg skeleton through the transmission linkage assembly, the transmission linkage assembly being located inside the thigh skeleton.

[0010] Optional, also includes: A circular crank, which is fixedly connected to the second output end; A rotating shaft is fixedly connected to the circular crank and rotatably connected to the transmission connecting rod assembly.

[0011] Optionally, a first driver is disposed on the thigh skeleton and electrically connected to the first hip joint motor. The first driver is used to receive a first control signal and control the rotation of the first hip joint motor according to the first control signal. The second driver is disposed on the thigh skeleton and electrically connected to the knee joint motor. The second driver is used to receive a second control signal and control the rotation of the knee joint motor according to the second control signal.

[0012] Optionally, the first hip joint motor includes a first output terminal, and the knee joint motor includes a knee joint housing; The bionic leg segment also includes a connecting frame, which is disposed between the first hip joint motor and the knee joint motor. The connecting frame is fixedly connected to the first output end and fixedly connected to the knee joint shell.

[0013] Optionally, the first hip joint motor includes a hip joint housing; The thigh frame includes a rotating bracket and a frame body. The rotating bracket is rotatably connected to the hip joint shell, and the rotation axis is parallel to the rotor axis of the first hip joint motor. The frame body is fixedly connected to the knee joint shell.

[0014] Optionally, the main frame includes a first frame plate and a second frame plate, the first frame plate being connected to one side of the knee joint shell and extending toward the second frame, and the second frame plate being connected to the opposite side of the knee joint shell and extending toward the second frame. In the extending direction, the distance between the first shelf and the second shelf gradually decreases.

[0015] Optionally, the first shelf includes at least one weight-reducing groove; and / or, The second shelf includes at least one weight-reducing groove; and / or The bionic leg segment also includes a support rib, which connects the first frame plate and the second frame plate.

[0016] Optionally, the first hip joint motor includes a first hip joint housing, and the bionic leg segment further includes: The second hip joint motor includes a third output end and a second hip joint housing, wherein the third output end is fixedly connected to the first hip joint housing. The third hip joint motor includes a fourth output terminal, which is fixedly connected to the second hip joint housing.

[0017] Optionally, the rotor axis of the first hip joint motor is parallel to the direction of gravity of the bionic leg segment; The rotor axis of the second hip joint motor forms a 45° angle with the plane perpendicular to the direction of gravity of the bionic leg segment, and the second hip joint motor is located on the side of the first hip joint motor that is relatively far away from the lower leg skeleton. The rotor axis of the third hip joint motor is perpendicular to the rotor axis of the second hip joint motor.

[0018] Optionally, the ankle joint motor includes a first ankle joint motor and a second ankle joint motor, and the bionic leg segment further includes: A first transmission assembly, comprising a first crank and a first connecting rod, wherein one end of the first connecting rod is pivotally connected to the foot and the other end is pivotally connected to the first crank, and the first crank is connected to the first ankle joint motor; The second transmission assembly includes a second crank and a second connecting rod. One end of the second connecting rod is pivotally connected to the foot and the other end is pivotally connected to the second crank. The first connecting rod and the second connecting rod are parallel and spaced apart in the left-right direction of the bionic leg segment. The second crank is connected to the second ankle joint motor. The first ankle joint motor is used to drive the first crank to rotate, and the second ankle joint motor is used to drive the second crank to rotate. When both the first ankle joint motor and the second ankle joint motor are working, the foot and the ankle axis are able to move in a pitching motion relative to the lower leg skeleton; and / or drive the foot to move in a lateral swinging motion relative to the lower leg skeleton.

[0019] Optionally, both the first link and the second link are located at the front end of the lower leg skeleton.

[0020] Optionally, the ankle pivot includes a first pivot and a second pivot that are fixedly connected. The axial direction of the first pivot, the axial direction of the second pivot, and the gravity direction of the bionic leg segment are perpendicular to each other. The first pivot is pivotally connected to the foot, and the second pivot is pivotally connected to the lower leg skeleton. The axis of the first rotating shaft coincides with the axis of rotation of the left and right lateral swing motion, and the axis of the second rotating shaft coincides with the axis of rotation of the forward and backward pitch motion.

[0021] Optionally, the calf frame is disposed between the first ankle joint motor and the second ankle joint motor.

[0022] Optionally, the foot includes: Foot plate; A fixed shaft is fixedly connected to the foot plate, a first connecting rod is pivotally connected to one end of the fixed shaft, and a second connecting rod is pivotally connected to the other end of the fixed shaft.

[0023] Optionally, the rotor axis of the first ankle joint motor and the rotor axis of the second ankle joint motor are parallel, and are spaced apart in the gravity direction of the bionic leg segment.

[0024] According to a second aspect of the present disclosure, a robot is provided, including a bionic leg segment as described in any of the above embodiments.

[0025] Optionally, the number of bionic leg segments is two, and the first hip joint motors of the two bionic leg segments are arranged face to face in the side-by-side direction.

[0026] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: As can be seen from the above embodiments, the knee joint motor of this disclosure is located at the end of the thigh skeleton away from the lower leg skeleton, which helps to lengthen the distance between the knee joint motor and the lower leg skeleton and the knee pivot, thereby causing the center of mass of the bionic leg segment to move upward. The ankle joint motor is spaced apart from the ankle and knee pivot, which also helps to move the center of mass of the bionic leg segment upward, which helps to reduce the rotational inertia of the bionic leg segment and improve the motion control accuracy of the bionic leg segment.

[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0029] Figure 1This is a schematic diagram of the structure of a bionic leg segment according to an exemplary embodiment.

[0030] Figure 2 yes Figure 1 A schematic diagram of a partial structure of a bionic leg segment.

[0031] Figure 3 yes Figure 1 A schematic diagram of another partial structure of the bionic leg segment.

[0032] Figure 4 yes Figure 2 Another perspective of the local structure.

[0033] Figure 5 yes Figure 1 A partial schematic diagram of the bionic leg segment.

[0034] Figure 6 This is a schematic diagram showing the positions of a first joint motor, a third joint motor, and a fourth joint motor according to an exemplary embodiment.

[0035] Figure 7 This is a schematic diagram of an ankle pivot structure according to an exemplary embodiment. Detailed Implementation

[0036] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0037] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0038] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0039] Figure 1 This is a schematic diagram illustrating the structure of a bionic leg segment according to an exemplary embodiment. Figure 2 yes Figure 1 A schematic diagram of the partial structure of a bionic leg segment. Figure 3 yes Figure 1 A schematic diagram of another partial structure of the bionic leg segment. (See diagram below.) Figures 1-3 As shown, the bionic leg segment includes a thigh skeleton 1, a lower leg skeleton 2, a knee pivot 3, a foot 4, and an ankle pivot 5. The knee pivot 3 rotatably connects the thigh skeleton 1 and the lower leg skeleton 2, and the ankle pivot 5 rotatably connects the foot 4 and the lower leg skeleton 2. The thigh skeleton 1, knee pivot 3, lower leg skeleton 2, ankle pivot 5, and foot are sequentially connected. The bionic leg segment also includes a knee joint motor 6, a first hip joint motor 7, and an ankle joint motor 8. The first hip joint motor 7 is rotatably connected to the thigh skeleton 1. Since the first hip joint motor 7 needs to drive the thigh skeleton 1, lower leg skeleton 2, and knee joint motor 6 to rotate synchronously, the first hip joint motor 7 can be rotatably connected to the thigh skeleton 1 through a housing or stator, and the rotation axis is coaxial with the rotor axis of the first hip joint motor 7.

[0040] The knee joint motor 6 is fixedly connected to the end of the thigh frame 1 away from the lower leg frame 2, thus creating a certain gap between the knee joint motor 6 and the knee pivot 3. The knee joint motor 6 drives the lower leg frame 2 to rotate relative to the thigh frame 1. The first hip joint motor 7 drives the thigh frame 1, lower leg frame 2, foot 4, ankle pivot 5, and knee joint motor 6 to rotate synchronously. The ankle joint motor 8 is fixedly connected to the lower leg frame 2 and is spaced apart from the ankle pivot 5 in the direction of gravity of the bionic leg segments. The ankle joint motor 8 drives the foot 4 to rotate relative to the lower leg frame 2. The synchronous rotation of the knee joint motor 6 with the thigh frame 1, lower leg frame 2, foot 4, and ankle pivot 5 means that the overall structure of the knee joint motor 6 rotates synchronously with the aforementioned structures.

[0041] Based on this, the knee joint motor 6 is located at the end of the thigh skeleton 1 away from the lower leg skeleton 2, which helps to lengthen the distance between the knee joint motor 6, the lower leg skeleton 2, and the knee pivot 3, thereby causing the center of mass of the bionic leg segment to shift upward. The ankle joint motor 8 is spaced apart from the ankle-knee pivot 3, which also helps to shift the center of mass of the bionic leg segment upward, which helps to reduce the rotational inertia of the bionic leg segment and improve the motion control accuracy of the bionic leg segment. Moreover, since the knee joint motor 6 is moved upward, there is no knee joint motor 6 obstructing the knee pivot 3, which helps to increase the angle range of the front-to-back pitching or left-to-right swaying movements between the thigh skeleton 1 and the lower leg skeleton 2. Similarly, there is no ankle joint motor 8 obstructing the ankle pivot 5, which helps to increase the angle range of the foot 4 relative to the lower leg skeleton 2 when performing front-to-back pitching or left-to-right swaying movements, and also helps to increase the angle range of the front-to-back pitching movements between the thigh skeleton and the lower leg skeleton 2.

[0042] In some embodiments, the bionic leg segment may further include a first actuator (not shown) and a second actuator (not shown). The first actuator is electrically connected to a first hip joint motor 7, for example, the first actuator can be electrically connected to the first hip joint motor 7 via a three-phase wire. The first actuator is used to receive a first control signal and control the rotation of the first hip joint motor 7 according to the first control signal. The first control signal may include parameters such as rotational speed, duration, direction, and current. The first actuator may be fixedly mounted on the thigh skeleton 1 or on the hip structure of the robot in which the bionic leg segment is configured; this disclosure does not impose any limitations on this.

[0043] Similarly, the second actuator is electrically connected to the knee joint motor 6. For example, the second actuator can be connected to the knee joint motor 6 via a three-phase wire. The second actuator is used to receive a second control signal and control the rotation of the knee joint motor 6 according to the second control signal. The second control signal may include parameters such as rotational speed, duration, direction, and current. The second actuator can be fixedly mounted on the thigh skeleton 1 or the hip structure of the robot with the bionic leg segment, etc., and this disclosure does not impose any limitations on this. The control parameters of the first control signal and the second control signal can be the same or different.

[0044] In some embodiments, the knee joint motor 6 can be used to drive the pitching motion of the lower leg skeleton 2 relative to the thigh skeleton 1, and the first hip joint motor 7 is used to drive the thigh skeleton 1, the foot 4 of the lower leg skeleton 2, the ankle pivot 5, and the knee joint motor 6 to synchronously pitch. The pitching motion described in this disclosure can be defined by the forward and backward direction of the bionic leg segment being applied. For example, when a bionic leg segment is applied to a legged robot, similar to the human body, "forward" refers to the face orientation of the legged robot, and "backward" refers to the back orientation of the legged robot.

[0045] In some embodiments, the knee joint motor 6 and the first hip joint motor 7 can be spaced apart in one or more directions—the anterior-posterior direction, the lateral direction, and the direction of gravity—of the bionic leg segment, with the spacing designed as needed. In other embodiments, the rotor axis of the first hip joint motor 7 and the rotor axis of the knee joint motor 6 can be coaxially arranged. This facilitates a higher center of mass for the bionic leg segment, improves aesthetics, and ensures uniform mass along the rotor axis, which is beneficial for motion control of the bionic leg segment. Furthermore, the first hip joint motor 7 includes a first output end, and the knee joint motor 6 includes a second output end. The first and second output ends are arranged face-to-face, ensuring that both are located inside the bionic leg segment, thus enhancing safety. The first output end can be an output shaft or an output end cap; similarly, the second output end can also be an output shaft or an output end cap.

[0046] For power transmission between the knee joint motor 6 and the knee pivot 3, the bionic leg segment also includes a transmission linkage assembly 13. One end of the transmission linkage assembly 13 is rotatably connected to the second output end of the knee joint motor 6, and the other end is rotatably connected to the knee pivot 3. Power is transmitted through the transmission linkage assembly 13, which drives the lower leg skeleton 2 to rotate relative to the thigh skeleton 1. For example, the transmission linkage assembly 13 can be a four-bar linkage assembly. The transmission linkage assembly 13 can be disposed inside the thigh skeleton 1, specifically inside the main skeleton body 12 of the thigh skeleton 1, to improve the aesthetics and compactness of the bionic leg segment.

[0047] For example, such as Figure 5 As shown, the bionic leg segment also includes a circular crank 16 and a rotating shaft 17. The circular crank 16 is fixedly connected to the second output end of the knee joint motor 6, and the rotating shaft 17 is fixedly connected to the circular crank 16. The rotating shaft 17 is rotatably connected to the transmission linkage assembly 13. This allows for power transmission between the transmission linkage assembly 13 and the second output end of the knee joint motor 6 via the circular crank 16 and the rotating shaft 17, making it easier to control the transmission linkage assembly 13 to move in the desired manner.

[0048] In the above embodiments, the first hip joint motor 7 includes a first output end, the knee joint motor 6 includes a knee joint shell, and the bionic leg segment also includes a connecting frame 14, which is fixedly connected to the first output end and also fixedly connected to the knee joint shell. Thus, the power output from the first output end can be transmitted to the knee joint shell through the connecting frame 14. Through the connection between the knee joint shell and the thigh skeleton 1, when the first output end outputs power, it drives the knee joint motor 6, the thigh skeleton 1, and the lower leg skeleton 2 to rotate synchronously.

[0049] Of course, in order to further improve the stability of the thigh skeleton 1 during rotation, for example... Figure 4 As shown, the thigh frame 1 includes a rotating bracket 11 and a frame body 12 fixedly connected to the rotating bracket 11. The frame body 12 is fixedly connected to the knee joint shell. The rotating bracket 11 is rotatably connected to the hip joint shell of the first hip joint motor 7 or other fixed structures, and the rotation axis is parallel to the rotor axis of the first hip joint motor 7. In this way, by supporting the first hip joint motor 7 with the rotating bracket 11 and supporting the knee joint motor 6 with the frame body 12, the stability of the first hip joint motor 7 driving the thigh frame 1 and the lower leg frame 2 to rotate synchronously can be improved.

[0050] In the above embodiments, the thigh skeleton 1 can be rotated in one degree of freedom by driving the first hip joint motor 7. In order to improve the biomimetic effect of the biomimetic leg segment, the biomimetic leg segment also includes a second hip joint motor 18 and a third hip joint motor 19. The second hip joint motor 18 includes a third output end and a second hip joint housing. The third output end is fixedly connected to the first hip joint housing of the first hip joint motor 7, so that the first hip joint motor 7 and the thigh skeleton 1 can be driven to rotate by the second hip joint motor 18. The third hip joint motor 19 includes a fourth output end, which is fixedly connected to the second hip joint housing, so that the second hip joint motor 18, the first hip joint motor 7 and the thigh skeleton 1 can be driven to rotate synchronously by the third hip joint motor 19, realizing the series output of power of the first hip joint motor 7, the second hip joint motor 18 and the third hip joint motor 19. By reasonably adjusting the rotor axis of the first hip joint motor 7, the second hip joint motor 18 and the third hip joint motor 19, the thigh skeleton can be rotated relative to the hip structure in multiple degrees of freedom.

[0051] For example, such as Figure 6 As shown, the rotor axis of the first hip joint motor 7 is parallel to the direction of gravity of the bionic leg segment. The rotor axis of the second hip joint motor 18 forms a 45° angle with the plane perpendicular to the direction of gravity of the bionic leg segment, and the second hip joint motor 18 is located on the side of the first hip joint motor 7 that is relatively far away from the lower leg skeleton 2, for example... Figure 1As shown, the second hip joint motor 18 is located to the upper left or upper right of the first hip joint motor 7. This reduces the obstruction caused by the second hip joint motor 18, which helps to increase the swing angle range of the thigh frame 1's pitching motion. At the same time, it can also make full use of the height space of the thigh frame 1 to achieve an upward shift of the center of gravity. The rotor axis of the third hip joint motor 19 is perpendicular to the rotor axis of the second hip joint motor 18. Based on this setting, the first hip joint motor 7 can realize the pitching motion of the thigh frame 1, the second hip joint motor 18 can realize the rotational motion of the thigh frame 1 around the axis of the second hip joint motor 18, and the third hip joint motor 19 can basically realize the lateral swinging motion of the thigh frame 1.

[0052] The first hip joint housing of the first hip joint motor 7, the second hip joint housing of the second hip joint motor 18, and the third hip joint housing of the third hip joint motor 19 can all be designed with a hollow shape to achieve a weight reduction effect. This bionic leg segment may also include a third actuator electrically connected to the second hip joint motor 18 and a fourth actuator electrically connected to the third hip joint motor 19. The third actuator can be disposed in the second hip joint housing, and the fourth actuator can be disposed in the third hip joint housing.

[0053] In some embodiments, the skeleton body 12 may include a first frame plate 121 and a second frame plate 122, and a rotating bracket 11 may be fixedly connected to at least one of the first frame plate 121 and the second frame plate 122. The first frame plate 121 is connected to one side of the knee joint housing of the knee joint motor 6 and extends toward the lower leg skeleton 2, and the second frame plate 122 is connected to the opposite side of the knee joint housing and extends toward the lower leg skeleton 2. The first frame plate 121 and the second frame plate 122 may be arranged face to face, and a transmission linkage assembly 13 may be disposed between the first frame plate 121 and the second frame plate 122. In the extending direction of the first frame plate 121, the distance between the first frame plate 121 and the second frame plate 122 gradually decreases, thereby making the appearance size of the bionic leg segment gradually smaller and improving the bionic effect. The extending directions of the first frame plate 121 and the second frame plate 122 may be different, so the aforementioned "extending direction" mainly refers to the direction from the end of the thigh skeleton 1 away from the lower leg skeleton 2 to the end that is close to the lower leg skeleton 2. The knee joint shell can be designed with a hollow shape to achieve a weight reduction effect.

[0054] Furthermore, in some cases, the first frame plate 121 may include at least one weight-reducing groove to reduce structural mass and achieve a lightweight design for the thigh skeleton 1 shell. In other cases, the second frame plate 122 may include at least one weight-reducing groove to achieve a lightweight design for the thigh skeleton 1 shell. In still other cases, the bionic leg segment may also include a support rib 15, which connects the first frame plate 121 and the second frame plate 122, thereby increasing the strength of the skeleton body 12 and improving the load-bearing capacity of the bionic leg segment. The number of support ribs 15 can be one or more, and each support rib 15 can be configured in various shapes, such as a strip structure, a curved structure, or a forked structure; this disclosure does not impose any limitations on this. In the same bionic leg segment, one or more of the above three situations may be present; this disclosure does not impose any limitations on this.

[0055] In some embodiments, the ankle joint motor 8 includes a first ankle joint motor 81 and a second ankle joint motor 82. The bionic leg segment also includes a first transmission assembly 9 and a second transmission assembly 10. The first transmission assembly 9 includes a first crank 91 and a first connecting rod 92. One end of the first connecting rod 92 is pivotally connected to the first crank 91, and the other end is pivotally connected to the foot 4. The first ankle joint motor 81 is fixedly connected to the calf frame 2 and is spaced apart from the ankle pivot 5 in the direction of gravity of the bionic leg segment. The distance between them is related to the length and inclination of the first connecting rod 92. The first ankle joint motor 81 can be used to drive the first crank 91 to rotate, and transmit power to the foot 4 through the first connecting rod 92, thereby causing the foot 4 to move in a forward and backward pitching motion or a left and right lateral swinging motion relative to the calf frame 2.

[0056] The bionic leg segment also includes a second transmission component 10 and a second ankle joint motor 82. The second transmission component 10 includes a second crank 101 and a second connecting rod 102. One end of the second connecting rod 102 is pivotally connected to the foot 4 and the other end is pivotally connected to the second crank 101. The first connecting rod 92 is parallel to the second connecting rod 102 and is spaced apart in the left-right direction of the bionic leg segment. The second ankle joint motor 82 is fixedly connected to the lower leg skeleton 2, and the second ankle joint motor 82 and the ankle rotation shaft 5 are spaced apart in the gravity direction of the bionic leg segment. The second ankle joint motor 82 can be used to drive the second crank 101 to rotate, and transmit power to the second connecting rod 102 through the second crank 101. The second connecting rod 102 drives the foot 4 to move, so that the foot 4 moves forward and backward or sideways relative to the lower leg skeleton 2. Based on the scheme of the first transmission component 9 and the second transmission component 10, the distance between the ankle shaft 5 and the first ankle joint motor 81 and the second ankle joint motor 82 can be lengthened by the first connecting rod 92 and the second connecting rod 102, thereby realizing power transmission and reducing the rotational inertia of the bionic leg segment.

[0057] In some embodiments, the rotor axis of the first ankle joint motor 81 and the rotor axis of the second ankle joint motor 82 can be arranged coaxially; in other embodiments, the rotor axis of the first ankle joint motor 81 and the rotor axis of the second ankle joint motor 82 can be parallel and spaced apart in the direction of gravity of the bionic leg segments. For example, the rotor axis of the first ankle joint motor 81 and the rotor axis of the second ankle joint motor 82 are both parallel to the plane where the foot 4 is located, and in the direction perpendicular to the plane, the rotor axis of the first ankle joint motor 81 and the rotor axis of the second ankle joint motor 82 are spaced apart. This facilitates the spacing of the first crank 91 and the second crank 101, which helps to avoid the dead zone of the four-bar linkage composed of the first transmission component 9, the second transmission component 10 and the foot 4, and reduces the probability of jamming. The calf skeleton 2 is located between the first ankle joint motor 81 and the second ankle joint motor 82, which is beneficial to the uniformity of the leg mass and avoids the leg's center of gravity from being excessively biased to one side.

[0058] In some embodiments, the foot 4 includes a foot plate 41 and a fixed shaft 42. The fixed shaft 42 is fixedly connected to the foot plate 41, and one end of the fixed shaft 42 is pivotally connected to a first connecting rod 92, while the other end is pivotally connected to a second connecting rod 102. This allows for the pivotal connection between the first connecting rod 92, the second connecting rod 102, and the foot 4. The axial direction of the fixed shaft 42 extends along the left-right direction of the bionic leg segment, ensuring that the line connecting the point of application of the force exerted by the first connecting rod 92 on the foot 4 and the point of application of the force exerted by the second connecting rod 102 on the foot 4 is parallel to the left-right direction of the bionic leg segment, thus ensuring the precise implementation of left-right lateral movements.

[0059] In the above embodiments, the second ankle joint motor 82 and the first ankle joint motor 81 can work simultaneously or work in shifts, and can be specifically designed according to the movement requirements of the foot 4 relative to the lower leg skeleton 2.

[0060] For example, in some embodiments, such as Figure 7 As shown, the ankle pivot 5 includes a first pivot 51 and a second pivot 52 fixedly connected. The axial directions of the first pivot 51 and the second pivot 52 are perpendicular to the gravitational direction of the bionic leg segment. The gravitational direction of the bionic leg segment can be perpendicular to the plane where the foot 4 is located. The first pivot 51 is pivotally connected to the foot 4, and the second pivot 52 is pivotally connected to the lower leg skeleton 2. For example, the foot 4 may include a foot plate 41 and a bracket fixedly connected to the foot plate 41, which is rotatably connected to the first pivot 51. When both the first ankle joint motor 81 and the second ankle joint motor 82 are working, the foot 4 and the ankle pivot 5 are driven to pitch forward and backward relative to the lower leg skeleton around the second pivot 52; and / or the foot 4 is driven to sway left and right relative to the lower leg skeleton 2 around the first pivot 51.

[0061] For example, when both the first ankle joint motor 81 and the second ankle joint motor 82 are working, causing the first crank 91 and the second crank 101 to rotate in the same direction at the same speed, such as when they rotate counterclockwise at the same speed, the first connecting rod 92 and the second connecting rod 102 apply a downward force to the foot 4, driving the foot 4 and the ankle pivot 5 to rotate counterclockwise around the second pivot 52; for example, when the first crank 91 and the second crank 101 rotate clockwise at the same speed, the first connecting rod 92 and the second connecting rod 102 apply an upward force to the foot 4, driving the foot 4 and the ankle pivot 5 to rotate clockwise around the second pivot 52, thereby realizing the pitching motion of the foot 4 and the ankle pivot 5 relative to the lower leg skeleton around the second pivot 52.

[0062] For example, when both the first ankle joint motor 81 and the second ankle joint motor 82 are working, causing the first crank 91 and the second crank 101 to rotate in opposite directions at the same speed, for example in Figure 3 From the perspective of the right side, when the first crank 91 rotates counterclockwise and the second crank 101 rotates clockwise, the first connecting rod 92 applies a downward force to the foot 4, and the second connecting rod 102 applies an upward force to the foot 4, driving the foot 4 to rotate clockwise around the first axis of rotation 51 in the front view direction of the foot 4; when the first crank 91 rotates clockwise and the second crank 101 rotates counterclockwise, the first connecting rod 92 applies an upward force to the foot 4, and the second connecting rod 102 applies a downward force to the foot 4, driving the foot 4 to rotate counterclockwise around the first axis of rotation 51 in the front view direction of the foot 4, realizing the left and right lateral movement of the foot 4 relative to the lower leg skeleton 2 around the first axis of rotation 51.

[0063] For example, when the first crank 91 and the second crank 101 rotate at different speeds in the same direction, the foot 4 and the ankle pivot 5 can be driven to pitch forward and backward relative to the lower leg skeleton around the second pivot 52, while simultaneously driving the foot 4 to sway left and right relative to the lower leg skeleton 2 around the first pivot 51. Or, for example, when the first crank 91 and the second crank 101 rotate at different speeds in different directions, the foot 4 and the ankle pivot 5 can be driven to pitch forward and backward relative to the lower leg skeleton around the second pivot 52, while simultaneously driving the foot 4 to sway left and right relative to the lower leg skeleton 2 around the first pivot 51.

[0064] In the above embodiments, the first link 92 and the lower leg skeleton 2 are spaced apart in the anterior-posterior direction of the bionic leg segment. For example, the first link 92 can be located at the front end of the lower leg skeleton 2, which avoids the first link 92 being pivotally connected to the "heel" of the foot 4, thus avoiding inconsistencies in the shape of the foot 4 and improving the bionic effect of the foot 4. At the same time, it will not cause obstruction at the rear end of the foot 4, which helps to increase the angle range of the foot 4 when it performs pitching and flexing movements relative to the lower leg skeleton 2. Moreover, when the bionic leg segment is also provided with a thigh skeleton connected to the lower leg skeleton 2, the first link 92 will not cause obstruction at the rear end of the bionic leg segment, which helps to increase the angle range of pitching and flexing movements between the thigh skeleton and the lower leg skeleton 2. Of course, in other embodiments, the first link 92 can also be located at the rear end of the lower leg skeleton 2, and this disclosure does not limit this.

[0065] Similarly, the second link 102 and the lower leg skeleton 2 are spaced apart in the anterior-posterior direction of the bionic leg segment. For example, the second link 102 can be located at the front end of the lower leg skeleton 2. This avoids the second link 102 being pivotally connected to the "heel" of the foot 4, which helps to avoid the incoordination of the foot 4 shape and improve the bionic effect of the foot 4. At the same time, it will not cause obstruction at the rear end of the foot 4, which helps to increase the angle range of the foot 4 when it performs pitching and flexing movements relative to the lower leg skeleton 2. Moreover, when the bionic leg segment is also provided with a thigh skeleton connected to the lower leg skeleton 2, the second link 102 will not cause obstruction at the rear end of the bionic leg segment, which helps to increase the angle range of pitching and flexing movements between the thigh skeleton and the lower leg skeleton 2. Of course, in other embodiments, the second link 102 can also be located at the rear end of the lower leg skeleton 2, and this disclosure does not limit this.

[0066] In the above embodiments, the first connecting rod 92 and the second connecting rod 102 are respectively connected to a first fisheye bearing and a second fisheye bearing at both ends. The first connecting rod 92 is pivotally connected to the first crank 91 via the first fisheye bearing, and the second connecting rod 102 is pivotally connected to the second crank 101 via the first fisheye bearing. The first connecting rod 92 is pivotally connected to the foot 4 via the second fisheye bearing, for example, it can be pivotally connected to the fixed shaft 42 of the foot 4. The second connecting rod 102 is pivotally connected to the foot via the second fisheye bearing, for example, it can be pivotally connected to the fixed shaft 42 of the foot 4. The axial directions of the first fisheye bearing and the second fisheye bearing are perpendicular to each other, thereby assisting in realizing different relative movement modes between the lower leg skeleton 2 and the foot 4. The arrangement of the first and second fisheye bearings allows the shaft to rotate or swing at a fixed point, providing flexible rotation, strong load-bearing capacity, and a lower coefficient of friction. The axial direction of the first fisheye bearing is parallel to the axis of the pitching motion, that is, the axial direction of the first fisheye bearing is parallel to the axis of the second rotating shaft 52. The axial direction of the second fisheye bearing is parallel to the axis of the left and right lateral swing motion, that is, the axial direction of the second fisheye bearing is parallel to the axis of the first rotating shaft 51.

[0067] Based on the technical solution disclosed herein, a robot is also provided, which may include the bionic leg segments described in any of the above embodiments. The number of bionic leg segments may be one or more, such as the robot including one bionic leg segment, two bionic leg segments, or four bionic leg segments.

[0068] For example, the robot includes two bionic leg segments, with the first hip joint motors 7 of the two bionic leg segments facing each other in a side-by-side direction. For instance, the first hip joint motors 7 of the bionic leg segments are both oriented inwards, which can reduce the size of the robot and improve the compactness of the structure.

[0069] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0070] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A biomimetic leg segment, characterized in that, It includes a thigh skeleton, a calf skeleton, a knee pivot, a foot, and an ankle pivot. The knee pivot rotatably connects the thigh skeleton and the calf skeleton, and the ankle pivot rotatably connects the foot and the calf skeleton. The bionic leg segment also includes: A knee joint motor is fixedly mounted on the end of the thigh frame away from the lower leg frame. The knee joint motor is used to drive the lower leg frame and the foot to swing synchronously relative to the thigh frame. A first hip joint motor is used to drive the thigh skeleton, the lower leg skeleton, the foot, and the knee joint motor to swing synchronously. An ankle joint motor is fixedly connected to the lower leg skeleton and is spaced apart from the ankle rotation axis in the direction of gravity of the bionic leg segment. The ankle joint motor is used to drive the foot to rotate relative to the lower leg skeleton.

2. The bionic leg segment according to claim 1, characterized in that, The knee joint motor is used to drive the lower leg skeleton to pitch forward and backward relative to the thigh skeleton, and the first hip joint motor is used to drive the thigh skeleton, the lower leg skeleton, the foot, the ankle joint motor and the knee joint motor to pitch forward and backward synchronously.

3. The bionic leg segment according to claim 1, characterized in that, The rotor axis of the first hip joint motor and the rotor axis of the knee joint motor are arranged coaxially.

4. The bionic leg segment according to claim 3, characterized in that, The first hip joint motor includes a first output end, and the knee joint motor includes a second output end, with the first output end and the second output end arranged face to face.

5. The bionic leg segment according to claim 1, characterized in that, The knee joint motor includes a second output terminal, and the bionic leg segment further includes: A transmission linkage assembly, one end of which is rotatably connected to the second output end and the other end of which is rotatably connected to the knee pivot, so as to drive the thigh skeleton to rotate relative to the lower leg skeleton through the transmission linkage assembly, the transmission linkage assembly being located inside the thigh skeleton.

6. The bionic leg segment according to claim 5, characterized in that, Also includes: A circular crank, which is fixedly connected to the second output end; A rotating shaft is fixedly connected to the circular crank and rotatably connected to the transmission connecting rod assembly.

7. The bionic leg segment according to claim 1, characterized in that, Also includes: A first driver is disposed on the thigh skeleton and electrically connected to the first hip joint motor. The first driver is used to receive a first control signal and control the rotation of the first hip joint motor according to the first control signal. The second driver is disposed on the thigh skeleton and electrically connected to the knee joint motor. The second driver is used to receive a second control signal and control the rotation of the knee joint motor according to the second control signal.

8. The bionic leg segment according to claim 1, characterized in that, The first hip joint motor includes a first output terminal, and the knee joint motor includes a knee joint housing; The bionic leg segment also includes a connecting frame, which is disposed between the first hip joint motor and the knee joint motor. The connecting frame is fixedly connected to the first output end and fixedly connected to the knee joint shell.

9. The bionic leg segment according to claim 8, characterized in that, The first hip joint motor includes a first hip joint housing; The thigh frame includes a rotating bracket and a frame body. The rotating bracket is rotatably connected to the hip joint shell, and the rotation axis is parallel to the rotor axis of the first hip joint motor. The frame body is fixedly connected to the knee joint shell.

10. The bionic leg segment according to claim 9, characterized in that, The main frame includes a first frame plate and a second frame plate. The first frame plate is connected to one side of the knee joint shell and extends toward the lower leg skeleton, and the second frame plate is connected to the opposite side of the knee joint shell and extends toward the lower leg skeleton. In the extending direction, the distance between the first shelf and the second shelf gradually decreases.

11. The bionic leg segment according to claim 10, characterized in that, The first shelf includes at least one weight-reducing groove; and / or, The second shelf includes at least one weight-reducing groove; and / or The bionic leg segment also includes a support rib, which connects the first frame plate and the second frame plate.

12. The bionic leg segment according to claim 1, characterized in that, The first hip joint motor includes a first hip joint housing, and the bionic leg segment further includes: The second hip joint motor includes a third output end and a second hip joint housing, wherein the third output end is fixedly connected to the first hip joint housing. The third hip joint motor includes a fourth output terminal, which is fixedly connected to the second hip joint housing.

13. The bionic leg segment according to claim 12, characterized in that, The rotor axis of the first hip joint motor is parallel to the direction of gravity of the bionic leg segment; The rotor axis of the second hip joint motor forms a 45° angle with the plane perpendicular to the direction of gravity of the bionic leg segment, and the second hip joint motor is located on the side of the first hip joint motor that is relatively far away from the lower leg skeleton. The rotor axis of the third hip joint motor is perpendicular to the rotor axis of the second hip joint motor.

14. The bionic leg segment according to claim 1, characterized in that, The ankle joint motor includes a first ankle joint motor and a second ankle joint motor, and the bionic leg segment also includes: A first transmission assembly, comprising a first crank and a first connecting rod, wherein one end of the first connecting rod is pivotally connected to the foot and the other end is pivotally connected to the first crank, and the first crank is connected to the first ankle joint motor; The second transmission assembly includes a second crank and a second connecting rod. One end of the second connecting rod is pivotally connected to the foot and the other end is pivotally connected to the second crank. The first connecting rod and the second connecting rod are parallel and spaced apart in the left-right direction of the bionic leg segment. The second crank is connected to the second ankle joint motor. The first ankle joint motor is used to drive the first crank to rotate, and the second ankle joint motor is used to drive the second crank to rotate. When both the first ankle joint motor and the second ankle joint motor are working, the foot and the ankle axis are able to move in a pitching motion relative to the lower leg skeleton; and / or drive the foot to move in a lateral swinging motion relative to the lower leg skeleton.

15. The bionic leg segment according to claim 14, characterized in that, Both the first link and the second link are located at the front end of the lower leg skeleton.

16. The bionic leg segment according to claim 14, characterized in that, The ankle pivot includes a first pivot and a second pivot that are fixedly connected. The axial direction of the first pivot, the axial direction of the second pivot, and the gravity direction of the bionic leg segment are perpendicular to each other. The first pivot is pivotally connected to the foot, and the second pivot is pivotally connected to the lower leg skeleton. The axis of the first rotating shaft coincides with the axis of rotation of the left and right lateral swing motion, and the axis of the second rotating shaft coincides with the axis of rotation of the forward and backward pitch motion.

17. The bionic leg segment according to claim 14, characterized in that, The calf frame is positioned between the first ankle joint motor and the second ankle joint motor.

18. The bionic leg segment according to claim 14, characterized in that, The foot includes: Foot plate; A fixed shaft is fixedly connected to the foot plate, a first connecting rod is pivotally connected to one end of the fixed shaft, and a second connecting rod is pivotally connected to the other end of the fixed shaft.

19. The bionic leg segment according to claim 14, characterized in that, The rotor axis of the first ankle joint motor is parallel to the rotor axis of the second ankle joint motor, and they are spaced apart in the direction of gravity of the bionic leg segment.

20. A robot, characterized in that, Including the bionic leg segment as described in any one of claims 1-19.

21. The robot according to claim 20, characterized in that, The number of bionic leg segments is two, and the first hip joint motors of the two bionic leg segments are arranged face to face in the side-by-side direction.

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