A robot limb and a robot

Abstract

The utility model provides a kind of robot limb and robot, including bionic hand and bionic leg;The bionic hand includes: shoulder joint drive component, it is installed in the body of robot;Elbow joint drive component, it is transmission connection with the output shaft of shoulder joint drive component;Wrist support, it is transmission connection with the output shaft of elbow joint drive component;And clamping component, it is transmission connection with the wrist support, and can execute grabbing action;The bionic leg includes: hip joint drive component, it is installed in the body of robot;Knee joint drive component, it is transmission connection with the output shaft of hip joint drive component;And foot sole drive component, it is transmission connection with the output shaft of knee joint drive component, compared with prior art, robot limb has more degrees of freedom, can complete more complex human action.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robots, and more particularly to a robot limb and a robot. Background Technology

[0002] In related technologies, humanoid robots include a robot head, a robot body, and robot limbs. The robot limbs are connected to the robot body and include hands and legs, enabling the robot to perform grasping and walking actions.

[0003] The drawback is that the robots in the relevant technologies have limited degrees of freedom, resulting in stiff movements or an inability to perform relatively complex human-like actions. Utility Model Content

[0004] This utility model discloses a robot limb and a robot. The robot limb has a large number of degrees of freedom and can perform relatively complex human-like movements.

[0005] This invention provides a robotic limb, including a bionic hand and a bionic leg. The bionic hand includes: a shoulder joint drive assembly mounted on the robot's body; an elbow joint drive assembly driven by the output shaft of the shoulder joint drive assembly; a wrist support driven by the output shaft of the elbow joint drive assembly; and a gripping assembly driven by the wrist support, capable of performing grasping actions. The bionic leg includes: a hip joint drive assembly mounted on the robot's body; a knee joint drive assembly driven by the output shaft of the hip joint drive assembly; and a foot drive assembly driven by the output shaft of the knee joint drive assembly.

[0006] In some embodiments, the shoulder joint drive assembly includes a shoulder support and a shoulder driver, the output shaft of the shoulder driver being connected to the shoulder support; the elbow joint drive assembly includes an elbow driver, the elbow driver being fixedly connected to the shoulder driver; the wrist support includes a claw, a first connecting portion, and a second connecting portion connected in sequence, the second connecting portion being connected to the output shaft of the elbow driver; and the clamping assembly includes a claw hand and a gripper driver, the claw hand being connected to the output shaft of the gripper driver, the first connecting portion being fixedly connected to the gripper driver, the claw hand cooperating with the claw to open or clamp.

[0007] In some embodiments, the device further includes a first connector, a second connector, and a third connector. The first connector includes a first connecting plate and a first side plate connected to both sides of the first connecting plate. The second connector includes a second connecting plate and a second side plate connected to both sides of the second connecting plate. The third connector includes a third connecting plate and a third side plate connected to both sides of the third connecting plate. The first side plate is fixedly connected to both sides of the shoulder driver. The first connecting plate is fixedly connected to the second connecting plate. The second side plate is fixedly connected to both sides of the elbow driver. The third connecting plate is fixedly connected to the first connecting portion. The third side plate is fixedly connected to both sides of the gripper driver.

[0008] In some embodiments, the shoulder actuator, the elbow actuator, and the gripper actuator are all servo motors.

[0009] In some embodiments, the shoulder actuator, the elbow actuator, and the gripper actuator are all equipped with current detectors.

[0010] In some embodiments, the hip joint drive assembly includes a hip support, a leg lateral movement actuator, a leg lateral movement bracket, a thigh lift actuator, and a thigh support. The hip support is connected to the output shaft of the leg lateral movement actuator. One end of the leg lateral movement bracket is fixedly connected to the leg lateral movement actuator, and the other end is fixedly connected to the thigh lift actuator. One end of the thigh support is connected to the output shaft of the thigh lift actuator. The knee joint drive assembly includes a knee joint actuator and a calf support. The other end of the thigh support is fixedly connected to the knee joint actuator, and one end of the calf support is connected to the output shaft of the knee joint actuator. The foot drive assembly includes a foot pitch actuator, a foot lateral movement bracket, a foot lateral movement actuator, and a foot sole. The other end of the calf support is connected to the output shaft of the foot pitch actuator. One end of the foot lateral movement bracket is fixedly connected to the foot pitch actuator, and the other end is fixedly connected to the foot lateral movement actuator. The output shaft of the foot lateral movement actuator is connected to the foot sole.

[0011] In some embodiments, the system further includes a first driven shaft and a first driven bracket. The two sides of the first driven bracket are fixedly connected to the two sides of the leg sway driver, respectively. One end of the first driven shaft is rotatably connected to the first driven bracket, and the other end is fixedly connected to the hip bracket. The first driven shaft is concentric with the output shaft of the leg sway driver.

[0012] In some embodiments, the leg yaw actuator, the thigh lift actuator, the knee joint actuator, the foot pitch actuator, and the foot yaw actuator are all servo motors.

[0013] In some embodiments, the system further includes a second driven bracket and a second driven shaft. The foot sole includes a first support and a second support. One end of the second driven bracket is fixedly connected to the foot pitch driver, and the other end is fixedly connected to the second driven shaft. The second driven shaft is rotatably connected to the first support. The second support is drively connected to the output shaft of the foot yaw driver. The output shaft of the foot yaw driver is coaxial with the second driven shaft.

[0014] This utility model also provides a robot, including the robot limbs and torso described above. The torso includes a hand rotation servo and a leg rotation servo. The output shaft of the hand rotation servo is connected to the shoulder joint drive assembly, and the output shaft of the leg rotation servo is connected to the hip joint drive assembly.

[0015] Beneficial effects: The elbow joint drive assembly is driven by the output shaft of the shoulder joint drive assembly, the wrist support is driven by the output shaft of the elbow joint drive assembly, the clamping assembly is rotatably connected to the wrist support, and the output shaft of the hand rotation servo is driven by the shoulder joint drive assembly. This means the bionic hand has multiple degrees of freedom, enabling it to perform more complex movements. Similarly, the knee joint drive assembly is driven by the output shaft of the hip joint drive assembly, the lower leg drive assembly is driven by the output shaft of the knee joint drive assembly, the foot drive assembly is driven by the output shaft of the lower leg drive assembly, and the output shaft of the leg rotation servo is driven by the hip joint drive assembly. This means the bionic leg has multiple degrees of freedom, enabling it to perform more complex movements. Attached Figure Description

[0016] 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. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the bionic hand of this utility model; Figure 2 yes Figure 1 An explosion diagram; Figure 3 This is a structural schematic diagram of the first and second connecting parts of this utility model; Figure 4 This is a structural schematic diagram of the wrist support and claw hand of this utility model; Figure 5 This is a schematic diagram of the structure of the bionic leg of this utility model; Figure 6 yes Figure 5 An explosion diagram; Figure 7 This is a schematic diagram showing the structural positions of the hip support, leg swing actuator, leg swing bracket, thigh lifting actuator, first driven shaft, and first driven bracket of this utility model. Figure 8 This is a schematic diagram showing the structural positions of the foot lateral movement actuator, the second driven bracket, and the second driven shaft of this utility model.

[0018] Explanation of main labels: 1. Bionic hand; 11. Shoulder joint drive assembly; 111. Shoulder support; 112. Shoulder actuator; 12. Elbow joint drive assembly; 121. Elbow actuator; 13. Wrist support; 131. Claw; 132. First connecting part; 133. Second connecting part; 14. Clamping assembly; 141. Claw hand; 142. Claw actuator; 15. First connector; 151. First connecting plate; 152. First side plate; 16. Second connector; 161. Second connecting plate; 162. Second side plate; 17. Third connector; 171. Third connecting plate; 172. Third side plate; 2. Bionic leg; 21. Hip joint drive assembly; 211. Hip support; 212. Leg lateral movement actuator; 213. Leg lateral movement support; 214. Thigh lift actuator; 215. Thigh support; 22. Knee joint drive assembly; 221. Knee joint actuator; 222. Lower leg support; 23. Foot drive assembly; 231. Foot pitch actuator; 232. Foot lateral movement support; 233. Foot lateral movement actuator; 234. Foot sole; 2341. First support; 2342. Second support; 24. First driven shaft; 25. First driven support; 26. Second driven support; 27. Second driven shaft. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Furthermore, the following descriptions of various embodiments are based on the accompanying illustrations and are used to illustrate specific embodiments that can be implemented in this application. Directional terms used in this application, such as "up," "down," "front," "back," "left," "right," "inner," "outer," and "side," are merely for reference to the accompanying illustrations. Therefore, the directional terms used are for better and clearer explanation and understanding of this application, and are not intended to indicate or imply that the referred device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," and "set on" 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; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0022] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0023] Combination Figures 1 to 6 As shown, a robotic limb includes a bionic hand 1 and a bionic leg 2. The bionic hand 1 includes, in sequence: a shoulder joint drive assembly 11, which is mounted on the robot's body; an elbow joint drive assembly 12, which is driven to the output shaft of the shoulder joint drive assembly 11; a wrist support 13, which is driven to the output shaft of the elbow joint drive assembly 12; and a gripping assembly 14, which is driven to the wrist support 13 and is capable of performing grasping actions. The bionic leg 2 includes: a hip joint drive assembly 21, which is mounted on the robot's body; a knee joint drive assembly 22, which is driven to the output shaft of the hip joint drive assembly 21; and a foot drive assembly 23, which is driven to the output shaft of the knee joint drive assembly 22.

[0024] The elbow joint drive assembly 12 is driven by the output shaft of the shoulder joint drive assembly 11, and the wrist support 13 is driven by the output shaft of the elbow joint drive assembly 12. The clamping assembly 14 is driven by the output shaft of the wrist support 13. The four drive assemblies form a complete kinematic chain through the transmission connection of the output shafts. Each assembly contributes one or more rotational degrees of freedom. The shoulder joint drive assembly 11 provides the forward and backward swinging degree of freedom, the elbow joint drive assembly 12 provides the bending and extension degree of freedom, and the clamping assembly 14 provides the grasping degree of freedom. Together, they constitute the complete motion capability of the bionic hand 1 in three-dimensional space, thereby giving the bionic hand 1 multiple degrees of freedom. This allows the bionic hand 1 to perform more complex anthropomorphic actions. For example, in addition to performing the anthropomorphic action of grasping objects, it can also perform the anthropomorphic action of waving. Specifically, when the waving action is required, the control system coordinates the movement of each joint in sequence: the shoulder joint drive assembly 11 first drives the entire bionic hand 1 to rise, the elbow joint drive assembly 12 controls the bending angle of the wrist support 13, and the clamping assembly 14... Component 14 remains in the open state; the knee joint drive component 22 is driven to the output shaft of the hip joint drive component 21, and the foot drive component 23 is driven to the output shaft of the knee joint drive component 22. The hip joint drive component 21 provides the degree of freedom of movement of the thigh relative to the torso (such as pitch and sway), the knee joint drive component adds the degree of freedom of bending and extension in the direction of the lower leg extension, and the foot drive component adds the degree of freedom of foot posture adjustment at the end. Together, they constitute the complete motion capability of the bionic leg 2 in three-dimensional space, giving the bionic leg 2 multiple degrees of freedom. This allows the bionic leg 2 to complete more complex anthropomorphic movements. For example, in addition to completing the anthropomorphic movement of walking, it can also complete the anthropomorphic movement of bending over. Specifically, when performing the bending over movement, the control system coordinates the joints in the kinematic chain sequence: the hip joint drive component 21 first controls the thigh to swing forward to establish the basic posture of bending over, the knee joint drive component 22 then controls the lower leg to bend and adjust the body's center of gravity, and the foot drive component 23 finally fine-tunes the foot angle to maintain balance.

[0025] In some embodiments, combined with Figures 1 to 4As shown, the shoulder joint drive assembly 11 includes a shoulder support 111 and a shoulder driver 112, with the output shaft of the shoulder driver 112 connected to the shoulder support 111; the elbow joint drive assembly 12 includes an elbow driver 121, which is fixedly connected to the shoulder driver 112; the wrist support 13 includes a claw 131, a first connecting portion 132, and a second connecting portion 133 connected in sequence, with the second connecting portion 133 connected to the output shaft of the elbow driver 121; and the clamping assembly 14 includes a claw hand 141 and a gripper driver 142, with the claw hand 141 connected to the output shaft of the gripper driver 142, and the first connecting portion 132 fixedly connected to the gripper driver 142, the claw hand 141 cooperating with the claw hand 131 to open or clamp. The shoulder actuator 112 outputs motion to the shoulder support 111, causing the arm to lift as a whole. The elbow actuator 121 receives the torque from the shoulder actuator 112 based on a fixed connection, driving the elbow joint to bend. The wrist support 13 transmits motion to the end effector through the second connecting part 133, achieving positioning. In the gripping assembly 14, the gripper actuator 142 controls the relative movement (such as opening or clamping) between the gripper hand 141 and the claw part 131 to complete the grasping. The entire process achieves flexible movement and precise grasping function of the bionic hand 1 with multiple degrees of freedom through the coordinated multi-level actuators, namely the series connection of the shoulder joint drive assembly 11, the elbow joint drive assembly 12, the wrist support 13, and the gripping assembly 14. In addition, through the coordinated multi-level actuators, relatively complex anthropomorphic actions (such as waving and picking up objects) can be completed, and the structure is simple. Optionally, the output shaft of the shoulder actuator 112 is fixedly connected to the shoulder bracket 111, so that the shoulder actuator 112 rotates relative to the shoulder bracket 111. Optionally, the shoulder bracket 111 is located near the robot body and serves as the support base for the entire bionic hand 1, and has a U-shaped structure.

[0026] In some embodiments, combined with Figures 1 to 3As shown, the device also includes a first connecting member 15, a second connecting member 16, and a third connecting member 17. The first connecting member 15 includes a first connecting plate 151 and first side plates 152 connected to both sides of the first connecting plate 151. The second connecting member 16 includes a second connecting plate 161 and second side plates 162 connected to both sides of the second connecting plate 161. The third connecting member 17 includes a third connecting plate 171 and third side plates 172 connected to both sides of the third connecting plate 171. The first side plates 152 are fixedly connected to both sides of the shoulder actuator 112. The first connecting plate 151 is fixedly connected to the second connecting plate 161. The second side plates 162 are fixedly connected to both sides of the elbow actuator 121. The third connecting plate 171 is fixedly connected to the first connecting portion 132. The third side plates 172 are fixedly connected to both sides of the gripper actuator 142. Through the combined action of the first connecting member 15 and the second connecting member 16, the shoulder actuator 112 and the elbow actuator 121 are fixedly connected together, resulting in a simple and stable structure. The gripper actuator 142 is fixedly connected to the wrist support 13 via the third connector 17. When the shoulder actuator 112 outputs power, the first connector 15 fixes the two sides of the shoulder actuator 112 via the first side plate 152, and transmits the torque to the second connecting plate 161 of the second connector 16 via the first connecting plate 151; the second connector 16 fixes the two sides of the elbow actuator 121 via the second side plate 162 to achieve elbow drive; the third connector 17 fixes the gripper actuator 142 to the wrist support 13 to ensure accurate positioning of the grasping action. The entire process achieves rigid fixation through the combined action of the first connector 15, the second connector 16, and the third connector 17, solving the motion error problem caused by the unstable joint connection of the traditional robot bionic hand 1. That is, the above solution improves the motion accuracy of the bionic hand 1, and the structure is simple. Optionally, the first connector 15 and the second connector 16 are sheet metal parts. The first connector 15 and the second connector 16 have a connecting hole for connection and a through hole for wire passage in their middle portions. The first connector 15 and the second connector 16 serve as transition connectors between the shoulder joint and the elbow joint, transmitting the driving torque of the shoulder actuator 112 and supporting the elbow actuator 121. Optionally, the output shaft of the elbow actuator 121 is parallel to the output shaft of the shoulder actuator 112. The elbow actuator 121 drives the wrist support 13 to rotate around the elbow joint, realizing the bending movement of the bionic hand 1. The output shaft of the elbow actuator 121 is pivotally connected to the second connecting portion 133 of the wrist support 13, forming the rotation axis of the elbow joint. Optionally, the wrist support 13 has a long strip structure, its claw portion 131 is "V" shaped, its first connecting portion 132 is flat, and it has two second connecting portions 133, which are perpendicular to the first connecting portion 132. Optionally, the claw 141 is V-shaped and works in conjunction with the claw 131 to perform opening and closing actions to grip an object.

[0027] In some embodiments, the shoulder actuator 112, the elbow actuator 121, and the gripper actuator 142 are all servo motors, which are electrically connected to a control system. A servo motor is a servo mechanism that integrates a motor, a reducer, and a control circuit, and can accurately output angle or position signals, thereby improving the motion accuracy of the bionic hand 1.

[0028] In some embodiments, the shoulder actuator 112, the elbow actuator 121, and the gripper actuator 142 are all equipped with current detectors. Optionally, the current detector can be a potentiometer or an encoder. The control system sends commands to the servo motor, whose internal circuitry drives the motor to rotate, amplifies the torque through a reducer, provides power, and can monitor and feed back the current to the control system in real time. When an anomaly is detected (such as a sudden increase in current caused by an external impact), the system triggers a stress relief procedure (such as power failure or reverse drive) to prevent structural overload. The entire process ensures that the shoulder actuator 112, the elbow actuator 121, and the gripper actuator 142 work together, solving the problems of inaccurate control and easy overload of traditional actuators.

[0029] In some embodiments, combined with Figure 5 and Figure 6As shown, the hip joint drive assembly 21 includes a hip support 211, a leg lateral movement actuator 212, a leg lateral movement bracket 213, a thigh elevation actuator 214, and a thigh support 215. The hip support 211 is connected to the output shaft of the leg lateral movement actuator 212. One end of the leg lateral movement bracket 213 is fixedly connected to the leg lateral movement actuator 212, and the other end is fixedly connected to the thigh elevation actuator 214. One end of the thigh support 215 is connected to the output shaft of the thigh elevation actuator 214. The knee joint drive assembly 22 includes a knee joint actuator 221 and a lower leg support 222. The thigh support 21... The other end of 5 is fixedly connected to the knee joint actuator 221, and one end of the calf support 222 is connected to the output shaft of the knee joint actuator 221; and the foot drive assembly 23 includes a foot pitch actuator 231, a foot sway support 232, a foot sway actuator 233 and a foot sole 234, the other end of the calf support 222 is connected to the output shaft of the foot pitch actuator 231, one end of the foot sway support 232 is fixedly connected to the foot pitch actuator 231, and the other end is fixedly connected to the foot sway actuator 233, and the output shaft of the foot sway actuator 233 is connected to the foot sole 234. When the leg sway actuator 212, thigh lift actuator 214, knee joint actuator 221, foot pitch actuator 231, and foot sway actuator 233 receive commands from the control system, the leg sway actuator 212 drives the hip support 211 to achieve lateral swaying, the thigh lift actuator 214 drives the thigh support 215 to achieve lifting, the knee joint actuator 221 drives the lower leg to bend, and the foot pitch and sway actuators adjust the foot posture. Throughout the process, multiple degrees of freedom work together (e.g., when kicking a ball: hip joint swaying provides force, knee joint flexion controls the angle, and foot adjustment ensures contact accuracy), achieving relatively complex anthropomorphic movements with a simple structure. Optionally, the leg sway support 213 has an "L"-shaped or irregular frame structure, with one end fixedly connected to the leg sway actuator 212 and the other end fixedly connected to the thigh lift actuator 214, ensuring the axial accuracy and structural stability of the swaying motion.

[0030] Optionally, the thigh support 215 has a "Y"-shaped fork structure.

[0031] Optionally, the lower leg support 222 has an "H" shape and is located below the thigh support 215.

[0032] Optionally, the foot sole 234 is a flat plate structure, and the four sides of the foot sole 234 are provided with vertical plates perpendicular to the flat plate to enhance the support of the foot sole 234.

[0033] In some embodiments, combined with Figure 7As shown, it also includes a first driven shaft 24 and a first driven bracket 25. The two sides of the first driven bracket 25 are fixedly connected to the two sides of the leg lateral movement actuator 212, respectively. One end of the first driven shaft 24 is rotatably connected to the first driven bracket 25, and the other end is fixedly connected to the hip bracket 211. The first driven shaft 24 is concentric with the output shaft of the leg lateral movement actuator 212. When the leg lateral movement actuator 212 is working, the output shaft rotates to drive the hip bracket 211 to achieve lateral movement. The first driven bracket 25 is fixedly connected to the housing of the leg lateral movement actuator 212, and the first driven shaft 24 rotates concentrically with the output shaft of the leg lateral movement actuator 212, providing a stable fulcrum. When an external force is applied (such as the impact of kicking a ball), the first driven shaft 24 and the bracket work together to bear the load, preventing the actuator from overloading. The entire process ensures synchronized movement through the concentric setting of the first driven shaft 24 and the output shaft of the leg lateral movement actuator 212, solving the accuracy problems and wear risks caused by the unstable fulcrum of traditional joints. Optionally, the first driven bracket 25 is a hollow frame type or a support member with ear seats, and its surface may be provided with mounting holes and positioning pin holes, which are fixed between the hip bracket 211 and the thigh lifting driver 214.

[0034] In some embodiments, the leg yaw actuator 212, the thigh lift actuator 214, the knee joint actuator 221, the foot pitch actuator 231, and the foot yaw actuator 233 are all servo motors. A servo motor is a servo mechanism that integrates a motor, a reducer, and a control circuit, and can accurately output angle or position signals, thereby improving the motion accuracy of the bionic leg 2.

[0035] In some embodiments, combined with Figure 8As shown, it also includes a second driven bracket 26 and a second driven shaft 27. The foot sole 234 includes a first support 2341 and a second support 2342. One end of the second driven bracket 26 is fixedly connected to the foot pitch actuator 231, and the other end is fixedly connected to the second driven shaft 27. The second driven shaft 27 is rotatably connected to the first support 2341. The second support 2342 is drively connected to the output shaft of the foot yaw actuator 233. The output shaft of the foot yaw actuator 233 is coaxial with the second driven shaft 27. When the foot pitch actuator 231 is working, it drives the foot sole 234 to pitch and rotate. The second driven bracket fixes the housing of the foot pitch actuator 231, and the second driven shaft 27 rotates with the first support 2341 to provide a pitch fulcrum. The foot lateral movement actuator 233 drives the second support 2342 via its output shaft to achieve the lateral movement of the foot 234. The output shaft of the foot lateral movement actuator 233 is coaxial with the second driven shaft 27, ensuring coordinated movement of the two degrees of freedom. When subjected to external force (such as the impact of kicking a ball), the coaxial structure balances the load, preventing unilateral overload. The entire process, through the division of labor between the two supports and the coaxial cooperation, solves the problems of loose structure and inaccurate movement in traditional ankle joints. Optionally, the second driven shaft 27 is rotatably connected to the first support 2341 via a bearing; that is, the outer ring of the bearing is fixedly connected to the first support 2341, and the inner ring of the bearing is fixedly connected to the second driven shaft 27. Optionally, the second support 2342 and the output shaft of the foot lateral movement actuator 233 are connected via a coupling for transmission.

[0036] In some embodiments, the leg sway actuator 212, the thigh lift actuator 214, the knee joint actuator 221, the foot pitch actuator 231, and the foot sway actuator 233 are all equipped with current detectors. Optionally, the current detectors can be potentiometers or encoders. The control system sends commands to each actuator, and the internal circuits of the actuators (such as servos) drive the motor to rotate, amplifying the torque through a reducer to provide power. In addition, real-time current monitoring is fed back to the control system. When an abnormality is detected (such as an external impact causing the current to exceed the limit), the system triggers a stress relief program (such as power cut-off) to avoid structural overload. Throughout the process, multiple actuators (such as multiple servos) work together (e.g., when kicking a ball: the leg sway actuator 212 provides the swing force, the knee joint actuator 221 controls the bending angle, and the ankle and foot pitch actuator 231 and the foot sway actuator 233 adjust the foot posture) to achieve multi-degree-of-freedom anthropomorphic movements. This solves the problems of insufficient degrees of freedom and unnatural movements in traditional robots.

[0037] This utility model also provides a robot, including the robot limbs and torso described above. The torso includes a hand rotation servo and a leg rotation servo. The output shaft of the hand rotation servo is connected to the shoulder joint drive assembly 11, and the output shaft of the leg rotation servo is connected to the hip joint drive assembly 21.

[0038] Optionally, the hip joint drive assembly 21 includes a leg sway actuator 212, a thigh lift actuator 214, and a leg rotation servo, integrating three degrees of freedom to realize the pitch, sway, and rotation of the thigh at the hip joint.

[0039] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. Any equivalent device or equivalent process transformation made based on the content of this application specification and drawings, or directly or indirectly used in other related technical fields, are similarly included in the patent protection scope of this application.

Claims

1. A robotic limb, characterized in that, Including a bionic hand (1) and a bionic leg (2); The bionic hand (1) includes: Shoulder joint drive assembly (11), which is mounted on the robot's body; Elbow joint drive assembly (12), which is drively connected to the output shaft of the shoulder joint drive assembly (11); Wrist brace (13), which is drive-connected to the output shaft of the elbow joint drive assembly (12); and The clamping assembly (14) is kinetically connected to the wrist support (13) and is capable of performing a grasping action; The bionic leg (2) includes: Hip joint drive assembly (21), which is mounted on the robot's body; A knee joint drive assembly (22), which is drive-connected to the output shaft of the hip joint drive assembly (21); and The foot drive assembly (23) is connected to the output shaft of the knee drive assembly (22).

2. The robotic limb according to claim 1, characterized in that: The shoulder joint drive assembly (11) includes a shoulder support (111) and a shoulder actuator (112), the output shaft of which is connected to the shoulder support (111); The elbow joint drive assembly (12) includes an elbow actuator (121) which is fixedly connected to the shoulder actuator (112); The wrist support (13) includes a claw (131), a first connecting part (132), and a second connecting part (133) connected in sequence. The second connecting part (133) is connected to the output shaft of the elbow actuator (121); and The clamping assembly (14) includes a claw (141) and a claw driver (142). The claw (141) is connected to the output shaft of the claw driver (142). The first connecting part (132) is fixedly connected to the claw driver (142). The claw (141) and the claw part (131) cooperate to open or clamp.

3. A robotic limb according to claim 2, characterized in that: It also includes a first connector (15), a second connector (16), and a third connector (17). The first connector (15) includes a first connecting plate (151) and a first side plate (152) connected to both sides of the first connecting plate (151). The second connector (16) includes a second connecting plate (161) and a second side plate (162) connected to both sides of the second connecting plate (161). The third connector (17) includes a third connecting plate (171) and a second side plate (162) connected to both sides of the third connecting plate (171). The third side plate (172) is fixedly connected to the two sides of the shoulder driver (112), the first side plate (152) is fixedly connected to the second connecting plate (161), the second side plate (162) is fixedly connected to the two sides of the elbow driver (121), the third connecting plate (171) is fixedly connected to the first connecting part (132), and the third side plate (172) is fixedly connected to the two sides of the gripper driver (142).

4. A robotic limb according to claim 2, characterized in that: The shoulder actuator (112), the elbow actuator (121), and the gripper actuator (142) are all servo motors.

5. A robotic limb according to claim 2, characterized in that: The shoulder actuator (112), the elbow actuator (121), and the gripper actuator (142) are all equipped with current detectors.

6. A robotic limb according to claim 1, characterized in that: The hip joint drive assembly (21) includes a hip support (211), a leg swing actuator (212), a leg swing bracket (213), a thigh lift actuator (214), and a thigh bracket (215). The hip support (211) is connected to the output shaft of the leg swing actuator (212). One end of the leg swing bracket (213) is fixedly connected to the leg swing actuator (212), and the other end is fixedly connected to the thigh lift actuator (214). One end of the thigh bracket (215) is connected to the output shaft of the thigh lift actuator (214). The knee joint drive assembly (22) includes a knee joint actuator (221) and a lower leg support (222), with one end of the thigh support (215) fixedly connected to the knee joint actuator (221), and one end of the lower leg support (222) connected to the output shaft of the knee joint actuator (221); and The foot drive assembly (23) includes a foot pitch driver (231), a foot yaw support (232), a foot yaw driver (233), and a foot sole (234). The other end of the calf support (222) is connected to the output shaft of the foot pitch driver (231). One end of the foot yaw support (232) is fixedly connected to the foot pitch driver (231), and the other end is fixedly connected to the foot yaw driver (233). The output shaft of the foot yaw driver (233) is connected to the foot sole (234).

7. A robotic limb according to claim 6, characterized in that, It also includes a first driven shaft (24) and a first driven bracket (25). The two sides of the first driven bracket (25) are fixedly connected to the two sides of the leg swing actuator (212). One end of the first driven shaft (24) is rotatably connected to the first driven bracket (25), and the other end is fixedly connected to the hip bracket (211). The first driven shaft (24) is concentric with the output shaft of the leg swing actuator (212).

8. A robotic limb according to claim 6, characterized in that, The leg yaw actuator (212), the thigh lift actuator (214), the knee joint actuator (221), the foot pitch actuator (231), and the foot yaw actuator (233) are all servo motors.

9. A robotic limb according to claim 6, characterized in that, It also includes a second driven bracket (26) and a second driven shaft (27). The foot (234) includes a first support (2341) and a second support (2342). One end of the second driven bracket (26) is fixedly connected to the foot pitch driver (231), and the other end is fixedly connected to the second driven shaft (27). The second driven shaft (27) is rotatably connected to the first support (2341). The second support (2342) is drively connected to the output shaft of the foot yaw driver (233). The output shaft of the foot yaw driver (233) is coaxial with the second driven shaft (27).

10. A robot, characterized in that, The robot includes the limbs and torso of any one of claims 1 to 9, wherein the torso includes a hand rotation servo and a leg rotation servo, the output shaft of the hand rotation servo is connected to the shoulder joint drive assembly (11) and the output shaft of the leg rotation servo is connected to the hip joint drive assembly (21).

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