Thigh of doll robot, doll robot, and manufacturing method

Abstract

The present invention provides a femur of a doll robot, a doll robot, and a manufacturing method thereof. [Solution] The thigh has a one-piece molded structure, with each component integrally molded using a selective laser melting process and no mechanical connecting joints. The thigh includes a skeleton, skin, and a first isodense lattice filled between the skeleton and skin. The skeleton has a "local case thickening + second isodense lattice" structure, with the skin being a thin case of the same thickness, integrating the skeleton and skin, and the first isodense lattice added between the skeleton and skin. The skeleton includes a case, a first reinforcing plate, a second reinforcing plate, and a second isodense lattice filled in the skeleton's internal space. This invention effectively avoids vibration problems caused by the mechanical connections of plastic exterior components during robot movement, saves leg component assembly time, simplifies layout design, and effectively reduces the total weight of the leg components provided that their rigidity meets usage requirements, thereby contributing to extending the service life of the thigh components.

Description

[Technical Field]

[0001] The present invention relates to the field of precision manufacturing of humanoid robots, and more particularly to a femur of a humanoid robot, a humanoid robot, and a manufacturing method thereof. [Background technology]

[0002] Doll robots are a symbolic achievement of biomimetic mechanics, and because their appearance and joint layout are both similar to those of the human body, they have human-like joint flexibility and can theoretically complete a variety of human limb movements, showing great potential in applications such as performing various heavy and monotonous labor and disaster relief on behalf of humans. Currently, with the promotion of artificial intelligence technology, doll robots are equipped with functions such as group core computing and machine vision, and can interact well with humans, so they may make great strides in accompanying the elderly and children in the future, and are a type of robot that countries are competing to develop.

[0003] To meet the functional requirements of robots in the above-mentioned application scenarios, the robot's structure, particularly the main support of the lower limbs, such as the thigh, lower leg, and leg plate, must be lightweight and strong. These characteristics reduce the rotational inertia of the structure during movement, thereby improving the positioning accuracy of the puppet robot when performing complex gestures and other movements. At the same time, the robot's appearance must be in line with human aesthetics. A beautiful appearance enhances human favorability and builds an emotional foundation for human-machine interaction. Furthermore, robot components must be highly integrated. Currently, robot thigh components have many components and are mechanically connected. However, these connections are more prone to failure than the base. Reducing the number of connections can extend the service life of the components and increase the robot's operating time.

[0004] To address the above functional needs, this invention uses selective laser melting technology to design a "structure-appearance" integrated femur for a humanoid robot. The femur is divided into a force-bearing section and an outer section. The force-bearing section is designed with a "locally thickened case + equal-density lattice" configuration, and the outer section is installed as a thin case of the same thickness. An equal-density lattice is installed in the cavity between the force-bearing section and the outer section, integrating the force-bearing section and the outer section into a single unit. Each part of the femur is formed as a whole using the selective laser melting process, with no mechanical connecting joints. The femur is lightweight and strong, and its integrated appearance meets and closely matches human aesthetic needs. It also reduces the number of connecting parts, thereby extending the service life of the robot's lower limb parts. Summary of the Invention [Problem to be solved by the invention]

[0005] In view of the deficiencies of the prior art, an object of the present invention is to provide a thigh of a doll robot, a doll robot, and a manufacturing method thereof. [Means for solving the problem]

[0006] The object of the present invention is achieved by the following solutions.

[0007] A first aspect of an embodiment of the present invention provides a thigh for a humanoid robot, the thigh being a one-piece structure, each part of which is integrally formed by a selective laser melting process; the thigh comprises a skeleton, skin, and a first isopycnal grid; the skeleton includes a case, a first reinforcing plate, a second reinforcing plate, and a second isopycnic lattice, two first reinforcing plates are symmetrically provided at an upper end of the case, the second reinforcing plate is provided at a lower end of the case, and the second isopycnic lattice fills an excess space in the skeleton after the case, the first reinforcing plate, and the second reinforcing plate are removed; The upper end of the skin is provided with a second motor mounting portion, a hip motor housing, and a second motor mounting locking mechanism, the hip motor housing surrounds the second motor mounting portion, and the second motor mounting locking mechanism is provided below the second motor mounting portion, the middle part of the skin is provided with a PCB board mounting groove and a PCB cover plate mounting portion on one side and a decorative plate mounting groove and a decorative plate mounting portion on the other side, the middle part of the skin is provided with a second communication line groove, and the lower end of the skin is provided with a second bearing mounting groove and a second bearing end cover bonding portion, The first isopycnic lattice is filled between the skeleton and the skin.

[0008] Furthermore, the material used in the femur is aluminum-magnesium-scandium-zirconium, and the process used in the femur is laser metal 3D printing.

[0009] Furthermore, a first motor mounting portion and a first motor mounting locking mechanism are provided at the upper end of the case, and the first motor mounting locking mechanism is provided below the first motor mounting portion, a lightening groove, a first communication line groove, a motor power line groove, and a sloped portion are provided in a middle portion of the case, and the lightening groove is located above the sloped portion; A first bearing mounting groove and a first bearing end cover bonding portion are provided at the lower end of the case.

[0010] Furthermore, the thickness of the case is 2.1 mm to 2.5 mm, The thickness of the skin is 1 / 3 to 1 / 2 of the thickness of the case.

[0011] Furthermore, the upper end of the first reinforcing plate is connected to the bottom groove surface of the first motor mounting latch, and the lower end of the first reinforcing plate is connected to the vertical wall surface of the case.

[0012] Furthermore, both the first reinforcing plate and the second reinforcing plate are provided with powder leakage holes, the powder leakage hole is elliptical, its major axis is parallel to the longitudinal direction of the corresponding first reinforcing plate or second reinforcing plate, and the length of its minor axis is not more than half the width of the corresponding first reinforcing plate or second reinforcing plate; The diameter of the powder leakage hole is 3 to 4 mm.

[0013] Furthermore, the first isopycnic lattice and the second isopycnic lattice have the same cell structure parameters, and the cell structure parameters include a cell side length, a rod diameter, and an inclination angle; In both the first isopycnic lattice and the second isopycnic lattice, the ratio of the rod diameter to the cell side length is 1 / 7 to 1 / 9, and the rod diameter is 0.5 mm or more.

[0014] Furthermore, the interface area between the case and the second isopycnic lattice provides a secure connection due to the over-contact of the second isopycnic lattice, and the interface area between the case, the skin and the first isopycnic lattice provides a secure connection due to the over-contact of the first isopycnic lattice.

[0015] A second aspect of an embodiment of the present invention provides a doll robot, the doll robot comprising a robot body and a thigh of the doll robot.

[0016] A third aspect of the embodiment of the present invention provides a method for manufacturing the thigh of the above-mentioned doll robot, which includes steps S1 to S9, In the step S1, three gaits of the doll robot's motion, namely, landing, starting, and standing on both feet, are extracted, and boundary condition features and load values ​​of the doll robot's thighs in the three gaits are analyzed; In the step S2, an initial model including industrial design elements is designed for the thigh of the doll robot; In step S3, boundary condition characteristics and load values ​​are set in the initial model, topology calculation is performed, and material distribution characteristics are analyzed; In step S4, regions in the initial model where material should be removed after topology calculation are identified, and material removal is completed in those regions to form a skeleton; In step S5, a case extraction process is performed on the skeleton to form a skeleton case, and local thickening is performed on the case. In step S6, the internal space of the skeleton case is filled with the second isopycnic lattice, and the case and the second isopycnic lattice are combined by an over-contact method; In step S7, case extraction is performed on the initial model to form a skin. In step S8, the space between the skin and the skeleton case is filled using the first isopycnic lattice, and the first isopycnic lattice and the case are combined in an over-contact manner; In step S9, the skeleton, skin and first isopycnic grid are combined in a unified coordinate system to form a lightweight and integrated thigh of a humanoid robot. [Effects of the Invention]

[0017] The present invention has the following advantageous effects: The femur of the present invention is manufactured using a material with higher strength than ordinary aluminum. The design utilizes topology design techniques, resulting in a lightweight yet high-strength component. This means that the weight is 50% lighter than the actual component, and the strength meets the requirements for use through simulation. The femur of the present invention has an integrated molded structure, and its integrated appearance maximizes the appearance contours formed by industrial design, more closely meeting human aesthetic needs. Compared with the conventional machined structure plus plastic housing, the number of connections can be reduced, contributing to a longer service life for the femur. The present invention effectively avoids the vibration problem caused by the mechanical connection of plastic exterior components during robot movement, saves leg assembly time, simplifies layout design, and effectively reduces the total weight of the leg components, provided that the rigidity meets the requirements for use. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram of the three-dimensional structure of the thigh of the doll robot in the present invention. [Figure 2] FIG. 1 is a schematic diagram of the three-dimensional structure of the skeleton in the present invention. [Figure 3] 1 is a cross-sectional view of a longitudinal section of a skeleton according to the present invention. [Figure 4] FIG. 2 is a cross-sectional view of the longitudinal section of the skeleton of the present invention. [Figure 5] FIG. 1 is a cross-sectional view of a longitudinal section of a second isopycnic lattice packed into a scaffold of the present invention. [Figure 6] 1 is a longitudinal cross-sectional view of the skin according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0019] Reference will now be made in detail to illustrative embodiments, examples of which are illustrated in the drawings. When the following description refers to the drawings, the same reference numerals in different drawings refer to the same or similar elements unless otherwise indicated. The embodiments described in the following illustrative embodiments do not represent all embodiments consistent with the present invention. On the contrary, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0020] The terms used herein are merely for the purpose of describing particular embodiments and are not intended to limit the present invention. As used herein and in the appended claims, the singular forms "a," "the," and "the" are also intended to include the plural forms unless otherwise clearly indicated by the context. It should be understood that the term "and / or" as used herein refers to any and all possible combinations including one or more of the associated listed items.

[0021] It should be understood that although terms such as "first," "second," and "third" are used in the present invention to describe various types of information, the information is not limited to these terms. These terms are used merely to distinguish between information of the same type. For example, first information may be referred to as second information, and similarly, second information may be referred to as first information, without departing from the scope of the present invention. This depends on the context. For example, the word "if" used herein may be interpreted as "when," "when," or "depending on the particular circumstances."

[0022] The present invention will be described in detail below with reference to the drawings. When not in conflict, the features in the following examples and embodiments may be combined with each other.

[0023] Referring to Figure 1, the thigh of the doll robot of the present invention has an integrally molded structure, and each part of the thigh is integrally molded by a selective laser melting process, without any mechanical or welded joints. The thigh comprises a skeleton 1, a skin 2, and a first isodensity lattice filled between the skeleton 1 and the skin 2. The skeleton 1 and the skin 2 are integrally molded by a selective laser melting process, without any mechanical or welded joints. Here, the skeleton 1 is the force-receiving part of the doll robot's thigh, and the force-receiving part is composed of a "locally thickened case 11 + second isodensity lattice 14." The skin 2 is the external part of the doll robot's thigh, and the external part has an equal thickness, and the first isodensity lattice is provided in the cavity between the external part and the force-receiving part, so that the force-receiving part and the external part are integrally molded.

[0024] Preferably, the material employed in the femur is aluminum-magnesium-scandium-zirconium and the process employed in the femur is laser metal 3D printing.

[0025] It should be noted that in the thigh model design stage, the skeleton 1 and the skin 2 are designed independently, and then the models of the skeleton 1 and the skin 2 are combined in the same coordinate system, and then the combined body is integrated and molded by the selective laser melting process. Therefore, the entire thigh of the doll robot described in this invention is a one-piece molded structure.

[0026] It should be understood that the selective laser melting process is a kind of metal processing process, and the selective laser melting process can be used to process grooves, drill holes, etc. on the composite thigh, which contributes to improving the rigidity of the thigh structure and also meets the wiring requirements for electric wires and communication lines.

[0027] In this embodiment, as shown in Figures 3 and 4, the skeleton 1 includes a case 11, a first reinforcing plate 12, a second reinforcing plate 13, and a second isopycnic lattice 14. Here, two first reinforcing plates 12 are symmetrically provided at the upper end of the case 11, a second reinforcing plate 13 is provided at the lower end of the case 11, and the second isopycnic lattice 14 fills the surplus space in the skeleton 1 after the case 11, the first reinforcing plate 12, and the second reinforcing plate 13 have been removed.

[0028] It should be understood that the skeleton 1 is a hollow structure, the exterior of which is a case 11, and the internal structure of which includes a first reinforcing plate 12 and a second reinforcing plate 13, and the hollow interior portion is filled with a second isopycnic lattice 14.

[0029] Furthermore, the upper end of the case 11 is provided with a first motor mounting portion 111 and a first motor mounting locking portion 112 for mounting a motor. The first motor mounting locking portion 112 is provided below the first motor mounting portion 111. The motor is mounted to the first motor mounting portion 111, and the first motor mounting locking portion 112 locks the motor to prevent it from moving. The middle portion of the case 11 is provided with a lightening groove 113, a first communication line groove 114, a motor power line groove 117, and a sloped portion 118. The lightening groove 113 is located above the sloped portion 118. The provision of the lightening groove 113 contributes to reducing the weight of the thigh, which is advantageous for a lightweight design. The first communication line groove 114 can accommodate communication lines, allowing for more organized wiring throughout the thigh structure. The motor power line groove 117 can accommodate motor power lines, allowing for more organized wiring throughout the thigh structure. The sloped portion 118 may be used to transmit force. The lower end of the case 11 is provided with a first bearing mounting groove 115 and a first bearing end cover bonding portion 116. The first bearing mounting groove 115 is used to mount a knee bearing. During mounting, the knee bearing is mounted in the first bearing mounting groove 115, and the knee bearing is bonded to the first bearing end cover bonding portion 116 of the first bearing mounting groove 115. After that, the knee bearing is fixed with a bearing cover to prevent it from slipping out of the first bearing mounting groove 115 after long-term use. The bearing cover and the thigh are connected with screws, as shown in FIG. 2.

[0030] It should be understood that the assembly position of the thigh-mounted motor and bearing must leave a machining margin of 0.5 mm to 1.5 mm to ensure machining accuracy. The case 11 is a continuous case and includes the entire outline of the skeleton 1.

[0031] Furthermore, the thickness of the case 11 is 2.1 mm to 2.5 mm. It should be understood that the thickness of the case 11 is generally 2.1 mm or more and 2.5 mm or less.

[0032] Furthermore, the case 11 is locally thickened. The thickened portions are the screw hole walls, the bearing hole walls, and the positioning pin hole walls, and the thickened thickness is twice the normal thickness.

[0033] Furthermore, bolt holes are provided uniformly distributed in the axial direction on the first motor mounting portion 111. The four surfaces on the first motor mounting locking portion 112 that mate with the motor have an upper deviation of 0.05 mm or less and a lower deviation of 0 mm.

[0034] Furthermore, the length of the lightening groove 113 is 1 / 4 to 1 / 3 of the length of the skeleton 1, and the width is approximately 1 / 2 of the width of the case 11 in that region.

[0035] Furthermore, the inclination angle of slope portion 118 with respect to the longitudinal direction of the thigh is 45° to 60°, that is, the inclination angle of slope portion 118 with respect to the longitudinal direction of the thigh is 45° or more and 60° or less. As shown in Fig. 3, the radius of the transition region between slope portion 118 and the vertical plane of skeleton 1 is 5 mm or more and 10 mm or less.

[0036] 3, the upper end of the first reinforcing plate 12 is connected to the bottom groove surface of the first motor mounting locking member 112, and the lower end of the first reinforcing plate 12 is connected to the vertical wall surface of the case 11. The lower end of the first reinforcing plate 12 reaches a position 1 / 3 to 2 / 3 of the way along the length of the lightening groove 113.

[0037] Furthermore, a powder leakage hole 121 is provided in both the first reinforcing plate 12 and the second reinforcing plate 13. The powder leakage hole 121 is elliptical, with its major axis parallel to the longitudinal direction of the corresponding first reinforcing plate 12 or second reinforcing plate 13, and its minor axis being equal to or less than half the width of the corresponding first reinforcing plate 12 or second reinforcing plate 13. That is, the powder leakage hole 121 provided in the first reinforcing plate 12 has its major axis parallel to the longitudinal direction of the first reinforcing plate 12, and its minor axis being equal to or less than half the width of the first reinforcing plate 12. The diameter of the powder leakage hole 121 is 3 to 4 mm. It should be noted that the location of the powder leakage hole 121 should be hidden as much as possible.

[0038] Furthermore, the cell structure parameters of the first isopycnic grid and the second isopycnic grid 14 are the same, and the cell structure parameters include the cell side length, the rod diameter, and the tilt angle.

[0039] Furthermore, the cells of the second isopycnic lattice 14 have a body-centered cubic structure, and the cell type of the second isopycnic lattice 14 can change the vertical side length based on the body-centered cubic structure, and the range in which the side length can be changed is 1 to 1.5 times the original side length.

[0040] Furthermore, the ratio of the rod diameter to the cell side length of both the first isopycnic lattice and the second isopycnic lattice 14 is 1 / 7 to 1 / 9, and the rod diameter is 0.5 mm or more. As shown in Figure 5, the second isopycnic lattice 14 has a cell side length of 4 mm and a rod diameter of 0.5 mm.

[0041] Furthermore, the orientation of the second isopycnic lattice 14 and the first isopycnic lattice is parallel to the longitudinal direction of the thigh.

[0042] In this embodiment, the skin 2 may be understood as a case after the entire thigh contour has been extracted. As shown in FIG. 6 , the upper end of the skin 2 is provided with a second motor mounting portion 21, a hip motor housing 22, and a second motor mounting locking mechanism 23. The hip motor housing 22 surrounds the second motor mounting portion 21, and the second motor mounting locking mechanism 23 is provided below the second motor mounting portion 21. The motor is mounted to the second motor mounting portion 21, and the second motor mounting locking mechanism 23 locks the motor. In this way, the motor is prevented from moving, and the hip motor housing 22 surrounds the mounted motor. The middle portion of the skin 2 is provided with a PCB board mounting groove 24 and a PCB cover plate mounting portion 25 on one side and a decorative plate mounting groove 29 and a decorative plate mounting portion 30 on the other side. A second communication line groove 28 is also provided in the middle portion of the skin 2. Here, the PCB board is attached to the PCB mounting groove 24, and then the PCB cover plate is attached to the PCB cover plate mounting portion 25. In this way, the PCB board can be covered and protected when attached to the inside of the thigh. A decorative plate mounting groove 29 and a decorative plate mounting portion 30 are provided on the outside of the thigh, and these two work together to mount the decorative plate. During installation, the decorative plate is attached to the decorative plate mounting groove 29, thereby bonding the decorative plate and the decorative plate mounting portion 30 together. A second bearing mounting groove 26 and a second bearing end cover bonding portion 27 are provided at the lower end of the skin 2 for mounting a knee bearing. During installation, the knee bearing is attached to the second bearing mounting groove 26, and the knee bearing is bonded to the second bearing end cover bonding portion 27 of the second bearing mounting groove 26. The knee bearing is then secured with a bearing cover to prevent it from slipping out of the second bearing mounting groove 26 over long-term use. The bearing cover and the thigh are connected with screws.

[0043] Furthermore, as shown in FIG. 1, the contour of the skin 2 and the contour of the thigh are perfectly aligned, the contour of the skin 2 is the contour of the thigh itself, and the appearance of the skin 2 is the appearance of the thigh itself.

[0044] Furthermore, the structural positions of the skin 2 and the skeleton 1 correspond to each other. For example, as shown in Figures 2 and 6, the first motor mounting locking portion 112 on the skeleton 1 corresponds to the position of the second motor mounting locking portion 23 on the skin 2, and the position of the lightening groove 113 on the skeleton 1 corresponds to the positions of the PCB board mounting groove 24 and the PCB cover plate mounting portion 25 on the skin 2.

[0045] Furthermore, the thickness of each part of the skin 2 is the same, and the thickness of the skin 2 is 1 / 3 to 1 / 2 of the thickness of the case 11. It should be understood that the skin 2 is a thin metal case of the same thickness, and the thickness of the skin 2 is 1 / 3 to 1 / 2 of the thickness of the case 11. After the thickness of the skin 2 is specified, an error of 0.2 mm or less is generally allowed.

[0046] Furthermore, the overlapping area between skin 2 and case 11 is set according to the thickness of case 11.

[0047] Furthermore, the transition area from the overlap area between the skin 2 and the case 11 to the non-overlapping area is rounded with a radius of 0.5 mm or more, which makes it possible to prevent the transition area from cracking during 3D printing.

[0048] Furthermore, the motor power line and communication line smoothly transition at the transfer position between the two parts, the skeleton 1 and the skin 2, and are free from defects such as steps or protrusions.

[0049] Furthermore, the interface area between the case 11 and the second isopycnic lattice 14 ensures a secure connection due to the over-contact of the second isopycnic lattice 14, and the interface area between the case 11, the skin 2 and the first isopycnic lattice ensures a secure connection due to the over-contact of the first isopycnic lattice.

[0050] Furthermore, the motor power line groove 117 is provided close to the rear side of the thigh and does not interfere with the PCB board mounting groove 24 and the lightening groove 113 on the inside of the thigh.

[0051] An embodiment of the present invention further provides a doll robot, which comprises a robot body and the thigh of the doll robot according to any one of the above embodiments.

[0052] Moreover, the embodiment of the present invention further provides a method for manufacturing a thigh of a doll robot.

[0053] The method for manufacturing the thigh of a doll robot of the present invention specifically includes the following steps S1 to S9.

[0054] In S1, the three main gaits of the doll robot's movement, namely, landing, taking off, and standing on both feet, are extracted, and the boundary condition characteristics and load values ​​of the doll robot's thighs in the three main gaits are analyzed.

[0055] For example, the direction and magnitude of the force applied to the thigh structure at the moment of landing, as well as the torque of the knee joint motor, can be measured by dynamic simulation.

[0056] In S2, an initial model of the femur of a doll robot is designed, including the appearance elements of industrial design.

[0057] Specifically, the initial model can be seen in Figure 1. The initial model is solid and can be divided into a skeleton 1 and a skin 2. Subsequent operations such as case extraction and isopycnal filling are all performed based on the initial model.

[0058] In S3, boundary condition characteristics and load values ​​are set in the initial model, topology calculation is performed, and the material distribution characteristics are analyzed after ensuring the installation of the first communication line groove 114 and the motor power line groove 117.

[0059] Specifically, the lower end of the dummy robot's thigh and the bearing mounting surface are set as fixed constraints with six degrees of freedom, effectively fixing the lower end. When the dummy robot's thigh touches the ground while facing downward, the upper end of the thigh experiences a very large impact force. If this impact force is equivalent to a downward load, the load value becomes a value of 2400 N. Therefore, a vertical downward load of 2400 N is set at the center of the first motor mounting part 111 at the upper end of the thigh, and a counterclockwise torque of 200 Nm is set. The torque simulates the load the dummy robot's thigh experiences when the motor rotates independently and the dummy robot remains stationary in a stepping position. This load is expressed in the form of a moment. Since the maximum output moment of the motor in this embodiment is 200 Nm, a counterclockwise torque of 200 Nm is set in this embodiment. Only after the boundary condition characteristics and load values ​​described above are set in the initial model can topology calculation be performed. By analyzing the distribution characteristics of the material while preserving the first communication line groove 114 and the motor power line groove 117, it is possible to determine the distribution characteristics of areas with high stress, areas with low stress, etc. This allows the low stress areas to be removed later, while high stress means that the area is receiving a large force and needs to be reinforced.

[0060] In S4, regions in the initial model where material should be removed after topology calculation are identified, and material removal in those regions is completed to form the skeleton 1.

[0061] Specifically, as shown in FIG. 2, topology software can be used to calculate the area where material should be removed and generate a corresponding effect diagram, and then the area where material should be removed can be recognized in the initial model, and the skeleton 1 can be formed after the removal of the material in that area is completed.

[0062] In S5, a case extraction process is performed on the skeleton 1 to form a skeleton case 11, and local thickening is performed on the case 11.

[0063] Specifically, after the thickness of the case 11 is determined, case extraction is performed on the skeleton 1 at that thickness to form the skeleton case 11. The thickness of special areas such as some relatively important connection locations or areas with relatively large loads, such as screw hole locations, motor mounting surface locations, and bearing bonding surface locations, should be controlled to 3 mm or more. Since additional thickness is required that is different from the thickness in normal locations, it becomes necessary to locally increase the thickness of these special areas of the case 11.

[0064] In S6, the second isopycnic lattice 14 is used to fill the internal space of the skeleton 1 after the case is extracted, and the case 11 and the second isopycnic lattice 14 are combined by the over-contact method.

[0065] It should be understood that the over-contact method may also be understood as negative contact, i.e., the second isopycnic lattice 14 not only grows into the case and into the internal space after the case extraction of the skeleton 1, but may also exceed the boundary.

[0066] In S7, case extraction is performed on the initial model to form skin 2.

[0067] Specifically, after the thickness of the skin 2 is identified, the skin 2 can be formed by performing a case extraction process on the initial model with that thickness.

[0068] In S8, the first isopycnic lattice is used to fill the space between the skin 2 and the skeletal case 11, and the first isopycnic lattice and the case 11 are combined in an over-contact manner.

[0069] In S9, the skeleton 1, skin 2 and first isopycnic grid are combined in a unified coordinate system to form a lightweight and integrated thigh of a humanoid robot.

[0070] Thus, the manufacturing principle of the method for manufacturing the femur of the doll robot specifically includes the following: The force-bearing portion of the present invention is constructed by performing topology calculations to obtain material distribution characteristics under specified operating conditions, and then reconstructing the force-bearing portion configuration based on the material distribution characteristics. This design theoretically has the advantages of being lightweight and strong. To further reduce weight, the force-bearing portion is designed as a "case + lattice" configuration, with the case 11 being thicker than the skin 2 of the exterior portion. The case 11 of the force-bearing portion is the most important force-bearing component of the entire structure, and the thickness of the case 11 is increased in areas where stress concentration may occur. To improve the rigidity of the force-bearing portion while eliminating the support remaining within the cavity during the 3D printing process, a three-dimensional spatial lattice is filled into the cavity within the force-bearing portion. A constant-density lattice can be specifically selected as the three-dimensional spatial lattice. Filling with the constant-density lattice improves the rigidity of the case 11. The exterior portion employs a thin-walled skin 2, with the skin 2 being thinner than the case 11 of the force-bearing portion. In order to improve the accuracy of the print size of the exterior part and avoid adding or removing support in the internal dead space, the cavity between the exterior skin 2 and the case 11 of the force-receiving part is also filled with an isodensity lattice. Regarding the assembly surface of the structure, considering the low printing accuracy of the 3D printing process, sufficient margin is left in the dimensions of the assembly surface, and excess parts are removed by machining to ensure the weight reduction effect.

[0071] The features of the present invention are as follows: (1) The thigh of a humanoid robot is divided into a force-bearing part and an exterior part, and the two parts are integrated into one body, which is then molded into one body using a metal 3D printing process. (2) The configuration of the force-bearing part is obtained using a topology design method, and a subtractive method is used to obtain a reconstructed model based on the original initial model, taking into account the influence of electrical and communication wires on the structural rigidity of the wiring inside the thigh. (3) The force-bearing part is extracted as a case 11 with locally increased thickness, and the internal cavity is filled with a second isopycnic grid 14. (4) In the overlapping area between the exterior part and the force-bearing part, the thickness of the case 11 is processed according to the thickness of the force-bearing part case 11. (5) In the overlapping area between the exterior part and the force-bearing part, the external contour of the structure is maintained constant. (6) The area between the force-receiving portion case 11 and the external skin portion 2 is filled with a first isopycnic lattice, and the parameters of the first isopycnic lattice in that area are the same as the parameters of the second isopycnic lattice 14 inside the force-receiving portion.

[0072] The above embodiments are merely for the purpose of illustrating the design concepts and features of the present invention, and are intended to enable those skilled in the art to understand and practice the present invention. The scope of protection of the present invention is not limited to the above embodiments. Therefore, any equivalent changes or modifications made based on the principles and design ideas disclosed in the present invention are also included within the scope of protection of the present invention. [Explanation of symbols]

[0073] 1. Skeleton 11 cases 111 First motor mounting part 112 First motor installation locking mechanism 113 Lightening groove 114 First Communication Line Groove 115 First bearing mounting groove 116 First bearing end cover bonding part 117 Motor power line groove 118 Slope section 12 First reinforcing plate 13 Second reinforcing plate 14 Second isopycnal grid 2 skin 21 Second motor mounting section 22 Hip motor housing 23 Second motor installation locking mechanism 24 PCB board mounting groove 25 PCB cover plate mounting section 26 Second bearing mounting groove 27 Second bearing end cover bonding section 28 Second Communication Line Groove 29 Decorative panel mounting groove 30 Decorative panel mounting section

Claims

1. A thigh of a doll robot, the thigh is a one-piece structure, each part of which is formed by a selective laser melting process; The thigh comprises a skeleton (1), a skin (2), and a first isopycnal grid; The skeleton (1) includes a case (11), a first reinforcing plate (12), a second reinforcing plate (13), and a second isopycnic lattice (14), two first reinforcing plates (12) are symmetrically provided at the upper end of the case (11), the second reinforcing plate (13) is provided at the lower end of the case (11), and the second isopycnic lattice (14) is filled in the surplus space in the skeleton (1) after the case (11), the first reinforcing plate (12), and the second reinforcing plate (13) have been removed. The upper end of the skin (2) is provided with a second motor mounting portion (21), a hip motor housing (22), and a second motor mounting locking mechanism (23), the hip motor housing (22) surrounds the second motor mounting portion (21), and the second motor mounting locking mechanism (23) is provided below the second motor mounting portion (21), the middle portion of the skin (2) is provided with a PCB board mounting groove (24) and a PCB cover plate mounting portion (25) on one side and a decorative plate mounting groove (29) and a decorative plate mounting portion (30) on the other side, a second communication line groove (28) is provided in the middle portion of the skin (2), and the lower end of the skin (2) is provided with a second bearing mounting groove (26) and a second bearing end cover bonding portion (27), The thigh of a humanoid robot is characterized in that the first isopycnic grid is filled between the skeleton (1) and the skin (2).

2. The thigh of the humanoid robot according to claim 1, characterized in that the material used for the thigh is aluminum, magnesium, scandium, and zirconium, and the process used for the thigh is laser metal 3D printing.

3. A first motor mounting portion (111) and a first motor mounting locking portion (112) are provided at the upper end of the case (11), and the first motor mounting locking portion (112) is provided below the first motor mounting portion (111). A lightening groove (113), a first communication line groove (114), a motor power line groove (117), and a sloped portion (118) are provided in the middle portion of the case (11), and the lightening groove (113) is located above the sloped portion (118); 2. The thigh of a doll robot according to claim 1, wherein a first bearing mounting groove (115) and a first bearing end cover bonding portion (116) are provided at the lower end of said case (11).

4. The thickness of the case (11) is 2.1 mm to 2.5 mm, 2. The thigh of a doll robot according to claim 1, wherein the thickness of said skin (2) is 1 / 3 to 1 / 2 of the thickness of the case (11).

5. 2. The thigh of the dummy robot according to claim 1, wherein the upper end of said first reinforcing plate (12) is connected to the bottom groove surface of the first motor mounting locking member (112), and the lower end of said first reinforcing plate (12) is connected to the vertical wall surface of the case (11).

6. Both the first reinforcing plate (12) and the second reinforcing plate (13) are provided with powder leakage holes (121), The powder leakage hole (121) is elliptical, its major axis is parallel to the longitudinal direction of the corresponding first reinforcing plate (12) or second reinforcing plate (13), and the length of its minor axis is 1 / 2 or less of the width of the corresponding first reinforcing plate (12) or second reinforcing plate (13), 2. The thigh of a humanoid robot according to claim 1, wherein the diameter of said powder leakage hole (121) is 3 to 4 mm.

7. The cell structure parameters of the first isopycnic lattice and the second isopycnic lattice (14) are the same, and the cell structure parameters include a cell side length, a rod diameter, and an inclination angle; The thigh of the doll robot according to claim 1, characterized in that the ratio of the rod diameter to the cell side length of the first isopycnic lattice and the second isopycnic lattice (14) is 1 / 7 to 1 / 9, and the rod diameter is 0.5 mm or more.

8. 2. The thigh of a doll robot according to claim 1, wherein the interface area between the case (11) and the second isopycnic lattice (14) achieves a secure connection by an over-contact method in which the second isopycnic lattice (14) grows into the inside of the case (11), and the interface area between the case (11), the skin (2) and the first isopycnic lattice achieves a secure connection by an over-contact method in which the first isopycnic lattice grows into the inside of the case (11).

9. The robot body, A doll robot comprising the thigh of the doll robot according to any one of claims 1 to 8.

10. A method for manufacturing a thigh of a doll robot according to any one of claims 1 to 8, Including steps S1 to S9, In the step S1, three gaits of the doll robot's motion, namely, landing, starting, and standing on both feet, are extracted, and boundary condition features and load values ​​of the doll robot's thighs in the three gaits are analyzed; In step S2, an initial model of the thigh of the doll robot is designed. In step S3, boundary condition characteristics and load values ​​are set in the initial model, topology calculation is performed, and material distribution characteristics are analyzed. In step S4, regions in the initial model where material should be removed after topology calculation are identified, and material removal in those regions is completed to form a skeleton (1); In step S5, a case extraction process is performed on the skeleton (1) to form a skeleton case (11), and local thickening is performed on the case (11). In step S6, the internal space of the skeleton (1) after the case is extracted is filled with the second isopycnic lattice (14), and the case (11) and the second isopycnic lattice (14) are combined by an over-contact method in which the second isopycnic lattice (14) grows into the inside of the case (11); In step S7, case extraction is performed on the initial model to form the skin (2), In step S8, the space between the skin (2) and the skeletal case (11) is filled with the first isopycnic lattice, and the first isopycnic lattice and the case (11) are combined by an over-contact method in which the first isopycnic lattice grows into the inside of the case (11); In the step S9, the skeleton (1), the skin (2) and the first isopycnic grid are combined in a unified coordinate system to form a lightweight and integrated thigh of a doll robot.

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