Robot leg mechanism and robot

Abstract

A robot leg mechanism and a robot. The leg mechanism comprises a hip rotation servo (13), a first connecting member (14), a thigh structural member (15), a shank structural member (19), an anterior hip servo (16), an anterior knee servo (17), and a first linkage structure (18); the hip rotation servo (13) is used for driving the thigh structural member (15) to rotate; the anterior hip servo (16) is used for driving the thigh structural member (15) to swing back and forth; the anterior knee servo (17) is used for driving the shank structural member (19) to swing back and forth relative to the thigh structural member (15); a motion output end of the hip rotation servo (13) is fixedly connected to the first connecting member (14); the anterior hip servo (16) and the anterior knee servo (17) are both arranged on the thigh structural member (15); a motion output end of the anterior hip servo (16) is fixedly connected to the first connecting member (14); and a motion output end of the anterior knee servo (17) is transmittingly connected to the shank structural member (19) by means of the first linkage structure (18). The anterior knee servo is arranged on the thigh structural member, raising the center of gravity of the leg structure, and reducing the torque requirements for the servo, thereby improving the response speed of a robot.

Description

Robot leg mechanism and robot

[0001] The present application claims priority to the Chinese patent application No. 202411390033.1, filed on September 30, 2024 in the China Patent Office and entitled "Robot leg mechanism and robot", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application belongs to the technical field of intelligent devices, more specifically, it relates to a robot leg mechanism and a robot. BACKGROUND

[0003] In recent years, the field of robots has developed rapidly, and there are many industrial robots, exploration robots, rescue robots, service robots and humanoid robots. Among them, the humanoid robot can realize similar actions to human actions, for example, the leg of the humanoid robot can realize hip rotation, hip forward swing, hip side swing and other actions. Therefore, the leg mechanism of the humanoid robot has complex actions and a large number of rudders, which results in a low center of gravity of the leg mechanism, increases the torque demand of the rudders and reduces the corresponding speed of the robot. TECHNICAL PROBLEM

[0004] The purpose of the embodiments of the present application is to provide a robot leg mechanism and a robot to solve the technical problems of low center of gravity of the leg mechanism, high torque demand of the rudders and slow response speed in the prior art. TECHNICAL SOLUTION

[0005] To achieve the above purpose, the technical solution adopted by the present application is to provide a robot leg mechanism, comprising a hip rotation rudder, a first connecting piece, a thigh structural member, a lower leg structural member, a hip front rudder, a knee front rudder and a first connecting rod structure, the hip rotation rudder is used to drive the thigh structural member to rotate, the hip front rudder is used to drive the thigh structural member to swing forward and backward, the knee front rudder is used to drive the lower leg structural member to swing forward and backward relative to the thigh structural member, the movement output end of the hip rotation rudder is fixedly connected with the first connecting piece, the hip front rudder and the knee front rudder are both arranged on the thigh structural member, the movement output end of the hip front rudder is fixedly connected with the first connecting piece, and the movement output end of the knee front rudder is drivingly connected with the lower leg structural member through the first connecting rod structure.

[0006] In the above scheme, the robot leg mechanism comprises a hip rotation steering engine, a first connecting piece, a thigh structural piece, a shank structural piece, a hip front steering engine, a knee front steering engine and a first connecting rod structure, the hip rotation steering engine drives the thigh structural piece and the shank structural piece to rotate together, the hip front steering engine is used to drive the thigh structural piece and the shank structural piece to swing forward and backward together, the knee front steering engine is arranged on the thigh structural piece and drives the shank structural piece to rotate through the first connecting rod structure to realize the rotation of the knee joint. Compared with arranging the knee front steering engine at the knee joint, the gravity center of the leg structure is improved, the torque demand of the steering engine is reduced, and the response speed of the robot is improved.

[0007] Optionally, the thigh structural piece is provided with a first mounting hole, and a plurality of first connecting holes for fixed connection with the hip front steering engine are arranged on the periphery of the first mounting hole; the thigh structural piece is provided with a second mounting hole, and a plurality of second connecting holes for fixed connection with the knee front steering engine are arranged on the periphery of the second mounting hole.

[0008] In the above scheme, the thigh structural piece is a plate-shaped structural piece, which is neither a frame-shaped structural piece nor a plurality of plate-shaped structural pieces arranged side by side. The mounting mode of the hip front steering engine and the knee front steering engine penetrating through the thigh structural piece can make the structure of the thigh structural piece simpler and the weight lighter.

[0009] Optionally, the hip front steering engine is arranged to penetrate through the first mounting hole, and the axial middle part of the hip rotation steering engine is fixedly connected at the first mounting hole; the knee front steering engine is arranged to penetrate through the second mounting hole, and the axial middle part of the knee front steering engine is fixedly connected at the second mounting hole.

[0010] In the above scheme, both ends of the hip rotation steering engine are exposed, one of which is a motion output end, which is convenient for mutual connection with the first connecting piece. Both ends of the knee front steering engine are exposed, one of which is a motion output end, which is convenient for mutual connection with the first connecting rod. Moreover, the axial middle part of the hip rotation steering engine and the axial middle part of the knee front steering engine are connected to the thigh structural piece, which can make the mass distribution of the leg mechanism in the axial direction more balanced.

[0011] Optionally, the first connecting piece comprises a first mounting plate, a second mounting plate arranged in spaced relation with the first mounting plate, and a first connecting plate connecting the first mounting plate and the second mounting plate; the motion output end of the hip front steering engine is fixedly connected with the first connecting plate, one axial end of the hip front steering engine is the motion output end thereof and is fixedly connected with the first mounting plate, and the other axial end of the hip front steering engine is rotationally supported with the second mounting plate.

[0012] In the scheme, the first connecting piece in the U shape can simultaneously connect the movement output end of the hip front rudder and the movement output end of the hip rotation rudder, support both axial ends of the hip front rudder, and make the hip front rudder more stable when rotating.

[0013] Optionally, the first connecting rod structure comprises a first swing piece, a second swing piece and a first rod piece, the first swing piece is fixedly connected with the movement output end of the knee front rudder, and two ends of the first rod piece are rotationally connected with the first swing piece and the second swing piece respectively, and the second swing piece is fixedly connected with the lower leg structure.

[0014] In the scheme, the first connecting rod structure forms a four-bar mechanism through the first swing piece, the second swing piece and the first rod piece in transmission connection, and the movement of the movement output end of the knee front rudder is transmitted to the lower leg structure.

[0015] Optionally, the lower leg structure has a first hinged part rotationally connected with the upper leg structure, and the second swing piece is fixedly connected with the first hinged part, so that the rotation axis of the second swing piece is coaxially arranged with the rotation axis of the lower leg structure.

[0016] In the scheme, when the first rod piece drives the second swing piece to swing, the lower leg structure is directly driven to swing, the transmission chain is shorter, and the lower leg structure will not be stuck.

[0017] Optionally, the robot leg mechanism further comprises a first ankle rudder, a second ankle rudder, a second connecting rod structure, a third connecting rod structure and a foot plate structure, the first ankle rudder and the second ankle rudder are arranged on the lower leg structure, the lower leg structure is universally connected with the foot plate structure, the first connecting rod structure and the second connecting rod structure are arranged on opposite sides of the lower leg structure respectively, the movement output end of the first ankle rudder is in transmission connection with the foot plate structure through the second connecting rod structure, and the movement output end of the second ankle rudder is in transmission connection with the foot plate structure through the third connecting rod structure.

[0018] In the scheme, the first ankle rudder and the second ankle rudder are arranged on the lower leg structure, away from the ankle joint, so that the mass center of the leg mechanism can be improved.

[0019] Optionally, the first ankle rudder and the second ankle rudder are sequentially arranged along the length direction of the lower leg structure.

[0020] In the scheme, the first ankle rudder and the second ankle rudder are sequentially arranged along the length direction of the lower leg structure, so that the lower leg structure can be a plate-shaped structure, and two plate pieces for mounting the first ankle rudder and the second ankle rudder are not needed.

[0021] Optionally, the lower leg structure is provided with a third mounting hole and a fourth mounting hole, the first ankle rudder passes through the third mounting hole, the second ankle rudder passes through the fourth mounting hole, and the movement output ends of the first ankle rudder and the second ankle rudder are opposite to each other.

[0022] In the above scheme, the first ankle rudder and the second ankle rudder are arranged through the lower leg structure, the axial ends of the first ankle rudder and the second ankle rudder are exposed, and the second connecting rod structure and the third connecting rod structure are conveniently connected. Moreover, the movement output ends of the first ankle rudder and the second ankle rudder are opposite to each other, so that the second connecting rod structure and the third connecting rod structure can be respectively located on opposite sides of the lower leg structure.

[0023] The application further provides a robot comprising the robot leg mechanism. Advantages

[0024] In the above scheme, the robot leg mechanism comprises a hip rotation rudder, a first connecting piece, a thigh structure, a lower leg structure, a hip front rudder, a knee front rudder and a first connecting rod structure. The hip rotation rudder drives the thigh structure and the lower leg structure to rotate together. The hip front rudder is used to drive the thigh structure and the lower leg structure to swing forward and backward together. The knee front rudder is arranged on the thigh structure and drives the lower leg structure to rotate through the first connecting rod structure, so as to realize the rotation of the knee joint. Compared with arranging the knee front rudder at the knee joint, the gravity center of the leg structure is improved, the moment demand of the rudder is reduced, and the response speed of the robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0026] Fig. 1 is a perspective view of a robot leg mechanism provided by an embodiment of the present application;

[0027] Fig. 2 is a perspective view of the robot leg mechanism at the thigh structure provided by an embodiment of the present application;

[0028] Fig. 3 is a side view of the robot leg mechanism at the thigh structure provided by an embodiment of the present application;

[0029] Fig. 4 is a perspective view of the thigh structure provided by an embodiment of the present application;

[0030] Fig. 5 is a perspective view of the hip front rudder provided by an embodiment of the present application;

[0031] Fig. 6 is a perspective view of a robot leg mechanism at a lower leg structure according to an embodiment of the present application;

[0032] Fig. 7 is a perspective view of a lower leg structure according to an embodiment of the present application.

[0033] In the drawings: 11 - hip side steering engine; 12 - second connecting member; 121 - third mounting plate; 122 - fourth mounting plate; 123 - second connecting plate; 13 - hip rotation steering engine; 14 - first connecting member; 141 - first mounting plate; 142 - second mounting plate; 143 - first connecting plate; 15 - thigh structure; 151 - first mounting hole; 152 - second mounting hole; 153 - first connecting hole; 154 - second connecting hole; 155 - second hinge part; 16 - hip front steering engine; 161 - third connecting hole; 162 - shaft shoulder; 17 - knee front steering engine; 18 - first link structure; 181 - first swing member; 1811 - first connecting part; 182 - first lever member; 183 - second swing member; 1831 - second connecting part; 19 - lower leg structure; 191 - third mounting hole; 192 - fourth mounting hole; 193 - first hinge part; 20 - first ankle side steering engine; 21 - second ankle side steering engine; 22 - second link structure; 221 - third swing member; 222 - second lever member; 23 - third link structure; 231 - fourth swing member; 232 - third lever member; 24 - foot plate structure; 25 - connecting base; 26 - first cross shaft; 27 - second cross shaft. Embodiments of the present application

[0034] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, and not to limit the present application.

[0035] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0036] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0037] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0038] In recent years, the field of robotics has developed rapidly, and there are many industrial robots, exploration robots, rescue robots, service robots, and humanoid robots. Among them, the humanoid robot can realize actions similar to human actions, for example, the leg of the humanoid robot can realize hip rotation, hip forward swing, hip side swing, etc. Therefore, the leg mechanism of the humanoid robot has complex action and many servos, which results in low gravity center of the leg mechanism, increases the torque demand on the servo, and reduces the corresponding speed of the robot.

[0039] In order to alleviate the above technical problems, the present application provides a robot leg mechanism and a robot. The knee front servo 17 of the robot leg mechanism is used to drive the calf structural member 19 to rotate relative to the thigh structural member 15 to realize the movement of the knee joint. The knee front servo 17 is arranged on the thigh structural member 15 and drives the calf structural member 19 to rotate through the first connecting rod structure 18. The position of the knee front servo 17 is improved, and the gravity center of the leg mechanism is improved, thereby reducing the torque demand on the hip rotation servo 13, the hip front servo 16, etc.

[0040] The robot leg mechanism provided by the embodiment of the present application will be described.

[0041] Please refer to FIGS. 1 to 3, the robot leg mechanism includes a hip rotation servo 13, a first connecting member 14, a thigh structural member 15, a calf structural member 19, a hip front servo 16, a knee front servo 17, and a first connecting rod structure 18.

[0042] The hip rotation servo 13 can output rotational motion, and is used to drive the thigh structural member 15 and the calf structural member 19 to rotate to realize a movement similar to the rotation of the hip joint.

[0043] The hip front servo 16 can output rotational motion, and is used to drive the thigh structural member 15 and the calf structural member 19 to swing forward and backward to realize a movement similar to the forward and backward swing of the hip joint.

[0044] The knee front steering engine 17 can output rotary motion, and is used to drive the shank structural member 19 to swing forward and backward relative to the thigh structural member 15, so as to realize a motion similar to the forward and backward swing of the knee joint. Specifically, the motion output end of the knee front steering engine 17 is in transmission connection with the shank structural member 19 through the first connecting rod structure 18, one end of the first connecting rod structure 18 is connected with the motion output end of the knee front steering engine 17, and the other end of the first connecting rod structure 18 is connected with the shank structural member 19, so that the rotary motion of the knee front steering engine 17 is transmitted to the shank structural member 19 through the first connecting rod structure 18. The knee front steering engine 17 does not need to be arranged at the knee joint, and the position of the knee front steering engine 17 is improved, thereby improving the overall center of mass of the leg mechanism.

[0045] The first connecting member 14 is a structural member, and is used to connect the hip turning steering engine 13 and the hip front steering engine 16. Specifically, the motion output end of the hip turning steering engine 13 is fixedly connected with the first connecting member 14, and the motion output end of the hip front steering engine 16 is also fixedly connected with the first connecting member 14. When the hip turning steering engine 13 works, the first connecting member 14, the hip front steering engine 16, the thigh structural member 15 and the shank structural member 19 all rotate. When the hip front steering engine 16 works, the first connecting member 14 remains stationary, and reversely drives the hip front steering engine 16, the thigh structural member 15 and the shank structural member 19 to swing forward and backward.

[0046] The thigh structural member 15 is a structural member similar to the thigh skeleton of a human being, one end of the thigh structural member 15 is close to the hip joint, and the other end of the thigh structural member 15 is rotationally connected with the shank structural member 19. The connection position of the thigh structural member 15 and the shank structural member 19 can be regarded as a knee joint.

[0047] The shank structural member 19 is a structural member similar to the shank skeleton of a human being, one end of the shank structural member 19 is rotationally connected with the thigh structural member 15, and the other end of the shank structural member 19 is used to be connected with the foot plate structural member 24.

[0048] The hip front steering engine 16 and the knee front steering engine 17 are both arranged on the thigh structural member 15, so that the space on the thigh structural member 15 is fully utilized, and the structure of the leg mechanism is more compact.

[0049] The robot leg mechanism in the above embodiment comprises the hip turning steering engine 13, the first connecting member 14, the thigh structural member 15, the shank structural member 19, the hip front steering engine 16, the knee front steering engine 17 and the first connecting rod structure 18. The hip turning steering engine 13 drives the thigh structural member 15 and the shank structural member 19 to rotate together. The hip front steering engine 16 is used to drive the thigh structural member 15 and the shank structural member 19 to swing forward and backward together. The knee front steering engine 17 is arranged on the thigh structural member 15, and drives the shank structural member 19 to rotate through the first connecting rod structure 18, so as to realize the rotation of the knee joint. Compared with arranging the knee front steering engine 17 at the knee joint, the gravity center of the leg structure is improved, the torque requirement of the steering engine is reduced, and the response speed of the robot is improved.

[0050] In some embodiments of the present application, referring to FIGS. 2 and 3, the knee front steering engine 17 is arranged at the upper end of the thigh structure 15, so that the position of the knee front steering engine 17 is higher and away from the knee joint, further improving the mass center of the leg mechanism.

[0051] In some embodiments of the present application, referring to FIGS. 2 to 5, the thigh structure 15 is provided with a first mounting hole 151, and a plurality of first connecting holes 153 for fixedly connecting with the hip front steering engine 16 are arranged on the circumference of the first mounting hole 151; the thigh structure 15 is provided with a second mounting hole 152, and a plurality of second connecting holes 154 for fixedly connecting with the knee front steering engine 17 are arranged on the circumference of the second mounting hole 152.

[0052] A third connecting hole 161 can be arranged on the shell of the hip front steering engine 16, a threaded member passes through the first mounting hole 151 and is connected to the third connecting hole 161, so that the shell of the hip front steering engine 16 and the thigh structure 15 are fixedly connected with each other.

[0053] A steering engine mounting hole can be arranged on the shell of the knee front steering engine 17, a threaded member passes through the second mounting hole 152 and is connected to the steering engine mounting hole, so that the shell of the knee front steering engine 17 and the thigh structure 15 are fixedly connected with each other.

[0054] The thigh structure 15 is a plate-shaped structure, which is neither a frame-shaped structure nor a structure formed by a plurality of plate-shaped structures arranged side by side, and the mounting mode of the hip front steering engine 16 and the knee front steering engine 17 through the thigh structure 15 can make the structure of the thigh structure 15 simpler and the weight lighter.

[0055] In some embodiments, the hip front steering engine 16 and the knee front steering engine 17 have the same structure.

[0056] In some embodiments of the present application, referring to FIG. 2, the hip front steering engine 16 is arranged through the first mounting hole 151, so that the axial middle part of the hip steering engine 13 is fixedly connected at the first mounting hole 151, and the knee front steering engine 17 is arranged through the second mounting hole 152, so that the axial middle part of the knee front steering engine 17 is fixedly connected at the second mounting hole 152. The axial middle part of the hip steering engine 13 can be understood as the middle part of the hip steering engine 13 in the direction of the rotation axis of the movement output end of the hip steering engine 13. The axial middle part of the knee front steering engine 17 can be understood as the middle part of the knee front steering engine 17 in the direction of the rotation axis of the movement output end of the knee front steering engine 17. In this way, both ends of the hip steering engine 13 and both ends of the knee front steering engine 17 can be arranged exposed, which is convenient for layout and installation.

[0057] The hip swivel actuator 13 has two ends exposed, one of which is a motion output end, which is convenient for connecting with the first connecting member 14. The knee front actuator 17 has two ends exposed, one of which is a motion output end, which is convenient for connecting with the first connecting rod structure 18. Moreover, the axial middle part of the hip swivel actuator 13 and the axial middle part of the knee front actuator 17 are both connected to the thigh structure member 15, so that the mass distribution of the leg mechanism in the axial direction is more balanced.

[0058] In some embodiments, the hip front actuator 16 has a shaft shoulder 162, and after the smaller-diameter end of the hip front actuator 16 passes through the first mounting hole 151, the shaft shoulder 162 abuts against the shell wall of the first mounting hole 151, and correspondingly, the third connecting hole is arranged on the shaft shoulder 162.

[0059] In some embodiments, the knee front actuator 17 has a shaft shoulder, and after the smaller-diameter end of the knee front actuator 17 passes through the second mounting hole 152, the shaft shoulder abuts against the shell wall of the second mounting hole 152, and correspondingly, the fourth connecting hole is arranged on the shaft shoulder.

[0060] In some embodiments, the first connecting member 14 is arranged between the hip swivel actuator 13 and the hip front actuator 16, and the hip front actuator 16 is arranged above the knee front actuator 17, so that the hip front actuator 16 is closer to the first connecting member 14, and the first connecting rod structure 18 does not interfere with the hip front actuator 16.

[0061] In other embodiments of the present application, the hip swivel actuator 13 has one end fixed to the thigh structure member 15, and the motion output end is exposed to the first connecting member 14. The knee front actuator 17 has one end fixed to the thigh structure member 15, and the motion output end is exposed to the first connecting rod structure 18.

[0062] In some embodiments of the present application, referring to Fig. 2, the first connecting member 14 comprises a first mounting plate 141, a second mounting plate 142 spaced apart from the first mounting plate 141, and a first connecting plate 143 connecting the first mounting plate 141 and the second mounting plate 142; the movement output end of the hip front steering engine 16 is fixedly connected with the first connecting plate 143, one axial end of the hip front steering engine 16 is the movement output end thereof and is fixedly connected with the first mounting plate 141, and the other axial end of the hip front steering engine 16 is rotatably supported with the second mounting plate 142. The first mounting plate 141, the first connecting plate 143 and the second mounting plate 142 are connected in sequence by bending, and the first mounting plate 141 and the second mounting plate 142 are spaced apart from each other, so that the first connecting member 14 is in U shape. The first connecting plate 143 is fixedly connected with the movement output end of the hip front steering engine 16, and the second connecting plate 123 is rotatably connected with the housing of the hip front steering engine 16, so that the hip front steering engine 16 is supported on the first connecting member 14. When the hip steering engine 13 works, the movement output end thereof drives the first connecting plate 143 to rotate, and then the whole first connecting member 14, the hip front steering engine 16, the thigh structural member 15, the hip steering engine 13 and the lower leg structural member 19 rotate simultaneously. When the hip front steering engine 16 works, the first connecting member 14 is fixedly mounted, the movement output end thereof rotates to drive the housing part of the hip front steering engine 16 to rotate, the hip front steering engine 16 rotates relative to the second mounting plate 142, and then the thigh structural member 15, the knee front steering engine 17 and the lower leg structural member 19 swing simultaneously.

[0063] By arranging the first connecting member 14 in U shape, the movement output end of the hip front steering engine 16 and the movement output end of the hip steering engine 13 can be connected simultaneously, and the axial two ends of the hip front steering engine 16 are supported, so that the hip front steering engine 16 is more stable when rotating.

[0064] In some embodiments, a flange is fixedly arranged on the end of the hip front steering engine 16 away from the movement output end thereof, a fifth mounting hole is arranged on the second mounting plate 142, the flange is located in the fifth mounting hole, and a bearing is arranged between the outer peripheral wall of the flange and the hole wall of the fifth mounting hole, the inner ring of the bearing is fixedly arranged on the outer peripheral wall of the flange, and the outer ring of the bearing is fixedly arranged on the inner peripheral wall of the fifth mounting hole, so that the hip front steering engine 16 can rotate relative to the first connecting member 14, and the rotation of the hip front steering engine 16 is more stable.

[0065] In some embodiments of the present application, referring to FIG. 2 and FIG. 3, the robot leg structure further comprises a hip side steering engine 11 for driving the hip swing steering engine 13, the hip front steering engine 16, the knee front steering engine 17, the thigh structure 15, the lower leg structure 19, etc. to swing sideways, and a second connecting member 12 for connecting the hip side steering engine 11 and the hip swing steering engine 13. When the leg mechanism is in the standing state, the axis of the hip side steering engine 11 is horizontal, and the axis of the hip swing steering engine 13 is vertical. The movement output end of the hip side steering engine 11 is fixedly connected with the hip swing steering engine 13, and when the hip side steering engine 11 works, the hip swing steering engine 13 swings sideways. The second connecting member 12 is used for supporting the hip swing steering engine 13 to make the rotation of the hip swing steering engine 13 more stable.

[0066] In some embodiments, the second connecting member 12 comprises a third mounting plate 121, a fourth mounting plate 122, and a second connecting plate 123. The third mounting plate 121 and the fourth mounting plate 122 are arranged at intervals, and the two ends of the second connecting plate 123 are respectively connected with the third mounting plate 121 and the fourth mounting plate 122. The third mounting plate 121 is fixedly connected with the housing of the hip side steering engine 11, and the housing of the hip swing steering engine 13 is rotationally connected with the fourth mounting plate 122. When the movement output end of the hip side steering engine 11 drives the hip swing steering engine 13 to swing sideways, the second connecting member 12 remains stationary, and the hip swing steering engine 13 swings under the support of the second connecting member 12, which makes the swing of the hip swing steering engine 13 more smooth.

[0067] Optionally, the fourth mounting plate 122 is provided with a sixth mounting hole, and a flange is fixed to one side of the housing of the hip swing steering engine 13. The flange is located in the sixth mounting hole, and a bearing is arranged between the outer peripheral wall of the flange and the hole wall of the sixth mounting hole. The inner ring of the bearing is fixed to the outer peripheral wall of the flange, and the outer ring of the bearing is fixed to the inner peripheral wall of the sixth mounting hole, so that the hip swing steering engine 13 can rotate relative to the second connecting member 12, and the rotation of the hip swing steering engine 13 is more stable.

[0068] In some embodiments of the present application, referring to FIG. 2 and FIG. 3, the first linkage structure 18 comprises a first swing member 181, a second swing member 183 and a first rod member 182, the first swing member 181 is fixedly connected with the movement output end of the knee front rudder 17, the two ends of the first rod member 182 are respectively rotationally connected with the first swing member 181 and the second swing member 183, and the second swing member 183 is fixedly connected with the lower leg structure 19. The first swing member 181 moves synchronously with the movement output end of the knee front rudder 17, the rotationally connected position of the first rod member 182 with the first swing member 181 is deviated from the central axis of the knee front rudder 17, and the rotationally connected position of the first rod member 182 with the second swing member 183 is deviated from the knee joint setting (deviated from the rotationally connected axis of the upper leg structure 15 and the lower leg structure 19). In this way, when the knee front rudder 17 outputs a rotary movement, the first swing member 181 drives the first rod member 182 to swing, thereby driving the lower leg structure 19 to swing relative to the upper leg structure 15.

[0069] By setting the first swing member 181, the second swing member 183 and the first rod member 182 in transmission connection, the first linkage structure 18 forms a four-bar linkage, thereby making the movement of the movement output end of the knee front rudder 17 transmitted to the lower leg structure 19.

[0070] In some embodiments, referring to FIG. 2 and FIG. 3, the number of the first rod members 182 is two, the two first rod members 182 are arranged in a spaced manner, and the two ends of the two first rod members 182 are respectively connected with the first swing member 181 and the second swing member 183, thereby making the transmission of the first linkage structure 18 more stable.

[0071] In some embodiments, the rotationally connected position of the first rod member 182 with the first swing member 181 is a first rotation axis, the rotationally connected position of the first rod member 182 with the second swing member 183 is a second rotation axis, the distance between the first rotation axis and the axis of the knee front rudder 17 is equal to the distance between the second rotation axis and the knee joint, making the first linkage structure 18 a parallelogram structure, the first swing member 181 and the second swing member 183 move synchronously, when the knee front rudder 17 rotates an angle A, the lower leg structure 19 also rotates an angle A relative to the upper leg structure 15, thereby making it more convenient to control the rotation angle of the lower leg structure 19.

[0072] In some embodiments, referring to FIG. 2 and FIG. 3, the first swing member 181 is disc-shaped or ring-shaped, and a first connecting portion 1811 is radially outwardly protruded at the outer edge of the first swing member 181, and the first connecting portion 1811 is rotationally connected with the first rod member 182. When the number of the first rod members 182 is two, the number of the first connecting portions 1811 is also two, and the two first connecting portions 1811 are respectively arranged at the two radial ends of the first swing member 181.

[0073] In some embodiments, referring to FIG. 2 and FIG. 3, the second swing member 183 is disc-shaped or ring-shaped, and a second connecting portion 1831 is protruded radially outward at the outer edge of the second swing member 183, and the second connecting portion 1831 is rotationally connected with the first rod member 182. When the number of the first rod member 182 is two, the number of the second connecting portion 1831 is also two, and the two second connecting portions 1831 are respectively arranged at the two radial ends of the second swing member 183.

[0074] In some embodiments of the present application, referring to FIG. 3, FIG. 4 and FIG. 7, the lower leg structure 19 has a first hinge portion 193 rotationally connected with the upper leg structure 15, and the second swing member 183 is fixedly connected with the first hinge portion 193, so that the rotation axis of the second swing member 183 is coaxially arranged with the rotation axis of the lower leg structure 19. The rotation center axis of the second swing member 183 is located at the knee joint, so that when the first rod member 182 drives the second swing member 183 to swing, the lower leg structure 19 is directly driven to swing, and the transmission chain is shorter, and the lower leg structure 19 will not be stuck.

[0075] In some embodiments, the upper leg structure 15 has a second hinge portion 155, and the first hinge portion 193 and the second hinge portion 155 are rotationally connected through a connecting shaft. The number of the first hinge portion 193 is two, and the number of the second hinge portion 155 is one. The second hinge portion 155 is located between the two first hinge portions 193, so that the second hinge portion 155 is arranged exposed, and the second swing member 183 is connected with the second hinge portion 155.

[0076] In some embodiments of the present application, referring to FIG. 6 and FIG. 7, the robot leg mechanism further comprises a first ankle servo 20, a second ankle servo 21, a second connecting rod structure 22, a third connecting rod structure 23 and a foot plate structure 24. The first ankle servo 20 and the second ankle servo 21 are arranged on the lower leg structure 19. The lower leg structure 19 is universally connected with the foot plate structure 24. The first connecting rod structure 18 and the second connecting rod structure 22 are respectively arranged on the opposite sides of the lower leg structure 19. The movement output end of the first ankle servo 20 is transmissionally connected with the foot plate structure 24 through the second connecting rod structure 22. The movement output end of the second ankle servo 21 is transmissionally connected with the foot plate structure 24 through the third connecting rod structure 23.

[0077] The first ankle servo 20 and the second connecting rod structure 22 are arranged on one side of the lower leg structure 19. The second ankle servo 21 and the third connecting rod structure 23 are arranged on the other side of the lower leg structure 19. When the rotation directions of the first ankle servo 20 and the second ankle servo 21 are the same and the angular velocities are the same, the front and back swing of the foot plate structure 24 can be realized. When the rotation directions of the first ankle servo 20 and the second ankle servo 21 are different but the angular velocities are the same, the left and right swing of the foot plate structure 24 can be realized.

[0078] The first ankle servo 20 and the second ankle servo 21 are arranged on the lower leg structure 19 away from the ankle joint, which can improve the center of mass of the leg mechanism.

[0079] In some embodiments, referring to FIG. 7, the first ankle servo 20 and the second ankle servo 21 are arranged in sequence along the length direction of the lower leg structure 19. The first ankle servo 20 is arranged above or below the second ankle servo 21.

[0080] By arranging the first ankle servo 20 and the second ankle servo 21 in sequence along the length direction of the lower leg structure 19, the lower leg structure 19 can be a plate structure, and there is no need to arrange two plates to mount the first ankle servo 20 and the second ankle servo 21 respectively.

[0081] In some embodiments of the present application, referring to FIG. 6, the second linkage structure 22 includes a third swing member 221 and a second link member 222. The third swing member 221 is fixedly connected with the movement output end of the first ankle servo 20. One end of the second link member 222 is rotationally connected with the third swing member 221, and the other end of the second link member 222 is universally connected with the foot plate structure 24.

[0082] In some embodiments of the present application, referring to FIG. 6, the third linkage structure 23 includes a fourth swing member 231 and a third link member 232. The fourth swing member 231 is fixedly connected with the movement output end of the second ankle servo 21. One end of the third link member 232 is rotationally connected with the fourth swing member 231, and the other end of the third link member 232 is universally connected with the foot plate structure 24.

[0083] When the first ankle servo 20 is arranged above the second ankle servo 21, the length of the second link member 222 is greater than the length of the third link member 232, so that the second link member 222 and the third link member 232 are connected to the same height position of the foot plate structure 24.

[0084] In some embodiments of the present application, referring to FIG. 6, the foot plate structure 24 is provided with a connecting base 25. The second linkage structure 22, the third linkage structure 23 and the lower leg structure 19 are connected with the connecting base 25.

[0085] In some embodiments of the present application, referring to FIG. 6, the connecting base 25 is provided with a first cross shaft 26. The second linkage structure 22 and the third linkage structure 23 are respectively connected to opposite ends of the first cross shaft 26, so as to realize the universal connection of the first linkage structure 18 and the foot plate structure 24, the universal connection of the second linkage structure 22 and the foot plate structure 24.

[0086] The connecting base 25 is provided with a second cross shaft 27. The upper leg structure 15 is universally connected with the foot plate structure 24 through the second cross shaft 27.

[0087] In some embodiments of the present application, referring to FIGS. 6 and 7, the lower leg structure 19 is provided with a third mounting hole 191 and a fourth mounting hole 192, the first ankle rudder 20 passes through the third mounting hole 191, the second ankle rudder 21 passes through the fourth mounting hole 192, and the movement output ends of the first ankle rudder 20 and the second ankle rudder 21 are opposite to each other. For example, the movement output end of the first ankle rudder 20 is located on the left side of the upper leg structure 15, and the movement output end of the second ankle rudder 21 is located on the right side of the upper leg structure 15.

[0088] The first ankle rudder 20 and the second ankle rudder 21 are both arranged through the lower leg structure 19, the axial ends of the first ankle rudder 20 and the second ankle rudder 21 are both exposed, facilitating the connection of the second connecting rod structure 22 and the third connecting rod structure 23. Moreover, the movement output ends of the first ankle rudder 20 and the second ankle rudder 21 are opposite to each other, so that the second connecting rod structure 22 and the third connecting rod structure 23 can be respectively located on opposite sides of the lower leg structure 19.

[0089] In some embodiments, the axial middle part of the first ankle rudder 20 is fixed to the lower leg structure 19, and the axial middle part of the second ankle rudder 21 is fixed to the lower leg structure 19, so as to balance the gravity on the left and right sides of the lower leg structure 19.

[0090] The present application also provides a robot, which comprises the robot leg mechanism in any of the above embodiments. The robot can further comprise a waist mechanism, a chest mechanism, a head mechanism, etc.

[0091] The robot provided by the present application adopts the robot leg mechanism described above, which comprises the hip rotation rudder 13, the first connecting piece 14, the upper leg structure 15, the lower leg structure 19, the hip front rudder 16, the knee front rudder 17, and the first connecting rod structure 18. The hip rotation rudder 13 drives the upper leg structure 15 and the lower leg structure 19 to rotate together, the hip front rudder 16 is used to drive the upper leg structure 15 and the lower leg structure 19 to swing forward and backward together, the knee front rudder 17 is arranged on the upper leg structure 15 and drives the lower leg structure 19 to rotate through the first connecting rod structure 18, so as to realize the rotation of the knee joint. Compared with arranging the knee front rudder 17 at the knee joint, the center of gravity of the leg structure is improved, the moment demand on the rudder is reduced, and the response speed of the robot is improved.

[0092] The above merely provides the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robotic leg mechanism, characterized by: The robot leg mechanism comprises a hip rotation steering engine, a first connecting piece, a thigh structural member, a lower leg structural member, a hip front steering engine, a knee front steering engine and a first connecting rod structure, the hip rotation steering engine is used to drive the thigh structural member to rotate, the hip front steering engine is used to drive the thigh structural member to swing forward and backward, the knee front steering engine is used to drive the lower leg structural member to swing forward and backward relative to the thigh structural member, the movement output end of the hip rotation steering engine is fixedly connected with the first connecting piece, the hip front steering engine and the knee front steering engine are arranged on the thigh structural member, the movement output end of the hip front steering engine is fixedly connected with the first connecting piece, and the movement output end of the knee front steering engine is transmissionally connected with the lower leg structural member through the first connecting rod structure.

2. The robotic leg mechanism of claim 1, wherein: The thigh structural member is provided with a first mounting hole, and a plurality of first connecting holes for fixedly connecting with the hip front steering engine are arranged on the periphery of the first mounting hole; the thigh structural member is provided with a second mounting hole, and a plurality of second connecting holes for fixedly connecting with the knee front steering engine are arranged on the periphery of the second mounting hole.

3. The robotic leg mechanism of claim 2, wherein: The hip front steering engine is arranged through the first mounting hole, and the axial middle part of the hip rotation steering engine is fixedly connected at the first mounting hole; the knee front steering engine is arranged through the second mounting hole, and the axial middle part of the knee front steering engine is fixedly connected at the second mounting hole.

4. The robotic leg mechanism of claim 1, wherein: The first connecting piece comprises a first mounting plate, a second mounting plate arranged in a spaced manner with the first mounting plate and a first connecting plate connecting the first mounting plate and the second mounting plate; the movement output end of the hip front steering engine is fixedly connected with the first connecting plate, one end of the hip front steering engine in the axial direction is the movement output end thereof and is fixedly connected with the first mounting plate, and the other end of the hip front steering engine in the axial direction is rotationally supported with the second mounting plate.

5. The robotic leg mechanism of claim 1, wherein: The first connecting rod structure comprises a first swing member, a second swing member and a first rod member, the first swing member is fixedly connected with the movement output end of the knee front steering engine, the two ends of the first rod member are rotationally connected with the first swing member and the second swing member respectively, and the second swing member is fixedly connected with the lower leg structural member.

6. The robotic leg mechanism of claim 5, wherein: The lower leg structural member has a first hinged part rotationally connected with the thigh structural member, and the second swing member is fixedly connected with the first hinged part, so that the rotation shaft of the second swing member is coaxially arranged with the rotation shaft of the lower leg structural member.

7. The robotic leg mechanism of any one of claims 1-6, wherein: The robot leg mechanism further comprises a first ankle steering engine, a second ankle steering engine, a second connecting rod structure, a third connecting rod structure and a foot plate structural member, the first ankle steering engine and the second ankle steering engine are arranged on the lower leg structural member, the lower leg structural member is universally connected with the foot plate structural member, the first connecting rod structure and the second connecting rod structure are arranged on opposite sides of the lower leg structural member respectively, the movement output end of the first ankle steering engine is transmissionally connected with the foot plate structural member through the second connecting rod structure, and the movement output end of the second ankle steering engine is transmissionally connected with the foot plate structural member through the third connecting rod structure.

8. The robotic leg mechanism of claim 7, wherein: The first ankle steering engine and the second ankle steering engine are arranged in sequence along the length direction of the lower leg structural member.

9. The robotic leg mechanism of claim 7, wherein: The lower leg structure is provided with a third mounting hole and a fourth mounting hole, the first ankle rudder passes through the third mounting hole, the second ankle rudder passes through the fourth mounting hole, and the movement output ends of the first ankle rudder and the second ankle rudder face opposite directions.

10. A robot, characterized by: A robot leg mechanism comprising the robot leg mechanism of any one of claims 1-9.

Images