CN110394782B - Shank composite construction and contain this shank composite construction's humanoid robot - Google Patents
Shank composite construction and contain this shank composite construction's humanoid robot Download PDFInfo
- Publication number
- CN110394782B CN110394782B CN201910626082.3A CN201910626082A CN110394782B CN 110394782 B CN110394782 B CN 110394782B CN 201910626082 A CN201910626082 A CN 201910626082A CN 110394782 B CN110394782 B CN 110394782B
- Authority
- CN
- China
- Prior art keywords
- lower leg
- plate
- side plate
- supporting
- humanoid robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention provides a shank composite structure and a humanoid robot comprising the same, wherein the shank composite structure comprises: the support curb plate, press from both sides the embedded filling structure of establishing between the support curb plate and wrap up the shell in support curb plate and embedded filling structure periphery. The supporting side plates comprise a lower leg outer side plate and a lower leg inner side plate which are fixedly arranged at the left side and the right side at intervals of a preset distance, the upper ends of the lower leg outer side plate and the lower leg inner side plate are provided with upper end connecting supporting parts used for supporting and connecting knee joint components, and the lower ends of the lower leg outer side plate and the lower leg inner side plate are provided with lower end connecting supporting parts. The embedded filling structure includes: the upper end cap is positioned below the upper end connecting and supporting part and is fixedly connected with the supporting side plate; the lower end plug is positioned above the lower end connecting support part; and the inner cavity structure body is fixed between the upper plug and the lower plug and fixedly connected with the support side plate, and an accommodating cavity is formed in the inner cavity structure body. The structure has good strength and rigidity in all directions, and makes full use of the inner space of the crus.
Description
Technical Field
The invention relates to the field of humanoid robots, in particular to a shank composite structure and a humanoid robot comprising the shank composite structure.
Background
The humanoid robot is a high-level development stage of advanced robot technology, comprehensively embodies the research and development levels of the aspects of mechanics, motion, dynamics and the like of the high-level robot, and is a very complex comprehensive system. The leg body structure of the humanoid robot is an important link in the design of the humanoid robot. The leg connecting structure of the existing humanoid robot is designed to be as compact as possible under the condition of meeting the requirements of movement and operation so as to meet the requirements of reducing the control complexity and improving the control precision. The leg of the humanoid robot has to realize flexible rotation function, have certain strength in motion collision and have light weight.
Generally speaking, the leg mechanism is related to the drive motor output torque, and the greater the weight of the leg attachment structure, the greater the motor output torque required to achieve the same speed. At present, in order to reduce the weight of a body mechanism of a humanoid robot, when the body mechanism of the humanoid robot is processed, a framework part or all of the body mechanism is made of aluminum alloy. The aluminum alloy material belongs to a traditional material, and although the aluminum alloy is lighter than common metal in weight, the aluminum alloy material has no weight advantage.
The leg connection structure of the humanoid robot in the prior art is generally a semi-closed connection structure. For example, the lower leg joint part adopts an integral U-shaped bracket or an aluminum alloy push plate to clamp the motor, and the lower leg body part generally only plays a supporting role. If the inner space of the trunk part of the lower leg is of a cavity structure, the support strength of the front and rear sides is easy to be insufficient; if all be close-grained aluminum alloy filled structure in the inner space of shank trunk portion, lead to the whole weight greatly increased of shank structure again easily, required motor output increases, increases the design degree of difficulty and cost. In addition, the driving motor, the motor driver and various lines at the joint part cannot be reasonably distributed, and the internal space is not effectively utilized. If the lines are arranged on the outer side of the body of the robot, the appearance is affected, and the lines are easily damaged. In summary, the leg structure of the humanoid robot has many shortcomings, and needs to be improved to meet the requirements of design and application.
Disclosure of Invention
In order to solve or relieve the problems that the leg connecting structure of the humanoid robot in the prior art is insufficient in front and rear side supporting strength and the internal space of the lower leg is not effectively utilized, the invention provides a lower leg composite structure and a humanoid robot comprising the same.
The technical scheme of the invention is as follows:
according to an aspect of the invention, in some embodiments, the lower leg composite structure comprises: the support curb plate, press from both sides and establish support the embedded filling structure between the curb plate and parcel are in support the curb plate with the shell of embedded filling structure periphery. The supporting side plates comprise a lower leg outer plate and a lower leg inner plate which are fixedly arranged on the left side and the right side at intervals of a preset distance, the upper ends of the lower leg outer plate and the lower leg inner plate are provided with upper end connecting and supporting parts used for supporting and connecting knee joint components, and the lower ends of the lower leg outer plate and the lower leg inner plate are provided with lower end connecting and supporting parts. The embedded filling structure comprises: the upper end cap is positioned below the upper end connecting and supporting part and is fixedly connected with the supporting side plate; the lower end plug is positioned above the lower end connecting support part; and the inner cavity structure body is fixed between the upper plug and the lower plug and fixedly connected with the support side plate, and a containing cavity is formed in the inner cavity structure body.
In some embodiments, the upper connection support is an upper annular portion, and the upper annular portion of the outer calf plate and the upper annular portion of the inner calf plate are coaxially mated.
In some embodiments, the lateral calf plate and the medial calf plate are formed pieces of PEEK material; the inner cavity structure body is a formed part made of PMI materials; the shell is a carbon fiber shell.
In some embodiments, the lower leg composite structure further comprises a knee joint component mounted at the upper annular portions of the outer and inner lower leg panels.
In some embodiments, the knee joint assembly comprises a motor, a drive wheel, and a joint sleeve enclosing and actuated by the motor and drive wheel; the joint sleeve is provided with a shaft collar fixedly connected with the annular part at the upper end of the supporting side plate.
In some embodiments, the upper plug is provided with a through hole which penetrates through the upper plug from left to right, a connecting column penetrates through the through hole, and two end faces of the connecting column are provided with threaded holes; and the positions of the upper plugs, which are matched and connected with the lower leg outer side plate and the lower leg inner side plate, are provided with countersunk holes and connecting screws for fixing the connecting columns.
In some embodiments, the upper plug and the lower plug are provided with threading holes which penetrate up and down.
In some embodiments, the parts of the outer leg side plate and the inner leg side plate of the supporting side plate, which correspond to the accommodating cavity of the inner cavity structure body, are provided with through heat dissipation grooves.
In some embodiments, the lower leg composite structure further comprises a heat sink mounted at the heat sink.
In some embodiments, the medial and lateral calf plates of the lumenal structure are connected by screws.
According to another aspect of the invention, there is also provided a humanoid robot comprising the above-described lower leg composite structure.
The shank composite structure has good strength and rigidity in all directions, makes full use of the inner space of the shank and realizes full-closed connection at the leg.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the specific details set forth above, and that these and other objects that can be achieved with the present invention will be more clearly understood from the detailed description that follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. For purposes of illustrating and describing some portions of the present invention, corresponding parts of the drawings may be exaggerated, i.e., may be larger, relative to other components in an exemplary apparatus actually manufactured according to the present invention. In the drawings:
fig. 1 is a schematic structural view of a left leg of a humanoid robot in an embodiment of the present invention.
FIG. 2 is a schematic view of a lower leg composite structure and a knee joint component according to an embodiment of the invention.
Fig. 3 is a schematic view of a combined structure of a lower leg composite structure according to an embodiment of the present invention.
Fig. 4 is an exploded view of a lower leg composite structure in accordance with an embodiment of the present invention.
FIG. 5 is a schematic view of the structure of the lateral calf plate in an embodiment of the invention.
FIG. 6 is a schematic view of the structure of the medial calf plate in an embodiment of the invention.
Fig. 7 is a schematic structural view of an upper annular portion of a support side plate and an embedded filling structure according to an embodiment of the invention.
Fig. 8 is a schematic structural diagram of an embedded filling structure in an embodiment of the invention.
Fig. 9 is a schematic structural diagram of an upper plug in an embodiment of the present invention.
Fig. 10 is a schematic structural diagram of a lower plug in an embodiment of the present invention.
Fig. 11 is a schematic structural diagram of a housing according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components. It is also noted herein that the term "coupled," if not specifically stated, may refer herein to not only a direct connection, but also an indirect connection in which an intermediate is present. Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.
In the prior art, a semi-closed leg connecting structure adopts a U-shaped bracket or an aluminum alloy leg plate, and the invention provides a shank composite structure of a humanoid robot in order to solve or relieve the problems that the front and rear side support strength of the connecting mode is insufficient and the inner space of the shank is not effectively utilized.
Fig. 1 is a schematic structural view of a left leg of a humanoid robot in an embodiment of the present invention. As shown in fig. 1, the left leg structure includes a thigh body 3, a knee joint component 2 and a lower leg body 1, wherein, when the humanoid robot moves, the lower leg body 1 can rotate around the knee joint component 2 within a certain angle range as a lower leg part.
In some embodiments, fig. 3 and 4 are schematic diagrams of a combined structure and an exploded structure of a lower leg composite structure according to an aspect of the invention. As shown in fig. 3 (without the shell) and fig. 4, the lower leg composite structure includes: the support curb plate, press from both sides the embedded filling structure of establishing between the support curb plate and wrap up the shell in support curb plate and embedded filling structure periphery. Wherein, the support lateral plate is used as the support plate at the left side and the right side of the shank composite structure and plays the role of a skeleton. Namely, the calf lateral plate 110 and the calf medial plate 120 mainly function as a left-right support and a vertical support. The embedded filling structure is used as a transverse supporting structure for supporting the side plates, and also has the function of being internally provided with a motor driver, various circuits and the like, and can enhance the front and rear side supporting strength of the shank composite structure. The shell serves to protect and enclose the internal structure of the lower leg composite structure. The shank composite structure has good strength and rigidity in all directions, makes full use of the inner space of the shank, realizes totally-enclosed connection at the leg and reduces the weight.
In some embodiments, the support side plate includes an outer calf plate 110 and an inner calf plate 120 fixedly installed at left and right sides at a predetermined distance, upper ends of the outer calf plate 110 and the inner calf plate 120 have upper end connection supports for supporting and connecting knee joint components, and lower ends of the outer calf plate 110 and the inner calf plate 120 have connection supports for supporting and connecting ankle joint components. The upper connecting support portion described herein is a portion for fixing the joint assembly to both ends of the side plate, and may be an annular portion, a semi-annular portion, or a two-point fixing or three-point fixing structure, and is preferably an annular portion. In some embodiments, the upper connection support may be an upper annular portion and the lower connection support may be a lower annular portion. The ring-shaped portion 111 of the outer calf plate 110 and the ring-shaped portion 121 of the upper end of the inner calf plate are coaxially fitted, and can be used for connecting and fixing the knee joint component 2, and can also be connected with the thigh body 3 by means of the knee joint component 2.
In some embodiments, the in-line fill structure comprises: an upper plug 210 positioned below the upper annular portion (111/121) and fixedly connected to the support side plate, a lower plug 220 positioned above the lower annular portion (112/122), and an inner cavity structure 230 fixed between the upper plug 210 and the lower plug 220 and fixedly connected to the support side plate. The inner structural body 230 has a receiving cavity therein. The upper plug 210 and the lower plug 220 are mainly used for connecting two supporting side plates, and also play a role in limiting the inner cavity structure 230, that is, the inner cavity structure 230 is fixed in the inner space in the middle of the leg composite structure up and down. The containing cavity of the inner cavity structure body 230 can be used for placing a motor driver, and the inner space of the shank composite structure is reasonably utilized. In addition, the embedded filling structure is fixedly connected with the supporting side plates, and the supporting strength of the front side and the rear side and the supporting strength of the left side and the right side of the shank composite structure can also be enhanced.
In some embodiments, the lateral calf plate 110 and the medial calf plate 120 can be formed of PEEK; the inner cavity structure 230 may be a molded part made of PMI material; the housing 310 may be a carbon fiber shell. The upper plug 210 and the lower plug 220 may also be formed of PMI material. According to the invention, the PEEK material on two sides of the shank composite structure, the PMI material in the middle and the carbon fiber on the outermost layer can form the PMI-PEEK-carbon fiber composite structure, the composite structure not only has certain strength and rigidity, but also fully utilizes the new material, and utilizes the space on the inner side of the leg to realize the totally-enclosed connection on the leg. The leg strength and the rigidity of the humanoid robot are improved, and meanwhile, the self weight of the leg of the humanoid robot is reduced, so that the movement capacity of the humanoid robot is improved.
Polyether-ether-ketone (PEEK) resin is a linear aromatic high polymer compound with chain links in a molecular main chain, has more remarkable advantages compared with other special engineering plastics, and can resist positive high temperature of 260 ℃, has excellent mechanical properties, good self-lubricating property, chemical corrosion resistance, flame retardance, stripping resistance, wear resistance, weak nitric acid, concentrated sulfuric acid, radiation resistance and super-strong mechanical properties, and can be used for high-end science and technology such as machinery, nuclear engineering, aviation and the like.
The Polymethacrylimide (PMI) foam is a cross-linked rigid structure type foam material, is a heat-resistant foam plastic (180-240 ℃) with highest strength and rigidity at present, and can meet the requirements of medium-high temperature and high pressure curing and prepreg technology. The composite material has good compatibility with various types of resins, is suitable for being used as a core layer material in a high-performance sandwich structure, and can be easily machined into various cross-sectional shapes with complicated shapes.
The carbon fiber is a special fiber mainly composed of carbon elements, has the characteristics of common carbon materials, such as high temperature resistance, friction resistance, electric conduction, heat conduction, corrosion resistance and the like, is a new material with excellent mechanical properties, has a specific gravity less than 1/4 of steel, has tensile strength generally higher than 3500Mpa, is 7-9 times of that of the steel, and has tensile elastic modulus of 23000-43000 Mpa which is higher than that of the steel.
The invention adopts the carbon fiber shell for coating, the PEEK material as a framework and the PMI foam as filling, thereby realizing a light and high-strength robot shank structure.
In some embodiments, as shown in fig. 1 and 2, the lower leg composite structure of the present invention may further comprise a knee joint assembly 2 mounted at the outer lower leg lamina and the upper annular portion of the inner lower leg lamina. The knee joint component 2 can comprise a motor, a transmission wheel and a joint sleeve which is arranged in the motor and the transmission wheel and is actuated by the transmission wheel; the joint sleeve is provided with a shaft collar fixedly connected with the upper end annular part of the supporting side plate.
In this embodiment, the joint cover can be one side is uncovered, one end has the open cover barrel spare of osculum, and the both sides of the periphery of joint cover have two with support the fixed axle collar of curb plate, the shaft shoulder terminal surface of axle collar can be opened has even annular distribution's screw hole, accessible screw and the upper end annular portion fixed mounting of supporting the curb plate.
In this embodiment, the motor and the speed reducer may be fixedly installed in the inner space of the joint sleeve, and a driving wheel installed on the motor shaft is installed inside, and the driving wheel and the joint sleeve may form a transmission structure, such as a planetary wheel mechanism or a harmonic gear transmission mechanism. The driving wheel drives the joint sleeve to rotate, so that the supporting side plate of the shank composite structure can be driven to drive the shank body to move. When the thigh body exercise device is specifically implemented, the motor sleeve can be sleeved in the joint sleeve, the motor sleeve and the motor can be fixed on one side plate of the thigh body, and the joint sleeve rotates relative to the motor sleeve, so that the shank body is driven to move. When the harmonic gear transmission mechanism is adopted, the rigid wheel can be fixedly installed with the joint sleeve, the flexible wheel can be fixedly installed with the joint sleeve, and the flexible wheel rotates in the rigid wheel to drive the joint sleeve to rotate, so that the supporting side plate of the shank composite structure is driven to drive the shank body to move.
In some embodiments, as shown in fig. 5, the outer calf plate 110 is basically comprised of an upper annular portion 111 and a lower annular portion 112 of the outer calf plate, a middle portion can be configured to resemble a human calf, and the middle portion can have an upper plug counterbore 114 and a lower plug counterbore 115. As shown in fig. 6, the lower leg inner plate 120 mainly includes an upper annular portion 121 and a lower annular portion 122 of the lower leg inner plate, the middle portion may be configured to resemble the shape of a human lower leg, and the middle portion may be provided with an upper plug counter bore 124 and a lower plug counter bore 125.
In some embodiments, as shown in fig. 4, 5, 6 and 8, the lateral calf plate 110 and the medial calf plate 120 of the support side panels have through heat sink slots 113/123 at locations corresponding to the receiving cavities 231 of the lumenal structure 230; the lower leg composite structure also includes cooling fins mounted at the cooling slots 113/123. So that the motor driver mounted in the receiving cavity 231 of the inner cavity structure body 230 radiates heat.
In some embodiments, as shown in fig. 7, 8 and 9, the upper plug 210 has a larger thickness, and has a through hole penetrating through the left and right sides, a connection column 211 is penetrated in the through hole, and both end surfaces of the connection column 211 have threaded holes 212. The lower leg outer plate 110 and the lower leg inner plate 120 are provided with a countersunk hole and a connecting screw for fixing the connecting column 211 at the position where the upper plug 210 is connected in a matching way. The upper plug 210 has a threading hole 213 penetrating therethrough. As shown in fig. 10, the lower plug 220 has a smaller thickness, the left and right sides of the lower plug are slotted, and can be clamped between the two supporting side plates, and the lower plug 220 has a threading hole 223 penetrating through the upper and lower sides, so as to electrically connect the ankle joint assembly and the knee joint assembly. In addition, the upper plug 210 and the lower plug 220 may be opened with air inlets through from top to bottom, so that the electrical components of the inner cavity structure 230 can dissipate heat and ventilate.
In some embodiments, as shown in fig. 8, the inner cavity structure 230 may have threaded holes 232 for connecting the heat sink and the support side plates together. The inner chamber structure 230 can be bolted to the outer calf plate 110 and the inner calf plate 120. The screw holes 232 at the upper end are used for fixing the heat sink and supporting the side plates, and the screw holes 232 at the lower end are only used for fixing the supporting side plates.
In some embodiments, as shown in fig. 8, the upper plug 210 may be provided with an electrode well for receiving the lower leg electrode 214 for connection to the electrodes of the upper leg body.
In some embodiments, fig. 11 is a schematic structural diagram of a housing in an embodiment of the invention. As shown in fig. 11, the housing 11 may be a carbon fiber housing, leaving a gap for mounting a heat sink. In practical application, the shell 11 may be formed by wrapping a single carbon fiber cloth layer, and then curing the wrapped carbon fiber cloth layer. The shell 11 of carbon fiber can wrap up the supporting side plate and the embedded filling structure which are positioned in the shell, so that the rigidity and the strength of the leg of the robot can be improved, and the internal structure, electronic devices and circuits can be protected.
According to another aspect of the invention, there is also provided a humanoid robot comprising the above-described lower leg composite structure.
The invention relates to a shank composite structure and a humanoid robot comprising the same, wherein a large amount of nonmetal novel materials are used, supporting side plates on the left side and the right side of a shank are made of PEEK materials, a carbon fiber shell is arranged outside the side plates, a PMI embedded filling structure is arranged inside the side plates, the PMI embedded filling structure is connected with filling plugs up and down, and a joint motor and a reducer are connected with the upper end and the lower end of the left side plate and the right side plate of the shank. The design is designed to imitate the structure of human skeleton, so that the weight can be reduced while the mechanical property is ensured, and the strength of the robot is improved.
The carbon fiber shell wrapped outside the shank composite structure plays a role in supporting and protecting after being wound and cured layer by layer, the internal PMI embedded filling structure effectively utilizes the space between the leg plates, and the supporting side plate skeleton structure made of PEEK material reduces the weight on the premise of ensuring connection.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments in the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the embodiment of the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A composite structure of a lower leg of a humanoid robot, characterized in that it comprises: the device comprises supporting side plates, an embedded filling structure clamped between the supporting side plates and a shell wrapping the peripheries of the supporting side plates and the embedded filling structure;
the supporting side plates comprise a lower leg outer plate and a lower leg inner plate which are fixedly arranged at the left side and the right side at intervals of a preset distance, the upper ends of the lower leg outer plate and the lower leg inner plate are provided with upper end connecting and supporting parts for supporting and connecting knee joint components, and the lower ends of the lower leg outer plate and the lower leg inner plate are provided with lower end connecting and supporting parts;
wherein, embedded filling structure includes:
the upper end cap is positioned below the upper end connecting and supporting part and is fixedly connected with the supporting side plate;
the lower end plug is positioned above the lower end connecting support part;
and the inner cavity structure body is fixed between the upper plug and the lower plug and fixedly connected with the support side plate, and a containing cavity is formed in the inner cavity structure body.
2. The humanoid robot calf composite structure according to claim 1, characterized in that the calf lateral plate and the calf medial plate are formed pieces of PEEK; the inner cavity structure body is a formed part made of PMI materials; the shell is a carbon fiber shell.
3. The humanoid robot lower leg composite structure as claimed in claim 1 or 2, wherein the upper end connecting support portion is an upper end annular portion, and the upper end annular portion of the lower leg outer panel and the upper end annular portion of the lower leg inner panel are coaxially fitted.
4. The humanoid robot lower leg composite structure of claim 3, further comprising a knee joint component mounted at an upper annular portion of the outer and inner lower leg panels;
the knee joint component comprises a motor, a driving wheel and a joint sleeve, wherein the motor and the driving wheel are sleeved in the joint sleeve and are actuated by the driving wheel;
the joint sleeve is provided with a shaft collar fixedly connected with the annular part at the upper end of the supporting side plate.
5. The lower leg composite structure of the humanoid robot as claimed in claim 1 or 2, wherein the upper plug has a through hole penetrating left and right, a connecting column is penetrated in the through hole, and two end faces of the connecting column are provided with threaded holes;
and the positions of the upper plugs, which are matched and connected with the lower leg outer side plate and the lower leg inner side plate, are provided with countersunk holes and connecting screws for fixing the connecting columns.
6. The lower leg composite structure of the humanoid robot as claimed in claim 1 or 2, wherein the upper and lower plugs have threading holes passing therethrough from top to bottom.
7. The lower leg composite structure of the humanoid robot as claimed in claim 1 or 2, wherein the parts of the lower leg outer side plate and the lower leg inner side plate of the support side plate corresponding to the accommodating cavity of the inner cavity structure body are provided with through heat dissipation grooves.
8. The humanoid robot lower leg composite structure of claim 7, further comprising a heat sink mounted at the heat sink.
9. The lower leg composite structure of the humanoid robot as claimed in claim 1 or 2, wherein the inner cavity structural body is connected to the lower leg outer panel and the lower leg inner panel by screws.
10. A humanoid robot, characterized in that it comprises a lower leg composite structure as claimed in any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910626082.3A CN110394782B (en) | 2019-07-11 | 2019-07-11 | Shank composite construction and contain this shank composite construction's humanoid robot |
| PCT/CN2020/092715 WO2021004179A1 (en) | 2019-07-11 | 2020-05-27 | Composite lower leg structure, and humanoid robot comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910626082.3A CN110394782B (en) | 2019-07-11 | 2019-07-11 | Shank composite construction and contain this shank composite construction's humanoid robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110394782A CN110394782A (en) | 2019-11-01 |
| CN110394782B true CN110394782B (en) | 2020-10-16 |
Family
ID=68324461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910626082.3A Active CN110394782B (en) | 2019-07-11 | 2019-07-11 | Shank composite construction and contain this shank composite construction's humanoid robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110394782B (en) |
| WO (1) | WO2021004179A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394782B (en) * | 2019-07-11 | 2020-10-16 | 北京理工大学 | Shank composite construction and contain this shank composite construction's humanoid robot |
| US11707851B2 (en) * | 2019-08-28 | 2023-07-25 | Fanuc Corporation | Arm-shaped structure body and robot |
| JP6834045B1 (en) | 2020-04-02 | 2021-02-24 | 株式会社安川電機 | robot |
| CN116620446B (en) * | 2023-07-26 | 2023-11-24 | 之江实验室 | Humanoid robot thigh, humanoid robot and manufacturing method |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010025403A1 (en) * | 2008-08-28 | 2010-03-04 | Raytheon Sarcos, Llc | Control logic for biomimetic joint actuators |
| EP2861198B8 (en) * | 2012-06-15 | 2020-03-04 | Vanderbilt University | Movement assistance device |
| US20150101322A1 (en) * | 2013-10-14 | 2015-04-16 | Brian Riskas | System architecture for mobile hydraulic equipment |
| KR20160119756A (en) * | 2013-11-29 | 2016-10-14 | 렉스 바이오닉스 리미티드 | Mobility aid |
| CN205499112U (en) * | 2016-04-21 | 2016-08-24 | 奇弩（北京）科技有限公司 | Six sufficient legged robot's shank structure |
| CN107128394B (en) * | 2017-05-11 | 2019-02-19 | 上海大学 | A kind of bionical quadruped robot leg mechanism |
| CN109383660A (en) * | 2017-08-14 | 2019-02-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of hydraulic-driven machine people hip joint cantilever design |
| CN107571932A (en) * | 2017-08-14 | 2018-01-12 | 江苏集萃智能制造技术研究所有限公司 | One species people's sole deflection system |
| CN207622996U (en) * | 2017-12-21 | 2018-07-17 | 中国科学院沈阳自动化研究所 | A kind of space suit lower limb performance test mechanical arm |
| CN108639180B (en) * | 2018-05-15 | 2019-07-19 | 北京理工大学 | Three leg section leg structures of one kind and quadruped robot |
| CN208715326U (en) * | 2018-07-13 | 2019-04-09 | 长沙紫宸科技开发有限公司 | The bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band |
| CN109382830B (en) * | 2018-09-18 | 2020-11-03 | 重庆工商职业学院 | Digital media assists teaching robot |
| CN109733502B (en) * | 2019-02-20 | 2021-11-02 | 上海交大临港智能制造创新科技有限公司 | Robot leg structure and robot |
| CN110394782B (en) * | 2019-07-11 | 2020-10-16 | 北京理工大学 | Shank composite construction and contain this shank composite construction's humanoid robot |
-
2019
- 2019-07-11 CN CN201910626082.3A patent/CN110394782B/en active Active
-
2020
- 2020-05-27 WO PCT/CN2020/092715 patent/WO2021004179A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021004179A1 (en) | 2021-01-14 |
| CN110394782A (en) | 2019-11-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110394782B (en) | Shank composite construction and contain this shank composite construction's humanoid robot | |
| RU2008112649A (en) | INSTRUMENTALLY EQUIPPED BIKE COMPONENT AND DETECTOR ASSEMBLY FOR EQUIPMENT OF SUCH COMPONENT | |
| US20080224440A1 (en) | Crank for Bicycle and Method of Producing the Same | |
| CN107985439B (en) | Leg mechanism of humanoid robot | |
| US20210339406A1 (en) | Robot dual-joint unit, and legged robot and cooperative manipulator using the same | |
| CN109973585B (en) | High-overload-resistant test control circuit composite protection structure | |
| CN105655509A (en) | Lower box body and battery box comprising same | |
| US20140123483A1 (en) | Creating an electric bicycle | |
| CN210452726U (en) | Humanoid robot shank structure and humanoid robot comprising same | |
| JP2020118679A (en) | Torque sensing and transmission device | |
| CN110539329A (en) | exoskeleton robot joint module | |
| CN102759373B (en) | Locking and automatic unlocking mechanism for two-dimensional tracking rotating-tables | |
| CN112621729A (en) | Knee joint booster unit based on energy recuperation | |
| CN103697145B (en) | A kind of steering wheel protective gear | |
| CN106346793B (en) | A kind of assembled mechanism for carbon fiber foam core filled composite material beam rapid abutting joint | |
| CN211555982U (en) | Shock attenuation heat dissipation mechanism of lithium cell shell | |
| CN2769430Y (en) | Manhole cover electronic puzzle lock clutch washer emergency unlocking device | |
| CN210063352U (en) | Steering wheel connecting rod and unmanned aerial vehicle | |
| CN217435885U (en) | Leg assembly and foot type robot | |
| CN215871019U (en) | Permanent magnet generator set for low-power ship | |
| CN113696226B (en) | Mechanical arm protection method and mechanical arm | |
| CN221221993U (en) | Synchronous motor installs additional and weaves holder soon | |
| CN214958982U (en) | Quick-release type motor for bicycle | |
| CN214479983U (en) | Driving motor shell capable of flexibly adapting to various platforms | |
| CN214446376U (en) | Knee joint booster unit based on energy recuperation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |