CN114475845A - Lower limb structure of humanoid robot - Google Patents
Lower limb structure of humanoid robot Download PDFInfo
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- CN114475845A CN114475845A CN202011259319.8A CN202011259319A CN114475845A CN 114475845 A CN114475845 A CN 114475845A CN 202011259319 A CN202011259319 A CN 202011259319A CN 114475845 A CN114475845 A CN 114475845A
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- damping hinge
- frame
- skeleton
- hip
- joint
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Abstract
The invention relates to the field of intelligent robots, in particular to a lower limb structure of a humanoid robot, which comprises a fixed frame, an adapter, a framework and a damping hinge, wherein the fixed frame is provided with a plurality of connecting pieces; the fixing frame is connected with one of the frameworks, the adaptor is connected with the other framework, and the fixing frame is rotatably connected with the adaptor through the damping hinge. The lower limb structure of the humanoid robot provided by the invention can realize the stopping and swinging of the lower limb of the robot at any angle by utilizing the matching of the fixing frame, the adapter piece and the damping hinge, thereby realizing more accurate and richer display of the humanoid gesture.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a lower limb structure of a humanoid robot.
Background
In order to make the humanoid robot highly personified, the lower limbs of the robot need to be capable of moving forwards, backwards, leftwards and rightwards in different directions so as to realize the humanoid postures of bending knees, lifting legs, squatting, running, standing upright, slightly resting, standing on tiptoes, kneeling by one knee and the like. The fixed straight rod or the fuzzy lower limb structure adopted by the prior art cannot realize the swinging stop of any position of the joint.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provides a lower limb structure of a humanoid robot capable of realizing the stop and swing of any position of a joint.
In order to solve the technical problems, the invention adopts the technical scheme that: a lower limb structure of a humanoid robot comprises a fixed frame, an adapter, a framework and a damping hinge; the fixing frame is connected with one of the frameworks, the adaptor is connected with the other framework, and the fixing frame is rotatably connected with the adaptor through the damping hinge.
The invention has the beneficial effects that: the lower limb structure of the humanoid robot comprises a fixed frame, an adapter, frameworks and damping hinges, wherein the fixed frame is connected with one framework, the adapter is connected with the other framework, and the fixed frame is connected with the adapter through the damping hinges, so that the structure is compact, the lower limbs can be randomly placed and fixed at a set angle within a preset joint rotation angle range when no external force is applied, different anthropomorphic postures can be displayed, and when the placing posture needs to be adjusted, the joints can be rotated by applying a small force, and a new anthropomorphic posture can be switched; meanwhile, the adjustability of the lower limb joint active moment is increased by utilizing the damping hinge, and a more accurate and vivid lower limb form is realized. The lower limb structure of the humanoid robot provided by the invention can realize the stopping and swinging of the lower limb of the robot at any angle by utilizing the matching of the fixing frame, the adapter piece and the damping hinge, thereby realizing more accurate and richer display of the humanoid gesture.
Drawings
FIG. 1 is a schematic structural diagram of a lower limb structure of a humanoid robot according to an embodiment of the invention;
FIG. 2 is another schematic structural diagram of a lower limb structure of a humanoid robot according to an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a two-degree-of-freedom hip joint structure of a humanoid robot according to a second embodiment of the present invention;
FIG. 4 is a top view of a two-degree-of-freedom hip joint structure of a humanoid robot according to a second embodiment of the present invention;
FIG. 5 is a front view of a two-degree-of-freedom hip joint structure of a humanoid robot according to a second embodiment of the present invention;
fig. 6 is a schematic structural view of a one-degree-of-freedom knee joint structure of a humanoid robot according to a third embodiment of the present invention;
FIG. 7 is a top view of a one-degree-of-freedom knee joint structure of a humanoid robot according to a third embodiment of the present invention;
FIG. 8 is a front view of a one-degree-of-freedom knee joint structure of a humanoid robot according to a third embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a two-degree-of-freedom ankle structure of a humanoid robot according to a fourth embodiment of the present invention;
FIG. 10 is a top view of a two-degree-of-freedom ankle joint structure of a humanoid robot according to a fourth embodiment of the present invention;
FIG. 11 is a front view of a two-degree-of-freedom ankle joint structure of a humanoid robot according to a fourth embodiment of the present invention;
description of reference numerals:
1. a fixed mount; 11. a hip joint cross frame; 111. a first damping hinge; 12. a first hip joint connection beam; 121. a first interface; 13. a second hip joint connection beam; 131. a second interface; 14. a knee joint cross frame; 141. a third damping hinge; 142. a fourth interface; 15. an ankle joint cross brace; 151. a sixth interface; 152. a fourth damping hinge;
2. an adapter; 21. a hip joint base; 22. a hip joint swing frame; 221. a second damping hinge; 222. a third interface; 23. a knee joint swing frame; 231. a fifth interface; 24. an ankle joint base; 25. an ankle swing frame; 251. a fifth damping hinge; 252. a seventh interface;
3. a hip skeleton;
4. a lower limb switching framework;
5. a thigh skeleton;
6. a shank skeleton;
7. a sole skeleton;
8. a support frame.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 to 11, a lower limb structure of a humanoid robot includes a fixing frame, an adaptor, a skeleton and a damping hinge; the fixing frame is connected with one of the frameworks, the adaptor is connected with the other framework, and the fixing frame is rotatably connected with the adaptor through the damping hinge.
From the above description, the beneficial effects of the present invention are: the lower limb structure of the humanoid robot comprises a fixed frame, an adapter, frameworks and damping hinges, wherein the fixed frame is connected with one framework, the adapter is connected with the other framework, and the fixed frame is connected with the adapter through the damping hinges, so that the structure is compact, the lower limbs can be randomly placed and fixed at a set angle within a preset joint rotation angle range when no external force is applied, different anthropomorphic postures can be displayed, and when the placing posture needs to be adjusted, the joints can be rotated by applying a small force, and a new anthropomorphic posture can be switched; meanwhile, the adjustability of the lower limb joint active moment is increased by utilizing the damping hinge, and a more accurate and vivid lower limb form is realized. The lower limb structure of the humanoid robot provided by the invention can realize the stopping and swinging of the lower limb of the robot at any angle by utilizing the matching of the fixing frame, the adapter piece and the damping hinge, thereby realizing more accurate and richer display of the humanoid gesture.
Furthermore, the mount includes the hip joint crossbearer, the adaptor includes the hip joint base, the skeleton includes low limbs switching skeleton and thigh skeleton, the damping hinge includes first damping hinge, the hip joint crossbearer with low limbs switching skeleton fixed connection, the hip joint crossbearer pass through first damping hinge with the hip joint base rotates to be connected, the hip joint base with thigh skeleton is connected, the axis of rotation of hip joint base is on a parallel with the coronal axis.
According to the description, the hip joint cross frame is used for connecting the lower limb switching framework, the hip joint base is connected with the thigh framework after being rotatably connected with the hip joint cross frame through the first damping hinge, and the rotation axis of the hip joint base is parallel to the coronal axis, so that the flexion and extension movement of the hip joint is realized.
Furthermore, the adaptor further comprises a hip joint swing frame, the damping hinge further comprises a second damping hinge, the hip joint swing frame is rotatably connected with the hip joint base through the second damping hinge, the hip joint swing frame is fixedly connected with the thigh framework, and the rotation axis of the hip joint swing frame is parallel to the sagittal axis.
As can be seen from the above description, the hip joint swing frame is connected with the hip joint base through the second damping hinge in a rotating manner and then connected with the thigh framework, so that the rotating axis of the hip joint swing frame is parallel to the sagittal axis, and the abduction and adduction movement of the hip joint is realized.
Furthermore, the mount still includes first hip joint tie-beam and second hip joint tie-beam, the skeleton still includes the buttock skeleton, first hip joint tie-beam with the connection can be dismantled to the hip joint crossbearer, first hip joint tie-beam be equipped with the first interface of connection can be dismantled to the buttock skeleton, second hip joint tie-beam with first hip joint tie-beam can be dismantled the connection, second hip joint tie-beam be equipped with the second interface that the connection can be dismantled to low limbs switching skeleton, the hip joint swing frame be equipped with the third interface that the connection can be dismantled to the thigh skeleton.
According to the description, the first hip joint connecting beam and the second hip joint connecting beam are respectively used for connecting the hip framework and the lower limb switching framework, and the first hip joint connecting beam, the second hip joint connecting beam and the hip joint swing frame are respectively provided with the detachable interfaces, so that the frameworks are convenient to disassemble, assemble and replace quickly.
Furthermore, the mount still includes the knee joint crossbearer, the adaptor still includes the knee joint rocker, the skeleton still includes the shank skeleton, the damping hinge still includes the third damping hinge, the knee joint crossbearer with thigh skeleton fixed connection, the knee joint crossbearer passes through the third damping hinge with the knee joint rocker rotates to be connected, the knee joint rocker with the shank skeleton is connected, the axis of rotation of knee joint rocker is on a parallel with the coronal axis.
According to the description, the knee joint transverse frame is used for being connected with the thigh skeleton, the knee joint swing frame is connected with the shank skeleton after being connected with the knee joint transverse frame through the third damping hinge, and the rotation axis of the knee joint swing frame is parallel to the coronal axis, so that the knee joint flexion hyperextension movement is realized.
Furthermore, the knee joint transverse frame is provided with a fourth interface detachably connected with the shank skeleton, and the knee joint swing frame is provided with a fifth interface detachably connected with the thigh skeleton.
As can be seen from the above description, the knee joint crossbearers and the knee joint swing frames are both provided with the quick-connection interfaces, so that the thigh skeletons and the shank skeletons with different specifications and forms can be conveniently disassembled, assembled and replaced.
Further, the mount still includes the ankle joint crossbearer, the adaptor still includes the ankle joint base, the skeleton still includes the sole skeleton, the damping hinge still includes fourth damping hinge, the ankle joint crossbearer with shank skeleton fixed connection, the ankle joint crossbearer passes through the fourth damping hinge with the ankle joint base rotates to be connected, the ankle joint base with the sole skeleton is connected, the axis of rotation of ankle joint base is on a parallel with the vertical axis.
According to the description, the ankle joint transverse frame is used for connecting the shank framework, the ankle joint base is connected with the ankle joint transverse frame through the fourth damping hinge and then connected with the sole framework, and the rotation axis of the ankle joint base is parallel to the vertical axis, so that the eversion and inversion actions of the ankle joint are realized.
Furthermore, the fixing frame further comprises an ankle joint swing frame, the damping hinge further comprises a fifth damping hinge, the ankle joint swing frame is connected with the ankle joint base in a rotating mode through the fifth damping hinge, the ankle joint swing frame is connected with the sole framework, and the rotating axis of the ankle joint swing frame is parallel to the crown shaft.
From the above description, the ankle joint swing frame is connected with the ankle joint base through the fifth damping hinge and then connected with the sole skeleton, so that the rotation axis of the ankle joint swing frame is parallel to the coronal axis, and dorsiflexion and plantarflexion actions of the ankle joint are realized.
Furthermore, the ankle joint transverse frame is provided with a sixth interface detachably connected with the shank framework, and the ankle joint swing frame is provided with a seventh interface detachably connected with the sole framework.
As can be seen from the above description, the ankle joint crossbearers and the ankle joint swing frames are both provided with the quick-connection interfaces, so that the shank frameworks and the sole frameworks with different specifications and shapes can be conveniently disassembled, assembled and replaced.
Furthermore, a damping adjusting knob is arranged on the damping hinge.
According to the description, the damping adjusting knob is used for adjusting the damping hinge to obtain force values of different torques, so that feedback hand feeling of lower limb postures under different posture angles is adjusted, and the lower limb structure of the robot is more anthropomorphic and vivid.
Referring to fig. 1, a first embodiment of the present invention is:
a lower limb structure of a humanoid robot comprises a fixed frame 1, an adapter 2, a framework and a damping hinge; the fixing frame 1 is detachably connected with one framework through screws, the adaptor 2 is detachably connected with the other framework through screws, and the fixing frame 1 is rotatably connected with the adaptor 2 through the damping hinge. And a damping adjusting knob for adjusting the moment is arranged on the damping hinge.
Referring to fig. 1 to 5, a second embodiment of the present invention is:
the utility model provides a two degree of freedom hip joint structures of imitative people robot, mount 1 includes hip joint crossbearer 11, adaptor 2 includes hip joint base 21, the skeleton includes low limbs switching skeleton 4 and thigh skeleton 5, the damping hinge includes first damping hinge 111, low limbs switching skeleton 4 passes through support frame 8 to be fixed subaerial, hip joint crossbearer 11 with low limbs switching skeleton 4 fixed connection, hip joint crossbearer 11 passes through first damping hinge 111 with hip joint base 21 rotates to be connected, hip joint base 21 with thigh skeleton 5 is connected, the axis of rotation of hip joint base 21 is on a parallel with the coronal axis.
The adaptor 2 further comprises a hip joint swing frame 22, the damping hinge further comprises a second damping hinge 221, the hip joint swing frame 22 is rotatably connected with the hip joint base 21 through the second damping hinge 221, the hip joint swing frame 22 is fixedly connected with the thigh framework 5, and the rotation axis of the hip joint swing frame 22 is parallel to the sagittal axis. The fixing frame 1 further comprises a first hip joint connecting beam 12 and a second hip joint connecting beam 13, the framework further comprises a hip framework 3, the first hip joint connecting beam 12 is detachably connected with the hip joint cross frame 11, the first hip joint connecting beam 12 is provided with a first interface 121 detachably connected with the hip framework 3, the second hip joint connecting beam 13 is detachably connected with the first hip joint connecting beam 12, the second hip joint connecting beam 13 is provided with a second interface 131 detachably connected with the lower limb switching framework 4, and the hip joint swing frame 22 is provided with a third interface 222 detachably connected with the thigh framework 5.
Referring to fig. 1, 2, 6, 7 and 8, a difference between the third embodiment and the second embodiment of the present invention is:
the utility model provides an imitative people robot one degree of freedom knee joint structure, mount 1 still includes knee joint crossbearer 14, adaptor 2 still includes knee joint rocker 23, the skeleton still includes shank skeleton 6, the damping hinge still includes third damping hinge 141, knee joint crossbearer 14 with thigh skeleton 5 fixed connection, knee joint crossbearer 14 passes through third damping hinge 141 with knee joint rocker 23 rotates to be connected, knee joint rocker 23 with shank skeleton 6 is connected, the axis of rotation of knee joint rocker 23 is on a parallel with the crown shaft.
The knee joint transverse frame 14 is provided with a fourth interface 142 detachably connected with the lower leg skeleton 6, and the knee joint swing frame 23 is provided with a fifth interface 231 detachably connected with the thigh skeleton 5.
Referring to fig. 1, 2, 9, 10 and 11, a fourth embodiment of the present invention is different from the third embodiment in that:
the utility model provides an imitative two degree of freedom ankle joint structures of people's robot, mount 1 still includes ankle joint crossbearer 15, adaptor 2 still includes ankle joint base 24, the skeleton still includes sole skeleton 7, the damping hinge still includes fourth damping hinge 152, ankle joint crossbearer 15 with shank skeleton 6 fixed connection, ankle joint crossbearer 15 passes through fourth damping hinge 152 with ankle joint base 24 rotates and connects, ankle joint base 24 with sole skeleton 7 connects, the axis of rotation of ankle joint base 24 is on a parallel with the vertical axis.
The fixing frame 1 further comprises an ankle joint swing frame 25, the damping hinge further comprises a fifth damping hinge 251, the ankle joint swing frame 25 is rotatably connected with the ankle joint base 24 through the fifth damping hinge 251, the ankle joint swing frame 25 is connected with the sole framework 7, and the rotation axis of the ankle joint swing frame 25 is parallel to the crown shaft. The ankle joint transverse frame 15 is provided with a sixth interface 151 detachably connected with the lower leg framework 6, and the ankle joint swing frame 25 is provided with a seventh interface 252 detachably connected with the sole framework 7.
Referring to fig. 1 to 2, a fifth embodiment of the present invention is:
when the joint structures of the four embodiments are combined for use, the rotation angles of the five damping hinges are respectively controlled through the matching of the multiple groups of crossbearers, the swinging frames and the bases, and the four damping hinges can be combined into anthropomorphic postures such as knee bending, leg lifting, squatting, running, standing, leaning, standing on, tiptoe standing, single knee kneeling and the like, wherein how the parts are matched is specifically explained through the single knee kneeling action, before operation, the upright state of the two legs of the robot is defined as an initial state, and then the following operations are sequentially carried out: firstly, the right thigh is taken as a force application arm, and the first damping hinge 111 of the right thigh is rotated by 90 degrees clockwise; the third damping hinge 141 of the right leg is rotated 100 degrees counterclockwise by taking the right lower leg as a force applying arm; the fifth damping hinge 251 of the right leg is rotated clockwise by 10 degrees by taking the right sole as a force applying arm; the left thigh is used as a force application arm to keep the initial state of the first damping hinge 111 of the left leg; the third damping hinge 141 of the left leg is rotated 90 degrees counterclockwise by taking the left leg as a force application arm; the left foot sole is used as the force applying arm to rotate the fifth damping hinge 251 of the left leg by 35 degrees clockwise. Thus, the display of kneeling by one knee is completed. The rotation angle illustrated in the embodiment is used for better describing the joint motion state, and the actual display posture can be adjusted according to the field requirement.
In conclusion, the invention provides a lower limb structure of a humanoid robot, which comprises a fixed frame, an adapter, frameworks and a damping hinge, wherein the fixed frame is connected with one framework, the adapter is connected with the other framework, and the fixed frame is connected with the adapter through the damping hinge, so that the structure is compact, the lower limb can be randomly placed and fixed at a set angle within a preset joint rotation angle range to show different anthropomorphic postures when external force is not applied, and when the placing posture needs to be adjusted, a new anthropomorphic posture can be switched by only applying small force to rotate the joints; meanwhile, the adjustability of the lower limb joint active moment is increased by utilizing the damping hinge, and a more accurate and vivid lower limb form is realized. The lower limb structure of the humanoid robot provided by the invention can realize the stopping and swinging of the lower limb of the robot at any angle by utilizing the matching of the fixing frame, the adapter piece and the damping hinge, thereby realizing more accurate and richer display of the humanoid gesture. The hip joint cross frame is used for connecting a lower limb switching framework, the hip joint base is connected with the thigh framework after being rotationally connected with the hip joint cross frame through a first damping hinge, and the rotation axis of the hip joint base is parallel to the coronary axis, so that the flexion and extension movement of the hip joint is realized. The hip joint swing frame is connected with the hip joint base through the second damping hinge in a rotating mode and then connected with the thigh framework, the rotating axis of the hip joint swing frame is guaranteed to be parallel to the sagittal axis, and therefore abduction and adduction of the hip joint are achieved. The first hip joint connecting beam and the second hip joint connecting beam are respectively used for connecting the hip framework and the lower limb switching framework, and the first hip joint connecting beam, the second hip joint connecting beam and the hip joint swing frame are respectively provided with a detachable interface, so that the framework can be conveniently and quickly disassembled and replaced. The knee joint horizontal frame is used for connecting a thigh skeleton, and the knee joint swing frame is connected with the knee joint horizontal frame through the third damping hinge and then connected with the shank skeleton, so that the rotation axis of the knee joint swing frame is parallel to the coronal axis, and the knee joint flexion and extension movement is realized. Quick connectors are arranged on the knee joint transverse frame and the knee joint swing frame, so that the thigh skeletons and the shank skeletons with different specifications and forms can be conveniently disassembled, assembled and replaced. The ankle joint transverse frame is used for connecting a shank framework, the ankle joint base is connected with the ankle joint transverse frame through the fourth damping hinge and then connected with the sole framework, and the rotation axis of the ankle joint base is parallel to the vertical axis, so that the eversion and inversion actions of the ankle joint are realized. The ankle joint swing frame is connected with the ankle joint base through the fifth damping hinge and then connected with the sole framework, so that the rotation axis of the ankle joint swing frame is parallel to the coronal axis, and dorsiflexion and plantarflexion actions of the ankle joint are realized. The ankle joint transverse frame and the ankle joint swing frame are provided with quick connectors, so that the shank frameworks and the sole frameworks in different specifications and shapes can be conveniently detached and replaced. The damping adjusting knob is used for adjusting the damping hinge to obtain force values of different torques, so that feedback handfeel of lower limb postures under different posture angles is adjusted, and the lower limb structure of the robot is more humanoid and lifelike.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A lower limb structure of a humanoid robot is characterized by comprising a fixed frame, an adapter, a framework and a damping hinge; the fixing frame is connected with one of the frameworks, the adaptor is connected with the other framework, and the fixing frame is rotatably connected with the adaptor through the damping hinge.
2. The lower limb structure of the humanoid robot of claim 1, wherein the fixing frame comprises a hip joint cross frame, the adaptor comprises a hip joint base, the framework comprises a lower limb transferring framework and a thigh framework, the damping hinge comprises a first damping hinge, the hip joint cross frame is fixedly connected with the lower limb transferring framework, the hip joint cross frame is rotatably connected with the hip joint base through the first damping hinge, the hip joint base is connected with the thigh framework, and a rotation axis of the hip joint base is parallel to a coronal axis.
3. The lower limb structure of the humanoid robot of claim 2, wherein the adaptor further comprises a hip swing frame, the damping hinge further comprises a second damping hinge, the hip swing frame is rotatably connected with the hip base through the second damping hinge, the hip swing frame is fixedly connected with the thigh framework, and a rotation axis of the hip swing frame is parallel to a sagittal axis.
4. The lower limb structure of the humanoid robot of claim 3, wherein the fixing frame further comprises a first hip joint connecting beam and a second hip joint connecting beam, the skeleton further comprises a hip skeleton, the first hip joint connecting beam is detachably connected with the hip cross frame, the first hip joint connecting beam is provided with a first interface detachably connected with the hip skeleton, the second hip joint connecting beam is detachably connected with the first hip joint connecting beam, the second hip joint connecting beam is provided with a second interface detachably connected with the lower limb switching skeleton, and the hip joint swing frame is provided with a third interface detachably connected with the thigh skeleton.
5. The lower limb structure of the humanoid robot of claim 2, wherein the fixing frame further comprises a knee joint cross frame, the adaptor further comprises a knee joint swing frame, the skeleton further comprises a shank skeleton, the damping hinge further comprises a third damping hinge, the knee joint cross frame is fixedly connected with the thigh skeleton, the knee joint cross frame is rotatably connected with the knee joint swing frame through the third damping hinge, the knee joint swing frame is connected with the shank skeleton, and a rotation axis of the knee joint swing frame is parallel to a coronal axis.
6. The lower limb structure of the humanoid robot of claim 5, wherein the knee joint cross frame is provided with a fourth interface detachably connected with the shank skeleton, and the knee joint swing frame is provided with a fifth interface detachably connected with the thigh skeleton.
7. The lower limb structure of the humanoid robot of claim 6, wherein the fixing frame further comprises an ankle joint cross frame, the adaptor further comprises an ankle joint base, the skeleton further comprises a sole skeleton, the damping hinge further comprises a fourth damping hinge, the ankle joint cross frame is fixedly connected with the shank skeleton, the ankle joint cross frame is rotatably connected with the ankle joint base through the fourth damping hinge, the ankle joint base is connected with the sole skeleton, and a rotation axis of the ankle joint base is parallel to a vertical axis.
8. The lower limb structure of the humanoid robot of claim 7, wherein the fixing frame further comprises an ankle swing frame, the damping hinge further comprises a fifth damping hinge, the ankle swing frame is rotatably connected with the ankle base through the fifth damping hinge, the ankle swing frame is connected with the sole framework, and a rotation axis of the ankle swing frame is parallel to a crown shaft.
9. The lower limb structure of the humanoid robot of claim 8, wherein the ankle joint crossbearer is provided with a sixth interface detachably connected with the shank skeleton, and the ankle joint swing frame is provided with a seventh interface detachably connected with the sole skeleton.
10. The lower limb structure of the humanoid robot of claim 1, wherein a damping adjusting knob is provided on the damping hinge.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011259319.8A CN114475845B (en) | 2020-11-12 | 2020-11-12 | Humanoid robot lower limb structure |
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| CN202011259319.8A CN114475845B (en) | 2020-11-12 | 2020-11-12 | Humanoid robot lower limb structure |
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| JP2011206874A (en) * | 2010-03-29 | 2011-10-20 | Honda Motor Co Ltd | Leg type mobile robot |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN208725337U (en) * | 2018-05-01 | 2019-04-12 | 江西服装学院 | A kind of adjustable type clothes display model |
| CN109719709A (en) * | 2019-02-28 | 2019-05-07 | 南京林业大学 | A kind of small-sized apery class mandibular movement device |
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| CN2684666Y (en) * | 2004-03-31 | 2005-03-16 | 陈建国 | Anthropomorphic dummy |
| US20110185837A1 (en) * | 2008-05-29 | 2011-08-04 | Bia | Humanoid robot implementing a spherical hinge with coupled actuators |
| CN201235218Y (en) * | 2008-06-27 | 2009-05-13 | 黄国威 | Artificial human model |
| JP2011206874A (en) * | 2010-03-29 | 2011-10-20 | Honda Motor Co Ltd | Leg type mobile robot |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN208725337U (en) * | 2018-05-01 | 2019-04-12 | 江西服装学院 | A kind of adjustable type clothes display model |
| CN109719709A (en) * | 2019-02-28 | 2019-05-07 | 南京林业大学 | A kind of small-sized apery class mandibular movement device |
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| CN114475845B (en) | 2023-05-23 |
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