CN115488908A

CN115488908A - Robot lower limb and robot

Info

Publication number: CN115488908A
Application number: CN202211441043.4A
Authority: CN
Inventors: 严敏东; 宛敏红; 顾建军
Original assignee: Zhejiang Lab
Current assignee: Zhejiang Lab
Priority date: 2022-11-17
Filing date: 2022-11-17
Publication date: 2022-12-20

Abstract

The application relates to a lower limb of a robot and the robot. The robot lower limb comprises a base and a lower limb assembly. The base comprises a first movable connecting seat arranged on the upper end surface of the base. The lower limb assembly includes a first lower limb. The first lower limb includes a joint driver, a treading leg and a treading foot. Wherein: the treading foot part is pivoted with the treading leg part through the joint driver. One end of the treading leg part, which is far away from the treading foot part, is pivoted with the first movable connecting seat. The joint driver is used for driving the pivoting motion between the treading foot part and the treading leg part. With this arrangement, the first lower limb can simulate the structure of a human leg, and the joint actuator is provided to allow pivotal movement between the stepping foot and the stepping leg, so that the first lower limb can simulate the movement of the human foot on the ground to keep the heel of the foot on the ground and the toe of the foot moving up and down.

Description

Robot lower limb and robot

Technical Field

The application relates to the field of robot design, in particular to a lower limb of a robot and the robot.

Background

With the development of robotics, service robots have also started to gradually enter people's daily lives, in addition to robots that assist in industrial work. The current service robot is applied to restaurant service, chess activities and other aspects. The robot can not only help people to reduce labor intensity, but also provide entertainment service, and enrich the spiritual life of people.

How to make the robot more anthropomorphic and the function of the robot more comprehensive is always the key point of the design field of the robot.

Disclosure of Invention

The application provides a robot lower limb and a robot, which are used for solving part or all of defects in the related art.

The application provides a robot lower limb, including base and low limbs subassembly. The base is including setting up in the first swing joint seat of base up end. The lower limb assembly includes a first lower limb. The first lower limb includes a joint driver, a tread leg portion, and a tread foot portion. Wherein: the treading foot part is pivoted with the treading leg part through the joint driver. One end of the leg part, which is far away from the treading foot part, is pivoted with the first movable connecting seat. The joint driver is used for driving the pivoting motion between the treading foot part and the treading leg part. The first lower limb simulates the structure of a human leg, and the treading foot and the treading leg can perform pivoting motion by arranging the joint driver, so that the first lower limb can simulate the action that the human steps on the ground, the heel is grounded, and the toe moves up and down.

Further, the treading legs comprise a first thigh portion and a first shank portion; a first arc-shaped hole is formed in one end, close to the first lower leg, of the first upper leg, and the first lower leg is fixedly connected with the first upper leg through a fastener and the first arc-shaped hole; or one end of the first lower leg part, which is close to the first thigh part, is provided with a first arc-shaped hole, and the first thigh part is fixedly connected with the first lower leg part through a fastener and the first arc-shaped hole. When the lower limbs of the robot are in different scenes and the treading position, the ground and the height between the first end surface are changed, the actual ground contact position and the treading position of the treading foot can be adjusted by adjusting the angle between the first thigh part and the first shank part, and the adaptability of the lower limbs of the robot to the environment and the adjustment flexibility are improved.

Further, the step foot includes a slider; the sliding piece is arranged at the heel of the stepping foot. Through the arrangement of the sliding piece, when the joint driver drives the stepping foot to pivot, the friction force between the heel of the stepping foot and the ground can be reduced, so that abrasion at the heel of the stepping foot is avoided, and the service life of the stepping foot can be prolonged.

Furthermore, the base also comprises a second movable connecting seat arranged on the upper end surface; the first movable connecting seat and the second movable connecting seat are arranged at intervals; the lower limb assembly also includes a second lower limb. The second lower limb is the same as the first lower limb, and the second lower limb is pivoted with the second movable connecting seat. In this way, the lower limbs of the robot can have two lower limbs capable of performing stepping motions.

Further, the lower limb assembly also comprises a second lower limb. The second lower limb comprises a fixed connecting seat, a supporting leg part and a supporting foot part; one end of the supporting leg part is fixedly connected with the supporting foot part, and the other end of the supporting leg part is fixedly connected with the fixed connecting seat; the fixed connecting seat is fixedly connected with the upper end face of the base; the second lower limb and the first lower limb are arranged at intervals. The second lower limb can provide a good supporting effect, so that the gravity center position of the lower limb of the robot can be adjusted, and the lower limb of the robot is prevented from toppling.

Further, the support leg portion further comprises a second thigh portion and a second shank portion; a second arc-shaped hole is formed in one end, close to the second lower leg, of the second thigh, and the second lower leg is fixedly connected with the second thigh through a fastener and the second arc-shaped hole; or a second arc-shaped hole is formed in one end, close to the second thigh portion, of the second shank portion, and the second thigh portion is fixedly connected with the second shank portion through a fastener and the second arc-shaped hole. When the lower limbs of the robot are in different scenes and the weights of the first lower limbs and the base are changed, the actual ground contact position of the supporting foot can be adjusted by adjusting the angle between the second thigh part and the second shank part, so that the balance position of the lower limbs of the robot is adjusted, and the adaptability of the lower limbs of the robot to the environment and the adjustment flexibility can be improved.

Furthermore, one end of the supporting leg part, which is close to the supporting foot part, is provided with a second arc-shaped hole, and the supporting foot part is fixedly connected with the supporting leg part through a fastener and the second arc-shaped hole; or one end of the supporting foot part, which is close to the supporting leg part, is provided with a second arc-shaped hole, and the supporting leg part is fixedly connected with the supporting foot part through a fastener and the second arc-shaped hole. Through setting up like this, can adjust the angle between second shank and the support leg for support leg can contact with ground in positions such as plane, inclined plane, realizes supporting.

Further, the second lower limb extends toward the same side of the base as the first lower limb. Through the arrangement, the lower limb assembly and the base can be well balanced, and the personification degree and the simulation degree of the lower limb of the robot can be improved.

Further, the inside of base still includes the accommodation space that is used for holding balancing weight and/or electrical equipment. Therefore, the structure compactness of the lower limbs of the robot can be improved.

Further, the treading leg includes a weight space for receiving a leg weight. By adding or reducing leg weights in the weight space, the weight of the first lower limb can be flexibly adjusted.

Further, a plurality of mounting holes for connecting with a decorative plate are arranged on the surface of the treading leg part. Through setting up like this, can improve the pleasing to the eye degree of first low limbs, can also avoid the user at the in-process of transport, regulation first low limbs by the inner structure scratch of first low limbs.

Further, the base comprises a moving piece arranged on the lower end face, so that the placement position of the base can be changed. The setting of moving member can convenience of customers later stage change the position of placing of robot low limbs through the push-and-pull, improves the flexibility of putting of robot low limbs to also can promote user's experience and feel.

Further, the gravity of the first lower limb satisfies the following formula:

wherein, G is the gravity of first low limbs, and F1 is when trampling the foot on subaerial trampling the reaction force of foot tip department, b is the toe with the projection distance on subaerial of first swing joint seat pivot axis, a is the focus of first low limbs with the projection distance on subaerial of first swing joint seat pivot axis, theta is trample the foot with contained angle between the ground. The formula can improve the support stability of the first lower limb, avoid the first lower limb from being suspended on the ground, is favorable for improving the success rate of trampling motion operation, and ensures that the first lower limb can reliably trample a trampled object.

A second aspect of the application provides a robot, comprising a power supply and the lower robot limb of the previous embodiment; the lower limbs of the robot are electrically connected with the power supply.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 shows a general schematic view of an embodiment of a lower limb of a robot of the present application.

FIG. 2 illustrates an overall schematic view of one embodiment of a first lower limb of the present application.

Figure 3 illustrates an overall schematic view of one embodiment of a second lower limb of the present application.

Figure 4 shows a simplified graph of the force analysis of the first lower limb of the present application.

The robot comprises 100 robot lower limbs, a base 1, an upper end face 11, a lower end face 12, a first movable connecting seat 13, a bearing 131, a 14 accommodating space, a 15 wiring hole, a 16 moving part, a lower limb component 2, a first lower limb 21, a joint driver 211, a treading leg 212, a treading foot 213, a first thigh 214, a first shank 215, a first arc-shaped hole 216, a connecting hole 217, a sliding part 218, a 219 mounting hole, a second lower limb 22, a fixed connecting seat 221, a supporting leg 222, a supporting foot 223, a second thigh 224, a second shank 225, a second arc-shaped hole 226, a strip-shaped hole 227, a supporting plate 228, a counterweight space 23, a fastening part 3, a counterweight 4 and a decorative plate 5.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The manner in which the following illustrative embodiments are described does not represent all manner of consistency with the present application. Rather, they are merely examples of apparatus consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The use of "first," "second," and similar terms in the description and in the claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Similarly, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item, and are instead denoted individually as if only one of the referenced item is referred to. "plurality" or "a number" means two or more. Unless otherwise indicated, "front," "back," "lower," and/or "upper," and the like are for convenience of description, and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

The application provides a robot, including power and robot lower limbs. The lower limbs of the robot are electrically connected with the power supply, so that the power supply can provide electric energy for the mechanical movement of the lower limbs of the robot. In this embodiment, the robot may perform mechanical actions requiring only lower limbs, such as stepping on the base drum of a drum set, or stepping on piano pedals, or the like. In other embodiments, the robot may further include a robot upper limb electrically connected to the power source. The robot upper limbs can enrich the whole function of robot, for example the robot upper limbs beat the military drum of drum set etc. the lower limbs of robot trample the pucking, make the robot can carry out complete drum set performance, this application is not the restriction to this.

Referring to fig. 1, a lower robot limb 100 of the present application includes a base 1 and a limb assembly 2. The base 1 comprises a first movable connecting seat 13 arranged on the upper end surface 11 of the base 1. The lower limb assembly 2 comprises a first lower limb 21. The first lower limb 21 includes a joint driver 211, a tread leg 212, and a tread foot 213. The stepping foot 213 is pivotally connected to the stepping leg 212 via the joint driver 211. The joint driver 211 is used to drive the pivotal motion between the tread portion 213 and the tread leg portion 212. And, one end of the treading leg 212 far away from the treading foot 213 is pivotally connected to the first movable connecting seat 13.

The first lower limb 21 simulates the structure of a human leg, and the first lower limb 21 can simulate the action of the human foot on the ground, keeping the heel on the ground and moving the toe up and down by providing the joint actuator 211 so that the foot step 213 and the foot step 212 can perform pivoting motion. And through the research of the inventor, the leg of the person can slightly pivot between the thigh root and the pelvis during the actual stepping process. Therefore, the first lower limb 21 can be simulated and moved smoothly by pivotally connecting the leg portion 212 to the first articulated seat 13. Thus, the first lower limb 21 can realize actions such as treading on a bottom drum of a drum kit, treading on a piano pedal, and even treading on an accelerator pedal and a brake pedal of an automobile, and the like with more anthropomorphic and vivid effects, and the technological feeling and the simulation feeling of the robot lower limb 100 are improved.

In some embodiments, the robot may include one base 1 and a plurality of sets of lower limb assemblies 2, and the plurality of sets of lower limb assemblies 2 are all mounted at the upper end face 11 of the base 1. For example, one set of lower limb components 2 may be disposed on one side of the base 1, and the other set of lower limb components 2 may be disposed on the other side, so as to form an effect that two robots sit back to back on the base 1. In this way, the robot can carry out many different activities, for example the robot can carry out the band performance such as piano, beating a drum simultaneously to this kind of setting up mode can improve the compact structure degree and the integration of robot.

In some embodiments, the interior of the base 1 contains a space 14. The accommodating space 14 can be used for placing the weight block 4, thereby increasing the weight of the lower robot limb 100 when needed, so that the lower robot limb 100 can be stably placed on the ground. The accommodating space 14 can also be used for accommodating electrical equipment such as a power supply, and the electrical equipment is arranged in the base 1, so that the wiring length of the wires can be reduced, and the structure compactness of the lower limb 100 of the robot can be improved. Indeed, those skilled in the art can place other objects and devices in the accommodating space 14 according to actual requirements, which is not limited in the present application.

In an embodiment where the electrical device is placed in the accommodating space 14, the upper end surface 11 may include a wire routing hole 15, so that the wire routing of the electrical device is facilitated to extend from the accommodating space 14 to the upper end surface 11 through the wire routing hole 15, and thus, the electrical connection with the lower limb assembly 2, the robot upper limb and other structures is performed. The arrangement of the wiring hole 15 can improve the simple and clean appearance of the robot lower limb 100, and can avoid the exposure of electric wires so as to avoid safety accidents such as tripping, leakage when meeting water and the like.

For the purpose of conveniently adjusting the position of the lower limb 100 of the robot, the base 1 may include a moving member 16 disposed on the lower end surface 12 for changing the placement position of the base 1. Since the components of the lower limbs 100 of the robot are often made of metal and include structures such as electric devices and weights, they are heavy and difficult to move. The arrangement of the moving part 16 can facilitate the user to change the placing position of the lower limbs 100 of the robot in the later stage by pushing and pulling, the placing flexibility of the lower limbs 100 of the robot is improved, and the experience of the user can be improved. In some embodiments, the moving member 16 may be a moving member 16 with a locking function, so that the user can lock the moving member 16 after moving to the position, thereby locking the placing position of the lower limb 100 of the robot.

The first movable connecting seat 13 can be fixedly connected with the upper end surface 11 by welding, bonding and the like. Alternatively, in some embodiments, the upper end surface 11 may be provided with a plurality of sets of mounting holes, and the position of the first movable connecting seat 13 on the base 1, and thus the relative position between the first lower limb 21 and the base 1, may be changed by connecting the first movable connecting seat 13 with different mounting holes. Or in some embodiments, one of the first movable connecting seat 13 and the base 1 may be provided with a guide rail, and the other one may be provided with a guide groove, and fine adjustment of the position between the first movable connecting seat 13 and the base 1 can be realized through cooperation of the guide rail and the guide groove.

The pivot between first swing joint seat 13 and the leg of trampling 212 can be realized through shaft hole complex mode, is provided with the pivot promptly on first swing joint seat 13, is provided with the complex pivot hole on the leg of trampling 212 to realize first swing joint seat 13 and trampling the pivot motion between the leg 212. The shaft hole matching mode is low in processing difficulty and low in precision requirement, so that the production cost of the lower limbs 100 of the robot can be well reduced. Indeed, the treading leg 212 may be provided with a rotating shaft, and the first movable connecting seat 13 is provided with a rotating shaft hole, which is not limited in the present application.

Referring to fig. 2, in other embodiments, a bearing 131 may be disposed on the first movable connecting seat 13, and the treading leg portion 212 is connected to the bearing 131, so that the pivotal movement between the first movable connecting seat 13 and the treading leg portion 212 can be realized. Since the friction resistance of the bearing 131 during rotation is small, a smoother pivoting motion can be provided to the lower robot limb 100. Furthermore, after a long time use of the robot lower limb 100, friction generated between the first articulated seat 13 and the treading leg portion 212 may cause friction fatigue or wear of parts. And because bearing 131 is the standardized production of size, therefore can reduce robot lower limbs 100 later maintenance and repair cost.

With continued reference to fig. 2, treading leg portion 212 includes a first thigh portion 214 and a first lower leg portion 215. In some embodiments, first thigh portion 214 and first lower leg portion 215 are integrally formed, and first thigh portion 214 and first lower leg portion 215 extend along the same straight line, i.e., with treading leg portion 212 in a straightened state; alternatively, the first thigh portion 214 and the first shank portion 215 form an angle therebetween, thereby simulating the real movement of a human being sitting and stepping on the ground. The integral molding between the first thigh portion 214 and the first lower leg portion 215 can simplify the processing and assembly, and strengthen the connection strength between the first thigh portion 214 and the first lower leg portion 215.

In other embodiments, as shown in fig. 2, the first thigh portion 214 is provided with a first arcuate aperture 216 at an end adjacent to the first thigh portion 215, and the first thigh portion 215 is fixedly connected to the first thigh portion 214 via the fastener 3 and the first arcuate aperture 216. The first arcuate hole 216 is provided so that the angle between the first thigh portion 214 and the first shank portion 215 can be adjusted within the range of the arc of the first arcuate hole 216, and then the fastener 3 is passed through the first arcuate hole 216 and the connecting hole 217 provided on the first shank portion 215 to make the connection between the first thigh portion 214 and the first shank portion 215. In other words, the angle between first thigh section 214 and first shank section 215 is adjustable, simulating the position at the knee of a person's leg. When the lower robot limb 100 is in different scenes and the tread position, the height between the ground and the first end surface is changed, the actual touchdown position and the tread position of the tread foot 213 can be adjusted by adjusting the angle between the first thigh part 214 and the first shank part 215, so that the adaptability of the lower robot limb 100 to the environment and the adjustment flexibility are improved.

Indeed, in other embodiments, the end of the first small leg portion 215 near the first big leg portion 214 may be provided with a first arc-shaped hole 216, and the first big leg portion 214 is fixedly connected to the first small leg portion 215 through the fastener 3 and the first arc-shaped hole 216, which is not limited in this application.

The first lower limb 21 can perform a stepping operation. In the stepping process, the heel position of the stepping foot 213 keeps contacting with the ground, and the toe position moves up and down, so that the toe forms an arc motion around the heel position. The arc motion causes the friction between the heel position and the ground, so that the heel position is easy to wear after a plurality of treading actions. In some embodiments, the stepping foot portion 213 includes a slider 218 disposed at the heel of the stepping foot portion 213. As shown in fig. 2, the slider 218 may be a sliding wheel having an axis perpendicular to the arc motion plane of the stepping foot 213, so that the sliding wheel can slide back and forth in the extending direction of the stepping foot 213 when the stepping foot 213 steps on. Alternatively, in other embodiments, the sliding member 218 may be made of a self-lubricating material, such as polyoxymethylene plastic, so as to reduce the coefficient of friction of the heel on the ground. By providing the slider 218, the friction between the heel of the stepping foot part 213 and the ground can be reduced when the joint driver 211 drives the stepping foot part 213 to pivot, so as to prevent abrasion at the heel of the stepping foot part 213, and thus the service life of the stepping foot part 213 can be prolonged. In addition, since the friction force is reduced, the sharp noise generated by the friction between the heel and the ground can be reduced, and the service quality of the robot lower limb 100 can be improved.

Referring to fig. 4, in order to keep the heel of the stepping foot 213 in contact with the ground, thereby realizing stable support, and performing successful and consistent stepping movement, the inventor has obtained through many calculations and experiments that: with sufficient torque at joint driver 211, the weight of first lower limb 21 should satisfy the following equation:

（1）

wherein G is the weight of the first lower limb 21 and F ₁ In order to provide a reaction force of the stepping foot 213 on the toe when the stepping foot 213 steps on the ground, b is a projected distance between the toe and the pivot axis of the first articulated joint 13 on the ground, a is a projected distance between the center of gravity of the first lower limb 21 and the pivot axis of the first articulated joint 13 on the ground, and θ is an included angle between the stepping foot 213 and the ground.

When the toe of the stepping foot 213 of the first lower limb 21 is raised, one supporting point of the first lower limb 21 is the connecting position of the stepping leg 212 and the first movable connecting seat 13, and the other supporting point is the heel position of the stepping foot 213. When the gravity G of the first lower limb 21 satisfies the formula (1), the supporting force F of the ground at the heel position where the foot part 213 is stepped on can be ensured ₂ Greater than zero. That is, the heel position of the stepping foot part 213 at this time is in contact with the ground, and the heel of the stepping foot part 213 applies pressure to the ground, so that the ground can provide sufficient supporting force for the first lower limb 21 at this position.

It is understood that when F ₂ When the value is zero, the stepping foot 213 of the first lower limb 21 is suspended above the ground. When the toe of the tread leg portion 212 is moved down in an attempt to perform a tread exercise, the first lower limb 21 may be lifted as a whole by a reaction force applied by the object to be treaded due to insufficient gravity of the first lower limb 21, resulting in a failure of the tread exercise. Therefore, the formula (1) can not only improve the support stability of the first lower limb 21, avoid the first lower limb 21 from being suspended on the ground, but also facilitate the improvement of the success rate of the trampling movement operation, and ensure that the first lower limb 21 can reliably trample the trampled object.

With continued reference to fig. 1, the weight of the first lower limb 21 is required to satisfy the formula (1), and since the projected distance b between the toe and the pivot axis of the first articulated joint 13 on the ground, the projected distance a between the center of gravity of the first lower limb 21 and the pivot axis of the first articulated joint 13 on the ground, and the included angle θ between the treading foot part 213 and the ground are all variables, in order to improve the flexibility of adjusting the weight of the first lower limb 21, in some embodiments, the treading leg part 212 includes a weight space 23 for accommodating a leg weight. By adding or subtracting leg weights to or from the weight space 23, the weight of the first lower limb 21 can be flexibly adjusted to meet the condition of equation (1). In addition, since the counterweight space 23 allows the first lower limb 21 to have a hollow structure, the number of processing materials can be reduced, and the structural strength of the first lower limb 21 can be improved.

In some embodiments, the surface of treading leg 212 is provided with a plurality of mounting holes 219 for attachment to the decorative plate 5. The decorative plate 5 can be fixed to the stepped leg portion 212 by being screwed to the mounting hole 219 or being engaged with the mounting hole 219. The leg portion 212 shown in fig. 2 has a decorative plate 5 attached thereto. With this arrangement, the aesthetic appearance of the first lower limb 21 can be improved, and the user can be prevented from being scratched by the internal structure of the first lower limb 21 during the process of carrying and adjusting the first lower limb 21. In addition, in the embodiment in which the weight space 23 and the leg weight are provided in the first lower limb 21, the decorative plate 5 can cover the weight space 23 and the leg weight to function as a shield.

In some embodiments, the base 1 further comprises a second movable connection seat (not shown) provided on the upper end face 11. The first movable connecting seat 13 and the second movable connecting seat are arranged at intervals. The lower limb assembly 2 also includes a second lower limb. The second lower limb is the same as the first lower limb 21, and the second lower limb is pivoted with the second movable connecting seat. In this way, the lower robot limb 100 can have two lower limbs capable of performing stepping motions.

It should be noted that the second lower limb referred to herein is the same as the first lower limb 21, means that the second lower limb and the first lower limb 21 are both capable of performing a pedaling function, and the second lower limb may be any of the embodiments described above with respect to the first lower limb 21. Further, the second lower limb may have a structural difference from the first lower limb 21, for example, the first lower limb 21 is provided with the counterweight space 23, the second lower limb is not provided with the counterweight space 23, and the like; alternatively, the second lower limb may be structurally identical to the first lower limb 21, which is not limited in this application.

In other embodiments, as shown in fig. 1, the base 1 does not include a second articulating base. The second lower limb 22 comprises a fixed connecting seat 221, a supporting leg part 222 and a supporting foot part 223. One end of the supporting leg 222 is fixedly connected to the supporting foot 223, and the other end is fixedly connected to the fixed connection seat 221. The fixed connection seat 221 is fixedly connected with the upper end surface 11 of the base 1. The second lower limb 22 is spaced from the first lower limb 21. In this embodiment, there is a rigid connection between the second lower limb 22 and the base 1, and there is also a rigid connection between the various components of the second lower limb 22. Therefore, when the second lower limbs 22 are coupled to the base 1, a good supporting function can be provided, and the position of the center of gravity of the robot lower limbs 100 can be adjusted so as not to tilt the robot lower limbs 100.

In the above embodiment, the second lower limb 22 and the first lower limb 21 extend towards the same side of the base 1, and the robot can be considered to sit at one side of the base 1. With this arrangement, the lower limb assembly 2 and the base 1 can be well balanced, and the degree of anthropomorphic simulation and the degree of simulation of the lower limb 100 of the robot can be improved. Indeed, in other embodiments, the first lower limb 21 may be disposed on one side of the base 1, and the second lower limb 22 may be disposed on one side perpendicular to the one side, and in this case, the robot may be regarded as sitting at one corner of the base 1, which is not limited in this application.

Referring to fig. 3, the fixing and connecting base 221 may be provided with a bar-shaped hole 227, so that the relative position between the second lower limb 22 and the base 1 can be adjusted by adjusting the position of the bar-shaped hole 227. In this way, the position of the second lower limb 22 can be adjusted according to the actual weight of the first lower limb 21 and the base 1 and the actual placement position of the lower robot limb 100, thereby ensuring a good support effect for the second lower limb 22. Indeed, in other embodiments, one of the fixed connection seat 221 and the base 1 may be provided with a guide groove, and the other one may be provided with a guide rail, and the position between the fixed connection seat 221 and the base 1 may be changed by the cooperation between the guide groove and the guide rail, which is not limited in the present application.

The support leg 222 further includes a second thigh portion 224 and a second lower thigh portion 225. Similar to tread portion 212, second thigh portion 224 and second shank portion 225 may be integrally formed and extend in the same line, or may be angled in different directions. Since the second lower limbs 22 mainly serve as a support, the structural strength of the support leg portions 222 can be improved by integral molding.

In some embodiments, a second arcuate hole 226 is provided at an end of the second thigh portion 224 adjacent to the second lower leg portion 225, and the second lower leg portion 225 is fixedly connected to the second thigh portion 224 via the fastener 3 and the second arcuate hole 226. The second arcuate hole 226 is provided so that the angle between the second thigh portion 224 and the second calf portion 225 can be adjusted within the arc of the second arcuate hole 226, and then the connection between the second thigh portion 224 and the second calf portion 225 is made by passing the fastener 3 through the second arcuate hole 226 and the connection hole provided on the second calf portion 225. In other words, the angle between the second thigh section 224 and the second lower leg section 225 is adjustable, simulating the position at the knee of a human leg. When the lower robot limb 100 is in different scenes and the weight of the first lower limb 21 and the base 1 changes, the actual touchdown position of the supporting foot 223 can be adjusted by adjusting the angle between the second thigh 224 and the second shank 225, so that the balance position of the lower robot limb 100 can be adjusted, and therefore the adaptability of the lower robot limb 100 to the environment and the adjustment flexibility can be improved.

Indeed, the second lower leg 225 may be provided with a second arc-shaped hole 226 at an end close to the second upper leg 224, and the second upper leg 224 is fixedly connected with the second lower leg 225 through the fastener 3 and the second arc-shaped hole 226, which is not limited in this application.

Similarly, in some embodiments, a second curved hole 226 is disposed at an end of the supporting leg 222 near the supporting foot 223, and the supporting foot 223 is fixedly connected to the supporting leg 222 through the fastener 3 and the second curved hole 226. By this arrangement, the angle between the second shank 225 and the support leg 222 can be adjusted, so that the support leg 222 can be in contact with the ground at a flat surface, an inclined surface, or the like, to realize support. In this way, the requirement of the robot lower limb 100 for a placement site can be reduced, and the robot lower limb can be placed in a site with a complex terrain.

Indeed, the end of the supporting foot 223 near the supporting leg 222 may be provided with a second arc-shaped hole 226, and the supporting leg 222 is fixedly connected to the supporting foot 223 through the fastener 3 and the second arc-shaped hole 226, which is not limited in this application.

The embodiment shown in the figures has four first and second

arcuate apertures

216 and 226, respectively, which should be considered as exemplary and not limiting. One skilled in the art can provide fewer or more first and second

arcuate holes

216, 226 depending on the actual requirements. And the number of the first arc-shaped holes 216 and the second arc-shaped holes 226 may be the same or different, which is not limited in this application.

The support foot 223 may be provided with a detachable support plate 228 to increase the contact area of the support foot 223 with the ground and reduce the pressure on the ground so as not to damage the ground. In addition, compared with the technical scheme that the supporting feet 223 are integrally increased in size, the supporting plate 228 can reduce the weight of the supporting feet 223, and the supporting plate 228 and the supporting feet 223 are detachably connected, so that the supporting plate 228 with a proper size can be replaced according to actual field requirements and actual weight, and the flexibility of the supporting feet 223 in arrangement is improved.

In an embodiment where the lower limbs 100 of the robot need to be fixed in a certain position for a long time, the supporting plate 228 may be provided with a plurality of fixing holes, so that the second lower limbs 22 may be bolted to the ground through the fixing holes, and the connection firmness between the second lower limbs 22 and the ground may be improved.

The specific embodiments described herein are merely illustrative of the spirit of the application. Those skilled in the art to which the invention relates may effect numerous modifications, additions or substitutions to the specific embodiments described, without departing from the spirit of the invention or exceeding the scope of the claims.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

Claims

1. A lower limb of a robot, comprising:

the base comprises a first movable connecting seat arranged on the upper end surface of the base; and

a lower limb assembly comprising a first lower limb; the first lower limb comprises a joint driver, a treading leg part and a treading foot part; wherein: the treading foot part is pivoted with the treading leg part through the joint driver; one end of the treading leg part, which is far away from the treading foot part, is pivoted with the first movable connecting seat; the joint driver is used for driving the pivoting motion between the treading foot part and the treading leg part.

2. The lower robot limb of claim 1, wherein the treading legs comprise a first thigh portion and a first shank portion;

one end of the first thigh part, which is close to the first shank part, is provided with a first arc-shaped hole, and the first shank part is fixedly connected with the first thigh part through a fastener and the first arc-shaped hole; or a first arc-shaped hole is formed in one end, close to the first thigh portion, of the first lower leg portion, and the first thigh portion is fixedly connected with the first lower leg portion through a fastener and the first arc-shaped hole.

3. The lower robot limb of claim 1, wherein the treading foot comprises a slider; the sliding piece is arranged at the heel of the stepping foot.

4. The lower limb of a robot of claim 1, wherein the base further comprises a second movable connecting base arranged on the upper end surface; the first movable connecting seat and the second movable connecting seat are arranged at intervals; the lower limb assembly further comprises:

the second lower limb is the same as the first lower limb, and the second lower limb is pivoted with the second movable connecting seat.

5. The lower robotic limb of claim 1, wherein the limb assembly further comprises:

the second lower limb comprises a fixed connecting seat, a supporting leg part and a supporting foot part; one end of the supporting leg part is fixedly connected with the supporting foot part, and the other end of the supporting leg part is fixedly connected with the fixed connecting seat; the fixed connecting seat is fixedly connected with the upper end face of the base; the second lower limb and the first lower limb are arranged at intervals.

6. The lower robot limb of claim 5, wherein said support leg further comprises a second thigh section and a second shank section;

a second arc-shaped hole is formed in one end, close to the second lower leg, of the second thigh, and the second lower leg is fixedly connected with the second thigh through a fastener and the second arc-shaped hole; or a second arc-shaped hole is formed in one end, close to the second thigh portion, of the second shank portion, and the second thigh portion is fixedly connected with the second shank portion through a fastener and the second arc-shaped hole.

7. The lower limb of claim 5, wherein the end of the support leg adjacent the support foot is provided with a second arcuate aperture, and the support foot is fixedly connected to the support leg by a fastener and the second arcuate aperture; alternatively, the first and second electrodes may be,

one end of the supporting foot part, which is close to the supporting leg part, is provided with a second arc-shaped hole, and the supporting leg part is fixedly connected with the supporting foot part through a fastener and the second arc-shaped hole.

8. The lower limb of claim 4 or 5, wherein the second limb extends toward the same side of the base as the first limb.

9. The lower limb robot of claim 1, wherein the interior of the base further comprises a receiving space for receiving a weight and/or electrical equipment.

10. The lower robot limb of claim 1, wherein the treading leg includes a weight space for receiving a leg weight.

11. The lower limb of the robot of claim 1, wherein the surface of the leg is provided with a plurality of mounting holes for attachment to a decorative panel.

12. The lower limb of a robot of claim 1, wherein the base comprises a moving member disposed on a lower end surface for changing a placement position of the base.

13. The lower robot limb of claim 1, wherein the weight of the first limb satisfies the following equation:

wherein, G is the gravity of first low limbs, and F1 is when trampling the foot on subaerial trampling the reaction force of foot tip department, b is the toe with the projection distance on subaerial of first swing joint seat pivot axis, a is the focus of first low limbs with the projection distance on subaerial of first swing joint seat pivot axis, theta is trample the foot with contained angle between the ground.

14. A robot comprising a power source and a lower robot limb according to any of claims 1-13; the lower limbs of the robot are electrically connected with the power supply.