CN213768776U

CN213768776U - Leg mechanism and humanoid robot

Info

Publication number: CN213768776U
Application number: CN202021819749.6U
Authority: CN
Inventors: 李康; 赵明国; 李海雷; 董浩
Original assignee: Ubtech Robotics Corp
Current assignee: Ubtech Robotics Corp
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2021-07-23
Anticipated expiration: 2030-08-25

Abstract

The utility model provides a shank mechanism and anthropomorphic robot, shank mechanism includes: the hip joint driving mechanism comprises a U-shaped connecting piece, a hip rotating steering engine, a hip side swing steering engine and a hip front swing steering engine; the thigh structural part is connected with the hip forward swing steering engine; the shank structural part is rotatably connected to the thigh structural part; the foot plate structural part is movably connected to the shank structural part; the knee joint driving mechanism is arranged on the thigh structural part and is used for driving the shank structural part to rotate relative to the thigh structural part; and an ankle drive mechanism for driving rotation of the footboard structural member relative to the calf structural member. The utility model provides a leg mechanism and a humanoid robot, wherein a hip rotation steering engine, a hip side-swing steering engine and a hip front-swing steering engine are all integrated on a U-shaped connecting piece, so that the mass center of the leg mechanism can be improved; the knee joint driving mechanism is arranged on the thigh structural member, and the mass center of the leg mechanism can be correspondingly improved, so that the driving force required by the leg mechanism and the humanoid robot can be reduced.

Description

Leg mechanism and humanoid robot

Technical Field

The utility model belongs to the technical field of the robot, more specifically say, relate to a shank mechanism and anthropomorphic robot.

Background

In the field of robots, particularly humanoid biped robots, weight distribution of legs is an important factor affecting the performance of the robot. The single leg usually has six degrees of freedom, wherein the hip has three degrees of freedom, the knee has one degree of freedom, and the ankle has two degrees of freedom, and the overall layout compactness, joint integration and universality of the structure are more critical. The traditional arrangement of the driving joints of the biped robot in the market at present, for example, the driving joint of the knee joint is usually directly placed at the knee joint, and the driving joint of the ankle is usually directly placed at the ankle, so that the weight of the leg is generally large, the height of the center of mass of the leg from the ground is low, the moment of inertia of the leg structure is large, and the requirement of the driving force of the leg joint is high. The increase in the driving force also increases the weight of the driving joint, and eventually affects the performance such as the traveling speed and the control stability of the entire robot.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the utility model is to provide a leg mechanism and anthropomorphic robot to solve the lower, the higher technical problem of required drive power of shank structure barycenter that exists among the prior art.

In order to achieve the above object, the utility model adopts the following technical scheme: there is provided a leg mechanism comprising:

the hip joint driving mechanism comprises a U-shaped connecting piece, a hip rotation steering engine, a hip lateral swing steering engine and a hip forward swing steering engine, wherein the hip rotation steering engine is fixed at the bottom of the U-shaped connecting piece and used for driving the U-shaped connecting piece to rotate, the hip lateral swing steering engine is fixed at one side of the U-shaped connecting piece and used for driving a thigh structural part to swing laterally, and the hip forward swing steering engine is arranged in the U-shaped connecting piece and used for driving a thigh structural part to swing forward;

the thigh structural part is connected with the hip forward swing steering engine;

the lower leg structural part is rotatably connected to the thigh structural part;

the foot plate structural part is movably connected to the shank structural part;

the knee joint driving mechanism is arranged on the thigh structural part and is used for driving the shank structural part to rotate relative to the thigh structural part; and

and the ankle driving mechanism is used for driving the foot plate structural part to rotate relative to the lower leg structural part.

In one embodiment, the U-shaped connecting piece comprises a U-shaped bottom and two U-shaped side portions connected to the U-shaped bottom respectively, a U-shaped space is formed by the U-shaped bottom and the two U-shaped side portions in an enclosing manner, the hip rotation steering engine is fixed to one side of the U-shaped bottom, which faces away from the U-shaped space, the hip side swing steering engine is fixed to one side of one of the U-shaped side portions, which faces away from the U-shaped space, and the hip front swing steering engine is arranged in the U-shaped space.

In one embodiment, the hip rotation steering engine includes a hip rotation motor, a hip rotation encoder for detecting a rotation angle of the hip rotation motor, a hip rotation reducer connected to the hip rotation motor and used for reducing speed, and a hip rotation output shaft connected to the hip rotation reducer, the hip rotation output shaft is hollow, and the hip rotation reducer, the hip rotation motor, and the hip rotation encoder are sequentially disposed on an outer periphery of the hip rotation output shaft along an axial direction of the hip rotation output shaft.

In one embodiment, the hip yaw steering engine comprises a hip yaw motor, a hip yaw reducer and a hip yaw transmission assembly connected with the hip yaw motor and the hip yaw reducer, the hip yaw motor and the hip yaw reducer are both fixed on the U-shaped side portion, and the output end of the hip yaw reducer is connected with the hip forward swing steering engine.

In one embodiment, the two U-shaped side portions are respectively a first U-shaped side portion and a second U-shaped side portion, the first U-shaped side portion is provided with a first mounting hole, the hip side swing reducer penetrates through the first mounting hole to be connected with the hip forward swing steering engine, the second U-shaped side portion is provided with a second mounting hole, and a hip forward swing support assembly used for supporting the hip forward swing steering engine to enable the hip forward swing steering engine to be rotatably connected to the second U-shaped side portion is arranged in the second mounting hole.

In one embodiment, the knee joint driving mechanism comprises a knee joint steering engine and a knee joint connecting rod assembly, the knee joint steering engine is fixed in the middle of the thigh structural part and is used for driving the thigh structural part to rotate, one end of the knee joint connecting rod assembly is rotatably connected to the surface of the knee joint steering engine, and the other end of the knee joint connecting rod assembly is rotatably connected to the shank structural part; the plane perpendicular to the output shaft of the knee joint steering engine is a reference plane, and the projection point of the output shaft of the knee joint steering engine on the reference plane, the projection point of the rotating shaft at the joint of the knee joint connecting rod assembly and the crus structural part on the reference plane, and the projection point of the rotating shaft at the joint of the thigh structural part and the crus structural part on the reference plane are sequentially connected into a quadrangle.

In one embodiment, the thigh structural member is provided with a steering engine cavity for placing the knee joint steering engine, the steering engine cavity is provided with an installation opening for placing the knee joint steering engine, and a bottom wall of the steering engine cavity opposite to the installation opening is fixedly connected with an output shaft of the joint steering engine in the steering engine cavity.

In one embodiment, the periphery of the knee joint steering engine extends outwards to form an extending end, the knee joint connecting rod assembly is rotatably connected to the extending end, an avoiding opening used for avoiding the extending end when the knee joint steering engine is installed is formed in the thigh structural member, the avoiding opening is communicated with the installation opening, a reinforcing plate is covered at the avoiding opening, and the reinforcing plate is fixed on the thigh structural member.

In one embodiment, the ankle driving mechanism comprises an ankle steering engine, an ankle swing member and an ankle connecting rod assembly, the ankle swing member is rotatably connected to the thigh structural member, one end of the ankle connecting rod assembly is rotatably connected to the ankle swing member, the other end of the ankle connecting rod assembly is movably connected to the foot plate structural member, and the ankle joint steering engine is fixed to the thigh structural member and used for driving the ankle swing member to move.

In one embodiment, the ankle steering gear includes an ankle motor, an ankle reducer and a connection the ankle motor with the ankle transmission assembly of the ankle reducer, the ankle motor is fixed in the middle of the thigh structure, the ankle reducer is fixed in the thigh structure is close to the one end of the shank structure, and the shank structure is relative the thigh structure pivoted axis of rotation with the coaxial setting of ankle reducer's output shaft.

In one embodiment, the thigh structure has a motor cavity for housing the ankle motor, the motor cavity being disposed between the rudder cavity and the ankle swing.

In one embodiment, the number of the ankle driving mechanisms is two, two ankle-swinging members are disposed on opposite sides of the lower leg structure, and two end portions of the ankle-connecting rod assembly, which are close to the foot plate structure, are disposed on opposite sides of the end portion of the lower leg structure, which is close to the foot plate structure, respectively.

In one embodiment, the ankle link assembly is universally pivotally coupled to the foot plate structure and the thigh structure is universally pivotally coupled to the foot plate structure.

The utility model also provides a humanoid robot, including foretell shank mechanism.

In one embodiment, the humanoid robot further comprises a head structural part, a waist frame and a head steering engine for driving the head structural part to rotate, wherein the head steering engine is fixed on the waist frame, the number of the leg mechanisms is two, and the two leg mechanisms are fixed on the waist frame.

The utility model provides a shank mechanism and humanoid robot's beneficial effect lies in: compared with the prior art, the utility model discloses shank mechanism includes hip joint actuating mechanism, thigh structure spare, shank structure spare, sole structure spare, knee joint actuating mechanism and ankle actuating mechanism, and thigh structure spare, shank structure spare and sole structure spare connect gradually. The hip joint driving mechanism comprises a hip rotation steering engine, a hip side swing steering engine and a hip front swing steering engine which are respectively used for realizing the rotation, the side swing and the front swing of the hip joint, and the hip rotation steering engine, the hip side swing steering engine and the hip front swing steering engine are all integrated on the U-shaped connecting piece and do not need to be arranged on a thigh structural part, so that the mass center of the leg mechanism can be improved; the knee joint actuating mechanism is located thigh structure, compares in setting up in knee joint department, also can correspondingly improve the barycenter of shank mechanism to can reduce the required drive power of shank mechanism and anthropomorphic robot.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a three-dimensional structure diagram of a leg mechanism provided in an embodiment of the present invention;

fig. 2 is an exploded view of a leg mechanism according to an embodiment of the present invention;

fig. 3 is a three-dimensional structure diagram of the hip joint driving mechanism provided in the embodiment of the present invention;

fig. 4 is a three-dimensional structure diagram of the hip rotation steering engine provided in the embodiment of the present invention;

fig. 5 is a three-dimensional structure diagram of a U-shaped connecting member according to an embodiment of the present invention;

fig. 6 is a side view of a portion of a hip drive mechanism provided in accordance with an embodiment of the present invention;

fig. 7 is a cross-sectional view of a hip forward swing support assembly provided in an embodiment of the present invention;

fig. 8 is a three-dimensional structure diagram of a steering engine frame provided in the embodiment of the present invention;

fig. 9 is a cross-sectional view of a hip forward swing support assembly provided in accordance with an embodiment of the present invention;

fig. 10 is a perspective structural view of a knee joint driving mechanism, a thigh structural member, a calf structural member and a foot plate structural member according to an embodiment of the present invention;

FIG. 11 is a side view of FIG. 10;

fig. 12 is a perspective view of a thigh structure provided in an embodiment of the present invention;

fig. 13 is a three-dimensional structure diagram of a knee joint steering engine provided in the embodiment of the present invention;

fig. 14 is a cross-sectional view of a leg mechanism provided in an embodiment of the present invention at a knee joint steering engine;

fig. 15 is a cross-sectional view of a knee joint link assembly according to an embodiment of the present invention;

fig. 16 is a cross-sectional view of the connection between the thigh structural member and the calf structural member according to the embodiment of the present invention;

fig. 17 is a perspective view of an ankle driving mechanism, a thigh structural member, a calf structural member, and a foot plate structural member according to an embodiment of the present invention;

FIG. 18 is a side view of FIG. 17;

FIG. 19 is a cross-sectional view taken along line A-A of FIG. 18;

fig. 20 is a perspective view of a humanoid robot according to an embodiment of the present application.

Wherein, in the figures, the respective reference numerals:

100-a leg mechanism;

1-a hip joint drive mechanism; 11-hip rotary steering engine; 111-hip rotating electrical machines; 112-hip rotary encoder; 113-hip rotation reducer; 114-hip rotary output shaft; 1141-hollow shaft; 1142-rotating the disc; 12-hip side-swing steering engine; 121-hip side-swing motor; 1211-motor body; 12111-motor housing; 121111-cylindrical peripheral wall; 121112-motor end cap; 121113-annular cover; 121114-inner barrel; 121115-bearing end cap; 12112-stator; 12113-rotor; 12114-first rotating shaft assembly; 121141-motor shaft; 121142-transfer shaft; 121143-hip roll bearing; 121144-inner retainer ring of motor; 121145-outer retainer ring of motor; 1212-hip yaw encoder; 1213-encoder cap; 122-hip yaw drive assembly; 1221-a first pulley; 1222-a second pulley; 1223-synchronous belt; 1224-a tensioner; 123-hip sidesway reducer; 1230-an adjustment aperture; 124-adjusting plate; 1240-an arc-shaped slot; 125-adjusting the fastener; 13-a hip forward swing steering engine; 131-a steering engine frame; 1311-boss; 14-U-shaped connectors; 141-a first U-shaped side; 1410-a first mounting hole; 142-a second U-shaped side; 1420-a second mounting hole; 1421 — second flange; 143-U-shaped bottom; 1431 — first bottom layer; 1432-second bottom layer; 15-a hip forward swing support assembly; 151-outer ring assembly; 1510-a first ring groove; 1511-outer ring body; 15111-first flange; 1512-a first fastener; 152-an inner race assembly; 1520-second ring groove; 1521-first inner ring; 1522-second inner ring; 15221-annular step; 1523-second fastener; 153-hip forward swing support bearing;

2-thigh structures; 201-rudder cavity; 202-mounting openings; 203-avoidance port; 204-motor cavity; 21-mounting plane; 22-thigh fork; 23-a stiffening plate; 24-a control cap; 25-a knee joint support assembly; 251-a bearing outer seat; 2510-third ring groove; 252-a bearing outer ring pressure ring; 253-bearing inner ring compression ring; 2530-a fourth ring groove; 254-bearing inner seat; 255-knee joint support bearing; 26-supporting the sides;

3-a shank structure; 31-a second connecting portion; 32-a third clevis;

4-a baseboard structural member; 41-a second clevis; 42-a fourth clevis;

5-knee joint drive mechanism; 51-knee joint steering gear; 511-knee joint motor; 512-knee joint reducer; 513-knee joint encoder; 514-a control component; 515-knee posterior cover; 516-an extension end; 5161-first connection; 52-knee joint linkage assembly; 521-a connecting rod body; 522-knee spherical bearing; 523-connecting rod joint; 524-knee joint pin assembly; 5241-Pin shaft body; 5242-Pin bolt; 53-a second spindle assembly; 531-a shaft body; 532-bearing outer retainer ring; 533-bearing inner retainer ring; 534-knee joint rotation bearing;

6-ankle drive mechanism; 61-ankle steering gear; 611-ankle motor; 612-ankle drive assembly; 613-ankle speed reducer; 62-ankle rocking member; 621-a fifth U-shaped fork; 63-ankle linkage assembly; 631-a first U-shaped fork; 632-ankle ball bearing; 65-first cross universal joint; 66-a second universal joint; 67-ankle pin assembly;

200-a head structure; 300-a lumbar frame; 400-head steering engine.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The leg mechanism 1 provided in the embodiment of the present invention will now be described.

Referring to fig. 1 to 3, in one embodiment of the present application, a leg mechanism 1 includes a hip joint driving mechanism 1, a thigh structural member 2, a calf structural member 3, a foot plate structural member 4, a knee joint driving mechanism 5, and an ankle driving mechanism 6. The hip joint driving mechanism 1 comprises a U-shaped connecting piece 14, a hip rotation steering engine 11, a hip side swing steering engine 12 and a hip forward swing steering engine 13. The hip rotation steering engine 11 is fixed to the U-shaped connecting member 14, and specifically, an output end of the hip rotation steering engine 11 is fixed to the U-shaped connecting member 14 and is used for driving the U-shaped connecting member 14 to rotate, so that the rotation of the hip joint of the leg mechanism 1 is realized. The hip side swing steering engine 12 is fixed to the U-shaped connecting piece 14, specifically, the fixed end of the hip side swing steering engine 12 is fixed to the U-shaped connecting piece 14, the output end of the hip side swing steering engine 12 is fixed to the hip forward swing steering engine 13 and is used for driving the hip forward swing steering engine 13 to rotate, and therefore side swing motion of hip joints of the leg mechanism 1 can be achieved. The hip forward swing steering engine 13 is arranged inside the U-shaped connecting piece 14, and the output end of the hip forward swing steering engine is connected to the thigh structural member 2, and is used for driving the thigh structural member 2 to swing forward, so that forward swing movement of hip joints of the leg mechanism 1 can be realized. Thus, the hip rotation steering engine 11, the hip side swing steering engine 12 and the hip front swing steering engine 13 can be integrated into the U-shaped connecting piece 14, a driving mechanism of a hip joint does not need to be arranged on the thigh structural part 2, mechanisms with three degrees of freedom of hip joint rotation, side swing and front swing are integrated into the U-shaped connecting piece 14, and the mass center of the leg mechanism 1 can be improved. One end of the lower leg structural part 3 is rotatably connected to the upper leg structural part 2, and the other end of the lower leg structural part 3 is movably connected to the foot board structural part 4. Knee joint actuating mechanism 5 is used for driving shank structure 2 of thigh structure 3 relatively and rotates, and knee joint actuating mechanism 5 sets up on thigh structure 2, compares with traditional design, and knee joint actuating mechanism 5 need not to set up in the junction of thigh structure 2 and shank structure 3, can improve the barycenter of shank mechanism 1. The ankle driving mechanism 6 is used for driving the foot plate structural member 4 to rotate relative to the lower leg structural member 3, the ankle driving mechanism 6 can be arranged on the thigh structural member 2 or the lower leg structural member 3, or partially arranged on the thigh structural member 2, and partially arranged on the lower leg structural member 3, and is not limited here, and the ankle driving mechanism 6 does not need to be arranged between the lower leg structural member 3 and the foot plate structural member 4, so that the mass center of the leg mechanism 1 can be improved.

The leg mechanism 1 in the above embodiment includes a hip joint driving mechanism 1, a thigh structural member 2, a calf structural member 3, a foot plate structural member 4, a knee joint driving mechanism 5, and an ankle driving mechanism 6, and the thigh structural member 2, the calf structural member 3, and the foot plate structural member 4 are connected in sequence. The hip joint driving mechanism 1 comprises a hip rotary steering engine 11, a hip side swing steering engine 12 and a hip front swing steering engine 13 which are respectively used for realizing the rotation, the side swing and the front swing of a hip joint, and the hip rotary steering engine 11, the hip side swing steering engine 12 and the hip front swing steering engine 13 are all integrated on a U-shaped connecting piece 14 and do not need to be arranged on the thigh structural part 2, so that the mass center of the leg mechanism 1 can be improved; knee joint actuating mechanism 5 locates thigh structure 2, compares and sets up in knee joint department, also can correspondingly improve the barycenter of shank mechanism 1 to can reduce the required drive power of shank mechanism 1 and anthropomorphic robot.

Optionally, the output shaft of the hip rotary steering engine 11, the output shaft of the hip side swing steering engine 12, and the output shaft of the hip forward swing steering engine 13 are arranged in a pairwise orthogonal manner, so that the hip joint driving mechanism 1 is a three-degree-of-freedom orthogonal driving mechanism, and the rotary motion, the side swing motion, and the forward swing motion of the leg mechanism 1 are realized.

In one embodiment of the present invention, referring to fig. 3 and 5, the U-shaped connecting member 14 includes a U-shaped bottom 143 and two U-shaped side portions, the two U-shaped side portions are respectively connected to two sides of the U-shaped bottom 143, and the U-shaped bottom 143 and the two U-shaped side portions enclose a U-shaped space. The hip rotation steering engine 11 is fixed on one side of the U-shaped bottom 143, which faces away from the U-shaped space, and the U-shaped connecting piece 14 is arranged in a reversed manner in combination with fig. 3, and the hip rotation steering engine 11 is arranged above the U-shaped connecting piece 14. The hip side swing steering engine 12 is fixed on one of the U-shaped side parts, and the hip front swing steering engine 13 is arranged in the U-shaped space, so that the hip rotation steering engine 11, the hip side swing steering engine 12 and the hip front swing steering engine 13 are reasonably distributed on the U-shaped connecting piece 14.

In one embodiment of the present invention, referring to fig. 4, the hip rotation steering engine 11 includes a hip rotation motor 111, a hip rotation encoder 112, a hip rotation reducer 113, and a hip rotation output shaft 114. The hip rotation reducer 113 is connected to the hip rotation motor 111 and is configured to reduce the speed of the hip rotation motor 111, and the hip rotation encoder 112 is configured to detect the rotation angle of the hip rotation output shaft 114 and feed back the detected rotation angle to the control system. The hip rotation output shaft 114 is hollow and is driven to rotate by the output end of the hip rotation reducer 113, the hip rotation motor 111, and the hip rotation encoder 112 are axially and sequentially disposed on the outer periphery of the hip rotation output shaft 114, that is, the hip rotation reducer 113 and the hip rotation encoder 112 are respectively disposed at both ends of the hip rotation motor 111. The hip rotation output shaft 114 is hollow, so that a cable can pass through the center of the hip rotation steering engine 11, the cable does not need to pass through the outside, the cable can be better protected, and the cable is located in the rotation center of the hip rotation steering engine 11 when the hip rotation steering engine works, and the cable cannot be twisted inside. The specific structure of the hip rotation motor 111 is not limited herein.

Alternatively, hip output shaft 114 comprises a hollow shaft 1141 and a rotary disc 1142, rotary disc 1142 is formed by one end of hollow shaft 1141 rotating radially outward, rotary disc 1142 is disposed near U-shaped bottom 143 of U-shaped connector 14, and rotary disc 1142 is disposed so that U-shaped bottom 143 is more easily fixedly connected to hip output shaft 114. The rotating disc 1142 can be fixedly connected to the U-shaped bottom 143 by a fastener such as a screw.

In one embodiment of the present invention, please refer to fig. 5, in the U-shaped connecting member 14, the U-shaped bottom 143 includes a first bottom layer 1431 and a second bottom layer 1432, and both sides of the first bottom layer 1431 and the second bottom layer 1432 are connected in an arc shape, so that the first bottom layer 1431 and the second bottom layer 1432 are hollowed out, so that firstly, the strength of the U-shaped bottom 143 can be enhanced, secondly, the weight of the U-shaped connecting member 14 cannot be excessively increased, and thirdly, a cable passing through the hip rotation steering engine 11 can be led out from the hollowed-out space. The first bottom layer 1431 is disposed outside the U-shaped connector 14, and the hip rotation output shaft 114 is fixedly connected to the first bottom layer 1431.

Optionally, the two U-shaped side portions are a first U-shaped side portion 141 and a second U-shaped side portion 142, the first U-shaped side portion 141 is provided with a first mounting hole 1410, and two ends of the hip forward swing steering engine 13 are erected between the first U-shaped side portion 141 and the second U-shaped side portion 142. First mounting holes 1410 are formed in the first U-shaped side portion 141, and the hip side swing steering engine 12 can extend into the U-shaped space from the first mounting holes 1410 and is connected with the hip forward swing steering engine 13, so that the hip forward swing steering engine 13 is driven to rotate relative to the U-shaped connecting piece 14. Optionally, the hip forward swing steering engine 13 is rotatably connected in the first mounting hole 1410; or the steering engine frame 131 of the hip forward swing steering engine 13 extends into the first mounting hole 1410 and is rotatably connected to the first U-shaped side portion 141; alternatively, the frame 131 of the hip forward swing actuator 13 is rotatably connected to the first U-shaped side portion 141 via the hip forward swing support member 15. The second U-shaped side portion 142 is provided with a second mounting hole 1420, a hip forward swing support assembly 15 is arranged in the second mounting hole 1420, and the hip forward swing steering engine 13 is rotatably connected to the second U-shaped side portion 142 through the hip forward swing support assembly 15.

In one embodiment of the present invention, referring to fig. 6, the hip yaw steering engine 12 includes a hip yaw motor 121, a hip yaw reducer 123 and a hip yaw transmission assembly 122, the hip yaw motor 121 and the hip yaw reducer 123 are both fixed to the first U-shaped side portion 141, and an output end of the hip yaw reducer 123 extends into the first mounting hole 1410 and is connected to the hip forward swing steering engine 13, so as to drive the hip forward swing steering engine 13 to perform a yaw motion. The hip yaw transmission assembly 122 is used for connecting the hip yaw motor 121 and the hip yaw reducer 123, so that the power part and the speed reduction part of the hip yaw steering engine 12 are separately arranged, and the axial length of the hip yaw steering engine 12 can be reduced.

Optionally, the hip yaw drive assembly 122 is a pulley assembly, the hip yaw drive assembly 122 includes a first pulley 1221, a second pulley 1222 and a synchronous belt 1223, a wheel center of the first pulley 1221 is fixedly connected to an output shaft of the hip yaw motor 121, a wheel center of the second pulley 1222 is fixedly connected to an input shaft of the hip yaw reducer 123, the synchronous belt 1223 is wound on the first pulley 1221 and the second pulley 1222, and when the hip yaw motor 121 operates, the first pulley 1221 rotates, and the second pulley 1222 is driven to rotate by the synchronous belt 1223, so that the hip yaw reducer 123 operates to drive the hip forward swing steering engine 13 to rotate. In other embodiments, the hip yaw drive assembly 122 may also be a sprocket assembly, a gear assembly, or the like. The hip yaw drive assembly 122 further includes a tension wheel 1224, and the tension wheel 1224 is closely arranged on the synchronous belt 1223, so that the synchronous belt 1223 can be tensioned, and the synchronous belt 1223 is prevented from slipping during operation. Wherein, the tension wheel 1224 is rotatably connected to the outer surface of the hip yaw reducer 123, so that the tension wheel 1224 does not occupy the installation space of the U-shaped connecting piece 14, and is directly connected to the hip yaw reducer 123, thereby making the integration of the hip joint driving mechanism 1 higher.

Optionally, the adjusting plate 124 is detachably connected to the outer surface of the hip yaw reducer 123, the adjusting plate 124 and the tension wheel 1224 are arranged on the same end face of the hip yaw reducer 123, the tension wheel 1224 is rotatably connected to the adjusting plate 124, and by changing the position of the adjusting plate 124, the position of the tension wheel 1224 can be changed, the tightness degree of the synchronous belt 1223 can be adjusted, and the later maintenance of the pulley assembly is facilitated. The adjusting plate 124 can be fixed on the hip yaw reducer 123 by adjusting fasteners 125 such as screws, bolts, etc., so that the adjusting plate 124 can be conveniently detached.

Referring to fig. 6, a plurality of adjusting holes 1230 are formed on the surface of the hip yaw reducer 123, the plurality of adjusting holes 1230 are circumferentially distributed around the center of the hip yaw reducer 123, an arc-shaped groove 1240 is formed on the adjusting plate 124, the central axis of the arc-shaped groove 1240 is overlapped with the central axis of the hip yaw reducer 123, so that the arc-shaped groove 1240 circumferentially extends around the center of the hip yaw reducer 123, and the arc-shaped groove 1240 faces a part of the adjusting holes 1230, so that the adjusting fastener 125 passes through the arc-shaped groove 1240 and is connected to the adjusting holes 1230, thereby fixing the adjusting plate 124 on the hip yaw reducer 123. The adjusting plate 124 can move its position in the circumferential direction of the adjusting holes 1230, and accordingly, the tension pulley 1224 can also move with the adjusting plate 124 to change the tightness of the timing belt 1223. The profile of the adjustment plate 124 may also be curved, and the curved slot 12402 therein may form the adjustment plate 124 into a ring shape, thereby reducing the material required for the adjustment plate 124 as much as possible and reducing the weight of the adjustment plate 124.

In one embodiment of the present invention, referring to fig. 7, the hip side-swing motor 121 includes a motor body 1211, a hip side-swing encoder 1212 fixed to an end of the motor body 1211, and an encoder cover 1213 covering the hip side-swing encoder 1212. The motor body 1211 includes a motor housing 12111, a stator 12112, a rotor 12113, and a first shaft assembly 12114, the stator 12112, the rotor 12113, and the first shaft assembly 12114 are disposed in the motor housing 12111, the stator 12112 is fixed to the motor housing 12111, the rotor 12113 is disposed inside the stator 12112, and when the hip-side pendulum motor 121 is in operation, the stator 12112 generates an excitation magnetic field, and the rotor 12113 is driven to rotate by the excitation magnetic field. The first shaft assembly 12114 is fixedly connected to the rotor 12113, and the rotation of the hip yaw motor 121 is output through the first shaft assembly 12114. The motor case 12111 includes a cylindrical peripheral wall 121111 and a motor end cover 121112, the motor end cover 121112 is fixed to one end of the cylindrical peripheral wall 121111, and the hip encoder 1212 is fixed to the outside of the motor end cover 121112.

Alternatively, the inner wall of the cylindrical peripheral wall 121111 has an inner tube portion 121114, and the end of the cylindrical peripheral wall 121111 facing away from the motor end cover 121112 and the end of the inner tube portion 121114 facing away from the motor end cover 121112 are connected by an annular cover 121113. The first rotating shaft assembly 12114 comprises a motor shaft 121141, an adapter shaft 121142 and a hip yaw bearing 121143, the motor shaft 121141 is fixedly connected with the rotor 12113, the motor shaft 121141 is arranged outside the inner cylinder portion 121114, the adapter shaft 121142 and the hip yaw bearing 121143 are arranged inside the inner cylinder portion 121114, and the first rotating shaft assembly 12114 is not required to be arranged at two ends, so that the whole structure of the motor can be more compact. One end of the transfer shaft 121142 extends out of the inner barrel 121114 and is fixedly connected with the motor shaft 121141, and the other end is connected to the hip yaw drive assembly 122. The hip yaw bearing 121143 is configured to support the adaptor shaft 121142, an outer ring of the hip yaw bearing 121143 is in interference fit with an inner wall of the inner tube portion 121114, and an inner ring of the hip yaw bearing 121143 is in interference fit with an outer wall of the adaptor shaft 121142. The number of the hip side pendulum bearings 121143 can be two, and an inner motor retainer ring 121144 for stopping the inner ring of the hip side pendulum bearing 121143 and an outer motor retainer ring 121145 for stopping the outer ring of the hip side pendulum bearing 121143 are arranged between the two hip side pendulum bearings 121143. The opening of the inner cylinder 121114 opposite to the hip yaw encoder 1212 may further be covered with a bearing cap 121115 for stopping the hip yaw bearing 121143 in the axial direction, and the adaptor shaft 121142 passes through the bearing cap 121115 to connect with the hip yaw driving assembly 122.

Optionally, referring to fig. 8, the hip forward swing steering engine 13 is fixed in the steering engine frame 131, the steering engine frame 131 is cylindrical, and two bosses 1311 are convexly arranged on the outer circumferential surface of the steering engine frame 131, where one boss 1311 is used for being connected with the hip lateral swing reducer 123, and the other boss 1311 is used for being connected with the hip forward swing support assembly 15, and specifically, may be fixedly connected with the second inner ring 1522 of the hip forward swing support assembly 15. The steering engine frame 131 can be hollowed, so that the weight of the steering engine frame 131 can be reduced, and the heat dissipation of the hip forward swing steering engine 13 is easier. The specific structure of the hip forward swing steering engine 13 is not limited herein.

In one embodiment of the present invention, referring to fig. 9, the hip forward swing support assembly 15 includes an outer ring assembly 151, an inner ring assembly 152, and a hip forward swing support bearing 153. The outer ring assembly 151 is fixed on the second U-shaped side portion 142, the inner ring assembly 152 is fixedly connected with the hip forward swing steering engine 13, and the hip forward swing support bearing 153 is arranged between the inner ring assembly 152 and the outer ring assembly 151 so as to realize the rotary connection of the hip forward swing steering engine 13 and the U-shaped connecting piece 14. The outer ring assembly 151 is fixed around the second mounting hole 1420, the first ring groove 1510 is formed by the outer ring assembly 151 and the second U-shaped side portion 142, and the first ring groove 1510 can also be directly formed on the outer ring assembly 151. The inner race assembly 152 has a second ring groove 1520. The outer ring of the hip forward swing support bearing 153 is arranged in the first ring groove 1510, and the inner ring of the hip forward swing support bearing 153 is arranged in the second ring groove 1520, so that the inner ring assembly 152 can rotate relative to the outer ring assembly 151, and the rotation of the hip forward swing steering engine 13 relative to the U-shaped connecting piece 14 is realized.

Optionally, referring to fig. 9, the outer ring assembly 151 includes an outer ring body 1511 and a first fastener 1512, the outer ring body 1511 is fixed on the second U-shaped side portion 142, and the first fastener 1512 is used for fixing the outer ring body 1511 on the second U-shaped side portion 142. The outer ring body 1511 can be fixed on the side of the second U-shaped side portion 142 facing away from the U-shaped space and fixed on the periphery of the second mounting hole 1420, the outer ring body 1511 has a first flange 15111 extending into the second mounting hole 1420, a second flange 1421 radially extends on the side of the second mounting hole 1420 close to the hip forward swing steering engine 13, and a first ring groove 1510 is formed by the side surface of the first flange 15111, the inner wall of the second mounting hole 1420 and the side wall of the second flange 1421. The inner ring assembly 152 comprises a first inner ring 1521, a second inner ring 1522 and a second fastener 1523, the second fastener 1523 can fix the first inner ring 1521 and the second inner ring 1522 to each other, the surface of the second inner ring 1522 is provided with an annular step 15221, one side of the first inner ring 1521 facing the second inner ring 1522 and the annular step 15221 jointly form a second annular groove 1520, the first annular groove 1510 and the second annular groove 1520 are opposite to each other so as to accommodate the hip forward swing support bearing 153, and the first annular groove 1521 and the second annular groove 1520 have a stopping function on both the outer ring and the inner ring of the hip forward swing support bearing 153. In other embodiments, the inner ring assembly 152 only includes a first inner ring 1521 and a second inner ring 1522, the first inner ring 1521 and the second inner ring 1522 are integrally formed, and the first inner ring 1521 or the second inner ring 1522 has a second annular groove 1520. The first fastener 1512 and the second fastener 1523 may be screws, pins, or other like fasteners.

Optionally, referring to fig. 12, one end of the thigh structure 2 close to the hip joint driving mechanism 1 has two parallel supporting side portions 26, an output end of the hip forward swing actuator 13 is fixedly connected to one of the supporting side portions 26, so that the hip joint driving mechanism 1 can drive the thigh structure 2, and the other end of the hip forward swing actuator 13 is supported on the other supporting side portion 26 through a bearing or the like.

In one embodiment of the present invention, referring to fig. 10 and 11, the knee joint driving mechanism 5 includes a knee joint steering gear 51 and a knee joint connecting rod assembly 52, the knee joint steering gear 51 is disposed in the middle of the thigh structural member 2 and is used for driving the thigh structural member 2 to rotate, one end of the thigh structural member 2 is rotatably connected to the calf structural member 3, and two ends of the knee joint connecting rod assembly 52 are rotatably connected to the knee joint steering gear 51 and the calf structural member 3 respectively. When the knee joint steering engine 51 works, the thigh structural part 2 rotates, the rotation of the thigh structural part 2 simultaneously drives the calf structural part 3 and the knee joint connecting rod assembly 52 to rotate, so that the knee joint driving mechanism 5 forms a four-bar mechanism, and the knee joint steering engine 51 arranged at the middle part of the thigh structural part 2 can drive the calf structural part 3 to rotate relative to the thigh structural part 2, and the knee joint steering engine 51 is not required to be arranged at the joint of the thigh structural part 2 and the calf structural part 3. More specifically, assuming that a plane perpendicular to the output shaft of the knee joint steering engine 51 is a reference plane, a projection point a of the output shaft of the knee joint steering engine 51 on the reference plane, a projection point b of a rotating shaft at the joint of the knee joint link assembly 52 and the knee joint steering engine 51 on the reference plane, a projection point c of a rotating shaft at the joint of the knee joint link assembly 52 and the lower leg structure 3 on the reference plane, and a projection point d of the rotating shaft at the joint of the upper leg structure 2 and the lower leg structure 3 on the reference plane are sequentially connected to form a quadrangle. Wherein, connecting rod ab is the dead lever, and when knee joint steering engine 51 at a point worked, connecting rod ad, cd, bc all rotated thereupon, like this, knee joint steering engine 51 sets up in the middle part of thigh structure 2, also can drive connecting rod ad and rotate, can drive shank structure 3 and rotate. So, knee joint steering wheel 51 sets up in the middle part of thigh structure 2, can drive shank structure 3 rotatory, and need not to set up in the junction (knee joint department) of thigh structure 2 and shank structure 3, can improve the barycenter of shank mechanism 1.

In one embodiment of the present invention, please refer to fig. 12, the thigh structure 2 has a steering engine cavity 201 for placing the knee joint steering engine 51, and the steering engine cavity 201 is disposed in the middle of the thigh structure 2. The side wall of the rudder machine cavity 201 can be hollowed out, so that the weight of the thigh structural part 2 can be reduced. The rudder cavity 201 is matched with the knee joint steering engine 51 in shape and is cylindrical, an installation opening 202 is formed in one end of the rudder cavity 201, and the knee joint steering engine 51 is installed in the rudder cavity 201 from the installation opening 202. The bottom wall of the rudder cavity 201 opposite to the mounting opening 202 is fixedly connected with the output shaft of the knee joint steering engine 51, so that the knee joint steering engine 51 can drive the thigh structural part 2 to rotate.

Optionally, referring to fig. 13, an extension end 516 is formed by extending the outer periphery of the knee joint steering engine 51, and one end of the knee joint connecting rod assembly 52 is hinged to the extension end 516. In order to make knee joint steering wheel 51 that has extension end 516 can install smoothly to steering wheel chamber 201, thigh structure spare 2 has been seted up at the lateral wall in steering wheel chamber 201 and has been dodged mouth 203, dodges mouth 203 and installation opening 202 intercommunication setting, and when making knee joint steering wheel 51 get into steering wheel chamber 201, extension end 516 assembles the middle part to steering wheel chamber 201 through dodging mouth 203. In other embodiments, the extension end 516 and the knee joint steering engine 51 are arranged in a split manner, the thigh structural part 2 can be provided with the avoiding opening 203 only in the middle of the steering engine cavity 201, the avoiding opening 203 is not communicated with the mounting opening 202, and after the knee joint steering engine 51 is mounted to the steering engine cavity 201, the extension end 516 penetrates through the avoiding opening 203 and is fixed to the knee joint steering engine 51.

Referring to fig. 10, when the thigh structural member 2 is provided with an avoiding opening 203 communicated with the mounting opening 202 on the side wall of the steering engine cavity 201, the avoiding opening 203 is covered with a reinforcing plate 23, and the reinforcing plate 23 is fixed on the thigh structural member 2 and is used for increasing the strength of the thigh structural member 2 and preventing the thigh structural member 2 from deforming at the avoiding opening 203. Wherein the reinforcement can be arc-shaped and fixed on the thigh structure 2 by fasteners such as screws.

In one embodiment of the present invention, referring to fig. 10 and 12, the thigh structure 2 has a mounting plane 21, the mounting plane 21 is fixed with a control board, the control board can be used to control the motion of each steering engine of the leg structure of the robot, the control board is disposed on the thigh structure 2, the mounting space of the thigh structure 2 can be fully utilized, and the leg structure of the robot can be miniaturized as much as possible. The control panel upper cover is provided with a control cover 24 for protecting the control panel.

In one embodiment of the present invention, referring to fig. 12 to 14, the knee joint supporting component 25 is disposed at the mounting opening 202, so that one end of the knee joint steering engine 51, which faces away from the output shaft thereof, is supported in the mounting opening 202. The knee support assembly 25 includes a knee support bearing 255, a bearing outer race 251, a bearing outer race compression ring 252, a bearing inner race compression ring 253, and a bearing inner race compression ring 254. The bearing outer seat 251 is fixed in the installation opening 202, the bearing outer ring press ring 252 is fixed on the bearing outer seat 251, a third annular groove 2510 is formed between the bearing outer ring press ring 252 and the bearing outer seat 251, the outer ring of the knee joint support bearing 255 is arranged in the third annular groove 2510, two sides of the outer ring of the knee joint support bearing 255 are respectively abutted to two opposite inner walls of the third annular groove 2510, namely one side wall of the bearing outer seat 251 and one side wall of the bearing outer ring press ring 252. The bearing inner seat 254 is fixedly connected to the knee joint steering engine 51, the bearing inner ring press ring 253 is fixedly connected to the bearing inner seat 254, a fourth groove 2530 is formed between the bearing inner ring press ring 253 and the bearing inner seat 254, the inner ring of the knee joint support bearing 255 is arranged in the fourth groove 2530, two sides of the inner ring of the knee joint support bearing 255 are respectively abutted to two opposite inner walls of the fourth groove 2530, namely one side wall of the bearing inner seat 254 and one side wall of the bearing inner ring press ring 253.

In one embodiment of the present invention, referring to fig. 13 and 14, the knee joint steering engine 51 includes a knee joint motor 511, a knee joint reducer 512 for reducing speed, a knee joint encoder 513 for detecting an angular displacement of the knee joint motor 511, and a control component 514 for controlling the knee joint motor 511. Optionally, the control component 514, the knee joint encoder 513, the knee joint motor 511 and the knee joint reducer 512 are sequentially arranged along the axial direction of the knee joint steering engine 51, and the output end of the knee joint reducer 512 is fixedly connected to the bottom wall of the rudder cavity 201. The specific structure of the knee joint motor 511 is not limited herein.

Optionally, a knee joint rear cover 515 is disposed at one end of the knee joint steering engine 51 facing away from the knee joint reducer 512, the knee joint rear cover 515 is disposed on the control component 514, and the bearing inner seat 254 of the knee joint support component 25 may be fixed on the knee joint rear cover 515.

In one embodiment of the present invention, referring to fig. 15, a knee joint spherical bearing 522 is disposed at one end of the knee joint connecting rod assembly 52 connected to the knee joint steering engine 51, and the knee joint connecting rod assembly 52 is rotatably connected to the knee joint steering engine 51 through the knee joint spherical bearing 522. The knee joint ball bearing 522 is provided so that the knee joint link assembly 52 can rotate relative to the knee joint steering engine 51 even when it is deflected relative to the reference plane, and prevents the end of the knee joint link assembly 52 from being caught. More specifically, the knee link assembly 52 includes a link body 521, a knee ball bearing 522 connected to one end of the link body 521, and a link joint 523 connected to the other end of the link body 521. The extension end 516 of the knee joint steering engine 51 is provided with two first connecting portions 5161 which are parallel to each other, the knee joint spherical bearing 522 extends into the first connecting portions 5161, the lower leg structural member 3 is provided with two second connecting portions 31 which are parallel to each other, and one end of the connecting rod joint 523, which is far away from the connecting rod body 521, extends into the two second connecting portions 31. The first connecting portion 5161 is rotatably connected with the knee joint spherical bearing 522, the second connecting portion 31 and the link joint 523 through the knee joint pin assembly 524, so as to rotatably connect the knee joint link assembly 52 with the knee joint steering engine 51 and rotatably connect the knee joint link assembly 52 with the lower leg structure member 3. The specific structure of the knee joint pin assembly 524 is not limited herein, and may include a pin body 5241 and a pin bolt 5242 fixed to the pin body 5241.

In one embodiment of the present invention, please refer to fig. 16, the thigh structural member 2 and the calf structural member 3 are rotatably connected by a second rotating shaft assembly 53, and the second rotating shaft assembly 53 includes a rotating shaft body 531, a knee joint rotating bearing 534, an outer bearing retainer 532 and an inner bearing retainer 533. The rotating shaft body 531 penetrates through the thigh structural member 2 and the calf structural member 3, the knee joint rotating bearing 534 is supported on the periphery of the rotating shaft body 531, the bearing outer retainer ring 532 is used for stopping the outer ring of the knee joint rotating bearing 534, and the bearing inner retainer ring 533 is used for stopping the inner ring of the knee joint rotating bearing 534, so that the thigh structural member 2 and the calf structural member 3 are rotatably connected through the knee joint rotating bearing 534. The outer bearing retainer 532 is fixed to one end of the rotation shaft body 531, and the inner bearing retainer 533 is sandwiched between the lower leg structure 3 and the inner ring of the knee joint rotation bearing 534.

Optionally, the end of the thigh structural member 2 has a thigh fork 22, the calf structural member 3 partially extends into the thigh fork 22, the rotating shaft body 531 is sequentially disposed through the thigh fork 22 and the calf structural member 3, and the knee joint rotating bearing 534, the outer bearing retainer ring 532 and the inner bearing retainer ring 533 are two in number and disposed at two ends of the rotating shaft body 531 respectively. The knee joint rotation bearing 534 is disposed at an end of the rotation shaft body 531, the bearing outer retainer ring 532 is fixed in the thigh fork 22, and the bearing inner retainer ring 533 is interposed between an inner ring of the knee joint rotation bearing 534 and the calf structural member 3. In other embodiments, the lower leg structure 3 has a lower leg fork into which one end of the upper leg structure 2 extends.

In one embodiment of the present invention, please refer to fig. 17 and 18, the ankle driving mechanism 6 includes an ankle steering gear 61, an ankle swing member 62 and an ankle connecting rod assembly 63, the ankle steering gear 61 is fixed on the thigh structure member 2, and the ankle steering gear 61 is used for driving the ankle swing member 62 to swing, the ankle swing member 62 is rotatably connected to the thigh structure member 2, one end of the ankle connecting rod assembly 63 is rotatably connected to the ankle swing member 62, and the other end of the ankle connecting rod assembly 63 is movably connected to the foot board structure member 4. When the ankle swing member 62 swings, the ankle connecting rod assembly 63 and the foot plate structural member 4 correspondingly rotate, the ankle steering gear 61 arranged on the thigh structural member 2 can drive the foot plate structural member 4 to rotate relative to the lower leg structural member 3, the ankle driving mechanism 6 is not required to be arranged at the joint of the foot plate structural member 4 and the lower leg structural member 3, the center of mass of the leg structure is improved, and therefore required driving force can be reduced. Because both the lower leg structural member 3 and the ankle connecting rod assembly 63 are movably connected to the foot plate structural member 4, the foot plate structural member 4 can also rotate by itself when contacting with an external object, and no reverse acting force is generated on the lower leg structural member 4 and the ankle connecting rod assembly 63.

Alternatively, referring to fig. 19, ankle driving mechanism 6 includes an ankle motor 611, an ankle reducer 613 and an ankle transmission assembly 612, ankle motor 611 and ankle reducer 613 are connected through ankle transmission assembly 612, ankle motor 611 may include a motor, an encoder, etc., an output terminal of ankle motor 611 is connected to an input terminal of ankle transmission assembly 612, an output terminal of ankle transmission assembly 612 is connected to ankle reducer 613, and ankle swinging member 62 is connected to an output terminal of ankle reducer 613, thereby moving ankle swinging member 62. The ankle transmission assembly 612 may alternatively be a pulley assembly. The ankle motor 611 is fixed to the middle of the thigh structure 2, the ankle reducer 613 is fixed to the end of the thigh structure 2 close to the lower leg structure 3, i.e. the rotation joint of the thigh structure 2 and the lower leg structure 3, and the rotation axis of the lower leg structure 3 and the thigh structure 2 and the output shaft of the ankle reducer 613 are coaxially arranged.

It should be noted that the ankle transmission assembly 612 may be optionally configured the same as the knee transmission assembly, and the tension wheel 1224 of the ankle transmission assembly 612 may be disposed on the thigh structure 2.

Alternatively, the hip encoder 1212 and the knee encoder 513 may be selected from a photoelectric encoder, a magnetic encoder, a capacitive encoder, a rotary transformer, a potentiometer, and the like. The hip yaw reducer 123, the knee joint reducer 512, and the ankle reducer 613 may be selected from a harmonic reducer, an RV reducer, a planetary reducer, a cycloidal pin gear reducer, and the like.

Referring to fig. 12, the thigh structure 2 is provided with a motor cavity 204 for placing an ankle motor 611, and the motor cavity 204 is disposed between the rudder cavity 201 and the ankle swing member 62 to prevent interference with the knee joint driving mechanism 5.

In one embodiment of the present invention, referring to fig. 17 and fig. 19, the number of the ankle steering gear 61, the number of the ankle connecting rod assembly 63 and the number of the ankle swinging member 62 are two, two ankle speed reducers 613 are respectively fixed at the outer sides of two side portions of the thigh fork portion 22, the ankle connecting rod assembly 63 and the ankle swinging member 62 are correspondingly arranged at two sides of the shank structural member 3, and the end portions of the two ankle connecting rod assemblies 63 close to the foot plate structural member 4 are respectively arranged at two sides of the shank structural member 3 close to the end portion of the foot plate structural member 4. Thus, when the moving directions of the two ankle steering engines 61 are the same, the two ankle rocking members 62 and the two ankle connecting rod assemblies 63 move synchronously, so that the foot board structural member 4 can realize forward swing movement; when the directions of movement of the two ankle steering engines 61 are opposite, the directions of movement of the two ankle swing members 62 and the two ankle link assemblies 63 are both opposite, so that the directions of movement of the two sides of the foot plate structural member 4 are also opposite, one side moves upwards, the other side moves downwards, and the side swing movement of the foot plate structural member 4 can be realized.

In one embodiment of the present invention, referring to fig. 17, one end of the ankle link assembly 63 away from the ankle swing member 62 is connected to the foot plate structure member 4 through a first universal joint 65, and one end of the lower leg structure member 3 away from the ankle swing member 62 is connected to the foot plate structure member 4 through a second universal joint 66. Thus, when the foot board structure member 4 is in contact with a contact surface such as the ground or a table top, even if the foot board structure member 4 is inclined and in contact with the contact surface, the foot board structure member 4 gradually rotates from the line contact to the surface contact when inclined by the first and second

universal joints

65 and 66, and thus the foot board structure member 4 does not generate a reverse thrust to the ankle link assembly 63 and the calf structure member 3 connected thereto. In other embodiments, the end of ankle link assembly 63 distal from ankle rocking member 62 and the end of lower leg structure member 3 distal from ankle rocking member 62 may be movably connected to foot plate structure member 4 by a universal connection structure such as a ball bearing.

In one embodiment of the present invention, referring to fig. 17, one end of the ankle link assembly 63 away from the ankle swing member 62 is provided with a first U-shaped fork 631, a second U-shaped fork 41 is provided at a joint of the foot plate structural member 4 and the ankle link assembly 63, two ends of the first universal joint 65 are connected to two side portions of the first U-shaped fork 631, and the other two ends of the first universal joint 65 are connected to two side portions of the second U-shaped fork 41, so that the two side portions of the first U-shaped fork 631 and the two side portions of the second U-shaped fork 41 are also arranged in a cross manner, and thus, the ankle link assembly 63 and the foot plate structural member 4 are connected in a universal manner. One end of the lower leg structural member 3, which is far away from the ankle swing member 62, is provided with a third U-shaped fork 32, the joint of the foot plate structural member 4 and the lower leg structural member 3 is provided with a fourth U-shaped fork 42, two ends of the second universal joint 66 are connected to two side portions of the third U-shaped fork 32, the other two ends of the second universal joint 66 are connected to two side portions of the fourth U-shaped fork 42, so that the two side portions of the third U-shaped fork 32 and the two side portions of the fourth U-shaped fork 42 are also arranged in a crisscross manner, and thus, the lower leg structural member 3 and the foot plate structural member 4 are connected in a universal manner.

In one embodiment of the present invention, referring to fig. 18, a fifth U-shaped fork 621 is disposed on the ankle swing member 62, one end of the ankle link assembly 63 extends into the fifth U-shaped fork 621, and the ankle link assembly 63 is rotatably connected to the fifth U-shaped fork 621 through the ankle pin assembly 67. The specific structure of ankle pin assembly 67 is not limited herein. The end of the ankle link assembly 63 that extends into the fifth U-shaped prong 621 is provided with an ankle ball bearing 632 and the ankle pin assembly 67 is disposed through the ankle ball bearing 632. The provision of the ankle ball bearing 632 prevents the joint between the ankle link assembly 63 and the ankle rocking member 62 from becoming jammed during rotation. In other embodiments, fifth fork 621 may be disposed at an end of ankle link assembly 63, and an end of ankle rocking element 62 may extend into fifth fork 621 and be pivotally connected thereto via ankle pin assembly 67. The structure of ankle pin assembly 67 may optionally be the same as knee pin assembly 524.

The utility model also provides a humanoid robot, humanoid robot include the shank mechanism 1 of any embodiment of the aforesaid. In the leg mechanism 1, the hip joint driving mechanism 1 comprises a hip rotary steering engine 11, a hip side swing steering engine 12 and a hip front swing steering engine 13 which are respectively used for realizing the rotation, the side swing and the front swing of a hip joint, and the hip rotary steering engine 11, the hip side swing steering engine 12 and the hip front swing steering engine 13 are all integrated on a U-shaped connecting piece 14 and do not need to be arranged on a thigh structural part 2, so that the mass center of the leg mechanism 1 can be improved; the knee joint driving mechanism 5 is provided on the thigh structure 2, and the center of mass of the leg mechanism 1 can be correspondingly increased compared to the knee joint, so that the driving force required by the humanoid robot can be reduced.

Referring to fig. 20, the humanoid robot further includes a head structural member 200, a waist frame 300 and a head steering engine 400, wherein the head steering engine 400 is fixed in the waist frame 300, and an output end of the head steering engine 400 is connected to the head structural member 200 for driving the head structural member 200 to rotate. The specific structure of the head steering engine 400 is not limited herein. The number of the leg mechanisms 1 is two, and both the leg mechanisms 1 are fixed to the waist frame 300. More specifically, two hip rotation steering engines 11 are fixed in the waist frame 300, and the head steering engine 400 is arranged between the two hip rotation steering engines 11, so that the two leg mechanisms 1 are symmetrically arranged relative to the head structural member 200.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A leg mechanism, comprising:

2. The leg mechanism as claimed in claim 1, wherein: the U-shaped connecting piece comprises a U-shaped bottom and two U-shaped side portions connected to the U-shaped bottom respectively, the U-shaped bottom and the two U-shaped side portions are enclosed to form a U-shaped space, the hip rotary steering engine is fixed to one side, facing away from the U-shaped bottom, of the U-shaped bottom, the hip side swing steering engine is fixed to one side, facing away from the U-shaped space, of the U-shaped side portion, and the hip front swing steering engine is arranged in the U-shaped space.

3. The leg mechanism as claimed in claim 2, wherein: the hip rotary steering engine comprises a hip rotary motor, a hip rotary encoder, a hip rotary reducer and a hip rotary output shaft, wherein the hip rotary encoder is used for detecting the rotation angle of the hip rotary motor, the hip rotary reducer is connected with the hip rotary motor and used for reducing speed, the hip rotary output shaft is connected with the hip rotary reducer, the hip rotary output shaft is arranged in a hollow mode, and the hip rotary reducer, the hip rotary motor and the hip rotary encoder are sequentially arranged on the periphery of the hip rotary output shaft along the axial direction of the hip rotary output shaft.

4. The leg mechanism as claimed in claim 2, wherein: the hip side-swing steering engine comprises a hip side-swing motor, a hip side-swing speed reducer and a hip side-swing transmission assembly connected with the hip side-swing motor and the hip side-swing speed reducer, the hip side-swing motor and the hip side-swing speed reducer are both fixed on the U-shaped side portion, and the output end of the hip side-swing speed reducer is connected with the hip forward-swing steering engine.

5. The leg mechanism as claimed in claim 4, wherein: the two U-shaped side parts are respectively a first U-shaped side part and a second U-shaped side part, a first mounting hole is formed in the first U-shaped side part, the hip side swing speed reducer penetrates through the first mounting hole to be connected with the hip front swing steering engine, a second mounting hole is formed in the second U-shaped side part, and a hip front swing supporting assembly used for supporting the hip front swing steering engine to enable the hip front swing steering engine to be rotatably connected to the second U-shaped side part is arranged in the second mounting hole.

6. The leg mechanism as claimed in claim 1, wherein: the knee joint driving mechanism comprises a knee joint steering engine and a knee joint connecting rod assembly, the knee joint steering engine is fixed in the middle of the thigh structural part and is used for driving the thigh structural part to rotate, one end of the knee joint connecting rod assembly is rotatably connected to the surface of the knee joint steering engine, and the other end of the knee joint connecting rod assembly is rotatably connected to the shank structural part; the plane perpendicular to the output shaft of the knee joint steering engine is a reference plane, and the projection point of the output shaft of the knee joint steering engine on the reference plane, the projection point of the rotating shaft at the joint of the knee joint connecting rod assembly and the crus structural part on the reference plane, and the projection point of the rotating shaft at the joint of the thigh structural part and the crus structural part on the reference plane are sequentially connected into a quadrangle.

7. The leg mechanism as claimed in claim 6, wherein: the thigh structural part is provided with a steering engine cavity for placing the knee joint steering engine, the steering engine cavity is provided with an installation opening for placing the knee joint steering engine, and the bottom wall of the steering engine cavity right opposite to the installation opening is used for being fixedly connected with the output shaft of the knee joint steering engine in the steering engine cavity.

8. The leg mechanism as claimed in claim 7, wherein: the periphery of knee joint steering wheel outwards extends and is formed with the extension end, knee joint link assembly rotate connect in the extension end, thigh structure is seted up and is used for installing dodge during the knee joint steering wheel the mouth of dodging of extension end, dodge the mouth with the installation opening intercommunication sets up, dodge mouthful department and cover and be equipped with the stiffening plate, the stiffening plate is fixed in on the thigh structure.

9. The leg mechanism as claimed in claim 1, wherein: the ankle actuating mechanism comprises an ankle steering gear, an ankle swing part and an ankle connecting rod component, the ankle swing part is rotatably connected to the thigh structural part, one end of the ankle connecting rod component is rotatably connected to the ankle swing part, the other end of the ankle connecting rod component is movably connected to the foot plate structural part, the ankle steering gear is fixed to the thigh structural part and is used for driving the ankle swing part to move.

10. The leg mechanism as claimed in claim 9, wherein: the ankle steering wheel includes ankle motor, ankle reduction gear and connection the ankle motor with ankle reduction gear's ankle transmission assembly, the ankle motor is fixed in the middle part of thigh structure, the ankle reduction gear is fixed in the thigh structure is close to the one end of shank structure, just the shank structure is relative thigh structure pivoted axis of rotation with the coaxial setting of ankle reduction gear's output shaft.

11. The leg mechanism as claimed in claim 10, wherein: thigh structure has and is used for placing the motor chamber of ankle motor, the motor chamber is located and is used for placing the rudder machine chamber of knee joint actuating mechanism's knee joint steering wheel with the ankle sways between the piece.

12. The leg mechanism as claimed in claim 9, wherein: ankle actuating mechanism's quantity is two, two the ankle piece of swaing is located the relative both sides of shank structure, two ankle link assembly is close to the tip of sole structure is located respectively the shank structure is close to the both sides of the tip of sole structure.

13. The leg mechanism as claimed in claim 9, wherein: the ankle link assembly is rotationally and universally connected to the foot plate structure, and the thigh structure is rotationally and universally connected to the foot plate structure.

14. Anthropomorphic robot, its characterized in that: comprising a leg mechanism as claimed in any one of claims 1 to 13.

15. The humanoid robot of claim 14, wherein: the humanoid robot further comprises a head structural part, a waist frame and a head steering engine used for driving the head structural part to rotate, the head steering engine is fixed on the waist frame, the number of the leg mechanisms is two, and the leg mechanisms are all fixed on the waist frame.