CN215322952U - Leg structure and humanoid robot - Google Patents

Abstract

The utility model relates to the field of anthropomorphic robots, and provides a leg structure and an anthropomorphic robot. The leg structure comprises a thigh structural part, a foot plate structural part, two ankle joint drivers, a shank structural part and two linkage assemblies. Two ankle drivers are symmetrically fixed on the inner side of the thigh structure, each ankle driver having an outward output end and an inward tail end; one end of the shank structural part is rotatably connected to the tail ends of the two ankle joint drivers, and the other end of the shank structural part is universally and rotatably connected to the foot plate structural part; the two linkage assemblies are respectively and movably connected between the output ends of the two ankle joint drivers and the foot plate structural member. The leg structure will participate in that two ankle joint drivers constituting the ankle joint are symmetrically fixed in the thigh structure member close to the knee joint and far away from the ankle side, based on which, the mass center of the leg structure can be effectively improved, the moment of inertia of the leg structure can be effectively reduced, and the moment demand of the driver of each joint component of the leg structure can be correspondingly reduced.

Description

Leg structure and humanoid robot

Technical Field

The utility model belongs to the technical field of humanoid robots, and particularly relates to a leg structure and a humanoid robot.

Background

The leg structure of a humanoid robot generally includes joint components such as a hip joint, a knee joint, and an ankle joint. Wherein, the ankle joint usually has two degrees of freedom, can carry out Pitch motion and Roll motion.

At present, each part of the ankle joint including the driver is generally concentrated and set up in the ankle side of shank structure, so, easily cause the barycenter of shank structure lower, inertia is great, and then the moment demand that leads to the driver of each joint part of shank structure is great.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model aims to provide a leg structure, and aims to solve the technical problems of lower mass center and larger rotational inertia of the existing leg structure.

In order to achieve the purpose, the utility model adopts the technical scheme that: a leg structure comprising:

a thigh structure;

a footboard structural member;

two ankle drivers symmetrically secured to the medial side of the thigh member, each ankle driver having an outward facing output end and an inward facing tail end;

one end of the shank structural part is rotatably connected to the tail ends of the two ankle joint drivers, and the other end of the shank structural part is universally and rotatably connected to the foot plate structural part;

and the two linkage assemblies are respectively and movably connected between the output ends of the two ankle joint drivers and the foot plate structural member.

In one embodiment, the linkage assembly comprises a crank and a connecting rod, wherein the crank is connected to the output end of the ankle joint driver and can rotate under the driving of the ankle joint driver; one end of the connecting rod is rotatably connected to the end part of the crank, which is far away from the output end, and the other end of the connecting rod is connected to the foot plate structural part in a universal rotating manner.

In one embodiment, the link has a first end connected to the foot plate structure and a second end opposite the first end, the first end extending inwardly relative to the second end in a direction toward the foot plate structure.

In one embodiment, the thigh structure is provided with a guide groove on the periphery of the output end of the ankle joint driver, and the crank is provided with a guide block protruding toward the thigh structure, wherein the guide block moves in the guide groove when the crank rotates.

In one embodiment, the leg structure further comprises:

the first shaft seat is fixed on the foot plate structural part;

the universal joint shaft is fixed on the first shaft seat, and two opposite ends of the universal joint shaft protrude out of the first shaft seat;

the two rotating parts are respectively and rotatably connected to two opposite ends of the universal joint shaft, the two opposite sides of each rotating part are respectively provided with a shaft neck, the two shaft necks of the rotating parts are oppositely arranged, and the central axes of the two shaft necks are perpendicular to the central axis of the universal joint shaft;

two adapters, connect in the connecting rod with rotate between the piece, the adapter include with the connecting rod is connected and for the connecting portion that the connecting rod is fixed, and connect respectively in two switching portions at the relative both ends of connecting portion, two of adapter the switching portion respectively with rotate two the journal cup joints.

In one embodiment, one of the connecting part and the connecting rod is convexly provided with a positioning part, and the other of the connecting part and the connecting rod is provided with a positioning groove which can be in plug fit with the positioning part.

In one embodiment, the end of the connecting rod connected to the crank is provided with a bearing hole, and the leg structure further comprises a joint bearing embedded in the bearing hole, and a connecting member inserted into an inner ring of the joint bearing and connecting the joint bearing and the crank.

In one embodiment, the leg structure further comprises:

the cross shaft comprises a first shaft and a second shaft which are arranged orthogonally;

the second shaft seat is connected with the foot plate structural part and fixed relative to the foot plate structural part, two support seats are arranged on one side of the second shaft seat, which is away from the foot plate structural part, the two support seats are respectively arranged at two opposite ends of the first shaft, and the support seats are provided with rotating holes for the end parts of the first shaft to penetrate through;

the lower leg structural part is provided with two rotating feet, and the two rotating feet are respectively and rotatably connected to two opposite ends of the second shaft.

In one embodiment, the thigh structure comprises two thigh supports, and a reinforcing support connected between the two thigh supports, wherein two ankle drivers are respectively fixed on the inner sides of the two thigh supports, and the reinforcing support is arranged opposite to the ankle drivers.

It is also an aim of embodiments of the present invention to provide a humanoid robot comprising the leg structure.

The utility model has the following beneficial effects:

according to the leg structure provided by the embodiment of the utility model, the linkage assembly connected to the output end of the ankle joint driver is driven to move through the ankle joint driver, and then the linkage assembly drives the foot plate structural part to move relative to the shank structural part, so that the foot plate structural part can realize Pitch pitching motion and Roll rolling motion relative to the shank structural part, and the motion control of the ankle joint is conveniently and accurately realized. And two ankle joint drivers participating in the ankle joint are symmetrically fixed on the inner side of the thigh structural member, are relatively close to the knee joint of the leg structure and are relatively far away from the ankle side of the leg structure, so that the center of mass of the leg structure can be effectively improved, the moment of inertia of the leg structure is effectively reduced, and accordingly the moment requirements of the drivers of all joint parts of the leg structure can be correspondingly reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described 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 based on these drawings without inventive exercise.

Fig. 1 is a schematic perspective view of a leg structure provided in an embodiment of the present invention;

FIG. 2 is an exploded schematic view of the leg structure provided in FIG. 1;

FIG. 3 is a first exploded view of the ankle joint driver and linkage assembly shown in FIG. 2;

FIG. 4 is a second exploded view of the ankle joint driver and linkage assembly shown in FIG. 2;

FIG. 5 is a schematic illustration of the mating of the first shaft receptacle, the cardan shaft, the rotary member and the adaptor member provided in FIG. 2;

FIG. 6 is a cross-sectional view taken along A-A as provided in FIG. 5;

FIG. 7 is a cross-sectional view taken along line B-B as provided in FIG. 6;

FIG. 8 is a schematic illustration of the mating of the lower leg structure, cross and second hub provided in FIG. 2;

FIG. 9 is a cross-sectional view taken along line C-C as provided in FIG. 8;

fig. 10 is a cross-sectional view taken along D-D as provided in fig. 8.

Wherein, in the figures, the respective reference numerals:

100-a thigh structure part, 101-a guide groove, 110-a thigh support and 120-a reinforcing support; 200-a baseboard structure; 300-ankle driver, 310-output, 320-tail; 400-lower leg structure, 410-swivel foot; 500-linkage component, 510-crank, 511-guide block, 520-connecting rod, 521-first end, 522-second end, 523-positioning groove and 524-bearing hole; 600-a first shaft seat; 700-cardan shaft; 800-rotor, 810-journal; 900-adapter, 910-connection, 911-positioning, 920-adapter; 1000-knuckle bearing; 1100-a connector; 1200-cross, 1210-first, 1220-second; 1300-second spindle, 1310-support, 1311-rotation hole.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present 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 defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following describes a specific implementation of the present invention in more detail with reference to specific embodiments:

referring to fig. 1 and 2, an embodiment of the utility model provides a leg structure, which includes a thigh structural member 100, a foot plate structural member 200, two ankle joint drivers 300, a lower leg structural member 400, and two linkage assemblies 500. Referring to fig. 3 and 4, two ankle drivers 300 are symmetrically fixed on the inner side of the thigh structure 100, each ankle driver 300 having an outward output end 310 and an inward tail end 320; one end of the lower leg structure 400 is rotatably connected to the tail ends 320 of the two ankle joint drivers 300, and the other end of the lower leg structure 400 is universally and rotatably connected to the foot plate structure 200; the two linking assemblies 500 are movably connected between the output ends 310 of the two ankle drivers 300 and the foot plate structure member 200, respectively.

It should be noted that one end of the lower leg structure 400 is pivotally connected to the rear ends 320 of the two ankle joint drivers 300, and the ankle joint drivers 300 are fixed relative to the thigh structure 100, so that the lower leg structure 400 and the thigh structure 100 can rotate relative to each other to form a knee joint of the leg structure.

The tail ends 320 of the two ankle joint drivers 300 are connected to one end of the lower leg structure member 400 in a rotating mode, wherein the tail ends 320 of the ankle joint drivers 300 can be sleeved with bearings, at the moment, one end of the lower leg structure member 400 is supported by the two bearings, so that the force bearing range of the tail ends 320 of the ankle joint drivers 300 can be enlarged, and the bending moment range which can be borne by the tail ends 320 of the ankle joint drivers 300 can be enlarged.

It is also noted that the lower leg structure 400 and the foot plate structure 200 can rotate relative to each other. The ankle joint driver 300 can drive the linking component 500 connected to the output end 310 to move, so as to drive the foot plate structure member 200 to move relative to the lower leg structure member 400. Thereby facilitating a Pitch and Roll motion of the footboard structure 200 relative to the calf structure 400 to form an ankle joint of the leg structure.

Specifically, when the two linking assemblies 500 have the same movement tendency, the two linking assemblies 500 can jointly drive one side (usually the front side or the rear side) of the foot board structure 200 to move relative to the lower leg structure 400 in a direction away from the thigh structure 100 or in a direction close to the thigh structure 100, so that the foot board structure 200 can perform Pitch pitching motion relative to the lower leg structure 400. Conversely, when the movement tendencies of the two link assemblies 500 are opposite, one of the link assemblies 500 can drive one side (usually the left side or the right side) of the foot plate structure member 200 to move relative to the lower leg structure member 400 in a direction away from the thigh structure member 100, and the other link assembly 500 can drive the other side of the foot plate structure member 200 to move relative to the lower leg structure member 400 in a direction close to the thigh structure member 100, so that the foot plate structure member 200 can perform Roll movement relative to the lower leg structure member 400.

The foot plate structure member 200 is movably connected to the lower leg structure member 400 and the linkage assembly 500, and the foot plate structure member 200 can be adapted to adjust its own state with respect to the lower leg structure member 400 and the linkage assembly 500 according to an external contact surface, so as to realize surface contact with the external contact surface, and during this period, the rotation (state adjustment) of the foot plate structure member 200 does not generate a reaction force on the lower leg structure member 400 and the linkage assembly 500.

Wherein, two ankle joint drivers 300 are fixed in thigh structure 100's relative both sides symmetrically, are close to the knee joint of shank structure relatively and keep away from the ankle side of shank structure relatively, based on this, can effectively improve the barycenter of shank structure, effectively reduce the inertia of shank structure to can correspondingly reduce the moment demand of the driver of each articular component of shank structure. And the motion control of this shank structure is comparatively convenient, can realize accurate motion control.

According to the leg structure provided by the embodiment of the utility model, the ankle joint driver 300 drives the linkage assembly 500 connected to the output end 310 of the leg structure to move, and then the linkage assembly 500 drives the foot plate structural member 200 to move relative to the lower leg structural member 400, so that the foot plate structural member 200 can realize Pitch pitching motion and Roll rolling motion relative to the lower leg structural member 400, and thus the motion control of the ankle joint is conveniently and accurately realized. And the two ankle drivers 300 participating in the ankle joint are symmetrically fixed on the inner side of the thigh structure 100, and are relatively close to the knee joint of the leg structure and relatively far away from the ankle side of the leg structure, so that the center of mass of the leg structure can be effectively improved, and the moment of inertia of the leg structure can be effectively reduced, thereby correspondingly reducing the moment requirements of the drivers of the joint components of the leg structure.

In addition, according to the leg structure provided by the embodiment of the utility model, the ankle joint and the knee joint are integrated into a parallel mechanism of 2RSU +1RU (R: Revolute rotary joint, S: Spherical joint and U: Universal joint), so that the orthogonal motion of the ankle joint is controlled in parallel, and the motion of the knee joint and the ankle joint is also controlled in parallel, so that the motion control is more convenient and accurate.

The ankle joint driver 300 includes a motor and a reducer, the motor may adopt but is not limited to an outer rotor motor, an inner rotor motor, a hollow cup motor, etc., and the reducer may adopt but is not limited to a first-stage planetary reducer, a multi-stage planetary reducer, a cylindrical gear reducer, a harmonic reducer, a cycloidal pin gear reducer, etc.

Referring to fig. 1, 2 and 3, in the present embodiment, the linking assembly 500 includes a crank 510 and a connecting rod 520, the crank 510 is connected to the output end 310 of the ankle joint driver 300 and can rotate under the driving of the ankle joint driver 300; one end of the link 520 is rotatably connected to the end of the crank 510 remote from the output end 310, and the other end of the link 520 is universally rotatably connected to the foot plate structure 200.

It should be noted that the connecting rod 520 and the crank 510 can rotate relatively, and the connecting rod 520 and the foot plate structure 200 can also rotate relatively.

In each linkage assembly 500, the crank 510 connected to the output end 310 of the ankle joint driver 300 can rotate within a certain range under the driving of the ankle joint driver 300, so as to drive the connecting rod 520 connected to the crank 510 to correspondingly adjust the posture and lift, thereby enabling the corresponding side of the foot plate structure member 200 to move relative to the lower leg structure member 400.

Based on this, the effect of the two linkage assemblies 500 is combined, so that the Pitch and Roll motions of the footboard structure 200 relative to the calf structure 400 can be conveniently and accurately achieved. The linkage assembly 500 is compact and reliable in structure and high in transmission precision.

Referring to fig. 1, 2 and 3, in the present embodiment, the link 520 has a first end 521 connected to the foot board structure 200 and a second end 522 opposite to the first end 521, and the first end 521 is formed to extend inward in a direction close to the foot board structure 200 relative to the second end 522. I.e., second end 522 is relatively outward and first end 521 is relatively inward. In other words, the links 520 are curved rods, and the two links 520 are not parallel to each other. Here, the side close to the thigh structure 100 is "inside", and the side far from the thigh structure 100 is "outside".

By adopting the scheme, on one hand, the space occupation of the two linkage assemblies 500 can be reduced to a certain extent so as to adapt to the narrow design space of the humanoid robot and facilitate the appearance envelope; on the other hand, the angle range of the ankle joint is increased (namely the movement range is larger), and the influence of the kinematic singularity of the parallel mechanism is reduced.

In this embodiment, the range of motion of the ankle side can reach-45 °, and the range of motion before the ankle can reach-60 ° -50 ° ("-means downward relative to the horizontal plane, and" + "means upward relative to the horizontal plane).

Referring to fig. 2 and 4, in the present embodiment, the thigh structure 100 is provided with a guide groove 101 on the periphery of the output end 310 of the ankle joint driver 300, the crank 510 is provided with a guide block 511 protruding toward the thigh structure 100, and the guide block 511 moves in the guide groove 101 when the crank 510 rotates.

By adopting the scheme, the rotation of the crank 510 can be guided by the movement of the guide block 511 in the guide groove 101, so that the rotation stability of the crank 510 is ensured and improved; the movable range of the guide block 511 in the guide groove 101 can be restrained by controlling the extension radian of the guide groove 101, so that the rotatable range of the crank 510 is restrained, namely, the crank 510 is ensured to rotate within a preset range, and therefore, the motion control precision of the ankle joint can be favorably ensured and improved.

Referring to fig. 2 and 5, in the present embodiment, the leg structure further includes a first shaft seat 600, a universal joint shaft 700, two rotating members 800, and two adapters 900. Referring to fig. 6 and 7, the first shaft seat 600 is fixed on the foot board structure 200 (which may be detachably connected or fixedly connected); the universal joint shaft 700 is fixed to the first shaft base 600 (which may be detachably connected or fixedly connected), and opposite ends of the universal joint shaft 700 protrude from the first shaft base 600; the two rotating members 800 are respectively rotatably connected to two opposite ends of the universal joint shaft 700, the rotating members 800 are respectively provided with a journal 810 at two opposite sides thereof, the two journals 810 of the rotating members 800 are oppositely arranged, and the central axes of the two journals 810 are perpendicular to the central axis of the universal joint shaft 700; the adaptor 900 is connected between the connecting rod 520 and the rotating member 800, the adaptor 900 includes a connecting portion 910 connected to the connecting rod 520 and fixed relative to the connecting rod 520, and two adaptor portions 920 respectively connected to opposite ends of the connecting portion 910, and the two adaptor portions 920 of the adaptor 900 are respectively sleeved with two journals 810 of the rotating member 800.

It should be noted that the universal joint shaft 700 is connected to the foot board structure member 200 through the first shaft seat 600 and is fixed relative to the foot board structure member 200. The first shaft base 600 may ensure and improve strength, rigidity, and bending resistance of the universal joint shaft 700 to some extent. The end of the universal joint shaft 700 is further sleeved with a rotating member 800, and the universal joint shaft 700 and the rotating member 800 can rotate relatively.

The adaptor 900 is connected to the link 520 by a connection portion 910 thereof and is fixed with respect to the link 520. The adaptor 900 is further respectively coupled to the two journals 810 of the rotating member 800 through the two adaptor portions 920, so that the adaptor 900 and the rotating member 800 can rotate relatively.

Based on this, the universal joint shaft 700, the rotating member 800 and the adaptor 900 may form a universal joint between the connecting rod 520 and the foot plate structure 200, so that the connecting rod 520 is connected to the foot plate structure 200 in a universal rotation manner, an included angle between the connecting rod 520 and the foot plate structure 200 may be flexibly adjusted and changed within a certain range, and variable-angle power transmission may be achieved between the connecting rod 520 and the foot plate structure 200.

Compared with the prior art, the structure of the universal joint formed by the universal joint shaft 700, the rotating member 800 and the adapter 900 is obviously simplified, the occupied space is obviously smaller, the universal joint can be more suitable for the narrow design space of the humanoid robot, and the relative motion range between the connecting rod 520 and the foot plate structural member 200 is larger.

At least one bearing can be sleeved between the universal joint shaft 700 and the rotating part 800, and a bearing can also be sleeved between the journal 810 and the adapter 920, so that the friction coefficient in the relative rotation process between the journal and the adapter can be reduced, and the rotation precision between the journal and the adapter can be guaranteed. And through the arrangement of each bearing, the bearing range of the universal joint formed by the universal joint shaft 700, the rotating part 800 and the adapter 900 can be correspondingly expanded, and the bending moment range which can be borne by the universal joint can be expanded.

Referring to fig. 2, 3 and 5, in the present embodiment, one of the connection portion 910 and the connection rod 520 is convexly provided with a positioning portion 911, and the other of the connection portion 910 and the connection rod 520 is provided with a positioning slot 523 capable of being inserted into and engaged with the positioning portion 911.

By adopting the above scheme, the positioning matching of the positioning portion 911 and the positioning groove 523 can be used to guide the connection portion 910 and the connection rod 520 to be aligned quickly and accurately, so that the connection relationship between the connection portion 910 and the connection rod 520 can be established relatively and fixedly through a screw and other structures. That is, the convenience of connection between the connection portion 910 and the link 520 can be improved, and the influence of machining errors and fitting errors on the connection between the connection portion 910 and the link 520 can be reduced.

Referring to fig. 2, 3 and 4, in the embodiment, a bearing hole 524 is formed at an end of the connecting rod 520 connected to the crank 510, the leg structure further includes a joint bearing 1000 embedded in the bearing hole 524, and a connecting member 1100 passing through an inner ring of the joint bearing 1000 and connecting the joint bearing 1000 and the crank 510. The connection member 1100 may be, but is not limited to, a combination of a pin and a snap spring or a combination of a screw and a nut. The link 1100 may connect the knuckle bearing 1000 and the crank 510, but does not limit the relative rotation between the connecting rod 520 and the crank 510.

By adopting the above scheme, the crank 510 and the knuckle bearing 1000 can be connected through the connecting piece 1100, so that the crank 510 and the knuckle bearing 1000 can rotate relatively, and further the crank 510 and the connecting rod 520 can rotate relatively, the structure is simple, compact and reliable, the theoretical relative rotation range between the crank 510 and the connecting rod 520 can reach 360 degrees, and the service performance is better.

Referring to fig. 8, 9 and 10, in the present embodiment, the leg structure further includes a cross 1200 and a second shaft seat 1300. Wherein cross 1200 includes orthogonally disposed first 1210 and second 1220 axes; the second shaft base 1300 is connected with the foot board structural member 200 and fixed relative to the foot board structural member 200, two support bases 1310 are arranged on one side of the second shaft base 1300, which is far away from the foot board structural member 200, the two support bases 1310 are respectively arranged at two opposite ends of the first shaft 1210, and the support bases 1310 are provided with rotating holes 1311 through which the ends of the first shaft 1210 can penetrate; the lower leg structure 400 has two pivoting legs 410, and the two pivoting legs 410 are pivotally connected to opposite ends of a second shaft 1220.

It should be noted that opposite ends of the first shaft 1210 of the cross 1200 are respectively inserted into the rotation holes 1311 of the two support blocks 1310 of the second shaft block 1300, so that the cross 1200 and the second shaft block 1300 can rotate relatively, and the second shaft block 1300 is fixed relative to the foot board structure 200, so that the cross 1200 and the foot board structure 200 can rotate relatively.

The two rotation legs 410 of the lower leg structure 400 are rotatably connected to the opposite ends of the second shaft 1220, respectively, whereby the lower leg structure 400 and the cross 1200 can be relatively rotated.

Based on this, the cross shaft 1200 and the second shaft base 1300 can form a universal joint having two orthogonal rotational degrees of freedom between the lower leg structure 400 and the foot plate structure 200, so that the lower leg structure 400 is connected to the foot plate structure 200 in a universal rotational manner, and an included angle between the lower leg structure 400 and the foot plate structure 200 can be flexibly adjusted and changed within a certain range.

Compared with the prior art, the universal joint formed by the cross shaft 1200 and the second shaft seat 1300 is obviously simplified in structure, convenient to process, high in processing precision and high in transmission precision.

The opposite ends of the first shaft 1210 and the opposite ends of the second shaft 1220 can be sleeved with bearings, so that the friction coefficient between the end of the cross shaft 1200 and the rotating foot 410/support 1310 in the relative rotation process is reduced, and the rotation precision between the end of the cross shaft 1200 and the rotating foot 410/support 1310 is guaranteed. And through the arrangement of each bearing, the bearing range of the universal joint formed by the cross shaft 1200 and the second shaft seat 1300 can be correspondingly expanded, and the bending moment range born by the universal joint can be expanded.

Any bearing mentioned above can adopt, but is not limited to, deep groove ball bearings, thin wall bearings, crossed roller bearings, four-point contact bearings and the like.

Referring to fig. 2, in the present embodiment, the thigh structure 100 includes two thigh supports 110 and a reinforcing support 120 connected between the two thigh supports 110, two ankle drivers 300 are respectively fixed to inner sides of the two thigh supports 110, and the reinforcing support 120 is disposed opposite to the ankle drivers 300.

By adopting the above scheme, the two ankle drivers 300 can be supported and fixed by the two thigh supports 110, and then the reinforcing support 120 is opposite to the ankle driver 300 and connected between the two thigh supports 110, so as to enhance the strength and rigidity of the whole thigh structural member 100 (especially the area corresponding to the ankle driver 300), and reduce or even avoid the deformation of the thigh structural member 100 caused by the stretching force.

Referring to fig. 1, an embodiment of the present invention further provides a humanoid robot, including two leg structures oppositely disposed.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. A leg structure, comprising:

a thigh structure;

a footboard structural member;

two ankle drivers symmetrically secured to the medial side of the thigh member, each ankle driver having an outward facing output end and an inward facing tail end;

one end of the shank structural part is rotatably connected to the tail ends of the two ankle joint drivers, and the other end of the shank structural part is universally and rotatably connected to the foot plate structural part;

and the two linkage assemblies are respectively and movably connected between the output ends of the two ankle joint drivers and the foot plate structural member.

2. The leg structure according to claim 1, wherein the linkage assembly includes a crank and a link, the crank is connected to the output end of the ankle joint driver and can be rotated by the ankle joint driver; one end of the connecting rod is rotatably connected to the end part of the crank, which is far away from the output end, and the other end of the connecting rod is connected to the foot plate structural part in a universal rotating manner.

3. The leg structure of claim 2, wherein the link has a first end connected to the foot plate structure and a second end opposite the first end, the first end extending inwardly relative to the second end in a direction toward the foot plate structure.

4. The leg structure of claim 2, wherein the thigh structure has a guide slot around the output end of the ankle drive, and wherein the crank has a guide block projecting toward the thigh structure, the guide block moving within the guide slot upon rotation of the crank.

5. The leg structure of claim 2, further comprising:

the first shaft seat is fixed on the foot plate structural part;

the universal joint shaft is fixed on the first shaft seat, and two opposite ends of the universal joint shaft protrude out of the first shaft seat;

the two rotating parts are respectively and rotatably connected to two opposite ends of the universal joint shaft, the two opposite sides of each rotating part are respectively provided with a shaft neck, the two shaft necks of the rotating parts are oppositely arranged, and the central axes of the two shaft necks are perpendicular to the central axis of the universal joint shaft;

two adapters, connect in the connecting rod with rotate between the piece, the adapter include with the connecting rod is connected and for the connecting portion that the connecting rod is fixed, and connect respectively in two switching portions at the relative both ends of connecting portion, two of adapter the switching portion respectively with rotate two the journal cup joints.

6. The leg structure according to claim 5, wherein one of the connecting portion and the connecting rod is provided with a positioning portion in a protruding manner, and the other of the connecting portion and the connecting rod is provided with a positioning groove capable of being fitted with the positioning portion.

7. The leg structure according to claim 2, wherein the end of the connecting rod connected to the crank is provided with a bearing hole, the leg structure further comprising a joint bearing inserted into the bearing hole, and a connecting member inserted through an inner ring of the joint bearing and connecting the joint bearing and the crank.

8. The leg structure of any of claims 1-7, further comprising:

the cross shaft comprises a first shaft and a second shaft which are arranged orthogonally;

the second shaft seat is connected with the foot plate structural part and fixed relative to the foot plate structural part, two support seats are arranged on one side of the second shaft seat, which is away from the foot plate structural part, the two support seats are respectively arranged at two opposite ends of the first shaft, and the support seats are provided with rotating holes for the end parts of the first shaft to penetrate through;

the lower leg structural part is provided with two rotating feet, and the two rotating feet are respectively and rotatably connected to two opposite ends of the second shaft.

9. The leg structure according to any one of claims 1 to 7, wherein the thigh structure includes two thigh supports, and a reinforcing support connected between the two thigh supports, two ankle drivers being fixed to inner sides of the two thigh supports, respectively, and the reinforcing support being disposed opposite to the ankle drivers.

10. A humanoid robot characterised by comprising a leg structure as claimed in any one of claims 1 to 9.

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