CN219524069U - Leg structure and biped robot - Google Patents

Abstract

The application belongs to the technical field of intelligent robots, and particularly relates to a leg structure and a bipedal robot. Wherein, leg structure includes: a lower leg portion; sole portion; the ankle connecting component is a cross connecting shaft, and the shank is rotationally connected with the sole part through the cross connecting shaft. By applying the technical scheme of the application, the problems of complex design structure and bulkiness of the ankle joint in the existing bipedal robot are solved.

Description

Leg structure and biped robot

Technical Field

The application belongs to the technical field of intelligent robots, and particularly relates to a leg mechanism and a bipedal robot.

Background

With the progress of science and technology, various industries are increasingly applied to intelligent robots, and particularly, the application popularity of intelligent robots corresponding to service industries is relatively higher. Previously, the form of the intelligent robot is relatively simple, for example, a traveling system of the intelligent robot is generally replaced by a wheel type motion system. However, intelligent robots are now increasingly tending to mimic human-shaped designs, and so bipedal robots have emerged.

Any single leg of the humanoid biped robot should comprise corresponding leg joints such as hip joints, knee joints, ankle joints and the like, and the leg joints are mutually matched to finish walking motions similar to human motions. It is well known that in real human leg joints, the freedom of movement involved in the ankle joint is more complex than in other leg joints. However, in the present biped robot, in order to basically reproduce the multi-degree-of-freedom motion form of the human ankle, the design structure of the ankle is very complex, and the multi-degree-of-freedom motion form of the human ankle is basically realized, but the volume of the ankle of the biped robot is very bulky, which is far from the small size of the human ankle.

Disclosure of Invention

The utility model aims to provide a leg structure and a bipedal robot, and aims to solve the problems that an ankle joint in the existing bipedal robot is complex in design structure and bulky in volume.

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

a lower leg portion;

sole portion;

the ankle connecting component is a cross connecting shaft, and the shank is rotationally connected with the sole part through the cross connecting shaft.

In one embodiment, the lower leg portion is provided with opposing and spaced apart first and second attachment ears; the sole part is provided with a first connecting seat, and the first connecting seat comprises a first ankle connecting lug and a second ankle connecting lug which are opposite and spaced; the ankle connecting member is equipped with first connector, second connector, third connector and fourth connector, and the line perpendicular to third connector and fourth connector of the line of first connector and second connector, first connector rotate connect in first engaging lug, and the second connector rotates to be connected in the second engaging lug, and the fourth connector rotates to be connected in first ankle engaging lug, and the third connector rotates to be connected in the second ankle engaging lug.

In one embodiment, the first connector is connected with the first connecting lug through a spherical hinge, the second connector is connected with the second connecting lug through a spherical hinge, the fourth connector is connected with the first ankle connecting lug through a spherical hinge, and the third connector is connected with the second ankle connecting lug through a spherical hinge; or the first connector is rotatably connected with the first connecting lug, the second connector is rotatably connected with the second connecting lug, the fourth connector is rotatably connected with the first ankle connecting lug, and the third connector is rotatably connected with the second ankle connecting lug through bearings.

In one embodiment, the spider is an integrally formed member; or, the cross adapter shaft comprises a first cross shaft piece, a second cross shaft piece and a vertical shaft piece, one end of the first cross shaft piece and one end of the second cross shaft piece are fixedly connected to the vertical shaft piece, the axis of the first cross shaft piece and the axis of the second cross shaft piece are positioned on the same straight line, the axis of the first cross shaft piece and the axis of the second cross shaft piece are perpendicular to the axis of the vertical shaft piece, and two ends of the vertical shaft piece, the other end of the first cross shaft piece and the other end of the second cross shaft piece are respectively a first connector, a second connector, a third connector and a fourth connector.

In one embodiment, the ankle connecting member further comprises a fixing bolt, the longitudinal shaft member is provided with a through hole with a hole axis perpendicular to the axis of the longitudinal shaft member, the first transverse shaft member and the second transverse shaft member respectively correspond to two side hole ports of the through hole, and the fixing bolt sequentially penetrates through the first transverse shaft member and the through hole to be in threaded connection with the second transverse shaft member.

In one embodiment, the sole part is provided with a second connecting seat which is spaced from the first connecting seat, and the connecting line direction of the second connecting seat and the first connecting seat is the length direction of the sole part; the lower leg portion includes: a shank, which is provided with a first connecting ear and a second connecting ear; the first calf drive mechanism and the second calf drive mechanism are both arranged on the calf limbs; the first shank connecting rod and the second shank connecting rod, the output rotating shaft of the first shank driving mechanism is in driving connection with the first end of the first shank connecting rod, the second end of the first shank connecting rod is in movable connection with the second connecting seat, the output rotating shaft of the second shank driving mechanism is in driving connection with the first end of the second shank connecting rod, the second end of the second shank connecting rod is in movable connection with the second connecting seat, and the first shank connecting rod and the second shank connecting rod are arranged in parallel.

In one embodiment, the leg structure further comprises a pivot pivotally connected to the second connecting seat, the second end of the first calf link pivotally connected to one end of the pivot, and the second end of the second calf link pivotally connected to the other end of the pivot.

In one embodiment, the leg structure further comprises a thigh portion comprising: the thigh limb, one end far away from the sole part of the shank limb is rotatably arranged on the thigh limb, and the end, close to the thigh limb, of the shank limb is provided with a first connecting end; the knee driving mechanism is fixedly arranged at one end of the thigh limb far away from the shank; the first end of the second knee connecting rod is fixedly connected with the output rotating shaft of the knee driving mechanism, the second end of the second knee connecting rod is rotatably connected with the first end of the first knee connecting rod, and the second end of the first knee connecting rod is rotatably connected with the first connecting end.

In one embodiment, the second end of the first knee link is hinged to the first connecting end by a second knee pin, and the second end of the second knee link is hinged to the first end of the first knee link by a first knee pin; alternatively, one of the second end and the first connecting end of the first knee link is provided with a second knee ball, the other of the second end and the first connecting end of the first knee link is provided with a second knee socket structure, the second knee ball is hinged to the second knee socket structure, one of the second end of the second knee link and the first end of the first knee link is provided with a first knee ball, the other of the second end of the second knee link and the first end of the first knee link is provided with a first knee socket structure, and the first knee ball is hinged to the first knee socket structure.

In one embodiment, the thigh limb is provided with a receiving space, the first knee link and the second knee link are both located in the receiving space, and the first connecting end extends into the receiving space.

The application has at least the following beneficial effects:

in the bipedal robot provided by the application, the ankle joint is formed by assembling the sole part and the end part of the shank through the ankle connecting member, the specific ankle connecting member is the cross connecting shaft, the shank and the sole part are connected through the four end parts of the cross connecting shaft, and the assembled ankle joint can basically realize the four most main degrees of freedom motions of the humanoid ankle joint and basically realize the multi-degree-of-freedom motion function of the ankle joint. Due to the simple structure of the ankle connecting component in the form of the cross connecting shaft, the volume of the ankle joint can be reduced as much as possible, so that the volume outline form of the ankle joint of the leg structure is more similar to that of a human ankle joint, and the aesthetic sense of people is more met.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of an assembly structure of two legs of a bipedal robot according to an embodiment of the present application;

FIG. 2 is a schematic diagram showing an assembly structure of two legs of a bipedal robot according to an embodiment of the present application;

FIG. 3 is a schematic view of an exploded structure of one of the leg structures of the two legs of the bipedal robot in accordance with the embodiment of the present application;

FIG. 4 is a schematic diagram showing an exploded structure of one of the leg structures of the two legs of the bipedal robot in accordance with the second embodiment of the present application;

FIG. 5 is a schematic view of an assembled structure of an ankle connecting member according to an embodiment of the present application;

fig. 6 is an exploded view of fig. 5.

Wherein, each reference sign in the figure:

120. two legs; 110. a hip joint structure;

200. thigh section; 210. thigh limbs; 211. an accommodation space; 220. a knee driving mechanism; 230. a first knee link; 231. a first pole segment; 232. a second pole segment; 233. a third pole segment; 240. a second knee link; 251. a first knee pin; 252. a second knee pin;

300. a lower leg portion; 310. shank; 320. a first calf drive mechanism; 330. a first lower leg link; 340. a second calf drive mechanism; 350. a second lower leg link; 360. a third shank link; 370. a fourth shank link; 380. the connecting rotating shaft; 381. a first calf pin; 382. a second calf pin; 383. a third shank pin; 384. a fourth shank pin; 390. a pivot; 391. a first limiting block; 3911. the first limiting notch; 392. a second limiting block; 3921. the second limiting notch; 301. a first pole segment; 302. a second pole segment; 303. a third pole segment; 304. a first connection lug; 305. a second connecting ear; 311. a first connection end;

400. Sole portion; 401. a first connection base; 402. a second connecting seat; 411. a first ankle connection lug; 412. a second ankle connecting lug; 420. an ankle connection member; 421. a first connector; 422. a second connector; 423. a third connector; 424. a fourth connector; 4201. a first cross member; 4202. a second cross member; 4203. a longitudinal shaft member; 42031. perforating; 4204. a fixing bolt; 431. a first bearing; 432. a second bearing; 433. a third bearing; 434. and a fourth bearing.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.

In the description of the present application, it should 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 orientation or positional relationships shown in the drawings, merely to facilitate describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

As shown in fig. 1 to 4, the bipedal robot provided in the embodiment of the present application includes a bipedal 120, and the bipedal 120 is composed of two leg structures, i.e., a left leg and a right leg, and a hip joint structure. Specifically, the leg structure includes the shank 300, the sole 400 and the ankle connecting member 420, and the ankle connecting member 420 is adapted to assemble the shank 300 and the sole 400, thereby forming an ankle joint, and the sole 400 can basically realize four degrees of freedom motions of the humanoid ankle joint through the ankle joint, and basically realize the multi-degree of freedom motion function of the ankle joint, namely, can realize the basic degrees of freedom motions of lifting the sole, lowering the sole, left swing the sole and right swing the sole of the sole 400.

In the present application, the ankle connection member 420 is a cross joint shaft, and the ankle joint between the shank 300 and the sole 400 is formed by connecting the shank 300 and the sole 400 via the four end portions of the cross joint shaft. Due to the simple structure of the ankle connecting member 420 in the form of the cross-shaped adapter shaft, the volume of the ankle joint can be reduced as much as possible, so that the volume and the outline form of the ankle joint of the leg structure are more similar to those of the human ankle joint, and the aesthetic sense of people is more satisfied.

As shown in fig. 3 and 4, one end of the lower leg portion 300 is used to connect the thigh portion 200 of the bipedal robot, and the lower leg portion 300 and the thigh portion 200 form a limb structure of the leg structure of the bipedal 120. The other end of the lower leg 300 is provided with opposing and spaced apart first and second attachment ears 304, 305. Correspondingly, the sole portion 400 is provided with a first connecting seat 401, the first connecting seat 401 comprises a first ankle connecting lug 411 and a second ankle connecting lug 412 which are opposite and spaced, and the connecting line of the first ankle connecting lug 411 and the second ankle connecting lug 412 is perpendicular to the connecting line of the first connecting lug 304 and the second connecting lug 305. When the leg 300 is assembled, the ankle connecting member 420 is provided with a first connecting head 421, a second connecting head 422, a third connecting head 423 and a fourth connecting head 424, the connecting line of the first connecting head 421 and the second connecting head 422 is perpendicular to the connecting line of the third connecting head 423 and the fourth connecting head 424, the first connecting head 421 is rotationally connected to the first connecting lug 304, the second connecting head 422 is rotationally connected to the second connecting lug 305, the fourth connecting head 424 is rotationally connected to the first ankle connecting lug 411, and the third connecting head 423 is rotationally connected to the second ankle connecting lug 412.

In this way, the ankle joint is formed between the first coupling seat 401 of the ball portion 400 and the end portion of the shank portion 300 by the ankle coupling member 420. During the movement of the sole portion 400, the sole portion 400 can perform two degrees of freedom movements of lifting and dropping the sole by using the connection line between the first connection head 421 and the second connection head 422 as a rotation axis, and the sole portion 400 can perform two degrees of freedom movements of left swing and right swing by using the connection line between the third connection head 423 and the fourth connection head 424 as a rotation axis. That is, the ankle joint formed by the assembly of the sole part 400 can basically realize the most main four degrees of freedom movement of the humanoid ankle joint and basically realize the multi-degree of freedom movement function of the ankle joint.

In the embodiment of the present application, as shown in fig. 5 and 6, the first connection head 421 and the first connection lug 304 are rotatably connected through a first bearing 431, the second connection head 422 and the second connection lug 305 are rotatably connected through a second bearing 432, the fourth connection head 424 and the first ankle connection lug 411 are rotatably connected through a fourth bearing 434, and the third connection head 423 and the second ankle connection lug 412 are rotatably connected through a third bearing 433. Alternatively, in another embodiment of the present application, the first connection head 421 and the first connection lug 304, the second connection head 422 and the second connection lug 305, the fourth connection head 424 and the first ankle connection lug 411, and the third connection head 423 and the second ankle connection lug 412 are all ball-and-socket joints.

To facilitate the assembly of the ankle connecting member 420 between the first connecting lug 304, the second connecting lug 305, the first ankle connecting lug 411 and the second ankle connecting lug 412, the ankle connecting member 420 is designed in a modular structure as shown in fig. 5 and 6. Specifically, the ankle connection member 420 includes a first transverse member 4201, a second transverse member 4202, and a longitudinal member 4203, one end of the first transverse member 4201 and one end of the second transverse member 4202 are fixedly connected to the longitudinal member 4203, and the axes of the first transverse member 4201 and the second transverse member 4202 are on the same straight line, and the axes of the first transverse member 4201 and the second transverse member 4202 are perpendicular to the axis of the longitudinal member 4203. At this time, the third connecting head 423 and the fourth connecting head 424 are respectively disposed at two ends of the longitudinal shaft 4203, the first connecting head 421 is disposed at one end of the first transverse shaft 4201 away from the longitudinal shaft 4203, and the second connecting head 422 is disposed at one end of the second transverse shaft 4202 away from the longitudinal shaft 4203. In a specific assembly, the first transverse shaft 4201 is rotatably connected to the first connecting lug 304, the second transverse shaft 4202 is rotatably connected to the second connecting lug 305, and two ends of the longitudinal shaft 4203 are rotatably connected to the first ankle connecting lug 411 and the second ankle connecting lug 412 of the first connecting seat 401, respectively.

As shown in fig. 5 and 6, the ankle connection member 420 also includes a securing bolt 4204, and the longitudinal member 4203 is provided with a bore 42031 having a bore axis perpendicular to the axis of the longitudinal member 4203. In a specific assembly, the first transverse shaft 4201 and the second transverse shaft 4202 respectively correspond to two side hole ports of the through hole 42031, and the fixing bolt 4204 sequentially passes through the first transverse shaft 4201 and the through hole 42031 to be screwed and fixed with the second transverse shaft 4202. In this way, first and second cross members 4201, 4202 are lock fastened to longitudinal member 4203 by fixing bolts 4204.

In assembling the ankle connection member 420 in a modular configuration, the longitudinal shaft member 4203 is first placed between the first ankle connection ear 411 and the second ankle connection ear 412, then the first transverse shaft member 4201 is placed between the first connection ear 304 and the longitudinal shaft member 4203, and the second transverse shaft member 4202 is placed between the second connection ear 305 and the longitudinal shaft member 4203, and then the first transverse shaft member 4201 and the second transverse shaft member 4202 are locked to the longitudinal shaft member 4203 by the fixing bolts 4204. The first bearing 431, the second bearing 432, the third bearing 433 and the fourth bearing 434 are then assembled in this order, that is: the first bearing 431 is fitted between the first coupling head 421 and the first coupling lug 304, the second bearing 432 is fitted between the second coupling head 422 and the second coupling lug 305, the third bearing 433 is fitted between the second ankle coupling lug 412 and the third coupling head 423, and the fourth bearing 434 is fitted between the first ankle coupling lug 411 and the fourth coupling head 424.

Additionally, in another embodiment of the present application, ankle connecting member 420 is an integrally formed member. Preferably, the ankle connecting member 420 is an integrally forged member, or the ankle connecting member 420 is a cast member.

As shown in fig. 1 to 4, the thigh 200 includes a thigh limb 210, a knee drive mechanism 220, and a first knee link 230 and a second knee link 240, constituting the thigh 200 of any leg structure of the double leg 120 of the double-foot robot of the embodiment of the present application.

A first end of the thigh limb 210 is used to rotatably mount the hip joint 110 to the bipedal robot. The hip adapter 110 is used to mount the upper body portion of the robot on a socket and to mount the leg structure on a socket. The lower leg portion 300 is rotatably mounted to the second end of the thigh limb 210 through the connection shaft 380, where a knee joint between the thigh limb 210 and the lower leg portion 300, that is, a rotation fulcrum position of the knee portion is formed, so that flexion and extension movement between the thigh limb 210 and the lower leg portion 300 can be achieved. Further, the lower leg 300 has a first connection end 311 at an end thereof adjacent to the thigh limb 210, and the knee driving mechanism 220 is fixedly mounted to an end of the thigh limb 210 remote from the lower leg 300. When the knee driving mechanism 220 is mounted to the thigh 210, the axis extending direction of the output shaft of the knee driving mechanism 220 is substantially horizontal and substantially perpendicular to the advancing direction of the robot, and the output shaft of the knee driving mechanism 220 is drivingly connected to the first end of the first knee link 230, and the second end of the first knee link 230 is rotatably connected to the first connecting end 311. The knee driving mechanism 220 drives the first knee link 230 to move, and then the first knee link 230 drives the first connecting end 311, so that the lower leg 300 rotates relative to the thigh limb 210 with the axis of the connecting shaft 380 as the rotation axis, and the leg flexion and extension movement is performed.

Compared with the rotary motor which is arranged in any leg structure of the existing biped robot and is used for connecting the thigh limb and the shank, the leg structure of the biped robot moves the assembling position of the knee driving mechanism 220 to the limb of the thigh limb 210, which is close to the first end of the thigh limb 210, so that the volume of a knee joint formed between the shank 300 and the second end of the thigh limb 210 can be reduced, and a humanoid knee part with compact structure, namely a knee joint with compact and small structure can be obtained on the basis of ensuring that the flexion and extension movement between the thigh limb 210 and the shank 300 can be realized.

In the embodiment of the present application, as shown in fig. 3, the driving connection between the output rotation shaft of the knee driving mechanism 220 and the first knee link 230 is achieved by the second knee link 240. Specifically, a first end of the second knee link 240 is fixedly coupled to the output shaft of the knee drive mechanism 220, and a second end of the second knee link 240 is rotatably coupled to the first end of the first knee link 230. The knee driving mechanism 220 drives the second knee link 240 to move, then the second knee link 240 drives the first knee link 230 to move, and then the first knee link 230 drives the first connecting end 311, so that the lower leg 300 rotates relative to the thigh limb 210 with the axis of the connecting rotating shaft 380 as the rotation axis, and the leg bending and stretching movement is performed.

In the embodiment of the present application, as shown in fig. 3, the second end of the second knee link 240 is hinged with the first end of the first knee link 230 through the first knee pin 251. Further, the second end of the first knee link 230 is hinged to the first connection end 311 through the second knee pin 252. During the flexion and extension movement of any one leg, the second end of the second knee link 240 and the first end of the first knee link 230 relatively rotate about the axis of the first knee pin 251, and the second end of the first knee link 230 and the first connecting end 311 relatively rotate about the axis of the second knee pin 252.

Alternatively, in another embodiment of the present application, one of the second end of the second knee link 240 and the first end of the first knee link 230 is provided with a first knee ball (not shown), and the other of the second end of the second knee link 240 and the first end of the first knee link 230 is provided with a first knee socket structure (not shown) to which the first knee ball is hinged. Further, one of the second end and the first connecting end 311 of the first knee link 230 is provided with a second knee ball (not shown), and the other of the second end and the first connecting end 311 of the first knee link 230 is provided with a second knee socket structure (not shown), to which the second knee ball is hinged.

As shown in fig. 3, the first knee link 230 of the embodiment of the present application includes a first bar section 231, a second bar section 232, and a third bar section 233, i.e., the first knee link 230 is a combined bar, and the overall length of the first knee link 230 can be adjusted, thereby enabling the first knee link 230 to be more precisely assembled between the second knee link 240 and the first connection end 311, eliminating an assembly gap generated by a dimensional chain error between the first knee link 230 and the second knee link 240, and eliminating an assembly gap generated by a dimensional chain error between the first knee link 230 and the first connection end 311. Specifically, the first and third rod segments 231 and 233 are respectively screwed to both ends of the second rod segment 232, and the threads of the first and third rod segments 231 and 233 are reversed with respect to each other.

After the hinge connection between the lower leg 300 and the second end of the thigh limb 210 is completed through the connection shaft 380 and the knee driving mechanism 220 is fixedly installed to the thigh limb 210 and the second knee link 240 is fixedly connected to the output shaft of the knee driving mechanism 220, when the first knee link 230 is assembled, the length of the first knee link 230 is adjusted to an appropriate assembly length according to the assembly size chain between the second knee link 240 and the first connection end 311, and then both ends of the first knee link 230 are hinged to the second end of the second knee link 240 and the first connection end 311 through the first knee pin 251 and the second knee pin 252, respectively. Then, depending on whether the length of the first knee link 230 is in a slightly long state of being tightly fitted between the second knee link 240 and the first connection end 311 or in a slightly short state of being tightly fitted between the second knee link 240 and the first connection end 311 at this time, the second rod section 232 is rotated such that the first rod section 231 and the third rod section 233 are brought closer to each other with respect to the second rod section 232 to shorten the entire length of the first knee link 230 or are brought away from each other to lengthen the entire length of the first knee link 230, so that the fitting length of the first knee link 230 is optimized.

As shown in fig. 3 and 4, the thigh limb 210 is provided with an accommodation space 211, the first knee link 230 and the second knee link 240 are both located in the accommodation space 211, and the first connection end 311 extends into the accommodation space 211. In this way, the accommodation space 211 is used to accommodate and assemble the first knee link 230 and the second knee link 240, so that the overall assembly structure of the thigh 200 is more compact.

As shown in fig. 3 and 4, the lower leg 300 of the leg structure of the embodiment of the present application includes a lower leg limb 310, a first lower leg driving mechanism 320, a second lower leg driving mechanism 340, a first lower leg link 330 and a second lower leg link 350, which constitute the main constituent parts of the lower leg 300.

In a particular assembly, a first end of lower leg limb 310 is rotatably mounted to thigh 200. The sole part 400 is provided with a second connection seat 402 spaced apart from the first connection seat 401, and the extending direction of the connection line between the first connection seat 401 and the second connection seat 402 is the same as the traveling direction of the robot (that is, the direction of the connection line between the first connection seat 401 and the second connection seat 402 is the length direction of the sole part 400). The second end of the shank 310 and the first coupling seat 401 are movably coupled by the ankle coupling member 420 such that an ankle joint imitating a human ankle is assembled between the shank 310 and the ball portion 400.

Further, the first calf driving mechanism 320 is fixedly mounted on the calf limb 310, and when the first calf driving mechanism 320 is assembled, the axis extending direction of the output shaft of the first calf driving mechanism 320 is substantially horizontal and substantially perpendicular to the advancing direction of the robot. The first end of the first lower leg link 330 is connected to the output shaft of the first lower leg driving mechanism 320, and the second end of the first lower leg link 330 is movably connected to the second connecting base 402. Thus, the first calf driving mechanism 320 is started to enable the output rotating shaft to output rotating power, so as to drive the first calf connecting rod 330 to move, and then the first calf connecting rod 330 drives the sole portion 400 to perform sole lifting motion by taking an ankle joint formed by assembling the calf limb 310 and the sole portion 400 as a rotating fulcrum through the second connecting seat 402, wherein the sole lifting motion comprises two degrees of freedom motions of lifting and lowering the sole.

As shown in fig. 3 and 4, the leg structure further includes a third calf link 360, with the drive connection between the output shaft of the first calf drive mechanism 320 and the first end of the first calf link 330 being achieved by the third calf link 360. Specifically, a first end of the third calf link 360 is fixedly coupled to the output shaft of the first calf drive mechanism 320 and a second end of the third calf link 360 is rotatably coupled to the first end of the first calf link 330. Thus, when the first calf driving mechanism 320 is started to enable the output shaft to output rotation power, the output shaft drives the third calf link 360 to swing by taking the axis of the output shaft as the rotation axis, so as to drive the first calf link 330 to move, and then the first calf link 330 drives the sole portion 400 to perform sole lifting movement by taking the ankle joint structure formed by assembling the calf limb 310 and the sole portion 400 as a rotation pivot through the second connecting seat 402.

Further, as shown in fig. 3 and 4, the second calf driving mechanism 340 is fixedly installed on the calf shank 310, and when the second calf driving mechanism 340 is assembled, the axis extending direction of the output shaft of the second calf driving mechanism 340 is substantially horizontal and substantially perpendicular to the advancing direction of the robot. The output shaft of the second lower leg driving mechanism 340 is drivingly connected to the first end of the second lower leg link 350, and the second end of the second lower leg link 350 is rotatably connected to the second connecting base 402. Further, the first and second shank links 330 and 350 are juxtaposed in a direction perpendicular to the advancing direction of the robot. In this way, the group of transmission structures formed by the second calf drive mechanism 340 and the second calf link 350 and the group of transmission structures formed by the first calf drive mechanism 320 and the first calf link 330 are arranged in parallel, and the two groups of transmission structures together provide power to the sole part 400 at the same time to drive the sole part 400 to perform sole lifting motion. This allows the first and second lower leg drive mechanisms 320, 340 to be powered by a relatively low power rated power device (e.g., a relatively low power rated motor), and thus the device volumes of the first and second lower leg drive mechanisms 320, 340 are relatively low, resulting in a lower overall lower leg 300 and a lower leg 300 profile that more closely approximates the profile of a human lower leg.

As shown in fig. 3 and 4, the leg structure further includes a fourth calf link 370, with the drive connection between the output shaft of the second calf drive mechanism 340 and the first end of the second calf link 350 being achieved by the fourth calf link 370. Specifically, the first end of the fourth calf link 370 is fixedly coupled to the output shaft of the second calf drive mechanism 340 and the second end of the fourth calf link 370 is rotatably coupled to the first end of the second calf link 350. Thus, when the second calf driving mechanism 340 is started to make the output shaft output rotational power, the output shaft drives the fourth calf link 370 to swing with the axis of the output shaft as the rotational axis, thereby driving the second calf link 350 to move, and then the second calf link 350 drives the sole portion 400 to perform sole lifting motion by using the ankle joint structure formed by assembling the calf limb 310 and the sole portion 400 as the rotational pivot through the second connecting seat 402.

The leg structure of the present application drives the sole portion 400 to perform sole lifting motion through the power transmission of the first calf driving mechanism 320 and the first calf link 330. Because the first shank link 330 is a rigid rod, not only traction power for lifting the sole 400 can be transmitted to the sole 400, but also pushing force for lowering the sole 400 can be transmitted to the sole 400, that is, the power transmission of sole lifting motion can be realized by simply designing and assembling a set of transmission structures of the first shank driving mechanism 320 and the first shank link 330 in the leg structure of the present application. Compared with the existing biped robot, the robot has the advantages that the number of component parts of the leg structure is fewer, the structure is simpler, the assembly difficulty is greatly reduced, and the assembly efficiency is remarkably improved.

In the embodiment of the present application, as shown in fig. 3 and 4, the second end of the third shank link 360 is hinged to the first end of the first shank link 330 through a first shank pin 381, and the second end of the fourth shank link 370 is hinged to the first end of the second shank link 350 through a second shank pin 382. During the sole lifting movement, the second end of the third shank link 360 and the first end of the first shank link 330 rotate relative to each other about the axis of the first shank pin 381, and the second end of the fourth shank link 370 and the first end of the second shank link 350 rotate relative to each other about the axis of the second shank pin 382.

As shown in fig. 3 and 4, the leg structure further includes a pivot 390 rotatably disposed through the second connecting seat 402, the second end of the first calf link 330 rotatably coupled to one end of the pivot 390, and the second end of the second calf link 350 rotatably coupled to the other end of the pivot 390. During the ball lifting motion, the pivot 390 rotates with respect to the ball 400 about its own axis as a rotation axis.

Further, as shown in fig. 3 and 4, the second end of the first calf link 330 is hinged to one end of the pivot 390 via a third calf pin 383, and the second end of the second calf link 350 is hinged to the other end of the pivot 390 via a fourth calf pin 384. That is, the second end of the first lower leg link 330 and one end of the pivot 390 can rotate about the axis of the third lower leg pin 383, and the second end of the second lower leg link 350 and the other end of the pivot 390 can rotate about the axis of the fourth lower leg pin 384. The axis extending direction of the third shank pin 383 and the axis extending direction of the fourth shank pin 384 are parallel to each other and coincide with the traveling direction of the robot. At this time, referring to fig. 1 to 4 in combination, taking the left leg shown in fig. 4 as an example, when the sole part 400 needs to perform a right swing sole motion (i.e., a sole inner swing), the first calf driving mechanism 320 outputs power for driving the first calf link 330 to move downward, and the second calf driving mechanism 340 outputs power for driving the second calf link 350 to move upward, so that the sole part 400 swings with the connection line of the first connection seat 401 and the second connection seat 402 as a rotation axis to perform an inner side swing. When the sole portion 400 needs to perform left swing sole movement (i.e. sole outward swing), the first calf driving mechanism 320 outputs power for driving the first calf link 330 to move upward, and the second calf driving mechanism 340 outputs power for driving the second calf link 350 to move downward, so that the sole portion 400 performs outward turning swing by taking the connection line of the first connecting seat 401 and the second connecting seat 402 as a rotation axis.

Alternatively, in another embodiment of the present application, one of the second end of the third shank link 360 and the first end of the first shank link 330 is provided with a first shank ball (not shown), and the other of the second end of the third shank link 360 and the first end of the first shank link 330 is provided with a first shank socket (not shown) to which the first shank ball is hinged. Further, one of the second end of the fourth shank link 370 and the first end of the second shank link 350 is provided with a second shank ball (not shown), and the other of the second end of the fourth shank link 370 and the first end of the second shank link 350 is provided with a second shank socket structure (not shown) to which the second shank ball is hinged. Further, one of the second end of the first calf link 330 and one end of the pivot 390 is provided with a third calf ball (not shown), and the other of the second end of the first calf link 330 and one end of the pivot 390 is provided with a third calf socket structure (not shown), the third calf ball being hinged to the third calf socket structure. A fourth calf ball (not shown) is provided at one of the second end of the second calf link 350 and the other end of the pivot 390, and a fourth calf socket structure (not shown) is provided at the other of the second end of the second calf link 350 and the other end of the pivot 390, the fourth calf ball being hinged to the fourth calf socket.

As shown in fig. 3, the first and second shank links 330 and 350 each include the first, second and third rod segments 301, 302 and 303, i.e., the first and second shank links 330 and 350 are each a combined rod, enabling the overall assembly length of the rod to be adjusted, thereby enabling the first and second shank links 330 and 350 to be assembled more precisely. Adjusting the assembly length of the first calf link 330 to eliminate the assembly gap between the first calf link 330, the pivot 390 and the third calf link 360; the assembly length of the second calf link 350 is adjusted to eliminate the assembly gap between the second calf link 350, the pivot 390 and the fourth calf link 370. Specifically, the first shaft section 301 and the third shaft section 303 are respectively screwed to two ends of the second shaft section 302, and the threads of the first shaft section 301 and the threads of the third shaft section 303 are opposite to each other.

Taking the first calf link 330 as an example, after the first calf drive mechanism 320 is fixedly installed to the calf shank 310 and the third calf link 360 is fixedly connected to the output shaft of the first calf drive mechanism 320 and the pivot 390 is installed to the second connecting seat 402, when the first calf link 330 is assembled, the length of the first calf link 330 is adjusted to an appropriate assembly length according to an assembly size chain between the third calf link 360 and the pivot 390, and then both ends of the first calf link 330 are hinged to the second end of the third calf link 360 and the pivot 390 through the first calf pin 381 and the second calf pin 382, respectively. Then, depending on whether the length of the first shank link 330 is in a slightly long state of being tightly fitted between the second end of the third shank link 360 and the pivot 390 or in a slightly short state of being tightly fitted between the second end of the third shank link 360 and the pivot 390 at this time, the second shaft section 302 is rotated so that the first shaft section 301 and the third shaft section 303 are brought close to each other with respect to the second shaft section 302 to shorten the entire length of the first shank link 330 or are brought far away from each other to lengthen the entire length of the first shank link 330, so that the fitting length of the first shank link 330 is optimized.

In the embodiment of the present application, both the first and second lower leg driving mechanisms 320 and 340 are embedded and fixed to the lower leg limbs 310, which enables the overall assembly of the lower leg 300 to be more compact. The first and second calf drive mechanisms 320 and 340 are arranged at intervals along the extending direction of the calf limb 310, and the extending direction of the output rotation shaft of the first calf drive mechanism 320 extending out of the calf limb 310 is opposite to the extending direction of the output rotation shaft of the second calf drive mechanism 340 extending out of the calf limb 310. This results in a lower overall volume of the lower leg 300, and the contour of the lower leg 300 is more closely approximated to the contour of a human lower leg.

As shown in fig. 3 and 4, the leg structure further includes a first stopper 391, and only the first stopper 391 is provided. Specifically, the first limiting block 391 is fixedly mounted on the shank 310 corresponding to the first shank driving mechanism 320, the first limiting block 391 is formed with a first limiting notch 3911, the third shank link 360 extends from the first limiting notch 3911, and two end walls of the first limiting notch 3911 are used for limiting the swing range of the third shank link 360. Alternatively, as shown in fig. 3, the leg structure further includes a second stopper 392, where the leg structure is provided with only the second stopper 392. Specifically, the second limiting block 392 is fixedly mounted on the shank 310 corresponding to the second shank driving mechanism 340, the second limiting block 392 is formed with a second limiting gap 3921, the third shank link 360 extends from the second limiting gap 3921, and two end walls of the second limiting gap 3921 are used for limiting the swing range of the fourth shank link 370. Or, the leg structure is provided with the first limiting block 391 and the second limiting block 392 at the same time, and the structural form and the assembly form of the first limiting block 391 and the second limiting block 392 are the same as those described above, so that the description is omitted.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.

Claims (10)

1. A leg structure comprising:

a lower leg (300), the lower leg (300) comprising a lower leg limb (310);

a sole portion (400);

characterized in that the leg structure further comprises:

an ankle connection member (420), wherein the ankle connection member (420) is a cross-shaped adapter shaft, and the shank (300) is rotatably connected with the sole portion (400) through the cross-shaped adapter shaft;

a thigh section (200), the thigh section (200) comprising:

a thigh limb (210), wherein one end of the shank limb (310) far away from the sole part (400) is rotatably arranged on the thigh limb (210), and a first connecting end (311) is arranged at the end of the shank limb (310) close to the thigh limb (210);

a knee drive mechanism (220), the knee drive mechanism (220) being fixedly mounted to an end of the thigh limb (210) remote from the shank (300);

the first knee connecting rod (230) and the second knee connecting rod (240), the first end of the second knee connecting rod (240) is fixedly connected with the output rotating shaft of the knee driving mechanism (220), the second end of the second knee connecting rod (240) is rotatably connected with the first end of the first knee connecting rod (230), and the second end of the first knee connecting rod (230) is rotatably connected with the first connecting end (311).

2. The leg structure according to claim 1, wherein,

the lower leg portion (300) is provided with a first connecting lug (304) and a second connecting lug (305) which are opposite and spaced;

the sole part (400) is provided with a first connecting seat (401), and the first connecting seat (401) comprises a first ankle connecting lug (411) and a second ankle connecting lug (412) which are opposite and spaced;

ankle connecting means (420) are equipped with first connector (421), second connector (422), third connector (423) and fourth connector (424), first connector (421) with the line perpendicular to of second connector (422) third connector (423) with the line of fourth connector (424), first connector (421) rotate connect in first connector (304), second connector (422) rotate connect in second connector (305), fourth connector (424) rotate connect in first ankle connector (411), third connector (423) rotate connect in second ankle connector (412).

3. The leg structure according to claim 2, wherein,

spherical hinges are arranged between the first connecting head (421) and the first connecting lug (304), between the second connecting head (422) and the second connecting lug (305), between the fourth connecting head (424) and the first ankle connecting lug (411) and between the third connecting head (423) and the second ankle connecting lug (412);

Or, the first connecting head (421) and the first connecting lug (304), the second connecting head (422) and the second connecting lug (305), the fourth connecting head (424) and the first ankle connecting lug (411) and the third connecting head (423) and the second ankle connecting lug (412) are all connected through bearings in a rotating way.

4. The leg structure according to claim 2, wherein,

the cross adapter shaft is an integrally formed component;

or, the cross adapter shaft includes a first transverse shaft member (4201), a second transverse shaft member (4202) and a longitudinal shaft member (4203), one end of the first transverse shaft member (4201) and one end of the second transverse shaft member (4202) are fixedly connected to the longitudinal shaft member (4203), the axis of the first transverse shaft member (4201) and the axis of the second transverse shaft member (4202) are located on the same straight line, the axis of the first transverse shaft member (4201) and the axis of the second transverse shaft member (4202) are perpendicular to the axis of the longitudinal shaft member (4203), and two ends of the longitudinal shaft member (4203), the other end of the first transverse shaft member (4201) and the other end of the second transverse shaft member (4202) are the first connecting head (421), the second connecting head (422), the third connecting head (423) and the fourth connecting head (424), respectively.

5. The leg structure according to claim 4, wherein,

the ankle connecting component (420) further comprises a fixing bolt (4204), the longitudinal shaft piece (4203) is provided with a through hole (42031) with a hole axis perpendicular to the axis of the longitudinal shaft piece (4203), the first transverse shaft piece (4201) and the second transverse shaft piece (4202) respectively correspond to two side hole ends of the through hole (42031), and the fixing bolt (4204) sequentially penetrates through the first transverse shaft piece (4201) and the through hole (42031) to be in threaded connection with the second transverse shaft piece (4202).

6. Leg structure according to any one of claims 2-5, characterized in that,

the sole part (400) is provided with a second connecting seat (402) which is spaced from the first connecting seat (401), and the connecting line direction of the second connecting seat (402) and the first connecting seat (401) is the length direction of the sole part (400); the shank (310) is provided with the first connecting ear (304) and the second connecting ear (305);

the lower leg portion (300) further includes:

a first calf drive mechanism (320) and a second calf drive mechanism (340), the first calf drive mechanism (320) and the second calf drive mechanism (340) both mounted to the calf limb (310);

The novel small leg connecting rod comprises a first small leg connecting rod (330) and a second small leg connecting rod (350), wherein an output rotating shaft of a first small leg driving mechanism (320) is in driving connection with a first end of the first small leg connecting rod (330), a second end of the first small leg connecting rod (330) is in movable connection with a second connecting seat (402), an output rotating shaft of a second small leg driving mechanism (340) is in driving connection with a first end of the second small leg connecting rod (350), a second end of the second small leg connecting rod (350) is in movable connection with the second connecting seat (402), and the first small leg connecting rod (330) and the second small leg connecting rod (350) are arranged in parallel.

7. The leg structure according to claim 6, wherein,

the leg structure further comprises a pivot (390), the pivot (390) is rotatably connected to the second connection seat (402), the second end of the first calf link (330) is rotatably connected to one end of the pivot (390), and the second end of the second calf link (350) is rotatably connected to the other end of the pivot (390).

8. The leg structure according to claim 1, wherein,

the second end of the first knee connecting rod (230) is hinged with the first connecting end (311) through a second knee pin shaft (252), and the second end of the second knee connecting rod (240) is hinged with the first end of the first knee connecting rod (230) through a first knee pin shaft (251);

Alternatively, one of the second end of the first knee link (230) and the first connecting end (311) is provided with a second knee ball, the other of the second end of the first knee link (230) and the first connecting end (311) is provided with a second knee socket structure, the second knee ball is hinged to the second knee socket structure, one of the second end of the second knee link (240) and the first end of the first knee link (230) is provided with a first knee ball, the other of the second end of the second knee link (240) and the first end of the first knee link (230) is provided with a first knee socket structure, and the first knee ball is hinged to the first knee socket structure.

9. The leg structure according to claim 1, wherein,

the thigh limb (210) is provided with an accommodation space (211), the first knee link (230) and the second knee link (240) are both located in the accommodation space (211), and the first connection end (311) extends into the accommodation space (211).

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