WO2023005032A1

WO2023005032A1 - Joint unit module and leg robot

Info

Publication number: WO2023005032A1
Application number: PCT/CN2021/127153
Authority: WO
Inventors: 丁宏钰; 汪文广; 黄亮; 胡毅森
Original assignee: 深圳市优必选科技股份有限公司
Priority date: 2021-07-30
Filing date: 2021-10-28
Publication date: 2023-02-02
Also published as: CN113460188A

Abstract

A joint unit module, comprising a hip rotation servo motor (11), a hip side servo motor (12), a hip front servo motor (13), a knee front servo motor (14), a thigh connecting rod structure (18), a thigh structural member (17), a first fixing frame (15) and a second fixing frame (16), wherein the hip rotation servo motor (11), the hip side servo motor (12), the hip front servo motor (13) and the knee front servo motor (14) are all arranged at a hip joint; one end of the thigh connecting rod structure (18) is fixed to an output shaft of the knee front servo motor (14); an output shaft of the hip rotation servo motor (11) is fixedly connected to the first fixing frame (15); a shell of the hip side servo motor (12) is fixed to the first fixing frame (15), and an output shaft of the hip side servo motor (12) is fixedly connected to the second fixing frame (16); and the hip front servo motor (13) and the knee front servo motor (14) are both fixedly arranged at the second fixing frame (16). A leg robot, comprising the joint unit module. The structures of the joint unit module and the leg robot are compact, the centers of mass thereof are improved, and the torque required by the servo motors is reduced.

Description

Joint unit module and legged robot

This application claims priority to a Chinese patent application with application number 202110875751.8 filed at the China Patent Office on July 30, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application belongs to the technical field of intelligent machinery, and more specifically relates to a joint unit module and a leg robot.

Background technique

Legged robots can be used in various application scenarios such as humanoid robots and industrial robots. Traditional leg robots usually connect the servos sequentially through a series scheme to form a leg of the robot, resulting in the traditional leg robot having the knee servo set at the knee joint and the ankle servo set at the ankle. Low center of mass, large moment of inertia, large steering gear torque, and difficult motion control.

technical problem

The purpose of the embodiment of the present application is to provide a joint unit module and a legged robot, so as to solve the technical problems in the prior art that the center of mass of the robot is low and the torque required by the steering gear is large.

technical solution

In order to achieve the above purpose, the technical solution adopted by this application is to provide a joint unit module, including a hip steering gear for rotating the legs, a hip steering gear for sideways swinging the legs, and a hip steering gear for using The front hip steering gear for swinging the thigh structure back and forth, the knee front steering gear for swinging the lower leg structure back and forth, the thigh connecting rod structure, the thigh structure connected to the output shaft of the hip front steering gear, the first The fixed frame and the second fixed frame, the hip steering gear, the hip side steering gear, the hip front steering gear and the knee front steering gear are all arranged at the hip joint, and one end of the thigh link structure It is fixed on the output shaft of the steering gear in front of the knee, and the other end is used for rotating connection with the lower leg structure, the output shaft of the hip steering gear is fixedly connected with the first fixing frame, and the hip side steering gear The outer shell of the hip is fixed on the first fixed frame, and the output shaft of the hip side steering gear is fixedly connected with the second fixed frame, and the front hip steering gear and the knee front steering gear are both fixedly arranged on the Describe the second mount.

In one embodiment, the first fixing frame includes two oppositely arranged first fixing plates and a second fixing plate connecting the two first fixing plates, so that the first fixing frame is U-shaped, so The output shaft of the hip steering gear is fixedly connected to the second fixing plate, and the shell of the hip steering gear is fixed on one of the first fixing plates.

In one embodiment, the second fixing frame includes two opposite third fixing plates and two opposite fourth fixing plates, one of the third fixing plates and one of the fourth fixing plates , the other third fixing plate and the other fourth fixing plate are sequentially connected, so that the second fixing frame is in a frame shape, and the output shaft of the hip side steering gear is connected to one of the third fixing plates Fixedly connected, the other third fixed plate is rotationally connected with one of the first fixed plates, and the hip side steering gear and the knee front steering gear are respectively fixed to the two fourth fixed plates.

In one embodiment, the front hip steering gear and the knee front steering gear are arranged coaxially.

In one embodiment, the output shafts of the front steering gear of the hip and the steering gear in front of the knee are set in the same direction, and the output shaft of the front steering gear of the hip is set away from the front steering gear of the knee; the thigh structure The number of components is two and they move synchronously. The thigh link structure is arranged between the two thigh structures, and the shell of the front steering gear of the hip and one of the thigh structures pass through the first bearing Support, between the shell of the steering gear in front of the knee and the other thigh structure is supported by a second bearing.

In one embodiment, the output shaft of the front steering gear of the knee is connected to the shell of the front steering gear of the hip through a supporting bearing.

In one embodiment, the thigh connecting rod structure includes a first crankshaft and a first connecting rod, one end of the first crankshaft is fixed to the output shaft of the knee front steering gear, and the other end of the first crankshaft is connected to the The first connecting rod is rotatably connected, and an end of the first connecting rod far away from the first crankshaft is used for rotatably connecting with the lower leg structure.

The present application also provides a leg robot, including the joint unit module described above, and a lower leg structure that is rotatably connected to the upper leg link structure.

In one embodiment, the leg robot further includes an ankle servo fixed to the thigh structure, and a shank link structure connected to the output shaft of the ankle rudder, and the shank link structure is used for Drive the foot plate to rotate back and forth.

In one embodiment, the number of the thigh structures is two and they move synchronously. The thigh structure is supported by a first bearing, and the knee steering gear shell and another thigh structure are supported by a second bearing; the ankle steering gear is two in number and coaxially arranged , the two ankle steering gears are respectively fixed to the two thigh structural members.

Beneficial effect

The beneficial effects of the joint unit module and the leg robot provided by the present application are: compared with the prior art, in the joint unit module of the present application, the front steering gear of the knee drives the movement of the lower leg structure through the thigh link structure, so that the knee front The steering gear does not need to be installed at the knee joint. The knee front steering gear, hip steering gear, hip side steering gear and hip front steering gear are all installed at the hip joint. First, the structure of the joint steering gear is more concentrated and compact. The required installation space is smaller, and the second is to make the height of the steering gear in front of the knee higher, which can improve the center of mass of the leg robot and reduce the torque required by the steering gear.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Fig. 1 is the three-dimensional structure diagram of the joint unit module provided by the embodiment of the present application;

Fig. 2 is an exploded structure diagram of the joint unit module provided by the embodiment of the present application;

Fig. 3 is a sectional view of the joint unit module provided by the embodiment of the present application;

FIG. 4 is a three-dimensional structural diagram of a legged robot provided in an embodiment of the present application;

Fig. 5 is a longitudinal sectional view of the legged robot provided by the embodiment of the present application;

Fig. 6 is a cross-sectional view of the legged robot provided by the embodiment of the present application at the knee joint.

Wherein, each reference sign in the figure:

11-hip steering gear; 12-hip side steering gear; 13-hip front steering gear; 14-knee front steering gear; 15-first fixing frame; 151-first fixing plate; 152-second fixing plate; 16 - the second fixed frame; 161 - the third fixed plate; 162 - the fourth fixed plate; 17 - the thigh structure; 18 - the thigh connecting rod structure; 181 - the first crankshaft; 182 - the first connecting rod; 191 - the first Bearing; 192-second bearing; 193-support bearing; 21-ankle steering gear; 22-calf structure; 23-calf connecting rod structure; 231-second crankshaft; 232-second connecting rod; Frame; 25-foot plate; 26-the seventh bearing.

Embodiments of the present invention

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying No device or element must have a particular orientation, be constructed, and operate in a particular orientation, and thus should not be construed as limiting the application.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

Now, the joint unit module provided by the embodiment of the present application will be described.

In one embodiment of the present application, please refer to Fig. 1 and Fig. 2, the joint unit module includes a hip steering gear 11, a hip side steering gear 12, a hip front steering gear 13, a knee front steering gear 14, and a thigh link Structure 18 , thigh structure 17 , first mount 15 and second mount 16 . The hip steering gear 11 is used to realize the rotation of the hip joint, so that the whole leg rotates with the hip joint; the hip side steering gear 12 is used to realize the side swing of the hip joint, so that the whole leg swings sideways with the hip joint; the thigh structure 17 Fixed at the output shaft of the front steering gear 13 of the hip, the front steering gear 13 of the hip is used to swing the thigh structure 17 back and forth, of course, when the thigh structure 17 swings, the calf structure 22 swings together with the thigh structure 17; The front steering gear 14 is used to make the calf structure 22 swing back and forth, and one end of the thigh link structure 18 is fixed on the output shaft of the knee front steering gear 14, and the other end of the thigh link structure 18 is used to be connected with the calf structure 22, so that , when the steering gear 14 in front of the knee works, the rotation of the thigh link structure 18 drives the shank structure 22 to rotate, so that the shank structure 22 swings back and forth. Due to the setting of the thigh link structure 18, the front steering gear 14 does not need to be arranged at the knee joint, but can be arranged at the hip joint to increase the center of mass of the joint unit module and reduce the required power of the steering gear. In addition, the hip steering gear 11, the hip side steering gear 12, the hip front steering gear 13, and the knee front steering gear 14 are all located at the hip joint, which makes the layout of the joint unit module more compact, and the mass of the leg structure is smaller. The overall volume will also be smaller. Specifically, the output shaft of the hip steering gear 11 is fixedly connected to the first fixed frame 15, and the housing of the hip steering gear 11 can be fixed on the external structure; the shell of the hip side steering gear 12 is fixed on the first fixed frame 15 , the output shaft of the hip side steering gear 12 is fixedly connected with the second fixed frame 16; When the hip steering gear 11 works, the first fixed mount 15, the hip side steering gear 12, the second fixed mount 16, the front steering gear 13 of the hip, the front steering gear 14 of the knee, the thigh structure 17 and the thigh connecting rod structure 18 together Rotate, even if the whole leg rotates together; when the hip side steering gear 12 works, the second fixed frame 16, the hip front steering gear 13, the knee front steering gear 14, the thigh structure 17 and the thigh connecting rod structure 18 sideways together, Even if the entire leg is sideways together.

In the joint unit module in the above-mentioned embodiment, the knee front steering gear 14 drives the calf structure 22 to move through the thigh link structure 18, so that the knee front steering gear 14 does not need to be installed at the knee joint, and the knee front steering gear 14 and the hip steering gear The steering gear 11, the hip side steering gear 12 and the hip front steering gear 13 are all arranged at the hip joint. One is to make the structure of the joint steering gear more concentrated, the structure is more compact, and the required installation space is smaller. The second is to make the knee front steering gear 14 is set at a higher height, which can improve the center of mass of the legged robot and reduce the torque required by the steering gear.

It should be noted that this joint unit module can be applied to hip joints, and can also be applied to joint structures such as knee joints, shoulder joints, and elbow joints. , front knee steering gear 14, thigh structure 17, and thigh link structure 18 do not limit the specific application position of the joint unit module.

In one of the embodiments of the present application, referring to FIG. 2 , the first fixing frame 15 includes two first fixing plates 151 and one second fixing plate 152, and two first fixing plates 152 are respectively connected to two sides of the second fixing plate 152. Fixed plate 151 . The two first fixing plates 151 are arranged opposite to each other, so that the first fixing frame 15 is U-shaped. Specifically, the two first fixing plates 151 may be arranged parallel to each other. The output shaft of the hip steering gear 11 is fixedly connected to the second fixing plate 152 . Referring to FIG. 2 , the hip steering gear 11 is arranged on the top of the first fixing frame 15 . The shell of the hip side steering gear 12 is fixed on one of the first fixing plates 151 , and the output shaft of the hip side steering gear 12 can pass through the first fixing plate 151 and be connected with the second fixing bracket 16 to fix the second fixing bracket 16 . When the first fixed mount 15 was U-shaped, a space was formed inside it, so that the second fixed mount 16, the hip steering gear 11, the knee front steering gear 14, etc. could be arranged in the space, so that the steering gears at the hip joints were distributed more compact.

In one of the embodiments of the present application, referring to FIG. 2 , the second fixing frame 16 includes two third fixing plates 161 and two fourth fixing plates 162, the two third fixing plates 161 are arranged oppositely, and the two third fixing plates 161 are arranged opposite to each other. Four fixed plates 162 are arranged oppositely, wherein one of the third fixed plates 161, one of the fourth fixed plates 162, another third fixed plate 161 and another fourth fixed plate 162 are sequentially connected, so that the second fixed frame 16 is frame-shaped . Wherein, the two third fixing plates 161 can be arranged parallel to each other, and the two fourth fixing plates 162 can also be arranged parallel to each other. The second fixing frame 16 is disposed inside the first fixing frame 15 , and the two third fixing plates 161 can be respectively disposed adjacent to the two first fixing plates 151 , and the first fixing plate 151 and the third fixing plate 161 can be parallel to each other. The output shaft of the hip side steering gear 12 is fixedly connected with one of the third fixing plates 161. Specifically, the hip side steering gear 12 is fixed on the outside of one of the first fixing plates 151, and one of the third fixing plates 161 is arranged on the third fixing plate 151. On the inner side of a fixed plate 151, the output shaft of the hip side steering gear 12 passes through the first fixed plate 151 and is fixedly connected to the third fixed plate 161, and another third fixed plate 161 is also arranged on the inner side of another first fixed plate 151 , and is rotatably connected with the first fixing plate 151 , specifically, the rotatable connection of the two can be realized through a bearing. The hip side steering gear 12 and the knee front steering gear 14 are respectively fixed on two fourth fixing plates 162 . In this embodiment, when the hip side steering gear 12 drives the second fixing frame 16 to rotate, one of the third fixing plates 161 of the second fixing bracket 16 is connected to the output shaft of the hip side steering gear 12, and the hip side steering gear 12 Support, another third fixed plate 161 of the second fixed frame 16 is rotationally connected with the first fixed plate 151, and is supported by the first fixed plate 151, thus forming support for both sides of the second fixed frame 16, so that the second fixed frame The rotation of frame 16, hip front steering gear 13, knee front steering gear 14 etc. is more stable.

In one of the embodiments of the present application, the output shafts of the front steering gear 13 of the hip and the steering gear 14 of the knee are set towards the same direction, that is, the output shaft of one of the steering gears is set towards the inside of the joint module, and the output shaft of the other steering gear is set toward the inside of the joint module. The output shaft is arranged towards the outside of the joint module. In this embodiment, the thigh structure 17 and the thigh link structure 18 are separated by a certain distance, and will not be concentrated at the same position of the joint module, which facilitates the structural layout of the thigh structure 17 and the thigh link structure 18 .

Optionally, referring to Fig. 1 to Fig. 3, the output shaft of the front steering gear 13 of the hip is set against the front steering gear 14 of the knee, that is, the output shaft of the front steering gear 13 of the hip is set towards the outside of the joint unit module, and the front steering gear of the knee is set toward the outside of the joint unit module. The output shaft of the machine 14 is set towards the inside of the joint unit module. The thigh structure 17 is connected to the output shaft of the hip front servo 13, so the thigh structure 17 is also arranged on the outside of the joint unit module, and the thigh link structure 18 is connected to the output shaft of the knee front servo 14, so the thigh link The structure 18 is also disposed inside the joint unit module. The number of thigh structural parts 17 can be selected as two, and the two thigh structural parts 17 are fixed to each other. between 17 pieces. One of the thigh structure parts 17 is fixed on the output shaft of the front steering gear 13 of the hip and is supported by the first bearing 191 between the outer shell of the front steering gear 13 of the hip, and the other thigh structure part 17 and the outer shell of the knee front steering gear 14 The space is supported by the second bearing 192. In this way, the two thigh structures 17 form support on both sides of the front steering gear 13 and the knee steering gear 14, which increases the bearing capacity of the hip front steering gear 13 and the knee front steering gear 14. bending moment. When the hip front steering gear 13 is working, the thigh structure 17 fixed on its output shaft rotates, and at the same time drives the other thigh structure 17 to rotate, and the two thigh structures 17 are respectively supported by the first bearing 191 and the second bearing 192 . Wherein, the first bearing 191 can be supported on the side of the front steering gear 13 facing away from the knee steering gear 14, and the second bearing 192 can be supported on the side of the knee front steering gear 14 facing away from the hip front steering gear 13, so that the first The distance between the first bearing 191 and the second bearing 192 is large enough so that it can withstand a larger bending moment.

When the output shafts of the front steering gear 13 of the hip and the steering gear 14 of the knee are set towards the same direction, and the output shaft of the front steering gear 13 of the hip is set against the front steering gear 14, the output shaft of the front steering gear 14 of the knee is facing towards the front of the hip The steering gear 13 is connected by a support bearing 193 between the output shaft of the steering gear 14 in front of the knee and the shell of the steering gear 13 in front of the hip. When the steering gear 14 in front of the knee works, its output shaft rotates. Under the support of the support bearing 193, the output shaft of the steering gear 14 in front of the knee rotates without affecting the position of the steering gear 13 in front of the hip. Therefore, the front steering gear 13 can be supported without affecting the operation of the knee steering gear 14 . In this way, when the hip front steering gear 13 or the knee front steering gear 14 is subjected to a bending moment, the above-mentioned second fixing frame 16 and the support bearing 193 can share the bending moment.

Optionally, the output shaft of the front steering gear 13 of the hip is set facing the front steering gear 14 of the knee, that is, the output shaft of the front steering gear 13 of the hip is set towards the inside of the joint module, and the output shaft of the front steering gear 14 of the knee is set towards the joint unit module external settings. The thigh structure 17 is connected to the output shaft of the hip front servo 13, so the thigh structure 17 is also arranged inside the joint unit module, and the thigh link structure 18 is connected to the output shaft of the knee front servo 14, so the thigh link The structure 18 is also arranged on the outside of the joint unit module. The number of thigh link structures 18 can be selected as two, and the two thigh link structures 18 move synchronously. Specifically, the first crankshafts 181 of the two thigh link structures 18 can be fixed to each other, so that the two thigh link structures 18 can move synchronously. The two thigh link structures 18 are respectively arranged on opposite sides of the joint unit module, and the thigh structure 17 is arranged between the two thigh link structures 18 . One of the thigh connecting rod structures 18 is fixed on the output shaft of the steering gear 14 before the knee and is supported by the third bearing between the shell of the steering gear 14 before the knee, and the other thigh connecting rod structure 18 and the shell of the steering gear 13 before the hip Supported by the fourth bearing, like this, two thigh connecting rod structures 18 form both sides support to the front steering gear 13 of the hip and the steering gear 14 before the knee, which increases the bearing capacity of the front steering gear 13 of the hip and the front steering gear 14 of the knee. the bending moment. When the knee front steering gear 14 is working, the thigh connecting rod structure 18 fixed to its output shaft rotates, and at the same time drives another thigh connecting rod structure 18 to rotate, and the two thigh connecting rod structures 18 are respectively supported by the third bearing and the fourth bearing. support. Wherein, the third bearing can be supported on the side of the front steering gear 14 of the knee facing away from the front steering gear 13 of the hip, and the fourth bearing can be supported on the side of the front steering gear 13 of the hip facing away from the front steering gear 14 of the knee, so that the third bearing The distance between the bearing and the fourth bearing is large enough to be able to withstand higher bending moments.

When the output shafts of the hip front steering gear 13 and the knee front steering gear 14 are set towards the same direction, and the output shaft of the hip front steering gear 13 is set facing the knee front steering gear 14, the output shaft of the hip front steering gear 13 is facing the knee front steering gear Machine 14, the output shaft of the steering gear 13 in front of the hip and the shell of the steering gear 14 in front of the knee are connected by a support bearing. When the front steering gear 13 of the hip is working, its output shaft rotates, and under the supporting effect of the supporting bearing, the output shaft of the front steering gear 13 of the hip rotates without affecting the position of the front steering gear 14 of the knee. Therefore, under the premise of not affecting the operation of the hip forward steering gear 13, the knee forward steering gear 14 can be supported. In this way, when the front steering gear 13 of the hip or the front steering gear 14 of the knee is subjected to a bending moment, the above-mentioned second fixing frame 16 and the support bearing can share the bending moment.

In one of the embodiments of the present application, the output shafts of the front steering gear 13 of the hip and the steering gear 14 of the knee are set in opposite directions, and the output shaft of the front steering gear 13 of the hip is set away from the front steering gear 14 of the knee. The output shaft of the front steering gear 14 is arranged away from the front steering gear 13 of the hip, that is, the output shafts of the front steering gear 13 of the hip and the output shafts of the front steering gear 14 of the knee are both set towards the outside of the joint module. Since the thigh structure 17 is fixed on the output shaft of the front steering gear 13 of the hip, the thigh structure 17 is arranged on one side of the joint module, and because the thigh link structure 18 is fixed on the output shaft of the knee front steering gear 14, the thigh The connecting rod structure 18 is disposed on the other side of the joint module. The fifth bearing is supported between the shell of the front steering gear 13 of the hip and the thigh structure 17, and the sixth bearing is supported between the shell of the front steering gear 14 of the knee and the thigh structure 17, so that the front steering gear 13 of the hip and the front steering gear of the knee The machine 14 is supported by the fifth bearing and the sixth bearing at the same time, forming a double-sided support, which can improve the bending moment that the joint unit module can bear. Since the thigh structure 17 and the thigh connecting rod structure 18 are respectively arranged on both sides of the joint module, the fifth bearing and the sixth bearing are also respectively arranged on both sides of the joint module, and the distance between them is relatively far, which can further improve the joint strength. The bending moment that the module can bear.

In one embodiment of the present application, please refer to FIG. 3 , the thigh link structure 18 includes a first crankshaft 181 and a first link 182 . One end of the first crankshaft 181 is fixed to the output shaft of the front steering gear 14, and the first crankshaft 181 can be sleeved and fixed on the output of the front steering gear 14, and the specific fixing method is not limited here. The other end of the first crankshaft 181 is rotatably connected with the first connecting rod 182 , and the end of the first connecting rod 182 away from the first crankshaft 181 is used for rotatably connecting with the calf structure 22 . When the knee front steering gear 14 is working, the first crankshaft 181 rotates accordingly, the rotation of the first crankshaft 181 drives the first connecting rod 182 to rotate, and the first connecting rod 182 drives the calf structure 22 to rotate. The rotational connection between the first link 182 and the lower leg structure 22 is the knee joint. Through the rotation of the first crankshaft 181 and the first connecting rod 182, the knee servo 14 can be arranged at the hip joint, and the center of mass of the joint module can be raised.

In one of the embodiments of the present application, please refer to FIG. 3 , the hip steering gear 11 , the hip side steering gear 12 , the hip front steering gear 13 and the knee front steering gear 14 all include a casing, a motor, a reducer and a planet carrier, Both the motor and the reducer are arranged in the casing, the reducer is connected to the output end of the motor, and the planet carrier is connected to the output end of the reducer. The motor can be outer rotor motor, inner rotor motor, hollow cup motor, etc.; the reducer can be one-stage or multi-stage planetary reducer, cylindrical gear reducer, harmonic reducer, cycloid reducer. The planet carrier is arranged on the outer side of the shell, the output shaft of the hip steering gear 11 is fixed to the corresponding planet carrier, and the first fixed frame 15 is fixed on the planet carrier; the output shaft of the hip side steering gear 12 is fixed to the corresponding planet carrier , the second fixed mount 16 is then fixed on the planet carrier; the output shaft of the front steering gear 13 of the hip is fixed to its corresponding planet carrier, the thigh structure 17 is then fixed on the planet carrier, and the output shaft of the front steering gear 14 of the knee is fixed to its corresponding planet carrier. The corresponding planet carrier is fixed, and the thigh link structure 18 is fixed on the planet carrier.

The present application also provides a legged robot, please refer to FIG. 4 and FIG. 5 , the legged robot includes the joint unit module in any one of the above-mentioned embodiments. The joint unit module can be used at the hip joint or the knee joint of the legged robot. The leg robot also includes a lower leg structure 22 , one end of the lower leg structure 22 is rotatably connected to the thigh link structure 18 , the rotational joint is a knee joint, and the other end of the lower leg structure 22 is used to connect with the foot plate 25 .

In the leg robot provided by the present application, in the above-mentioned joint unit module, the front knee steering gear 14 drives the calf structure 22 to move through the thigh link structure 18, so that the knee front steering gear 14 does not need to be installed at the knee joint, and the knee front steering gear The steering gear 14, the hip turning steering gear 11, the hip side steering gear 12 and the hip front steering gear 13 are all arranged at the hip joint, one is to make the structure of the joint steering gear more concentrated, the structure is more compact, and the required installation space is smaller. It is to make the height of the front steering gear 14 set higher, which can improve the center of mass of the leg robot and reduce the required moment of the steering gear.

In one of the embodiments of the present application, the output shafts of the front hip steering gear 13 and the knee front steering gear 14 are set in the same direction, and the output shaft of the hip front steering gear 13 is set away from the knee front steering gear 14, that is, the hip front steering gear 14 is set against the knee front steering gear 14. The output shaft of the steering gear 13 is set towards the outside of the joint unit module, and the output shaft of the front knee steering gear 14 is set towards the inside of the joint module. The thigh structure 17 is connected to the output shaft of the hip front servo 13, so the thigh structure 17 is also arranged on the outside of the joint module, and the thigh link structure 18 is connected to the output shaft of the knee front servo 14, so the thigh link structure 18 is also arranged inside the joint unit module.

Optionally, the number of thigh structures 17 can be two, and the two thigh structures 17 move synchronously, the two thigh structures 17 are respectively arranged on opposite sides of the joint module, and the thigh link structure 18 is arranged on Between the two thigh structures 17 . One of the thigh structure parts 17 is fixed on the output shaft of the front steering gear 13 of the hip and is supported by the first bearing 191 between the outer shell of the front steering gear 13 of the hip, and the other thigh structure part 17 and the outer shell of the knee front steering gear 14 The space is supported by the second bearing 192. In this way, the two thigh structures 17 form support on both sides of the front steering gear 13 and the knee steering gear 14, which increases the bearing capacity of the hip front steering gear 13 and the knee front steering gear 14. bending moment.

Optionally, referring to Fig. 4 and Fig. 6, the legged robot also includes an ankle steering gear 21 and a calf link structure 23, the output shaft of the ankle steering gear 21 is connected with the calf link structure 23, and another part of the calf link structure 23 is One end is used to rotate and connect with the foot plate 25. When the ankle steering gear 21 works, the calf link structure 23 rotates, and the foot plate 25 also rotates back and forth correspondingly. In this way, the ankle steering gear 21 can be arranged at the knee joint instead of the ankle joint, and the center of mass of the leg robot can be improved.

Optionally, there are two ankle steering gears 21 and two calf link structures 23 , and the output shaft of each ankle steering gear 21 is correspondingly connected to one calf link structure 23 . The two ankle steering gears 21 are coaxial and fixedly arranged, so that the two ankle steering gears 21 are mutually fixed and supported, so that the knee joint can bear a larger bending moment. And when the output shafts of the two ankle servos 21 are coaxially arranged, the space occupied by the knee joint is smaller and the structure is more compact.

Wherein, a bearing hole is opened on the lower leg structural member 22, and the bearing hole is arranged coaxially with the rotation axis of the lower leg structural member 22 along the knee joint. The seventh bearing 26 is fixed in the bearing hole, and the inner ring of the seventh bearing 26 is fixed to the shell of the ankle steering gear 21, so that the seventh bearing 26 supports the shells of the two ankle steering gears 21. In this embodiment, the calf structure 22 is wrapped around the outer shell of part of the ankle steering gear 21 , so as to facilitate the connection between the calf structure 22 and the thigh link structure 18 . The number of the first bearings 191 may be two, which are arranged sequentially along the rotation center axis of the knee joint, which can form better support for the ankle steering gear 21 and can withstand a larger bending moment.

Optionally, please refer to FIG. 3 and FIG. 4 , the joint module further includes a steering gear connecting frame 24 , and the two ankle steering gears 21 are fixed on the steering gear connecting frame 24 . The shells of the two ankle steering gears 21 are respectively fixed on both sides of the steering gear connecting frame 24 . Both ends of the steering gear connecting frame 24 are respectively fixedly connected to the two thigh structures 17 , and the shells of the two ankle steering gears 21 can be respectively fixed on the two thigh structures 17 .

Optionally, the structure of the ankle steering gear 21 may be the same as that of the front hip steering gear 13 .

Optionally, the calf linkage structure 23 includes a second crankshaft 231 and a second connecting rod 232, one end of the second crankshaft 231 is connected to the output shaft of the ankle servo 21, and the other end of the second crankshaft 231 is connected to the second connecting rod 232. Rotationally connected, the end of the second connecting rod 232 away from the second crankshaft 231 is rotatably connected to the foot plate 25 . When the ankle steering gear 21 is working, the second crankshaft 231 rotates, driving the second connecting rod 232 to rotate, and the rotation of the second connecting rod 232 causes the foot plate 25 to rotate accordingly. The synchronous movement of the two calf link structures 23 can make the movement of the foot plate 25 more stable.

The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application should be included in the protection of the application. within range.

Claims

A joint unit module, characterized in that it includes a hip steering gear used to rotate the legs, a hip side steering gear used to swing the legs sideways, and a hip front steering gear used to swing the thigh structure back and forth , the knee front steering gear for swinging the calf structure back and forth, the thigh link structure, the thigh structure connected to the output shaft of the hip front steering gear, the first fixing frame and the second fixing frame, the The hip steering gear, the hip side steering gear, the hip front steering gear and the knee front steering gear are all arranged at the hip joint, and one end of the thigh link structure is fixed to the output of the knee front steering gear shaft, the other end of which is used for rotational connection with the lower leg structure, the output shaft of the hip steering gear is fixedly connected to the first fixing frame, and the outer shell of the hip side steering gear is fixed on the first fixing bracket above, and the output shaft of the hip side steering gear is fixedly connected to the second fixing frame, and the front hip steering gear and the knee front steering gear are both fixedly arranged on the second fixing frame.
The joint unit module according to claim 1, wherein the first fixing frame includes two first fixing plates opposite to each other and a second fixing plate connecting the two first fixing plates, so that the The first fixing frame is U-shaped, the output shaft of the hip steering gear is fixedly connected to the second fixing plate, and the shell of the hip steering gear is fixed on one of the first fixing plates.
The joint unit module according to claim 2, wherein the second fixing frame includes two opposite third fixing plates and two opposite fourth fixing plates, one of the third fixing plates plate, one of the fourth fixing plates, the other third fixing plate and the other fourth fixing plate are connected in sequence, so that the second fixing frame is in the shape of a frame, and the output of the hip side steering gear The shaft is fixedly connected with one of the third fixed plates, and the other third fixed plate is rotationally connected with one of the first fixed plates, and the hip side steering gear and the knee front steering gear are respectively fixed on two the fourth fixed plate.
The joint unit module according to claim 1, wherein the front steering gear of the hip and the front steering gear of the knee are arranged coaxially.
The joint unit module according to claim 4, characterized in that: the output shafts of the front hip steering gear and the knee front steering gear are set in the same direction, and the output shafts of the hip front steering gear face away from the The steering gear in front of the knee is set; the number of the thigh structures is two and they move synchronously, the thigh link structure is arranged between the two thigh structures, the outer shell of the hip front steering gear and one of them The thigh structure is supported by a first bearing, and the knee front steering gear shell and another thigh structure are supported by a second bearing.
The joint unit module according to claim 5, wherein the output shaft of the front steering gear of the knee is connected to the shell of the front steering gear of the hip through a supporting bearing.
The joint unit module according to claim 1, wherein the thigh connecting rod structure includes a first crankshaft and a first connecting rod, and one end of the first crankshaft is fixed to the output shaft of the front knee servo , the other end of the first crankshaft is rotatably connected with the first connecting rod, and the end of the first connecting rod far away from the first crankshaft is used for rotatably connecting with the lower leg structure.
The leg robot is characterized in that it includes the joint unit module according to any one of claims 1-7, and further includes a lower leg structure that is rotatably connected to the thigh link structure.
The legged robot according to claim 8, characterized in that: the legged robot further comprises an ankle steering gear fixed to the thigh structure, and a lower leg link structure connected to the output shaft of the ankle steering gear , the shank link structure is used to drive the foot plate to rotate back and forth.
The leg robot according to claim 9, characterized in that: the number of the thigh structures is two and they move synchronously, the thigh link structure is arranged between the two thigh structures, and the hip The shell of the front steering gear and one of the thigh structures are supported by a first bearing, and the shell of the knee front steering gear and another thigh structure are supported by a second bearing; the ankle steering gear The quantity is two and coaxially arranged, and the two ankle servos are respectively fixed to the two thigh structures.