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CN-116277124-B - Bipedal robot and hip joint structure thereof

CN116277124BCN 116277124 BCN116277124 BCN 116277124BCN-116277124-B

Abstract

The application belongs to the technical field of intelligent robots, and particularly relates to a bipedal robot and a hip joint structure thereof. The hip joint structure comprises a hip switching structure, a first driving mechanism, a second driving mechanism and an output rotating shaft, wherein the hip switching structure comprises a first switching part and a second switching part which are fixedly connected with each other, the second switching part is used for connecting a leg structure of the bipedal robot, the first driving mechanism is fixedly arranged on the second switching part and is used for driving the leg structure to swing sideways, the end part of the leg structure is connected with the output rotating shaft of the second driving mechanism, the axis direction of the output rotating shaft of the second driving mechanism is orthogonal to the axis direction of the output rotating shaft of the first driving mechanism, and the second driving mechanism is used for driving the leg structure to rotate. By applying the technical scheme of the application, the problem that the hip joint of the bipedal robot has quite large volume due to complex structural design of the hip joint in the existing bipedal robot is solved.

Inventors

  • Gai Yongji
  • DING HONGYU

Assignees

  • 深圳市优必选科技股份有限公司

Dates

Publication Date
20260508
Application Date
20221226

Claims (7)

  1. 1. A bipedal robot comprising a leg structure and a hip structure, the leg structure and the hip structure being connected; The hip joint structure includes: The hip joint structure comprises a first joint part and a second joint part which are fixedly connected with each other, wherein the first joint part and the second joint part are plate-shaped members, the extending directions of the first joint part and the second joint part are orthogonal, and the extending direction of the first joint part is basically horizontal; the first driving mechanism is fixedly arranged on one side of the second switching part and is used for driving the leg structure to swing sideways; The second driving mechanism is arranged on the other side of the second switching part, the axial direction of an output rotating shaft of the second driving mechanism and the axial direction of an output rotating shaft of the first driving mechanism are arranged in an orthogonal mode, the second driving mechanism is used for driving the leg structure to rotate around the axial line of the output rotating shaft of the second driving mechanism, and the output rotating shaft of the first driving mechanism passes through the assembly hole of the second switching part and is connected with the second driving mechanism; the leg structure includes: A thigh limb having a first end connected to the hip joint structure, the thigh limb having an accommodation space extending along a length direction thereof; the lower leg part is rotatably arranged at the second end of the thigh limb through a connecting rotating shaft, a first connecting end is arranged at the end part of the lower leg part, which is close to the thigh limb, and the first connecting end extends into the accommodating space; the knee driving mechanism is fixedly arranged at one end, close to the hip joint structure, of the thigh limb; The knee driving mechanism comprises a first knee connecting rod and a second knee connecting rod, wherein a driving connection is realized between an output rotating shaft of the knee driving mechanism and a first end of the first knee connecting rod through the second knee connecting rod, a second end of the first knee connecting rod is rotationally connected with the first connecting end, the first knee connecting rod and the second knee connecting rod are both positioned in the accommodating space, the first knee connecting rod is a combined rod piece and comprises a first rod section, a second rod section and a third rod section, the first rod section and the third rod section are respectively connected with two ends of the second rod section in a threaded mode, and the threaded directions are opposite and are used for adjusting the whole length of the connecting rod to eliminate an assembly gap.
  2. 2. The bipedal robot of claim 1, wherein the robot is configured to, The hip joint structure further comprises a hip flange member and a hip support member, wherein the hip flange member is fixedly connected to an output rotating shaft of the first driving mechanism, the hip support member is fixedly connected to the hip flange member, and the second driving mechanism is installed on the hip support member.
  3. 3. The bipedal robot of any one of claims 1 to 2, wherein, The hip joint structure further comprises a third driving mechanism and a leg adapting member, the leg adapting member is fixedly connected to an output rotating shaft of the second driving mechanism, the third driving mechanism is mounted on the leg adapting member, the axis direction of the output rotating shaft of the third driving mechanism and the axis direction of the output rotating shaft of the first driving mechanism are perpendicular to each other, the axis direction of the output rotating shaft of the third driving mechanism and the axis direction of the second driving mechanism are perpendicular to each other, and the leg structure is fixedly connected to the output rotating shaft of the third driving mechanism.
  4. 4. The bipedal robot of claim 3, wherein the robot further comprises a robot arm, The third drive mechanism is located outside the leg switching member.
  5. 5. The bipedal robot of claim 1, wherein the robot is configured to, The leg structure further comprises a sole part, wherein the sole part is provided with a first connecting seat and a second connecting seat which are spaced; the lower leg portion includes: the first end of the shank is rotatably arranged at the second end of the thigh, the second end of the shank is movably connected with the first connecting seat, and the second end of the shank is provided with the first connecting end in an extending way; a first lower leg driving mechanism is arranged on the upper leg, the first shank driving mechanism is mounted on the shank; The output rotating shaft of the first calf driving mechanism is in driving connection with the first end of the first calf connecting rod, and the second end of the first calf connecting rod is in rotating connection with the second connecting seat.
  6. 6. The bipedal robot of claim 5, wherein the robot further comprises a base, The shank still includes second shank actuating mechanism and second shank connecting rod, second shank actuating mechanism install in shank, second shank actuating mechanism's output pivot with the first end drive connection of second shank connecting rod, the second end of second shank connecting rod with the second connecting seat rotates to be connected, just first shank connecting rod with the second shank connecting rod arranges side by side.
  7. 7. The bipedal robot of claim 5 or 6, wherein the robot further comprises a gripper, The leg structure still includes ankle connecting member, ankle connecting member is equipped with first connector, second connector, third connector and fourth connector, first connector with the line perpendicular to of second connector the third connector with the line of fourth connector, the second end of shank is equipped with relative and spaced first engaging lug and second engaging lug, first engaging lug is including relative and spaced first ankle engaging lug and second ankle engaging lug, just the line perpendicular to of first ankle engaging lug and second ankle engaging lug first engaging lug with the line of second engaging lug, first connector rotate connect in first engaging lug, second connector rotate connect in second engaging lug, fourth connector rotate connect in first ankle engaging lug, third connector rotate connect in second ankle engaging lug.

Description

Bipedal robot and hip joint structure thereof Technical Field The application belongs to the technical field of intelligent robots, and particularly relates to a bipedal robot and a hip joint structure thereof. 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. Since the hip joint is a receiving joint between the upper body of the robot and the lower body of the robot, the degree of freedom of movement involved in the hip joint is one of the relatively large number of leg joints. In the existing biped robot, the hip joint is not only responsible for left and right swinging of the upper body of the robot, but also for left and right twisting of the upper body of the robot, and simultaneously is also responsible for alternating front and back strides of the two legs of the lower body of the robot and left and right swinging of any one leg of the two legs. In order to realize the motion of each degree of freedom, the structure of the hip joint is designed to be quite complex by the current bipedal robot design, and the motion of each degree of freedom is realized by adopting the cooperation of complicated motion mechanisms, so that the hip joint of the current bipedal robot is quite bulky, commonly called a water barrel waist, and is quite different from the aesthetic concept of people on humanoid robots. Disclosure of Invention The application aims to provide a bipedal robot and a hip joint structure thereof, and aims to solve the problem that the hip joint of the bipedal robot is quite bulky due to complex structural design of the hip joint in the existing bipedal robot. In order to achieve the above purpose, the technical scheme adopted by the application is that the hip joint structure of the bipedal robot comprises: the hip switching structure comprises a first switching part and a second switching part which are fixedly connected with each other, and the second switching part is used for connecting the leg structures of the bipedal robot; The first driving mechanism is fixedly arranged on the second switching part and is used for driving the leg structure to swing sideways; the second driving mechanism is used for driving the leg structure to rotate around the axis of the output rotating shaft of the second driving mechanism, and the second driving mechanism is mounted on the second switching part. In one embodiment, the first transfer part and the second transfer part are plate-shaped members, the extending direction of the first transfer part and the extending direction of the second transfer part are orthogonal, the extending direction of the first transfer part is basically horizontal, the first driving mechanism and the second driving mechanism are respectively positioned at two sides of the second transfer part, the second transfer part is provided with an assembly hole, and an output rotating shaft of the first driving mechanism passes through the assembly hole and is connected with the second driving mechanism. In one embodiment, the hip joint structure further comprises a hip flange member fixedly connected to the output shaft of the first drive mechanism and a hip support member fixedly connected to the hip flange member, the second drive mechanism being mounted to the hip support member. In one embodiment, the hip joint structure further comprises a third driving mechanism and a leg switching member, the leg switching member is fixedly connected to the output shaft of the second driving mechanism, the third driving mechanism is mounted on the leg switching member, the axis direction of the output shaft of the third driving mechanism and the axis direction of the output shaft of the first driving mechanism are all orthogonally arranged, and the leg structure is fixedly connected to the output shaft of the third driving mechanism. In one embodiment, the third drive mechanism is located outside of the leg switch member. According to another aspect of the present application, a bipedal robot is provided. Specifically, the biped robot includes: Leg structure, and The hip joint structure, the leg structure and the hip joint structure of the bipedal robot as described above are connected. In one embodiment, a thigh limb, a first end of the thigh limb is connected to a hip joint s