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CN-121973870-A - Shank mechanism of humanoid robot

CN121973870ACN 121973870 ACN121973870 ACN 121973870ACN-121973870-A

Abstract

The invention provides a shank mechanism of a humanoid robot, and belongs to the field of robots. The pedal connecting device comprises a lower leg, a connecting rod assembly, a foot plate and a connecting assembly, wherein the lower leg is connected with the foot plate through the connecting assembly, the connecting assembly is used for driving the foot plate to rotate in four directions relative to the lower leg, the upper end of the connecting rod assembly is connected with the lower leg, the lower end of the connecting rod assembly is connected with the connecting assembly, the connecting rod assembly comprises a first driving motor, a second driving motor, a first connecting rod group and a second connecting rod group, the first driving motor and the second driving motor are both arranged on the lower leg, the upper end of the first connecting rod group is connected with an output shaft of the first driving motor, the lower end of the first connecting rod group is rotatably connected with one side of the connecting assembly, and the upper end of the second connecting rod group is rotatably connected with an output shaft of the second driving motor, and the lower end of the second connecting rod group is rotatably connected with the other side of the connecting assembly. The calf mechanism has the technical effects that the motion response speed and the flexibility are improved.

Inventors

  • Request for anonymity
  • Request for anonymity
  • Request for anonymity

Assignees

  • 北京加速进化科技有限公司

Dates

Publication Date
20260505
Application Date
20260206

Claims (10)

  1. 1. The utility model provides a human-shaped robot's shank mechanism which characterized in that, includes shank (1), link assembly (2), sole (3) and coupling assembling (4), pass through between shank (1) with sole (3) coupling assembling (4) are connected, coupling assembling (4) are used for driving sole (3) relative shank (1) four directions about turn around, the upper end of link assembly (2) with shank (1) are connected, the lower extreme of link assembly (2) with coupling assembling (4) are connected; The connecting rod assembly (2) comprises a first driving motor (21), a second driving motor (22), a first connecting rod group (23) and a second connecting rod group (24), wherein the first driving motor (21) and the second driving motor (22) are both installed on the lower leg (1), the upper end of the first connecting rod group (23) is connected with an output shaft of the first driving motor (21), the lower end of the first connecting rod group (23) is rotatably connected with one side of the connecting assembly (4), the upper end of the second connecting rod group (24) is connected with an output shaft of the second driving motor (22), and the lower end of the second connecting rod group (24) is rotatably connected with the other side of the connecting assembly (4).
  2. 2. The human-shaped robot calf mechanism according to claim 1, wherein the first link group (23) comprises a first link (231) and a first crank (232), the first crank (232) is fixedly connected with an output shaft of the first driving motor (21), an upper end of the first link (231) is rotatably connected with the first crank (232), and a lower end of the first link (231) is rotatably connected with one side of the connecting assembly (4); The second connecting rod group (24) comprises a second connecting rod (241) and a second crank (242), the second crank (242) is fixedly connected with an output shaft of the second driving motor (22), the upper end of the second connecting rod (241) is rotatably connected with the second crank (242), and the lower end of the second connecting rod (241) is rotatably connected with one side of the connecting component (4).
  3. 3. The leg mechanism of a humanoid robot according to claim 2, wherein the connection assembly (4) comprises a front end seat (41), a rear end seat (42) and a cross shaft (43), the front end seat (41) and the rear end seat (42) are mounted on the foot plate (3) at intervals, one end of the cross shaft (43) is rotatably connected with the front end seat (41), the other end of the cross shaft (43) is rotatably connected with the rear end seat (42), the lower end of the leg (1) is rotatably connected with both sides of the cross shaft (43), the lower end of the first connecting rod (231) is rotatably connected with one end of the front end seat (41), and the lower end of the second connecting rod (241) is rotatably connected with the other end of the front end seat (41).
  4. 4. A human-shaped robot calf mechanism according to claim 3, further comprising a transition triangular block (44), wherein the cross shaft (43) comprises an upper seat (432), a lower seat (431), a transverse shaft (433) and a longitudinal shaft (434), the transition triangular block (44) is mounted on the foot plate (3), the lower surface of the lower seat (431) is abutted to the transition triangular block (44), the upper seat (432) is mounted on the lower seat (431), the transverse shaft (433) is inserted on the upper seat (432), the longitudinal shaft (434) is inserted on the lower seat (431), the transverse shaft (433) and the longitudinal shaft (434) are mutually perpendicular, one end of the longitudinal shaft (434) is rotatably connected with the front end seat (41), the other end of the longitudinal shaft (434) is rotatably connected with the rear end seat (42), and both ends of the transverse shaft (433) are rotatably connected with the lower end of the calf (1).
  5. 5. The human-shaped robot calf mechanism according to claim 4, wherein the front end seat (41) comprises a front seat body (411), a front shaft (412) and a front insert block (413), the rear end seat (42) comprises a rear seat body (421) and a rear insert block (422), the front seat body (411) is mounted on the foot plate (3) through the front insert block (413), the rear seat body (421) is mounted on the foot plate (3) through the rear insert block (422), the front shaft (412) is inserted on the front seat body (411), the lower end of the first connecting rod (231) is rotatably connected with one end of the front shaft (412), and the lower end of the second connecting rod (241) is rotatably connected with the other end of the front shaft (412).
  6. 6. The human-shaped robot's shank mechanism according to claim 2, further comprising a shank protector (5) and a shank bracket (6), wherein the shank protector (5) is mounted on the shank (1), the shank protector (5) covers the first driving motor (21) and the second driving motor (22), the shank bracket (6) is mounted on the shank (1), an upper end of the first link (231) is connected with the first driving motor (21) through the shank bracket (6), and an upper end of the second link (241) is connected with the second driving motor (22) through the shank bracket (6).
  7. 7. The human-shaped robot calf mechanism according to claim 6, wherein the calf support (6) comprises a baffle (61), a vertical support plate (62) and a horizontal support plate (63), one side of the vertical support plate (62) is connected with the calf (1), the baffle (61) is connected with the other side of the vertical support plate (62), the horizontal support plate (63) is mounted on the vertical support plate (62), and the first connecting rod (231) and the second connecting rod (241) are respectively located on two sides of the horizontal support plate (63).
  8. 8. The human-shaped robot calf mechanism according to claim 5, wherein the calf (1) comprises an input and output connecting piece (11), a supporting leg (12) and a lower connecting piece (13), the upper end of the supporting leg (12) is connected with the input and output connecting piece (11), two lower connecting pieces (13) are integrally formed at the lower end of the supporting leg (12), and the two lower connecting pieces (13) are respectively connected with two ends of the transverse shaft (433) through bearings.
  9. 9. The human-shaped robot calf mechanism according to claim 5, wherein the first connecting rod (231) comprises a first rod body (2311), a first upper connecting sleeve (2312) and a first lower connecting sleeve (2313), the first upper connecting sleeve (2312), the first rod body (2311) and the first lower connecting sleeve (2313) are integrally formed from top to bottom, the first upper connecting sleeve (2312) and the first lower connecting sleeve (2313) are mutually perpendicular, the first upper connecting sleeve (2312) is rotatably connected with the first crank (232), the first lower connecting sleeve (2313) is rotatably connected with one end of the front shaft (412), and the axial direction of the first upper connecting sleeve (2312) is mutually perpendicular to the axial direction of the first lower connecting sleeve (2313).
  10. 10. The human-shaped robot calf mechanism according to claim 5, wherein the second connecting rod (241) comprises a second rod body (2411), a second upper connecting sleeve (2412) and a second lower connecting sleeve (2413), the second upper connecting sleeve (2412), the second rod body (2411) and the second lower connecting sleeve (2413) are integrally formed from top to bottom, the second upper connecting sleeve (2412) and the second lower connecting sleeve (2413) are mutually perpendicular, the second upper connecting sleeve (2412) is rotatably connected with the second crank (242), the second lower connecting sleeve (2413) is rotatably connected with one end of the front shaft (412), and the axial direction of the second upper connecting sleeve (2412) is mutually perpendicular with the axial direction of the second lower connecting sleeve (2413).

Description

Shank mechanism of humanoid robot Technical Field The invention relates to the technical field of robots, in particular to a shank mechanism of a humanoid robot. Background The humanoid biped robot is taken as one of the core research directions in the robot field, and has wide application prospects in a plurality of scenes such as service, rescue, scientific research and the like by virtue of the morphology and the motion capability of the humanoid robot. The leg structure is used as a core structure for the robot to realize complex actions such as walking, running, jumping and the like, the structural rationality of the leg structure directly determines the motion performance, stability and flexibility of the robot, the leg weight distribution is a key factor affecting the overall performance, and unreasonable weight distribution easily causes excessive motion inertia, increased energy consumption and even causes unbalance risk of the robot. The shank is used as an end execution part of the robot leg, the flexibility and the compactness of the movement are considered, three core degrees of freedom are generally required to be configured, wherein the knee joint bears single degree of freedom flexion and extension movement, and the ankle joint realizes pitching and rolling adjustment through two degrees of freedom so as to simulate the basic movement posture of the human leg. However, in the existing design of the calf structure of the humanoid biped robot, the problems of loose structural layout, low joint integration level, poor universality and the like are commonly existed. In order to meet the requirement of the degree of freedom, the existing calf mechanism is often arranged by adopting a distributed joint, so that the redundancy of parts and the large overall size are caused, the operation capacity of the robot in a narrow space is limited, and the maximization of the leg movement range is difficult to realize. Meanwhile, the structural design with low integration level is easy to cause weight concentration at the tail end, the weight distribution balance of the legs is damaged, the motion response speed and flexibility are reduced, and the high-precision and high-dynamic motion scene cannot be adapted. Disclosure of Invention The present invention provides a calf mechanism of a humanoid robot for solving the above problems in the prior art. The invention provides a shank mechanism of a humanoid robot, which comprises a shank, a connecting rod assembly, a foot plate and a connecting assembly, wherein the shank is connected with the foot plate through the connecting assembly, the connecting assembly is used for driving the foot plate to rotate in four directions relative to the shank, namely, front, back, left and right, the upper end of the connecting rod assembly is connected with the shank, and the lower end of the connecting rod assembly is connected with the connecting assembly; The connecting rod assembly comprises a first driving motor, a second driving motor, a first connecting rod group and a second connecting rod group, wherein the first driving motor and the second driving motor are both arranged on the lower leg, the upper end of the first connecting rod group is connected with the output shaft of the first driving motor, the lower end of the first connecting rod group is rotatably connected with one side of the connecting assembly, the upper end of the second connecting rod group is connected with the output shaft of the second driving motor, and the lower end of the second connecting rod group is rotatably connected with the other side of the connecting assembly. In addition, the calf mechanism of the humanoid robot according to the invention may also have the following additional technical features: in some embodiments of the present invention, the first link group includes a first link and a first crank, the first crank is fixedly connected with an output shaft of the first driving motor, an upper end of the first link is rotatably connected with the first crank, and a lower end of the first link is rotatably connected with one side of the connecting assembly; The second connecting rod group comprises a second connecting rod and a second crank, the second crank is fixedly connected with an output shaft of the second driving motor, the upper end of the second connecting rod is rotatably connected with the second crank, and the lower end of the second connecting rod is rotatably connected with one side of the connecting assembly. In some embodiments of the present invention, the connection assembly includes a front end base, a rear end base, and a cross shaft, the front end base and the rear end base are mounted on the foot plate at intervals, one end of the cross shaft is rotatably connected with the front end base, the other end of the cross shaft is rotatably connected with the rear end base, the lower end of the lower leg is rotatably connected with both sides of the cross shaft, the