CN-121990074-A - Leg structure of bionic robot and bionic robot

CN121990074ACN 121990074 ACN121990074 ACN 121990074ACN-121990074-A

Abstract

The application provides a leg structure of a bionic robot and the bionic robot, wherein the leg structure of the bionic robot is provided with a cantilever shaft, two ends of the cantilever shaft are also provided with a straight damping shaft, the straight damping shaft can be matched with the trunk weight of the bionic robot to provide a corresponding resistance, the trunk body can be effectively supported when the legs hover in a sector section which allows stopping, and the movement function of the legs is not influenced.

Inventors

SUN TUCHUN
QI XIAOYANG
XIA BAOJUN

Assignees

珠海市一微机器人技术有限公司

Dates

Publication Date: 20260508
Application Date: 20241031

Claims (11)

1. A leg structure of a bionic robot is characterized by comprising a left leg, a right leg, a cantilever shaft, a first damping shaft and a second damping shaft, wherein, The cantilever shaft is connected with the left leg and the right leg at the same time, one end of the cantilever shaft is positioned in the inner space of the left leg, the other end of the cantilever shaft is positioned in the inner space of the right leg, The first damping shaft is arranged in the inner space of the left leg, one end of the first damping shaft is arranged on the cantilever shaft, the other end of the first damping shaft is arranged on the left leg, The second damping shaft is arranged in the inner space of the right leg, one end of the second damping shaft is arranged on the cantilever shaft, the other end of the second damping shaft is arranged on the right leg, The first damping shaft and the second damping shaft are both coaxially arranged with the cantilever shaft and are used for matching the trunk weight of the bionic robot so as to provide equivalent resistance, and the leg structure of the bionic robot is ensured to support the trunk of the bionic robot.
2. The leg structure of claim 1, wherein the left leg comprises a first left leg housing and a second left leg housing, wherein the first left leg housing and the second left leg housing form a first assembly slot after assembly.
3. The leg structure of a bionic robot according to claim 2, wherein the right leg comprises a first right leg housing and a second right leg housing, wherein the first right leg housing and the second right leg housing are assembled to form a second assembly groove, and the second assembly groove is disposed opposite to the first assembly groove.
4. A biomimetic robotic leg structure according to claim 3, comprising a first bearing and a second bearing, wherein the first bearing fits in the first fitting groove and the second bearing fits in the second fitting groove.
5. The biomimetic robotic leg structure of claim 4, wherein the inner ring of the first bearing and the inner ring of the second bearing are interference fit with the outer diameter of the cantilever shaft.
6. The leg structure of a bionic robot according to claim 5, wherein the cantilever shaft is provided with a wire passing groove, and the wire passing groove forms a wire passing hole with the inner ring of the first bearing and the inner ring of the second bearing.
7. A biomimetic robotic leg structure according to claim 3, wherein the biomimetic robotic leg structure comprises a battery, the battery being arranged in the inner space of the left leg or the inner space of the right leg.
8. The leg structure of a bionic robot according to claim 1, wherein the leg structure comprises a bottom shell and a bottom cover, semicircular wire passing holes are formed in the bottom shell and the bottom cover, and the bottom shell and the bottom cover are fixedly connected and hidden in an inner space of the leg structure of the bionic robot.
9. The leg structure of a bionic robot according to claim 8, wherein the leg structure comprises a first trunk shell, and a spigot of the first trunk shell is matched with the limit rib of the bottom shell.
10. The biomimetic robotic leg structure of claim 8, wherein the biomimetic robotic leg structure comprises a second torso housing, wherein a sleeve of the second torso housing is mounted in cooperation with a guide post of the bottom shell, and wherein a resilient bayonet of the second torso housing is mounted in snap-fit with the bottom shell.
11. A biomimetic robot, characterized in that it comprises a biomimetic robot leg structure according to any one of claims 1 to 10.

Description

Leg structure of bionic robot and bionic robot Technical Field The application relates to the technical field of bionic robots, in particular to a leg structure of a bionic robot and the bionic robot. Background A bionic robot, also called a humanoid, is a robot intended to imitate the appearance and behavior of a human, in particular to a kind of human body similar to the human body. The whole trunk of the bionic robot is supported by leg structures, the stability of the bionic robot is affected by the design of the leg structures, and the leg structures and the trunk of the bionic robot are assembled too loosely to support the trunk or the leg movement function is affected by the deviation. Disclosure of Invention The application provides a leg structure of a bionic robot and the bionic robot, and the specific technical scheme is as follows: The utility model provides a bionic robot leg structure, bionic robot leg structure includes left leg, right leg, cantilever axle, first damping axle and second damping axle, wherein, the cantilever axle simultaneously with the left leg with the right leg is connected, the one end of cantilever axle is located in the inner space of left leg, the other end of cantilever axle is located in the inner space of right leg, first damping axle set up in the inner space of left leg, the one end setting of first damping axle is in cantilever axle, the other end setting of first damping axle is in on the left leg, the second damping axle set up in the inner space of right leg, the one end setting of second damping axle is in cantilever axle, the other end setting of second damping axle is in on the right leg, first damping axle with the second damping axle all with cantilever axle coaxial setting for match bionic robot's weight is in order to provide equivalent resistance, ensures bionic robot leg structure can support bionic robot's of trunk. Further, the left leg comprises a first left leg shell and a second left leg shell, wherein a first assembling groove is formed after the first left leg shell and the second left leg shell are assembled. Further, the right leg comprises a first right leg shell and a second right leg shell, wherein a second assembly groove is formed after the first right leg shell and the second right leg shell are assembled, and the second assembly groove is arranged opposite to the first assembly groove. Further, the biomimetic robotic leg structure comprises a first bearing and a second bearing, wherein the first bearing is fitted in the first fitting groove, and the second bearing is fitted in the second fitting groove. Further, the inner ring of the first bearing and the inner ring of the second bearing are interference fitted with the outer diameter of the cantilever shaft. Further, a wire passing groove is formed in the cantilever shaft, and a wire passing hole is formed by the wire passing groove, the inner ring of the first bearing and the inner ring of the second bearing. Further, the leg structure of the bionic robot includes a battery disposed in an inner space of the left leg or an inner space of the right leg. Further, the leg structure of the bionic robot comprises a bottom shell and a bottom cover, semicircular wire passing holes are formed in the bottom shell and the bottom cover, and the bottom shell is fixedly connected with the bottom cover and is hidden in the inner space of the leg structure of the bionic robot. Further, the leg structure of the bionic robot comprises a first trunk shell, and a spigot of the first trunk shell is matched with a limit rib of the bottom shell. Further, the leg structure of the bionic robot comprises a second trunk shell, a sleeve of the second trunk shell is mounted in a matched mode with a guide pillar of the bottom shell, and an elastic bayonet of the second trunk shell is mounted in a matched mode with a buckle of the bottom shell. A biomimetic robot comprising the biomimetic robot leg structure. The leg structure of the bionic robot is provided with the cantilever shafts, and the two ends of the cantilever shafts are also provided with the linear damping shafts, so that the linear damping shafts can be matched with the trunk weight of the bionic robot to provide a corresponding resistance, the trunk body can be effectively supported when the legs hover in a sector area which allows stopping, and the movement function of the legs is not influenced. Drawings Fig. 1 is an overall schematic diagram of a leg structure of a bionic robot according to an embodiment of the application. Fig. 2 is an exploded view schematically showing a leg structure of a bionic robot according to an embodiment of the present application. Fig. 3 is a schematic view of a cantilever shaft according to an embodiment of the present application. Fig. 4 is a schematic view of the bottom chassis and the bottom cover according to an embodiment of the present application. Fig. 5 is a schematic view of a first torso casing in accordance