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CN-224211164-U - Bionic humanoid robot lower limb structure

CN224211164UCN 224211164 UCN224211164 UCN 224211164UCN-224211164-U

Abstract

The utility model discloses a lower limb structure of a bionic humanoid robot, which aims to solve the defects of the leg structure of the robot that the upper part is large in size, large in inertia and short in force receiving arm. The utility model comprises a thigh main body and a shank main body which are hinged together, wherein the upper part of the thigh main body is hinged with a thigh Zhou Zhuai, a knee joint component is arranged on the thigh main body, the knee joint component comprises a knee joint pusher and a knee joint connecting rod, the knee joint connecting rod is hinged with the shank main body, a knee joint ejector rod is hinged between the knee joint connecting rod and the thigh main body, the knee joint pusher is hinged on the thigh main body, and a telescopic rod of the knee joint pusher is hinged with the knee joint connecting rod. The bionic humanoid robot lower limb structure optimizes space utilization rate and mass inertia distribution, avoids the upper portion from being bloated, and has good imitation, engineering practicability and expansibility.

Inventors

  • CHEN YUXIAO
  • HU LUHUI

Assignees

  • 智澄英达(杭州)科技有限公司

Dates

Publication Date
20260508
Application Date
20250625

Claims (10)

  1. 1. The utility model provides a bionical humanoid robot low limbs structure, its characterized in that, including articulated thigh main part and shank main part together, thigh main part upper portion articulates thigh Zhou Zhuai, installs knee joint main part in the thigh main part, and knee joint main part includes knee joint impeller and knee joint connecting rod, and knee joint connecting rod articulates with the shank main part, articulates knee joint ejector pin between knee joint connecting rod and the thigh main part, and knee joint impeller articulates in the thigh main part, and knee joint impeller's telescopic link articulates with knee joint connecting rod.
  2. 2. The biomimetic humanoid robot lower limb structure of claim 1, wherein a hip joint body is mounted on the thigh body, the hip joint body includes a hip joint pusher and a hip joint link, the hip joint link is hinged with the thigh Zhou Zhuai, a hip joint ejector rod is hinged between the hip joint link and the thigh body, the hip joint pusher is hinged on the thigh body, and a telescopic rod of the hip joint pusher is hinged with the hip joint link.
  3. 3. The biomimetic humanoid robot lower limb structure of claim 2, wherein the thigh body includes two oppositely disposed connection plates, and a gap between the two connection plates forms an installation space, and hinge positions of the thigh Zhou Zhuai, the hip joint ejector rod, the knee joint pusher, the hip joint pusher, the knee joint ejector rod, the shank body and the thigh body are all in the installation space.
  4. 4. A biomimetic humanoid robot lower limb structure as in claim 3, wherein the surface of the connection plate is provided with a sink groove in which the driver is mounted.
  5. 5. The bionic humanoid robot lower limb structure according to claim 2, wherein the knee joint connecting rod is provided with a lower hinge shaft, the end part of the telescopic rod of the knee joint pusher is provided with a rotating ring, the rotating ring and the knee joint ejector rod are both connected with the lower hinge shaft sleeve, the hip joint connecting rod is provided with an upper hinge shaft, the end part of the telescopic rod of the hip joint pusher is provided with a lantern ring, and the lantern ring and the hip joint ejector rod are both connected with the upper hinge shaft sleeve.
  6. 6. The lower limb structure of the bionic humanoid robot according to claim 1, wherein a thigh turnover motor is arranged on the thigh turnover seat, the thigh turnover motor is correspondingly provided with a thigh side swing motor, and a side swing turnover connecting piece is connected between the output end of the thigh turnover motor and the output end of the thigh side swing motor.
  7. 7. The lower limb structure of the bionic humanoid robot according to any one of claims 1 to 6, wherein the lower end of the shank body is connected with a cross bearing, the cross bearing is connected with a sole output seat, the sole output seat is connected with a sole, and an ankle pusher is hinged between the sole output seat and the shank body.
  8. 8. The lower limb structure of the bionic humanoid robot according to claim 7, wherein the sole output seat is provided with a supporting transverse shaft, the left ankle pusher and the right ankle pusher are oppositely arranged, the upper end of the ankle pusher is hinged on the calf body, the lower end of the telescopic rod of the ankle pusher is provided with a connecting ring, and the connecting ring is sleeved and connected with the supporting transverse shaft.
  9. 9. The lower limb structure of the bionic humanoid robot according to claim 8, wherein the left and right opposite universal ball heads are arranged on the supporting transverse shaft, the inner wall of the connecting ring is provided with a spherical surface, and the spherical surface is connected with the universal ball heads in an adaptive manner.
  10. 10. The lower limb structure of the bionic humanoid robot according to claim 7, wherein a six-dimensional force sensor is connected between the sole and the sole output seat.

Description

Bionic humanoid robot lower limb structure Technical Field The utility model relates to the technical field of robots, in particular to a lower limb structure of a bionic humanoid robot. Background The leg structure of the existing bionic humanoid robot generally adopts a high-power rotating motor to directly drive hip joints and knee joints and is arranged on two sides of the root of thighs or the upper section of the lower leg in a concentrated manner. Because the motor and the speed reducer are large in size and concentrated in mass, the upper parts of the leg structures are bloated, the inertia is large, the force receiving arm is short, the bionic proportion and the overall appearance coordination are affected, and the output torque and the control precision are limited. Particularly, when the requirement of compact appearance is met, the motor reduction ratio is limited, so that the torque capacity of the joint is further weakened, and the movement performance and the load capacity are reduced. The progressive power robot disclosed in the Chinese patent publication No. CN116946280A and the intelligent robot disclosed in the Chinese patent publication No. CN 118182675A have higher similarity in the lower limb structure, the thigh structure is bloated, the space layout of the motor is unreasonable, the inertia is large, the moment is limited, the upper structure of the shank is concentrated, the moment of a power system is insufficient, the imitation is poor, the space utilization rate is low, and the imitation and the power performance cannot be considered. Disclosure of utility model In order to overcome the defects, the utility model provides a lower limb structure of a bionic humanoid robot, which optimizes space utilization rate and mass inertia distribution, avoids the upper part from being bloated and has good imitation, engineering practicability and expansibility. In order to solve the technical problems, the lower limb structure of the bionic humanoid robot adopts the following technical scheme that the lower limb structure comprises a thigh main body and a shank main body which are hinged together, wherein the upper part of the thigh main body is hinged with a thigh Zhou Zhuai, a knee joint component is arranged on the thigh main body and comprises a knee joint pusher and a knee joint connecting rod, the knee joint connecting rod is hinged with the shank main body, a knee joint ejector rod is hinged between the knee joint connecting rod and the thigh main body, the knee joint pusher is hinged on the thigh main body, and a telescopic rod of the knee joint pusher is hinged with the knee joint connecting rod. The knee joint adopts a driving mode of a knee joint pusher and a double connecting rod, and the knee joint pusher is arranged on the thigh main body, so that the space layout and the mass distribution are obviously optimized. Compared with the traditional rotating motor proposal concentrated at the root of the thigh or the upper part of the calf, the proposal integrates the knee joint pusher and the connecting rod in the middle section of the limb, so that the contour of the leg is naturally coordinated, the problem of the upper section is effectively reduced, the imitation is promoted, and the integration of the appearance design is facilitated. The mass distribution is closer to the human leg muscle structure, the inertia is smaller, and the movement is more stable. When the knee joint moves, the telescopic rod of the knee joint pusher stretches and moves, so that the knee joint connecting rod and the knee joint ejector rod are driven to rotate, and further the rotation of the shank main body is realized. The bionic humanoid robot lower limb structure optimizes space utilization rate and mass inertia distribution, avoids the upper portion from being bloated, and has good imitation, engineering practicability and expansibility. Preferably, the thigh body is provided with a hip joint assembly, the hip joint assembly comprises a hip joint pusher and a hip joint connecting rod, the hip joint connecting rod is hinged with the thigh Zhou Zhuai, a hip joint ejector rod is hinged between the hip joint connecting rod and the thigh body, the hip joint pusher is hinged on the thigh body, and a telescopic rod of the hip joint pusher is hinged with the hip joint connecting rod. The hip joint adopts a driving mode of 'hip joint pusher plus double connecting rods', the hip joint pusher is arranged on the thigh main body, and the space layout and the mass distribution are obviously optimized. Compared with the traditional rotating motor proposal concentrated at the root of the thigh or the upper part of the calf, the proposal integrates the hip joint pusher and the connecting rod in the middle section of the limb, so that the contour of the leg is naturally coordinated, the problem of the upper section is effectively reduced, the imitation is promoted, and the integration of the appearance design is fac