CN112590967A - Leg structure and robot - Google Patents
Leg structure and robot Download PDFInfo
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- CN112590967A CN112590967A CN202011617637.7A CN202011617637A CN112590967A CN 112590967 A CN112590967 A CN 112590967A CN 202011617637 A CN202011617637 A CN 202011617637A CN 112590967 A CN112590967 A CN 112590967A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention provides a leg structure and a robot, wherein the leg structure comprises: a thigh section; the thigh part and the first linear driving mechanism are arranged on the thigh part in a swinging mode, one end of the first linear driving mechanism is hinged with the thigh part, and the other end of the first linear driving mechanism is hinged with the shank part; foot and two second linear driving mechanism that the parallel arrangement, foot swing joint in shank, second linear driving mechanism's one end is articulated with shank through first rotary joint, and second linear driving mechanism's the other end is articulated with foot through second rotary joint. According to the leg structure provided by the invention, the thigh part and the shank part as well as the shank part and the foot part are driven by the linear driving mechanisms, so that the space required by leg stacking is smaller, the size can be reduced, the integral inertia is smaller, the moment requirement can be met, and the motion capability of the robot can be effectively improved; the whole structure is simple, the structure is compact, and the cost is low.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a leg structure and a robot.
Background
The leg structure of a humanoid robot generally includes hip, knee and ankle degrees of freedom. The leg structure of the existing robot mostly uses a rotary steering engine to control the joint freedom degree. Adopt the rotatory rudder chance to cause robot shank structure size great, pile up the difficulty, whole inertia is big, and the moment demand to the rotation steering wheel is also great, consequently causes that the existing humanoid robot motion ability is limited, and the promotion of motion ability is more difficult.
Disclosure of Invention
The embodiment of the invention aims to provide a leg structure and a robot, and aims to solve the technical problems that the leg structure adopting a rotary rudder to control the joint freedom degree has large integral inertia and the robot is difficult to improve the motion capability in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: provided is a leg structure including:
a thigh section;
the thigh part is arranged on the thigh part in a swinging mode, one end of the first linear driving mechanism is hinged with the thigh part, and the other end of the first linear driving mechanism is hinged with the shank part;
the foot part is movably connected with the shank part, one end of the second linear driving mechanism is hinged with the shank part through a first rotary joint, and the other end of the second linear driving mechanism is hinged with the foot part through a second rotary joint.
Furthermore, the first linear driving mechanism and the second linear driving mechanism respectively comprise a motor, a speed reducer, a screw rod, a screw nut and a sleeve, the motor is in driving connection with the screw rod through the speed reducer, the screw nut is screwed on the screw rod, the sleeve is sleeved on the periphery of the screw rod, one end of the sleeve is fixed with the screw nut, and the sleeve can move along the axial direction of the screw rod.
Furthermore, the speed reducer is arranged in the shell, one end of the first rotary joint is fixedly arranged on the upper surface of the shell, the motor is fixedly arranged on the lower surface of the shell, the screw rod nut and the sleeve are positioned below the shell, an output shaft of the motor penetrates through the shell and is connected with the input end of the speed reducer, and one end of the screw rod extends into the shell and is connected with the output end of the speed reducer.
Furthermore, a supporting bearing sleeved on the screw rod is arranged in the shell, an outer ring of the supporting bearing is fixed with the shell, and an inner ring of the supporting bearing is fixed with the screw rod.
Further, one end, far away from the shell, of the screw rod is sleeved with a linear bearing, the linear bearing is in sliding fit with the screw rod, and an outer ring of the linear bearing is fixed on the inner wall of the sleeve.
Furthermore, the joints of the two second linear driving mechanisms and the lower leg parts and the foot parts are distributed in a triangular shape.
Further, the first linear driving mechanism is located on the front side of the thigh portion, and the two second linear driving mechanisms are located on the front side of the shank portion.
Further, shank portion includes shank skeleton, first extension and second extension, the width of shank skeleton reduces from last to bottom gradually, first extension is followed the top level of shank skeleton extend and with first rotary joint connects, the second extension is followed the vertical extension in bottom of shank skeleton and with foot swing joint.
Further, the first linear driving mechanism is located on the front side of the thigh portion, and the two second linear driving mechanisms are located on the rear side of the shank portion.
Furthermore, the thigh part comprises a U-shaped thigh framework and a supporting part vertically connected to the rear end of the bottom of the thigh framework, and the first linear driving mechanism is accommodated between the thigh framework and the small leg part.
Further, shank includes from last first part, second part and the third part that connects gradually down, the bottom of supporting part articulate in the rear end of first part top surface, the vertical connection of second part in the front end of first part bottom surface, the third part is kept away from the one end court of second part the direction slope setting of foot rear side.
Further, the first rotary joint and the second rotary joint are universal joints, joint bearings or spherical hinges.
Furthermore, two ends of the first linear driving mechanism are respectively hinged with the thigh part and the shank part through one-way hinges.
Another object of the present invention is to provide a robot including the above-described leg structure.
Further, the robot also comprises a hip, the hip comprises a hip support and a hip driving mechanism, the hip support is connected with the thigh part through the hip driving mechanism, and the top surface of the hip support is used for being connected with the trunk of the robot.
Furthermore, the hip driving mechanism is a two-degree-of-freedom steering engine, output shafts are arranged on the four sides of the two-degree-of-freedom steering engine respectively, one group of the output shafts is connected with the thigh part, and the other group of the output shafts is connected with the hip support.
The leg structure provided by the invention has the beneficial effects that: compared with the prior art, the leg structure has the advantages that the thigh part and the lower leg part as well as the lower leg part and the foot part are driven by the linear driving mechanisms, so that the space required by leg stacking is smaller, the size can be reduced, the lower leg part is driven to rotate by the first linear driving mechanism, the foot part is driven to rotate by the two second linear driving mechanisms arranged in parallel, the mass center of the leg part is improved, the integral inertia is smaller, the moment requirement can be met, and the motion capability of the robot can be effectively improved; the whole structure is simple, the structure is compact, and the cost is low.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a perspective view of a leg structure provided in accordance with one embodiment of the present invention;
FIG. 2 is a perspective view of a leg structure provided in accordance with another embodiment of the present invention;
fig. 3 is a cut-away view of the first linear drive mechanism in the leg arrangement of fig. 1.
Wherein, in the figures, the respective reference numerals:
100-thigh part; 200-lower leg; 300-foot part; 400-hip; 510-a first linear drive mechanism; 520-a second linear drive mechanism; 610-a first rotational joint; 620-a second rotational joint; 630-a third rotational joint; 640-a fourth revolute joint; 110-thigh skeleton; 120-a support; 210-calf skeleton; 211-a first extension; 212-a second extension; 221-a first portion; 222-a second portion; 223-a third portion; 410-hip support; 420-hip drive mechanism; 511-motor; 512-screw mandrel; 513-lead screw nuts; 514-a sleeve; 515-a reducer; 516-a housing; 517-support bearing; 518-linear bearing.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can 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 be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1, a leg structure provided by an embodiment of the present invention will now be described. The leg structure includes a thigh section 100, a lower leg section 200, a foot section 300, a first linear drive mechanism 510 and two second linear drive mechanisms 520. The thigh portion 100 is connected to a hip support 410 of the robot, the lower leg portion 200 is attached to the thigh portion 100 in a swinging manner, and the foot portion 300 is provided below the lower leg portion 200 and movably connected to the lower leg portion 200. The first linear drive mechanism 510 is hinged at one end to the thigh section 100 and at the other end to the lower leg section 200. Two second linear driving mechanisms 520 are arranged in parallel, one end of the second linear driving mechanism 520 is hinged to the lower leg portion 200 through a first rotary joint 610, and the other end of the second linear driving mechanism 520 is hinged to the foot portion 300 through a second rotary joint 620. That is, the first linear driving mechanism 510 constitutes a knee driving member of the robot, the two second linear driving mechanisms 520 constitute ankle driving members of the robot, and both knee joints and ankle joints adopt linear driving, so that the space required by leg stacking is smaller, the mass center is increased, the inertia is smaller, and the moment of the leg joint of the robot is larger.
Compared with the prior art, the leg structure provided by the invention has the advantages that linear driving mechanisms are adopted to drive the thigh part 100 and the shank part 200 as well as the shank part 200 and the foot part 300, so that the space required by leg stacking is smaller, the size can be reduced, the first linear driving mechanism 510 drives the shank part 200 to rotate, the two second linear driving mechanisms 520 arranged in parallel drive the foot part 300 to rotate, the mass center of the leg part is improved, the integral inertia is smaller, the moment requirement can be met, and the motion capability of the robot can be effectively improved; the whole structure is simple, the structure is compact, and the cost is low.
In an embodiment, the first rotating joint 610 and the second rotating joint 620 may each employ a universal joint, a joint bearing, or a spherical hinge, which may implement a rotating motion of any angle. Referring to fig. 1, the first rotary joint 610 and the second rotary joint 620 both use joint bearings, each of which has two rotation shafts, one of the rotation shafts is parallel to the width direction of the foot 300, the other rotation shaft is parallel to the length direction of the foot 300, and the two rotation shafts are arranged in a cross manner.
In one embodiment, referring to fig. 3, each of the first linear drive mechanism 510 and the second linear drive mechanism 520 includes a motor 511, a lead screw 512, a lead screw nut 513, a sleeve 514, and a reducer 515. The motor 511 is in driving connection with the screw rod 512 through the speed reducer 515 to drive the screw rod 512 to rotate, and the speed reducer 515 is arranged to reduce the rotating speed so as to improve the output torque. The output shaft of the motor 511 is connected with the input end of the speed reducer 515, and the input end of the screw rod 512 is connected with the output end of the speed reducer 515; the screw rod nut 513 is screwed on the screw rod 512, the sleeve 514 is sleeved outside the screw rod 512, the inner diameter of the sleeve 514 is larger than the outer diameter of the screw rod 512, and the sleeve 514 can move along the axial direction of the screw rod 512; one end of the sleeve 514 is fixed to the feed screw nut 513, and the other end of the sleeve 514 is connected to and fixed to the second rotary joint 620. The output shaft of the motor 511 may be directly connected to the lead screw 512, or may be indirectly connected to the lead screw 512 through the reduction gear 515. The reducer 515 may be one-stage or multi-stage spur gear reducer, planetary reducer, harmonic reducer, cycloidal pin gear reducer, belt drive, etc., the motor 511 may be an outer rotor brushless motor, an inner rotor brushless motor, a brush motor, a hollow cup motor, a step motor, and the lead screw 512 may be, but is not limited to, a ball screw, a trapezoidal lead screw, and a planetary roller lead screw.
In one embodiment, referring to fig. 3, the motor 511 is indirectly connected to the screw 512 through the reducer 515, and the reducer 515 is covered by the housing 516. The output shaft of the motor 511 penetrates through the shell 516 and then is connected with the input end of the speed reducer 515, the motor 511 is fixedly arranged on the lower surface of the shell 516, and the lead screw nut 513 and the sleeve 514 are positioned below the shell 516, so that the heavier part of the corresponding linear driving mechanism is concentrated on the upper part, the mass center of the corresponding linear driving mechanism is higher, the mass center of the leg part of the robot is lifted, and the inertia is reduced. One end of the first rotary joint 610 is fixedly installed on the upper surface of the housing 516, and one end of the screw rod 512 extends into the housing 516 and is connected with the output end of the speed reducer 515.
Specifically, the width of the housing 516 is gradually increased from the direction close to the lower leg portion 200 to the direction away from the lower leg portion 200; the housing 516 comprises an upper housing and a lower housing which are connected, the lower housing is provided with a through hole for the output shaft of the motor 511 to pass through and a through hole for the screw rod 512 to pass through, the first rotary joint 610 is fixed at one end of the top surface of the upper housing, the output shaft of the motor 511 and the screw rod 512 are both vertical to the lower surface of the lower housing, and the screw rod 512 is located between the lower leg part 200 and the motor 511.
In an embodiment, referring to fig. 3, a linear bearing 518 is fixed on an inner wall surface of the sleeve 514, an inner ring of the linear bearing 518 is sleeved on an outer periphery of the screw rod 512, the linear bearing 518 is in sliding fit with the screw rod 512, and the linear bearing 518 is arranged to assist guiding of the screw rod 512 during linear movement in the sleeve 514 and can bear a certain bending moment, so that the sleeve 514 and the screw rod are kept in a relatively concentric state. Specifically, the linear bearing 518 is sleeved on the non-threaded section of the end of the screw rod 512 far away from the screw nut 513, and the linear bearing 518 can adopt a ball linear bearing, a sliding bearing sleeve, a ball bushing and the like, so that linear guiding and radial force bearing can be better provided.
One end of the screw rod 512 close to the speed reducer 515 is sleeved with one or more support bearings 517, as shown in fig. 3, two support bearings 517 are sleeved on the screw rod 512 at intervals, the outer ring of each support bearing 517 is fixed with the shell 516, and the inner ring of each support bearing 517 is fixed with the screw rod 512. The support bearing 517 is used for supporting one end of the screw rod 512 close to the speed reducer 515 and can bear a certain lateral bending moment; the support bearing 517 may be a deep groove ball bearing, an angular contact ball bearing, a four point contact ball bearing.
In one embodiment, referring to fig. 1, the joints between the two second linear driving mechanisms 520 and the lower leg portion 200 and the foot 300 are distributed in a triangular shape. The foot 300 has a bilaterally symmetrical structure, the left and right sides of the foot 300 are symmetrically arranged about a center line, the joint of the lower leg 200 and the foot 300 is located on the center line of the foot 300, and the joints of the two second linear driving mechanisms 520 and the foot 300 are symmetrically arranged on the two sides of the center line of the foot 300. That is, the joints between the two second linear driving mechanisms 520 and the lower leg portion 200 and the foot portion 300 form an isosceles triangle with three end points, and the triangle distribution is adopted, so that the pitching motion and the turning motion of the foot portion 300 can be realized, when the robot needs to stand, the gravity of the robot is transmitted to the ground through the lower leg portion 200 and the foot portion 300, and the stability of the lower leg portion 200 relative to the foot portion 300 is ensured.
In one embodiment, as shown in fig. 1, the first linear driving mechanism 510 is located at the front side of the thigh 100, the two second linear driving mechanisms 520 are located at the front side of the lower leg 200, that is, the two second rotary joints 620 are located at the front end of the foot 300, and the two second rotary joints 620 are located at the front side of the lower leg 200, so that when the two second linear driving mechanisms 520 move in the same direction, the ankle joint pitching motion, that is, the front end of the foot 300 swings up and down, is realized; when the two second linear driving mechanisms 520 move in different directions, a combined motion of the ankle rolling motion and the pitching motion, i.e., the left-right swing and the up-down swing of the front end of the foot 300, is achieved.
In one embodiment, referring to fig. 1, lower leg portion 200 includes a lower leg armature 210, a first extension 211, and a second extension 212. The shank skeleton 210 is a structure with a hollow middle part, and the shank skeleton 210 comprises a frame body, and a cross beam and a supporting beam which are arranged in the frame body; the first extension part 211 horizontally extends toward the front end of the lower leg part 200, one end of the first rotary joint 610 is fixed to the bottom surface of the first extension part 211, and the other end is fixed to the top surface of the upper housing; the second extension part 212 extends vertically from the bottom of the frame, that is, vertically downward from the bottom of the calf skeleton 210, the width of the second extension part 212 decreases gradually from top to bottom, the width of the bottom of the second extension part 212 is smaller than the width of the bottom of the calf skeleton 210, the second extension part 212 is movably connected with the foot 300 through a fourth rotary joint 640, and the fourth rotary joint 640 is a universal joint, a joint bearing or a spherical hinge.
The thigh part 100 includes a thigh frame 110 having a U-shape, and a support part 120 connected to a bottom surface of the thigh frame 110. Thigh frame 110 is used for mounting hip 400, thigh frame 110 is rotatably mounted with hip driving mechanism 420, and hip brackets 410 in a U shape are rotatably mounted at both sides of hip driving mechanism 420.
In another embodiment, referring to fig. 2, the first linear driving mechanism 510 is located at the front side of the thigh 100, the two second linear driving mechanisms 520 are located at the back side of the lower leg 200, i.e. the bottom second rotary joint 620 is located at the back end of the foot 300, and the two first rotary joints 610 and the two second rotary joints 620 are located at the back side of the lower leg 200; when the two second linear driving mechanisms 520 move towards the same direction, the pitching motion of the ankle joint is realized, i.e. the front ends of the feet 300 swing up and down; when the two second linear driving mechanisms 520 move in different directions, a combined motion of the ankle rolling motion and the pitching motion, i.e., the left-right swing and the up-down swing of the front end of the foot 300, is achieved.
In one embodiment, referring to fig. 2, the thigh portion 100 includes a U-shaped thigh frame 110 and a supporting portion 120 connected to a rear end of a bottom of the thigh frame 110. Two ends of the first linear driving mechanism 510 are respectively connected with the thigh frame 110 and the lower leg portion 200 through third rotary joints 630, of the two third rotary joints 630, the third rotary joint 630 located at the upper part is installed at the front end of the bottom surface of the thigh frame 110, and the third rotary joint 630 located at the lower part is installed at the central position of the first part 221, so that the first linear driving mechanism 510 is obliquely arranged and accommodated in the space below the thigh frame 110, the assembly structure of the thigh frame 110 and the first linear driving mechanism 510 is compact, and the overall occupied space is small.
In an embodiment, referring to fig. 2, the lower leg portion 200 includes three portions, which are a first portion 221, a second portion 222 and a third portion 223 sequentially connected from top to bottom, a bottom end of the supporting portion 120 is hinged to a rear end of a top surface of the first portion 221, the second portion 222 is vertically connected to a front end of a bottom surface of the first portion 221, and an end of the third portion 223 far away from the second portion 222 is inclined toward a rear side of the foot 300. The first part 221 is horizontally arranged in a flat plate shape, the second part 222 is a flat plate with a hollow middle, and is vertically or obliquely arranged, the third part 223 is an inclined plate with a hollow middle, the width of the third part 223 gradually decreases from top to bottom, that is, the whole lower leg 200 is approximately in a shape of '7', the third part 223 at the bottom is obliquely extended towards the rear end direction of the foot 300, the third part 223 is movably connected with the foot 300 through a fourth rotary joint 640, and the fourth rotary joint 640 is a universal joint, a joint bearing or a spherical hinge. The overall weight of the calf framework 210 is small, the two second linear driving mechanisms 520 are positioned below the first part 221, and the motors 511 of the two second linear driving mechanisms are accommodated in the space below the first part 221, so that the assembly structure of the calf framework 210 and the second linear driving mechanisms 520 is more compact, and the overall occupied space is smaller.
In one embodiment, referring to fig. 2, the third rotating joint 630 is a one-way hinge, one end of the one-way hinge is fixedly mounted on the top surface of the housing 516 of the first linear driving mechanism 510, and the other end of the one-way hinge is fixedly mounted on the inner bottom surface of the thigh frame 110.
The robot that this embodiment provided, including the shank structure of above-mentioned embodiment, through setting up above-mentioned shank structure, can effectively reduce the whole space that occupies of robot, all adopt sharp actuating mechanism to drive between the shank of concrete robot and shank 200, shank 200 and the foot 300 for the shank structure can reduce the size, need not to pile up, and whole inertia is less, can satisfy the moment demand, has also promoted the motion ability of robot simultaneously effectively.
In one embodiment, referring to fig. 1, the robot further comprises a hip 400, the hip 400 comprising a hip support 410 and a hip drive mechanism 420. The hip mount 410 is connected to the thigh 100 by a hip drive mechanism 420, and the hip mount 410 is adapted to be connected to the trunk of the robot. In one embodiment, the hip bracket 410 is U-shaped, the hip driving mechanism 420 can control the hip 400 to move in two directions, i.e. pitch and roll, and the hip driving mechanism 420 can be a two-degree-of-freedom steering engine or a stack of two single-degree-of-freedom steering engines.
As shown in fig. 2, the hip driving mechanism 420 is a two-degree-of-freedom steering engine, and the four sides of the two-degree-of-freedom steering engine are respectively provided with output shafts, one of the output shafts is connected with the thigh part 100, and the other output shaft is connected with the hip support 410. The hip driving mechanism 420 is a two-degree-of-freedom steering engine having two output shafts arranged in a cross, wherein two ends of one output shaft are connected to the thigh frame 110, and two ends of the other output shaft are connected to the hip support 410.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (16)
1. A leg structure characterized in that: the method comprises the following steps:
a thigh section;
the thigh part is arranged on the thigh part in a swinging mode, one end of the first linear driving mechanism is hinged with the thigh part, and the other end of the first linear driving mechanism is hinged with the shank part;
the foot part is movably connected with the shank part, one end of the second linear driving mechanism is hinged with the shank part through a first rotary joint, and the other end of the second linear driving mechanism is hinged with the foot part through a second rotary joint.
2. The leg structure of claim 1, wherein: the first linear driving mechanism and the second linear driving mechanism respectively comprise a motor, a speed reducer, a lead screw nut and a sleeve, the motor is in driving connection with the lead screw through the speed reducer, the lead screw nut is screwed on the lead screw, the sleeve is sleeved on the periphery of the lead screw, one end of the sleeve is fixed with the lead screw nut, and the sleeve can move along the axial direction of the lead screw.
3. The leg structure of claim 2, wherein: the speed reducer is arranged in the shell, one end of the first rotary joint is fixedly arranged on the upper surface of the shell, the motor is fixedly arranged on the lower surface of the shell, the screw rod nut and the sleeve are positioned below the shell, an output shaft of the motor penetrates through the shell and is connected with the input end of the speed reducer, and one end of the screw rod extends into the shell and is connected with the output end of the speed reducer.
4. The leg structure of claim 3, wherein: the screw rod is arranged in the shell, the outer ring of the support bearing is fixed with the shell, and the inner ring of the support bearing is fixed with the screw rod.
5. The leg structure of claim 3, wherein: one end, far away from the shell, of the screw rod is sleeved with a linear bearing, the linear bearing is in sliding fit with the screw rod, and the outer ring of the linear bearing is fixed on the inner wall of the sleeve.
6. The leg structure of claim 1, wherein: the joints of the two second linear driving mechanisms and the shank part and the foot part are distributed in a triangular shape.
7. The leg structure of claim 6, wherein: the first linear driving mechanism is located on the front side of the thigh portion, and the two second linear driving mechanisms are located on the front side of the shank portion.
8. The leg structure of claim 7, wherein: shank portion includes shank skeleton, first extension and second extension, the width of shank skeleton reduces from last to bottom gradually, first extension is followed the top level of shank skeleton extend and with first rotary joint connects, the second extension is followed the vertical extension in bottom of shank skeleton and with foot swing joint.
9. The leg structure of claim 6, wherein: the first linear driving mechanism is located on the front side of the thigh portion, and the two second linear driving mechanisms are located on the rear side of the shank portion.
10. The leg structure of claim 9, wherein: the thigh part comprises a U-shaped thigh framework and a supporting part vertically connected to the rear end of the bottom of the thigh framework, and the first linear driving mechanism is contained between the thigh framework and the small leg part.
11. The leg structure of claim 10, wherein: the shank portion comprises a first portion, a second portion and a third portion which are sequentially connected from top to bottom, the bottom end of the supporting portion is hinged to the rear end of the top face of the first portion, the second portion is vertically connected to the front end of the bottom face of the first portion, and one end of the third portion, which is far away from the second portion, is obliquely arranged in the direction of the rear side of the foot.
12. The leg structure of any of claims 1-11, wherein: the first rotary joint and the second rotary joint are universal joints, joint bearings or spherical hinges.
13. The leg structure of any of claims 1-11, wherein: two ends of the first linear driving mechanism are respectively hinged with the thigh part and the shank part through one-way hinges.
14. A robot, characterized by: comprising a leg structure as claimed in any one of claims 1-13.
15. A robot as recited in claim 14, wherein: the robot further comprises a hip, the hip comprises a hip support and a hip driving mechanism, the hip support is connected with the thigh part through the hip driving mechanism, and the top surface of the hip support is used for being connected with the trunk of the robot.
16. A robot as recited in claim 15, wherein: the hip driving mechanism is a two-degree-of-freedom steering engine, output shafts are arranged on the four sides of the two-degree-of-freedom steering engine respectively, one group of the output shafts is connected with the thigh part, and the other group of the output shafts is connected with the hip support.
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| CN202011617637.7A CN112590967A (en) | 2020-12-30 | 2020-12-30 | Leg structure and robot |
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| CN202011617637.7A CN112590967A (en) | 2020-12-30 | 2020-12-30 | Leg structure and robot |
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| WO2018170638A1 (en) * | 2017-03-18 | 2018-09-27 | 深圳市方鹏科技有限公司 | Lower limb walking mechanism system for robot |
| CN107187512A (en) * | 2017-05-31 | 2017-09-22 | 地壳机器人科技有限公司 | Human-imitating double-foot walking robot |
| CN108032328A (en) * | 2017-12-18 | 2018-05-15 | 深圳市优必选科技有限公司 | A kind of steering engine component, robot joint structure and robot |
| CN108791564A (en) * | 2018-08-16 | 2018-11-13 | 西南科技大学 | Integrated hydraulic system robot leg |
| CN110228545A (en) * | 2019-05-16 | 2019-09-13 | 深圳市优必选科技有限公司 | A kind of linear joint and leg biped robot |
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Application publication date: 20210402 |