CN115123423B - Biped robot - Google Patents

Abstract

The invention relates to a bipedal robot, which comprises a hip support, wherein two legs are symmetrically arranged at the left end and the right end of the hip support, and each leg comprises a hip ball joint, a thigh, a knee joint, a shank, an ankle ball joint and a sole which are sequentially connected from top to bottom; the hip ball joint is provided with a second driving mechanism and a third driving mechanism, the second driving mechanism controls the hip ball joint to drive the thigh to swing laterally by taking a second straight line as a rotating shaft, the third driving mechanism controls the hip ball joint to drive the thigh to swing vertically by taking a third straight line as the rotating shaft, and the second straight line and the third straight line are orthogonal; the ankle ball joint is provided with a fifth driving mechanism and a sixth driving mechanism, the fifth driving mechanism controls the ankle ball joint to drive the sole to swing laterally by taking a fifth straight line as a rotating shaft, the sixth driving mechanism controls the ankle ball joint to drive the sole to swing vertically by taking a sixth straight line as the rotating shaft, and the fifth straight line and the sixth straight line are orthogonal. The invention has more anthropomorphic form and gait, has no coupling linkage among degrees of freedom, and reduces the control difficulty.

Description

Biped robot

Technical Field

The invention relates to the technical field of robots, in particular to a bipedal robot.

Background

Along with the continuous development of the robot technology, the development of the biped robot technology is rapid, and the biped robot is used as an advanced development stage of the robot technology, and is a front technical field integrating multiple subjects of mechanism kinematics and dynamics, materiality, computer technology, modern control theory, bionics and the like. Nowadays, various bipedal robots have been developed at home and abroad and have been applied to a certain extent.

In the foot type robot in the related art, due to the adoption of a static balance gait algorithm, a plurality of independent degrees of freedom are needed for a single leg, so that different drivers are needed to be arranged at each joint, the drivers are often stacked in series, the whole structure is heavy and redundant, the difference between the whole structure and the joint structure of a human body is great, the joint of the human body is a ball-like joint, and the leg bones rotate around the center of the ball; the bionic robot has the advantages that a part of bionic robot needs to adopt a dynamic balance gait algorithm, so that a joint structure is simplified, the number of degrees of freedom and the number of drivers are reduced, the overall weight of the mechanism is reduced, but due to the fact that the degrees of freedom of coupling exist, the action track of the mechanism can be relatively fixed, the degree of flexibility can be limited, and the condition of coupling linkage exists among a plurality of degrees of freedom, and the control difficulty can be increased.

The robot described in the invention of the publication number CN111731407B adopts serial disc motors for driving each degree of freedom of the legs instead of simulating human ball joints, the leg joints are segmented, a plurality of degrees of freedom of the same joint cannot rotate around the same ball center, the shape and gait are greatly different from those of the legs of the human body, and stacked drivers make the whole structure of the robot heavy and redundant;

the robot described in the invention application of the publication number CN114030537a adopts a bionic ball head for the ankle joint, two push rod motors arranged side by side are arranged on the rear leg to drive the heel, the ankle joint can rotate around the ball center, but the single degree of freedom of the ankle joint is completed by the cooperation of the two push rod motors, and the pitch degree of freedom and the side swing degree of freedom have coupling linkage, so that the control difficulty is increased and the control algorithm is complicated.

Disclosure of Invention

In view of this, the present invention provides a bipedal robot for solving the problems that in the related art, the serial stacking of the drives of the bipedal robot is heavy and redundant in the overall structure, and has great difference from the joint structure of the human body, and the degrees of freedom of coupling exist in part of the bipedal robots, the motion track of the mechanism is relatively fixed, the degree of flexibility is limited, and the coupling linkage exists between a plurality of degrees of freedom, so that the control difficulty is increased.

To achieve one or a part or all of the above or other objects, the present invention provides a bipedal robot comprising a hip support provided with two legs including a hip ball joint, a thigh, a knee joint, a shank, an ankle ball joint and a sole connected in sequence from top to bottom;

the hip ball joint is provided with a second driving mechanism and a third driving mechanism, the second driving mechanism controls the hip ball joint to drive the thigh to swing laterally by taking a second straight line as a rotating shaft, the third driving mechanism controls the hip ball joint to drive the thigh to swing by taking a third straight line as a rotating shaft, the second straight line and the third straight line are orthogonal to the first orthogonal point, and the thigh rotates around the first orthogonal point;

the ankle ball joint is provided with a fifth driving mechanism and a sixth driving mechanism, the fifth driving mechanism controls the ankle ball joint to drive the sole to swing laterally by taking a fifth straight line as a rotating shaft, the sixth driving mechanism controls the ankle ball joint to drive the sole to swing vertically by taking a sixth straight line as the rotating shaft, the fifth straight line and the sixth straight line are orthogonal to the second orthogonal point, and the sole rotates around the second orthogonal point.

In an alternative embodiment, the bipedal robot further includes a first drive mechanism disposed on top of the hip ball joint for controlling rotational movement of the hip ball joint about a first line;

The first, second, and third lines are orthogonal to a first orthogonal point.

In an alternative embodiment, the hip ball joint comprises a hip support seat and a hip rotation seat, and the top of the hip support seat is connected with the first driving mechanism;

the bottom of the hip supporting seat is provided with a first arc-shaped groove, the shape of the hip rotating seat is matched with that of the first arc-shaped groove, and the hip rotating seat is connected in the first arc-shaped groove in a sliding way;

the second driving mechanism is in transmission connection with the hip rotating seat, and controls the hip rotating seat to swing left and right around the second straight line.

In an alternative embodiment, the front end surface and the rear end surface of the hip supporting seat are both supporting plates, the hip rotating seat is positioned between the two supporting plates, and the side surface of the supporting plate facing the hip rotating seat is provided with an arc-shaped rolling groove;

the hip rotating seat is provided with a plurality of supporting shafts on the end face facing the rolling groove, a third bearing is sleeved on the periphery of the supporting shafts, and the third bearing is positioned in the rolling groove and rolls along the rolling groove.

In an alternative embodiment, the top of the hip rotary seat is provided with a worm gear rack, the second driving mechanism comprises a first worm, the first worm is transversely inserted on the hip support seat, and the first worm is meshed with the worm gear rack.

In an alternative embodiment, the second drive mechanism further comprises a second motor, a first gear, and a second gear;

the second motor is transversely inserted on the hip supporting seat, and an output shaft of the second motor is connected with and controls the first gear to rotate;

the first gear is meshed with the second gear;

the second gear is connected with one end of the first worm, and the second gear drives the first worm to rotate.

In an alternative embodiment, a first worm gear assembly is fixedly arranged on the hip rotating seat, and the third driving mechanism is connected with and controls the first worm gear assembly to rotate by taking the third straight line as a rotating shaft.

In an alternative embodiment, the first worm gear assembly comprises a first worm gear and a first connecting shaft, the first worm gear is sleeved in the middle of the first connecting shaft, two ends of the first connecting shaft are connected with the hip rotating seat, and the first worm gear, the first connecting shaft and the hip rotating seat synchronously rotate.

In an alternative embodiment, the third drive mechanism includes a third motor, a first worm gear, and a third gear;

the two ends of the first worm gear are respectively provided with a first gear part and a first worm part,

The output shaft of the third motor is connected with and controls the third gear to rotate;

the third gear is meshed with the first gear portion, and the first worm portion is meshed with the first worm wheel.

In an alternative embodiment, the hip ball joint further comprises a first box assembly, the bottom of the first box assembly being fixedly connected to the thigh;

the two shaft ends of the first worm gear are convexly provided with first worm gear bosses, holes are formed in the left side and the right side of the first box body assembly, and the holes are rotationally connected with the first worm gear bosses;

the third gear and the first worm gear are arranged in the first box assembly;

the third motor is vertically fixed at the bottom of the first box assembly, and an output shaft of the third motor upwards penetrates into the first box assembly to be connected with the third gear.

In an alternative embodiment, the first driving mechanism comprises a first motor, a connecting seat and a first connecting plate, and connecting cylinders are arranged at two ends of the hip support;

the bottom of the connecting seat is fixedly connected with the hip ball joint, the top of the connecting seat is provided with a connecting round table, and the connecting round table is inserted into the connecting cylinder;

The first motor is fixed at the top of the connecting cylinder, the output end of the first motor is a flange end face, the first connecting plate is fixed at the bottom of the flange end face, the connecting round table is fixed at the bottom of the first connecting plate, and the flange end face drives the first connecting plate and the connecting round table to rotate around a first straight line.

In an alternative embodiment, the first driving mechanism further comprises a first bearing and a second bearing, wherein the inner rings of the first bearing and the second bearing are matched with the connecting round table, the outer rings of the first bearing and the second bearing are matched with the inner side wall of the connecting cylinder, and the first bearing is positioned above the second bearing;

a limiting ring is convexly arranged on the inner side wall of the connecting cylinder, and the bottom surface of the first bearing is propped against the limiting ring;

the first bearing is a thrust bearing.

In an alternative embodiment, the ankle ball joint includes an ankle swivel, a third worm gear assembly, and a third housing assembly;

the top of the third box body component is fixedly connected with the lower leg, and the third worm gear component is rotationally connected to the bottom of the third box body component;

the fifth driving mechanism is arranged on the third box body assembly and drives the third worm wheel assembly to rotate by taking the fifth straight line as a rotating shaft.

In an alternative embodiment, the third worm gear assembly comprises a third worm gear and a third connecting shaft, and the third worm gear is sleeved in the middle of the third connecting shaft;

a third worm wheel boss is outwards protruded at two shaft ends of the third worm wheel, holes are formed in the front side and the rear side of the third box body assembly, and the holes are rotationally connected with the third worm wheel boss;

the two ends of the third connecting shaft are connected with the ankle rotating seat, and the ankle rotating seat, the third worm wheel and the third connecting shaft synchronously rotate.

In an alternative embodiment, the fifth driving mechanism comprises a fifth motor, a third worm gear and a fifth gear, wherein two ends of the third worm gear are respectively provided with a third gear part and a third worm part;

an output shaft of the fifth motor is connected with and drives the fifth gear to rotate;

the fifth gear is meshed with the third gear part;

the third worm portion is engaged with the third worm wheel.

In an alternative embodiment, the ankle ball joint further comprises an ankle support seat, and the bottom of the ankle support seat is fixedly connected with the sole;

the ankle supporting seat is provided with a second arc-shaped groove, the shape of the ankle rotating seat is matched with that of the second arc-shaped groove, and the ankle rotating seat is connected in the second arc-shaped groove in a sliding mode;

The sixth driving mechanism drives the ankle support seat to perform pitching sliding back and forth relative to the ankle rotating seat, and the ankle support seat rotates by taking the sixth straight line as a rotating shaft.

In an alternative embodiment, the sixth drive mechanism includes a sixth motor, a second worm, and a fourth worm gear;

the sixth motor is fixed on the ankle support seat, the second worm is arranged on the ankle support seat in a penetrating mode, and an output shaft of the sixth motor is connected with and controls the second worm to rotate;

the fourth worm wheel is connected with the ankle rotating seat side by side, the fourth worm wheel and the ankle rotating seat synchronously rotate, an outer gear ring is arranged on the outer side face of the fourth worm wheel, and the outer gear ring is meshed with the second worm.

In an alternative embodiment, the knee joint includes a second worm gear assembly and a second case assembly;

the top of the second box body assembly is fixedly connected with the thigh, and the second worm gear assembly is rotatably connected to the bottom of the second box body assembly;

the second box body component is provided with a fourth driving mechanism, and the fourth driving mechanism is connected with and controls the second worm gear component to rotate by taking a fourth straight line as a rotating shaft.

In an alternative embodiment, the second worm gear assembly comprises a second worm gear and a second connecting shaft, and the second worm gear is sleeved in the middle of the second connecting shaft;

The two shaft ends of the second worm gear are outwards protruded with second worm gear bosses, holes are formed in the left side and the right side of the second box body assembly, and the holes are rotationally connected with the second worm gear bosses.

In an optional embodiment, the left and right sides of the top of the lower leg are respectively provided with a second connecting plate in a protruding mode, two shaft ends of the second connecting shaft are respectively inserted into the two second connecting plates, and the second connecting shaft drives the lower leg to synchronously rotate by taking the fourth straight line as a rotating shaft.

In an alternative embodiment, the fourth driving mechanism comprises a fourth motor, a second worm gear and a fourth gear, wherein two ends of the second worm gear are respectively provided with a second gear part and a second worm part;

an output shaft of the fourth motor is connected with and drives the fourth gear to rotate;

the fourth gear is meshed with the second gear part;

the second worm portion is engaged with the second worm wheel.

In an alternative embodiment, both the thigh and the shank are hollow tubular.

The implementation of the embodiment of the invention has the following beneficial effects:

according to the invention, the hip ball joint with multiple degrees of freedom and the ankle ball joint with multiple degrees of freedom are arranged, the multiple degrees of freedom of the hip ball joint are orthogonal to one point, the multiple degrees of freedom of the ankle ball joint are orthogonal to one point, the hip ball joint can drive thighs to rotate around the same point in multiple degrees of freedom, the ankle ball joint drives soles to rotate around the same point in multiple degrees of freedom, the effect of simulating the rotation of the human ball joint around the same point to a certain extent is achieved, and a redundant structure of a serial driver can be avoided; and the single degree of freedom can be controlled by a single driving mechanism, and the degrees of freedom are not coupled and linked with each other, so that the control difficulty can be effectively reduced, and the control algorithm can be simplified.

The problems that in the related art, the serial stacking of the drivers of the foot-type robots is heavy and redundant in overall structure, has great difference with the joint structure of a human body, and the degree of freedom of coupling exists in part of the foot-type robots, the action track of the mechanism is relatively fixed, the degree of flexibility is limited, and the coupling linkage exists among a plurality of degrees of freedom, so that the control difficulty is increased are solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

Wherein:

FIG. 1 is a perspective view of an alternative embodiment bipedal robot;

FIG. 2 is an exploded view of an alternative embodiment leg;

FIG. 3 is a perspective view of an alternative embodiment at a hip ball joint;

FIG. 4 is an exploded view of an alternative embodiment at a hip ball joint;

FIG. 5 is another exploded view of an alternative embodiment at the hip ball joint;

FIG. 6 is an exploded view of a portion of the structure of an alternative embodiment at the hip ball joint;

FIG. 7 is a cross-sectional view of an alternative embodiment of a hip ball joint at an anterior view;

FIG. 8 is a cross-sectional view of an alternative embodiment of a hip ball joint at a left viewing angle;

FIG. 9 is a cross-sectional view of an alternative embodiment of a hip ball joint in a prone view;

FIG. 10 is a cross-sectional view of an alternative embodiment of the connection of a hip bearing seat to a hip rotator seat;

FIG. 11 is a perspective view of an alternative embodiment of a knee joint;

FIG. 12 is an exploded view of an alternative embodiment at the knee joint;

FIG. 13 is a cross-sectional view of an alternative embodiment of a knee joint at an anterior view;

FIG. 14 is a perspective view of an alternative embodiment of an ankle ball joint;

FIG. 15 is an exploded view of an alternative embodiment at the ankle ball joint;

FIG. 16 is a cross-sectional view of an alternative embodiment of an ankle ball joint from an anterior perspective;

FIG. 17 is a cross-sectional view of an alternative embodiment ankle ball joint in a left view;

fig. 18 is a cross-sectional view of an alternative embodiment ankle ball joint in a depression view.

The reference numerals are explained as follows: 1-a first drive mechanism; 11-a first motor; 111-flange end faces; 12-a first connection plate; 13-a first bearing; 14-a second bearing; 15-connecting seats; 151-connecting the round table; 2-hip ball joint; 21-a hip support base; 211-main support; 2111-a first arcuate slot; 212-a support plate; 2121-channeling; 22-hip swivel; 221-worm gear rack; 222-supporting a shaft; 223-a third bearing; 23-a first worm gear assembly; 231-a first worm gear; 2311-a first worm gear boss; 232-a first connecting shaft; 24-a first housing assembly; 241-first box; 242-first cover; 243-a first plate body; 3-a second drive mechanism; 31-a second motor; 32-a first gear; 33-a second gear; 34-a first worm; 35-a first worm bearing; 4-a third drive mechanism; 41-a third motor; 42-a first worm gear; 421-a first gear portion; 422-a first worm section; 43-a third gear; 5-knee joint; 51-a second worm gear assembly; 511-a second worm gear; 5111-a second worm gear boss; 512-a second connecting shaft; 52-a second housing assembly; 521-a second box; 522-a second cover; 523-a second plate; 6-a fourth drive mechanism; 61-fourth motor; 62-a second worm gear; 621-a second gear portion; 622-a second worm section; 63-fourth gear; 7-ankle ball joint; 71-ankle support base; 711-a second arcuate slot; 712-a stop surface; 713-a baffle ring; 72-ankle swivel; 73-a third worm gear assembly; 731-a third worm gear; 7311-third worm gear boss; 732-a third connecting shaft; 74-a third housing assembly; 741-a third box; 742-third lid; 743-a third plate; 8-a fifth drive mechanism; 81-a fifth motor; 82-a third worm gear; 821-third gear portion; 822-a third worm section; 83-a fifth gear; 9-a sixth drive mechanism; 91-a sixth motor; 92-a second worm; 93-fourth worm gear; 931-outer ring gear; 94-shaft coupling slide bearings; 95-a second worm bearing; 01-hip support; 011—a connecting cylinder; 0111-a stop collar; 02-thigh; 03-lower leg; 031-second connection plate; 04-sole; 041-motor slots; l1-a first straight line; l2-a second straight line; l3-a third straight line; l4-a fourth straight line; l5-a fifth straight line; l6-sixth straight line.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1 and 2 in combination, a bipedal robot according to an embodiment of the invention includes a hip support 01, wherein the hip support 01 is provided with two legs, which may be mirror symmetry, and each leg includes a hip ball joint 2, a thigh 02, a knee joint 5, a shank 03, an ankle ball joint 7 and a sole 04 sequentially connected from top to bottom.

The hip ball joint 2 is provided with a second driving mechanism 3 and a third driving mechanism 4, the second driving mechanism 3 controls the hip ball joint 2 to drive the thigh 02 to swing laterally by taking the second straight line L2 as a rotating shaft, the third driving mechanism 4 controls the hip ball joint 2 to drive the thigh 02 to swing vertically by taking the third straight line L3 as a rotating shaft, the second straight line L2 and the third straight line L3 are orthogonal to the first orthogonal point, and the thigh 02 rotates around the first orthogonal point.

The knee joint 5 is provided with a fourth driving mechanism 6, and the fourth driving mechanism 6 controls the knee joint 5 to drive the shank 03 to rotate back and forth by taking the fourth straight line L4 as a rotating shaft.

The ankle ball joint 7 is provided with a fifth driving mechanism 8 and a sixth driving mechanism 9, the fifth driving mechanism 8 controls the ankle ball joint 7 to drive the sole 04 to swing laterally by taking the fifth straight line L5 as a rotating shaft, the sixth driving mechanism 9 controls the ankle ball joint 7 to drive the sole 04 to swing vertically by taking the sixth straight line L6 as a rotating shaft, the fifth straight line L5 and the sixth straight line L6 are orthogonal to the second orthogonal point, and the sole 04 rotates around the second orthogonal point.

The "ball joint" in the hip ball joint 2 and the ankle ball joint 7 does not refer to a joint with a spherical shape, but refers to a movement mode in which the plurality of degrees of freedom of the hip ball joint 2 can drive the thigh 02 to rotate around the same point, the plurality of degrees of freedom of the ankle ball joint 7 can drive the sole 04 to rotate around the same point, and the movement mode simulates the rotation of the ball leg bone or sole around a point at the joint of a human body.

The bipedal robot further comprises a first driving mechanism 1, wherein the first driving mechanism 1 is arranged at the top of the hip ball joint 2 and controls the hip ball joint 2 to rotate around a first straight line L1; the first straight line L1, the second straight line L2, and the third straight line L3 are orthogonal to the first orthogonal point. As such, the hip ball joint 2 is a ball joint having three degrees of freedom and is orthogonal to one point.

As shown in fig. 2, the leg includes six degrees of freedom. The hip ball joint can drive the thigh 02 to rotate in three degrees of freedom, namely a side swing degree of freedom, a pitching degree of freedom and a autorotation degree of freedom, which are independently controlled by the third driving mechanism 4, the second driving mechanism 3 and the first driving mechanism 1; the knee joint can drive the lower leg 03 to rotate with a pitching degree of freedom and is controlled by a fourth driving mechanism 6; the ankle ball joint can drive the sole 04 to rotate in two degrees of freedom, namely a pitching degree of freedom and a lateral swinging degree of freedom, and the degrees of freedom are independently controlled by a fifth driving mechanism 8 and a sixth driving mechanism 9 respectively.

Referring to fig. 3 to 5, the first driving mechanism 1 includes a first motor 11, a connection base 15 and a first connection plate 12, and connection cylinders 011 are provided at both ends of the hip bracket 01.

The bottom of connecting seat 15 is fixedly connected with hip ball joint 2, and the top of connecting seat 15 is equipped with connection round platform 151, and connection round platform 151 inserts and establishes in the section of thick bamboo of connecting cylinder 011.

The first motor 11 is fixed at the top of the connecting barrel 011, the output end of the first motor 11 is a flange end face 111, the first connecting plate 12 is fixed at the bottom of the flange end face 111, the connecting round table 151 is fixed at the bottom of the first connecting plate 12, and the flange end face 111 drives the first connecting plate 12 and the connecting round table 151 to rotate around a first straight line L1. In this embodiment, the first line L1 is the axis of the output end of the first motor 11.

The first motor 11 may be a disc motor. The first motor 11 can be provided with a mechanical brake, so that the robot has a self-locking function, so that the bipedal robot can keep the posture for a long time, and the condition that the bipedal robot falls down and is damaged due to rotation of the joint caused by uncontrolled power failure is avoided.

As shown in fig. 3 and 7, the first driving mechanism 1 further includes a first bearing 13 and a second bearing 14, inner rings of the first bearing 13 and the second bearing 14 are both engaged with the connection boss 151, outer rings of the first bearing 13 and the second bearing 14 are both engaged with a cylinder inner side wall of the connection cylinder 011, and the first bearing 13 is located above the second bearing 14. A limiting ring 0111 is convexly arranged on the inner side wall of the connecting barrel 011, and the bottom surface of the first bearing 13 is propped against the limiting ring 0111. Bearing assembly holes are formed in the connecting barrel 011 in the upper and lower directions, and a first bearing 13 and a second bearing 14 are respectively installed.

The first bearing 13 is a thrust bearing. The second bearing 14 is a rolling bearing. When the first driving mechanism 1 is vertically placed, the first bearing 13 is a thrust bearing, so that most of the load from the bottom suspended structure can be borne by the first bearing 13, most of the load of the output shaft of the first motor 11 is transferred to the first bearing 13, so that the stress condition of the output shaft of the first motor 11 is improved, and meanwhile, the output torque and stability of the first motor 11 can be ensured by the second bearing 14 is a rolling bearing. Thereby prolonging the service life and the maintenance period and ensuring the movement precision of the rotation of the joint and the close fit between parts.

Referring to fig. 3-10 in combination, as an alternative embodiment, the hip ball joint 2 includes a hip seat 21, a hip rotator 22, a first worm gear assembly 23, and a first housing assembly 24.

The top of the hip support seat 21 is connected to the first drive mechanism 1. The bottom of the hip support seat 21 is provided with a first arc-shaped groove 2111, the shape of the hip rotary seat 22 is matched with that of the first arc-shaped groove 2111, and the hip rotary seat 22 is slidingly connected in the first arc-shaped groove 2111. There is a clearance fit between the hip seat 22 and the first arcuate slot 2111.

The second driving mechanism 3 is in transmission connection with the hip rotary seat 22, and the second driving mechanism 3 controls the hip rotary seat 22 to swing and slide leftwards and rightwards around the second straight line L2.

The hip support seat 21 includes a main support seat 211 and two support plates 212 fixed to front and rear sides of the main support seat 211. The first arc-shaped groove 2111 is formed by enclosing a main bearing block 211 and two support plates 212.

The front and rear end surfaces of the hip support seat 21 are support plates 212, the hip rotation seat 22 is positioned between the two support plates 212, and an arc-shaped rolling groove 2121 is arranged on the side surface of the support plate 212 facing the hip rotation seat 22.

As shown in fig. 10, the hip rotary seat 22 is provided with support shafts 222 on the end face facing the rolling groove 2121. The front and rear end surfaces of the hip rotary seat 22 are vertically provided with a plurality of threaded holes, one end of the supporting shaft 222 is provided with external threads, one threaded end of the supporting shaft 222 is screwed into the threaded holes for fastening, and the other end is sleeved with the third bearing 223 and then inserted into the rolling groove 2121. The support shafts 222 on the same end face are arranged in an arc shape as a whole. Two support plates 212 cooperate to retain the hip rotator mount 22.

The support shaft 222 is provided with a third bearing 223 around the outer periphery thereof, the third bearing 223 being positioned in the rolling groove 2121 and rolling along the rolling groove 2121, the rolling groove 2121 functioning as a guide rail. The third bearing 223 is in clearance fit with the rolling groove 2121, and the third bearing 223 is not stuck in the rolling groove 2121. The third bearing 223 may be one or more of a rolling bearing, a sliding bearing, a ball bearing.

Alternatively, the positions of the rolling groove 2121 and the supporting shaft 222 in the above-mentioned scheme are exchanged, that is, the two end surfaces of the hip rotary seat 22 are concavely provided with arc-shaped rolling grooves 2121, the surface of the two supporting plates 212 facing the hip rotary seat 22 is provided with a plurality of supporting shafts 222, one end of the supporting shaft 222 near the hip rotary seat 22 is sleeved with a third bearing 223, the supporting shaft 222 is inserted into the rolling groove 2121, and the third bearing 223 is positioned in the rolling groove 2121 and rolls in the rolling groove 2121. As shown in fig. 4 to 6, the top of the hip rotary seat 22 is provided with a worm gear rack 221, and the second driving mechanism 3 includes a first worm 34, the first worm 34 is laterally inserted on the hip support seat 21, and the first worm 34 is engaged with the worm gear rack 221. An arc-shaped worm gear rack mounting groove is formed in the arc-shaped surface of the top of the hip rotary seat 22, and a worm gear rack 221 is fixedly arranged in the worm gear rack mounting groove.

In this embodiment, the second straight line L2 is the axis of the worm gear rack 221.

The second drive mechanism 3 further includes a second motor 31, a first gear 32, and a second gear 33; the second motor 31 is transversely inserted on the hip support seat 21, and an output shaft of the second motor 31 is connected with and controls the first gear 32 to rotate; the first gear 32 is meshed with the second gear 33; the second gear 33 is connected to one end of the first worm 34, and the second gear 33 drives the first worm 34 to rotate.

The top of the hip support seat 21 is fixedly connected with the connecting seat 15. The top of the hip supporting seat 21 is provided with a transverse motor positioning groove and a first worm 34 assembly hole, the inner diameter of the motor positioning groove is matched with the outer diameter of the second motor 31, the second motor 31 is pushed to contact with the assembly surface along the direction of the motor positioning groove, an output shaft of the second motor 31 penetrates out of one side of the hip supporting seat 21 and is fixedly connected with the screw, a first gear 32 is fixed on the output shaft through the screw, circumferential limiting is performed through the arrangement of a flat key, a second gear 33 is arranged at the bottom of the first gear 32 and is meshed with the first gear 32, and the second gear 33 is fixed at one end of the first worm 34 through the screw. The two shaft ends of the first worm 34 are respectively sleeved with a first worm bearing 35, so that the first worm 34 is rotationally connected to the hip supporting seat 21, the spiral teeth in the middle of the first worm 34 are exposed and meshed with the worm gear rack 221, and the two shaft ends of the first worm 34 are covered with baffles and fixed on the hip supporting seat 21 for axial limiting.

When the lead angle of the first worm 34 is smaller than the equivalent friction angle between the first worm 34 and the worm gear rack 221, the meshing structure of the first worm 34 and the worm gear rack 221 has self-locking property, so that the degree of freedom has a self-locking function, and the joint can be self-locked to keep the robot posture when power is off, so that the robot is prevented from falling down and being damaged.

The hip rotating seat 22 is fixedly provided with a first worm gear assembly 23, and the third driving mechanism 4 is connected with and controls the first worm gear assembly 23 to rotate by taking a third straight line L3 as a rotating shaft. It should be noted that, the static reference herein is the third driving mechanism 4, and the first worm wheel assembly 23 rotates relative to the third driving mechanism 4.

The first worm wheel assembly 23 comprises a first worm wheel 231 and a first connecting shaft 232, the first worm wheel 231 is sleeved at the middle of the first connecting shaft 232, two ends of the first connecting shaft 232 are connected with the hip rotary seat 22, and the first worm wheel 231, the first connecting shaft 232 and the hip rotary seat 22 synchronously rotate. In the present embodiment, the third straight line L3 is the axis of the first connecting shaft 232. For example, the first worm wheel 231 is machined with a spline through hole, the first connecting shaft 232 is a spline shaft and is inserted into the spline through hole of the first worm wheel 231, and spline holes or grooves are formed at two ends of the hip rotary seat 22 for installing two shaft ends of the first connecting shaft 232. Threaded holes can be formed in the two ends of the spline shaft, and limit screws are screwed into the two ends of the spline shaft respectively, so that the first connecting shaft 232 can be limited axially relative to the hip rotary seat 22, and the diameter of a nut of each limit screw is larger than the minimum diameter of the spline shaft. The third drive mechanism 4 includes a third motor 41, a first worm gear 42, and a third gear 43. The first worm gear 42 has a first gear portion 421 and a first worm portion 422 at both ends thereof. An output shaft of the third motor 41 is connected to and controls rotation of the third gear 43. The third gear 43 is meshed with the first gear portion 421, and the first worm portion 422 is meshed with the first worm wheel 231.

The hip ball joint 2 further comprises a first box assembly 24, and the bottom of the first box assembly 24 is fixedly connected with the thigh 02. The first worm wheel 231 has first worm wheel boss 2311 protruding from both ends thereof, and the first housing assembly 24 has openings formed at both left and right sides thereof, the openings being rotatably connected to the first worm wheel boss 2311. A third gear 43 and a first worm gear 42 are disposed within the first housing assembly 24. The third motor 41 is vertically fixed at the bottom of the first box assembly 24, and an output shaft of the third motor 41 penetrates into the first box assembly 24 upwards to be connected with the third gear 43.

The first case assembly 24 includes, for example, a first case cover 242, a first case 241, and a first plate 243, which are sequentially connected from top to bottom. The first cover 242 is covered with the first case 241, and cooperates with the first worm wheel boss 2311 supporting both axial ends of the first worm wheel 231.

The bottom surface of the first case 241 is concavely provided with a gear groove, the third gear 43 and the first gear 421 are located in the gear groove, and the first plate 243 is covered on the bottom of the gear groove. The gear groove inner top surface is provided with a central hole and a bias hole, the first plate 243 is correspondingly provided with a central hole and a bias hole, the two shaft ends of the third gear 43 are respectively connected in the central hole of the gear groove inner top surface and the central hole of the first plate 243 in a rotating mode, the two shaft ends of the first gear 421 are respectively connected in the bias hole of the gear groove inner top surface and the bias hole of the first plate 243 in a rotating mode, and the first worm 422 extends into the first box 241 to be meshed with the first worm wheel 231. Similarly, the first worm 422 and the first worm wheel 231 are self-locking.

As shown in fig. 8, the end of the first worm gear 422 may be sleeved with a bearing, which may be a rolling bearing, and the first housing assembly 24 may be provided with a bearing assembly groove corresponding to the bearing, for example, the bearing assembly groove is provided on the first cover 242, and the bearing is assembled in the bearing assembly groove to support the first worm gear 42 and reduce friction force applied to the first worm gear 422 during rotation.

The third motor 41 is vertically fixed to the bottom of the first plate 243, and an output shaft of the third motor 41 is extended upward into a central hole of the first plate 243 to be connected with the third gear 43. The bottom surface of the first plate 243 is fixedly connected with the thigh 02, the thigh 02 is hollow, and the body part of the third motor 41 can be inserted into the thigh 02.

When the hip rotating seat is in operation, the second motor 31 controls the first gear 32 to rotate, drives the second gear 33 and the first worm 34 to rotate, and the first worm 34 drives the hip rotating seat 22 to swing left and right, so that the thigh 02 is driven to swing left and right around the second straight line L2, namely, the side swing degree of freedom.

The third motor 41 controls the third gear 43 to rotate, so as to drive the first worm gear 42 to integrally rotate, and the first worm part 422 rotates along the worm gear ring of the first worm gear 231, so as to drive the first box assembly 24 to integrally rotate back and forth, and further drive the thigh 02 to pitch back and forth around the third straight line L3, namely, the pitching degree of freedom.

The first motor 11 controls the connection base 15 to vertically rotate integrally with the hip ball joint 2, thereby driving the thigh 02 to vertically rotate about the first straight line L1, i.e., the degree of freedom of rotation.

Referring to fig. 11-13 in combination, the knee joint 5 includes a second worm gear assembly 51 and a second housing assembly 52. The top of the second box assembly 52 is fixedly connected with the thigh 02, and the second worm gear assembly 51 is rotatably connected to the bottom of the second box assembly 52.

The second box assembly 52 is provided with a fourth driving mechanism 6, and the fourth driving mechanism 6 is connected to and controls the second worm wheel assembly 51 to rotate about the fourth straight line L4 as a rotation axis. The second worm wheel assembly 51 comprises a second worm wheel 511 and a second connecting shaft 512, and the second worm wheel 511 is sleeved in the middle of the second connecting shaft 512. In the present embodiment, the fourth straight line L4 is the axis of the second connecting shaft 512.

The two shaft ends of the second worm wheel 511 are externally protruded with a second worm wheel boss 5111, and holes are formed on the left side and the right side of the second box assembly 52 and are rotatably connected with the second worm wheel boss 5111. The left side and the right side of the top of the shank 03 are convexly provided with second connecting plates 031, two shaft ends of a second connecting shaft 512 are respectively inserted on the two second connecting plates 031, and the second connecting shaft 512 drives the shank 03 to synchronously rotate by taking a fourth straight line L4 as a rotating shaft.

Similarly, the second connecting shaft 512 may be a spline shaft, the second worm wheel 511 is processed with an axial spline through hole, the second connecting shaft 512 is inserted in the spline through hole, and two second connecting plates 031 on the top of the lower leg 03 are processed with spline holes or grooves for installing two shaft ends of the second connecting shaft 512. Threaded holes can be formed at two ends of the spline shaft, and limit screws can be screwed into the two ends of the spline shaft respectively, so that the second connecting shaft 512 can be limited axially relative to the second connecting plate 031.

The fourth driving mechanism 6 includes a fourth motor 61, a second worm gear 62, and a fourth gear 63, and the second worm gear 62 has a second gear portion 621 and a second worm portion 622 at both ends thereof, respectively. The output shaft of the fourth motor 61 is connected to and drives the fourth gear 63 to rotate, the fourth gear 63 is meshed with the second gear portion 621, and the second worm portion 622 is meshed with the second worm wheel 511.

The second case assembly 52 includes a second plate 523, a second case 521, and a second case cover 522 connected in sequence from top to bottom. The second cover 522 is covered with the second case 521, and cooperates with the second worm gear boss 5111 supporting both shaft ends of the second worm gear 511.

A gear groove is concavely formed in the top of the second case 521, the fourth gear 63 and the second gear 621 are disposed in the gear groove, and the second plate 523 is disposed on the top of the gear groove. The gear groove bottom is provided with a central hole and an offset hole, the second plate body 523 is correspondingly provided with a central hole and an offset hole, the two shaft ends of the fourth gear 63 are respectively connected in the central hole of the gear groove bottom and the central hole of the second plate body 523 in a rotating mode, the two shaft ends of the second gear 621 are respectively connected in the offset hole of the gear groove bottom and the offset hole of the second plate body 523 in a rotating mode, and the second worm 622 extends downwards into the second box 521 and is meshed with the second worm gear 511. Similarly, the second worm 622 and the second worm wheel 511 are self-locking.

The second worm part 622 may be provided at its end with a bearing, which may be a rolling bearing, and the second housing assembly 52 may be provided with a bearing assembly groove corresponding to the bearing, for example, the bearing assembly groove is provided on the second housing cover 522, and the bearing is assembled in the bearing assembly groove for supporting the second worm gear 62 while reducing the friction force applied to the second worm part 622 during rotation.

The fourth motor 61 is fixed on the top of the second plate body 523, and an output shaft of the fourth motor 61 passes through a central hole of the second plate body 523 downward to be connected with the fourth gear 63. The top surface of the second plate body 523 is fixedly connected to the thigh 02.

Similarly, the thigh 02 may be hollow tubular, and the body of the fourth motor 61 is disposed within the thigh 02.

When the device is in operation, the fourth motor 61 controls the fourth gear 63 to rotate, so as to drive the second worm gear 62 to integrally rotate, the second worm 622 drives the second worm gear 511 to rotate, the second connecting shaft 512 follows the second worm gear 511 to rotate, and the second connecting shaft 512 drives the lower leg 03 to perform pitching motion around the fourth straight line L4, i.e. pitching freedom degree.

Referring to fig. 14 to 18 in combination, as an alternative embodiment, the ankle ball joint 7 includes an ankle swivel 72, a third worm gear assembly 73, and a third housing assembly 74. The top of the third box assembly 74 is fixedly connected with the lower leg 03, and the third worm gear assembly 73 is rotatably connected to the bottom of the third box assembly 74. The fifth driving mechanism 8 is disposed on the third casing assembly 74, and the fifth driving mechanism 8 drives the third worm wheel assembly 73 to rotate about the fifth line L5 as a rotation axis. The third worm gear assembly 73 is connected to and drives the ankle swivel 72 to rotate synchronously.

The third worm gear assembly 73 comprises a third worm gear 731 and a third connecting shaft 732, and the third worm gear 731 is sleeved at the middle part of the third connecting shaft 732. In the present embodiment, the fifth straight line L5 is the axis of the third connecting shaft 732.

The third worm wheel 731 has a third worm wheel boss 7311 protruding outward from both shaft ends, and the third housing assembly 74 has openings formed at front and rear sides thereof, the openings being rotatably connected to the third worm wheel boss 7311. The third connecting shaft 732 is connected to the ankle swivel 72 at both ends, and the ankle swivel 72 rotates in synchronization with the third connecting shaft 732.

For example, the third worm wheel 731 is provided with a spline through hole, the third connecting shaft 732 is a spline shaft and is inserted into the spline through hole of the third worm wheel 731, two ends of the ankle rotary seat 72 are provided with spline holes or grooves for installing two shaft ends of the third connecting shaft 732, and when the third worm wheel 731 rotates, the third connecting shaft 732 is driven to rotate, so that the ankle rotary seat 72 is driven to swing left and right. Threaded holes can be formed in the two ends of the spline shaft, and limit screws are screwed into the two ends of the spline shaft respectively, so that the third connecting shaft 732 can be limited axially relative to the ankle rotating seat 72, and the nut diameter of the limit screws is larger than the minimum diameter of the spline shaft.

The fifth driving mechanism 8 includes a fifth motor 81, a third worm gear 82, and a fifth gear 83, and a third gear portion 821 and a third worm portion 822 are provided at both ends of the third worm gear 82, respectively. An output shaft of the fifth motor 81 is connected to and drives the fifth gear 83 to rotate, the fifth gear 83 is meshed with the third gear portion 821, and the third worm portion 822 is meshed with the third worm wheel 731.

The third case assembly 74 includes a third plate 743, a third case 741, and a third case lid 742 arranged from top to bottom. The third case cover 742 is covered with the third case 741 and cooperates with the third worm gear boss 7311 supporting both axial ends of the third worm gear 731. The top of the third plate body 743 is fixedly connected with the lower leg 03, and the body of the fifth motor 81 is hidden inside the lower leg 03.

The top of the third casing 741 is provided with a gear groove in a downward concave manner, the fifth gear 83 and the third gear 821 are both positioned in the gear groove, and the third plate 743 is covered on the top of the gear groove. The gear groove bottom is provided with a central hole and an offset hole, the third plate body 743 is correspondingly provided with a central hole and an offset hole, the two shaft ends of the fifth gear 83 are respectively connected in the central hole of the gear groove bottom and the central hole of the third plate body 743 in a rotating mode, the two shaft ends of the third gear 821 are respectively connected in the offset hole of the gear groove and the offset hole of the third plate body 743 in a rotating mode, and the third worm 822 extends downwards into the third box 741 and is meshed with the third worm wheel 731. Similarly, the third worm 822 and the third worm wheel 731 are self-locking.

As shown in fig. 16, the third worm part 822 may be provided at its end with a bearing, which may be a rolling bearing, and the third housing assembly 74 may be provided with a bearing-fitting groove corresponding to the bearing, for example, the bearing-fitting groove is provided on the third case cover 742, and the bearing is fitted in the bearing-fitting groove for supporting the third worm gear 82 while reducing friction force received when the third worm part 822 rotates.

The ankle ball joint 7 further comprises an ankle supporting seat 71, and the bottom of the ankle supporting seat 71 is fixedly connected with the sole 04. The ankle support 71 is provided with a second arc-shaped groove 711, the shape of the ankle rotary seat 72 is fitted in the second arc-shaped groove 711, and the ankle rotary seat 72 is slidably connected to the second arc-shaped groove 711. The outer periphery of the ankle rotary seat 72 is provided with an arc-shaped surface, the arc-shaped surface is a major arc, and the shape of the second arc-shaped groove 711 is correspondingly matched, so that the ankle rotary seat 72 is prevented from being dislocated upwards relative to the ankle support seat 71, and the ankle rotary seat 72 is limited in the vertical direction. The ankle swivel 72 may be in the form of a flat column with an arcuate cross-section, the arcuate arc being greater than a semicircle, i.e., a major arc, the cylindrical surface of the arcuate column being the arcuate surface described above. An avoidance space is provided in the middle of the ankle rotation seat 72 for installing the third worm wheel assembly 73.

The sixth driving mechanism 9 drives the ankle support 71 to tilt back and forth with respect to the ankle rotary seat 72, and the ankle support 71 rotates about the sixth straight line L6 as a rotation axis.

The sixth driving mechanism 9 includes a sixth motor 91, a second worm 92, and a fourth worm wheel 93. The sixth motor 91 is fixed on the ankle support 71, the second worm 92 is penetrated on the ankle support 71, and the output shaft of the sixth motor 91 is connected to and controls the rotation of the second worm 92. In an alternative embodiment, the sixth motor 91 is connected to the second worm 92 by a shaft coupling sliding bearing 94, one end of the second worm 92 is inserted into the shaft coupling sliding bearing 94, the other end of the second worm 92 is sleeved with a second worm bearing 95, the second worm bearing 95 may be a rolling bearing, and both the second worm bearing 95 and the shaft coupling sliding bearing 94 are disposed in the ankle support 71. The second worm bearing 95 and the coupling slide bearing 94 are respectively used to support both ends of the second worm 92 while reducing rotational friction. The coupling slide bearing 94 has a coupling function and a slide bearing function. Illustratively, the ankle support 71 is shaped like a Chinese character 'Fu', the ankle support 71 is provided with a middle groove, and the second worm 92 is inserted into the middle groove so as to expose the spiral teeth in the middle of the second worm 92. Both ends of the second worm 92 are located in the ankle support 71. The fourth worm wheel 93 is connected to the ankle rotation seat 72 side by side, and the fourth worm wheel 93 rotates in synchronization with the ankle rotation seat 72. The fourth worm wheel 93 has an outer gear ring 931 on its outer side, the outer gear ring 931 being meshed with the second worm 92. In the present embodiment, the sixth straight line L6 is the axis of the fourth worm wheel 93. Similarly, the outer ring gear 931 is self-locking with the second worm 92.

The fourth worm wheel 93 may be fixed to one side end surface of the ankle rotary seat 72 by means of a set screw and a set pin, the fourth worm wheel 93 may be in a flat column shape with an arcuate section, similar to the ankle rotary seat 72, the arcuate arc is larger than a semicircle, the cylindrical surface of the arcuate column is provided with the above-mentioned outer gear ring 931, and the circular arc of the base circle of the outer gear ring 931 and the circular arc of the arcuate surface of the ankle rotary seat 72 are concentric circular arcs, so that the fourth worm wheel 93 and the ankle rotary seat 72 rotate synchronously about the same axis.

One side of the second arc groove 711 in the left-right direction is provided with a blocking surface 712, the blocking surface 712 abuts against one end surface of the ankle rotary seat 72, the other end surface of the ankle rotary seat 72 abuts against one end surface of the fourth worm wheel 93, the other end surface of the fourth worm wheel 93 is provided with a blocking ring 713, and the blocking ring 713 and the blocking surface 712 cooperate to limit the ankle rotary seat 72 and the fourth worm wheel 93 in the left-right direction. In the assembly, the ankle rotary seat 72 and the fourth worm wheel 93 may be pushed in from the second arc groove 711 side toward the blocking surface 712, the blocking ring 713 may be pushed in, and the blocking ring 713 may be fixed to the ankle support 71 by a locking member such as a screw.

The sole 04 is fixedly connected with the ankle support 71, and the sole 04 and the ankle support 71 are integrally in the shape of a foot. The sole 04 and ankle support 71 may be integral or fixedly connected in two parts. The sole 04 can increase the contact area with the ground and simulate the foot of a human body. The front end of the sole 04 is provided with a motor slot 041, and the body of the sixth motor 91 is positioned in the motor slot 041.

Optionally, a buffer layer or/and an anti-slip layer is arranged at the bottom of the sole 04. As an example, the bottom of the sole 04 is optionally stuck with a rubber pad or a silica gel pad, which has a buffering function and can protect the structure to reduce impact; the bottom surface of rubber pad or silica gel pad is processed to have the line, can increase the friction with ground, has anti-skidding effect.

When the ankle rotating seat 72 is operated, the fifth motor 81 controls the fifth gear 83 to rotate, drives the third worm gear 82 to integrally rotate, and the third worm part 822 drives the third worm wheel 731 and the third connecting shaft 732 to rotate, so that the ankle rotating seat 72 follows the third connecting shaft 732 to rotate, and further drives the ankle supporting seat 71 and the sole 04 to integrally swing around the fifth straight line L5 to rotate left and right, namely, the side swinging degree of freedom.

The sixth motor 91 drives the second worm 92 to rotate, and the second worm 92 rotates along the outer gear ring 931 of the fourth worm wheel 93, thereby driving the ankle support base 71 and the sole 04 to perform pitch sliding back and forth, i.e., pitch degrees of freedom, integrally around the sixth straight line L6.

The second motor 31, the third motor 41, the fourth motor 61, the fifth motor 81 and the sixth motor 91 in this embodiment can all adopt radial magnetic field motors with smaller volumes, can avoid stacking axial magnetic field motors (i.e. disc motors) with larger volumes at joints, reduce occupied space, lighten weight, and when adopting radial magnetic field motors, the machine body of part of the motors can be arranged in the thigh 02 or the shank 03 to hide the machine body, reasonably utilize the spaces of the thigh 02 and the shank 03, and simplify the appearance lines of the robot.

In summary, the invention has the following beneficial effects:

1. through the arrangement of the hip ball joint 2 with multiple degrees of freedom and the ankle ball joint 7 with multiple degrees of freedom, the multiple degrees of freedom of the hip ball joint 2 are orthogonal to one point, the multiple degrees of freedom of the ankle ball joint 7 are orthogonal to one point, the hip ball joint 2 can drive the thigh 02 to rotate around the same point with multiple degrees of freedom, the ankle ball joint 7 drives the sole 04 to rotate around the same point with multiple degrees of freedom, the effect of simulating the rotation of the human ball joint around the same point is achieved to a certain extent, and the bipedal robot shape and gait are more anthropomorphic;

2. the redundant joint structure of the traditional serial disc type motor of the foot type robot can be avoided, the size of each joint is small, the radial magnetic field motor with smaller volume can be adopted, and the structure is simple and similar, and is easy to modularize;

3. the legs have multiple degrees of freedom and are mutually independent, the degrees of freedom are not coupled and linked with each other, and a single degree of freedom can be controlled by a single driving mechanism, so that the control difficulty can be effectively reduced, the control algorithm is simplified, the control is simple and reliable, the movement is flexible and changeable, and the gait movement of a human body is more similar;

4. the biped robot is characterized in that the biped robot is provided with a worm and gear transmission mechanism, so that the speed reduction ratio is large, the structure is compact, the transmission is stable and reliable, the bearing capacity is high, the biped robot can be self-locked to keep the action posture, and the damage caused by falling of the mechanism during power failure is avoided.

5. The thigh 02 and the shank 03 are hollow tubular, so that the weight is reduced, the inside of the tube can be used for placing a machine body of a motor, the motor is hidden, the abrupt sense of joints is reduced, the inner space of the thigh 02 and the shank 03 is effectively utilized, and the appearance lines and the balance weight of the robot are simplified.

The present application is not limited to the above-mentioned embodiments, but is not limited to the above-mentioned embodiments, and any person skilled in the art can make some changes or modifications to the above-mentioned embodiments without departing from the scope of the present application.

Claims (20)

1. A biped robot, characterized in that: the hip support comprises a hip support (01), wherein the hip support (01) is provided with two legs, and each leg comprises a hip ball joint (2), a thigh (02), a knee joint (5), a shank (03), an ankle ball joint (7) and a sole (04) which are sequentially connected from top to bottom;

The hip ball joint (2) is provided with a second driving mechanism (3) and a third driving mechanism (4), the second driving mechanism (3) controls the hip ball joint (2) to drive the thigh (02) to swing laterally by taking a second straight line (L2) as a rotating shaft, the third driving mechanism (4) controls the hip ball joint (2) to drive the thigh (02) to pitch by taking a third straight line (L3) as the rotating shaft, the second straight line (L2) and the third straight line (L3) are orthogonal to the first orthogonal point, and the thigh (02) rotates around the first orthogonal point;

a fifth driving mechanism (8) and a sixth driving mechanism (9) are arranged on the ankle ball joint (7), the fifth driving mechanism (8) controls the ankle ball joint (7) to drive the sole (04) to swing laterally by taking a fifth straight line (L5) as a rotating shaft, the sixth driving mechanism (9) controls the ankle ball joint (7) to drive the sole (04) to pitch by taking a sixth straight line (L6) as a rotating shaft, the fifth straight line (L5) and the sixth straight line (L6) are orthogonal to the second orthogonal point, and the sole (04) rotates around the second orthogonal point;

the biped robot further comprises a first driving mechanism (1), wherein the first driving mechanism (1) is arranged at the top of the hip ball joint (2) and controls the hip ball joint (2) to rotate around a first straight line (L1);

-said first straight line (L1), said second straight line (L2) and said third straight line (L3) are orthogonal to a first orthogonal point;

The hip ball joint (2) comprises a hip supporting seat (21) and a hip rotating seat (22), and the top of the hip supporting seat (21) is connected with the first driving mechanism (1);

a first arc-shaped groove (2111) is formed in the bottom of the hip supporting seat (21), the shape of the hip rotating seat (22) is matched with that of the first arc-shaped groove (2111), and the hip rotating seat (22) is slidably connected in the first arc-shaped groove (2111);

the second driving mechanism (3) is in transmission connection with the hip rotating seat (22), and the second driving mechanism (3) controls the hip rotating seat (22) to swing and slide leftwards and rightwards around the second straight line (L2).

2. The bipedal robot of claim 1, wherein: the front end face and the rear end face of the hip supporting seat (21) are both supporting plates (212), the hip rotating seat (22) is positioned between the two supporting plates (212), and an arc-shaped rolling groove (2121) is formed in the side face, facing the hip rotating seat (22), of the supporting plate (212);

the hip rotating seat (22) is provided with a plurality of supporting shafts (222) on the end face facing the rolling groove (2121), a third bearing (223) is sleeved on the periphery of each supporting shaft (222), and the third bearing (223) is located in the rolling groove (2121) and rolls along the rolling groove (2121).

3. The bipedal robot of claim 1, wherein: the hip rotating seat (22) top is provided with worm gear rack (221), second actuating mechanism (3) include first worm (34), first worm (34) transversely insert establish on hip bearing (21), first worm (34) worm gear rack (221) meshing.

4. A bipedal robot as claimed in claim 3, wherein: the second driving mechanism (3) further comprises a second motor (31), a first gear (32) and a second gear (33);

the second motor (31) is transversely inserted into the hip supporting seat (21), and an output shaft of the second motor (31) is connected with and controls the first gear (32) to rotate;

the first gear (32) is meshed with the second gear (33);

the second gear (33) is connected to one end of the first worm (34), and the second gear (33) drives the first worm (34) to rotate.

5. The bipedal robot of claim 1, wherein: the hip rotating seat (22) is fixedly provided with a first worm gear assembly (23), and the third driving mechanism (4) is connected with and controls the first worm gear assembly (23) to rotate by taking the third straight line (L3) as a rotating shaft.

6. The bipedal robot of claim 5, wherein: the first worm gear assembly (23) comprises a first worm gear (231) and a first connecting shaft (232), the first worm gear (231) is sleeved at the middle of the first connecting shaft (232), two ends of the first connecting shaft (232) are connected with the hip rotating seat (22), and the first worm gear (231), the first connecting shaft (232) and the hip rotating seat (22) synchronously rotate.

7. The bipedal robot of claim 6, wherein: the third driving mechanism (4) comprises a third motor (41), a first worm gear (42) and a third gear (43);

the two ends of the first worm gear (42) are respectively provided with a first gear part (421) and a first worm part (422),

an output shaft of the third motor (41) is connected with and controls the third gear (43) to rotate;

the third gear (43) is meshed with the first gear portion (421), and the first worm portion (422) is meshed with the first worm wheel (231).

8. The bipedal robot of claim 7, wherein: the hip ball joint (2) further comprises a first box assembly (24), and the bottom of the first box assembly (24) is fixedly connected with the thigh (02);

the two shaft ends of the first worm wheel (231) are respectively provided with a first worm wheel boss (2311) in a protruding mode, holes are formed in the left side and the right side of the first box body assembly (24), and the holes are rotationally connected with the first worm wheel bosses (2311);

the third gear (43) and the first worm gear (42) are disposed within the first housing assembly (24);

the third motor (41) is vertically fixed at the bottom of the first box body assembly (24), and an output shaft of the third motor (41) upwards penetrates into the first box body assembly (24) to be connected with the third gear (43).

9. The bipedal robot of claim 1, wherein: the first driving mechanism (1) comprises a first motor (11), a connecting seat (15) and a first connecting plate (12), and connecting cylinders (011) are arranged at two ends of the hip support (01);

the bottom of the connecting seat (15) is fixedly connected with the hip ball joint (2), a connecting round table (151) is arranged at the top of the connecting seat (15), and the connecting round table (151) is inserted into a cylinder of the connecting cylinder (011);

the utility model discloses a motor, including connecting cylinder (011), connecting round platform (151), flange terminal surface (111) are connected to first motor (11), first motor (11) are fixed in connecting cylinder (011) top, the output of first motor (11) is flange terminal surface (111), first connecting plate (12) are fixed in flange terminal surface (111) bottom, connect round platform (151) be fixed in first connecting plate (12) bottom, flange terminal surface (111) drive first connecting plate (12) with connect round platform (151) are rotatory around first straight line (L1).

10. The bipedal robot of claim 9, wherein: the first driving mechanism (1) further comprises a first bearing (13) and a second bearing (14), the inner rings of the first bearing (13) and the second bearing (14) are matched with the connecting round table (151), the outer rings of the first bearing (13) and the second bearing (14) are matched with the inner side wall of the connecting cylinder (011), and the first bearing (13) is positioned above the second bearing (14);

A limiting ring (0111) is convexly arranged on the inner side wall of the connecting barrel (011), and the bottom surface of the first bearing (13) is propped against the limiting ring (0111);

the first bearing (13) is a thrust bearing.

11. The bipedal robot of claim 1, wherein: the ankle ball joint (7) comprises an ankle rotating seat (72), a third worm gear component (73) and a third box component (74);

the top of the third box body assembly (74) is fixedly connected with the lower leg (03), and the third worm gear assembly (73) is rotatably connected to the bottom of the third box body assembly (74);

the fifth driving mechanism (8) is arranged on the third box body assembly (74), and the fifth driving mechanism (8) drives the third worm wheel assembly (73) to rotate by taking the fifth straight line (L5) as a rotating shaft.

12. The bipedal robot of claim 11, wherein: the third worm gear assembly (73) comprises a third worm gear (731) and a third connecting shaft (732), and the third worm gear (731) is sleeved at the middle part of the third connecting shaft (732);

a third worm wheel boss (7311) is outwards protruded at two shaft ends of the third worm wheel (731), and holes are formed in the front side and the rear side of the third box body assembly (74) and are rotationally connected with the third worm wheel boss (7311);

The two ends of the third connecting shaft (732) are connected with the ankle rotating seat (72), and the ankle rotating seat (72), the third worm wheel (731) and the third connecting shaft (732) synchronously rotate.

13. The bipedal robot of claim 12, wherein: the fifth driving mechanism (8) comprises a fifth motor (81), a third worm gear (82) and a fifth gear (83), and two ends of the third worm gear (82) are respectively provided with a third gear part (821) and a third worm part (822);

an output shaft of the fifth motor (81) is connected with and drives the fifth gear (83) to rotate;

the fifth gear (83) is meshed with the third gear part (821);

the third worm part (822) is meshed with the third worm wheel (731).

14. The bipedal robot of claim 11, wherein: the ankle ball joint (7) further comprises an ankle supporting seat (71), and the bottom of the ankle supporting seat (71) is fixedly connected with the sole (04);

the ankle support seat (71) is provided with a second arc-shaped groove (711), the shape of the ankle rotating seat (72) is matched with that of the second arc-shaped groove (711), and the ankle rotating seat (72) is connected in the second arc-shaped groove (711) in a sliding mode;

the sixth driving mechanism (9) drives the ankle support seat (71) to perform pitching sliding back and forth relative to the ankle rotating seat (72), and the ankle support seat (71) rotates by taking the sixth straight line (L6) as a rotating shaft.

15. The bipedal robot of claim 14, wherein: the sixth driving mechanism (9) comprises a sixth motor (91), a second worm (92) and a fourth worm wheel (93);

the sixth motor (91) is fixed on the ankle support seat (71), the second worm (92) is arranged on the ankle support seat (71) in a penetrating mode, and an output shaft of the sixth motor (91) is connected with and controls the second worm (92) to rotate;

the fourth worm wheel (93) is connected with the ankle rotating seat (72) side by side, the fourth worm wheel (93) and the ankle rotating seat (72) synchronously rotate, the outer side surface of the fourth worm wheel (93) is provided with an outer gear ring (931), and the outer gear ring (931) is meshed with the second worm (92).

16. The bipedal robot of claim 1, wherein: the knee joint (5) comprises a second worm gear assembly (51) and a second box assembly (52);

the top of the second box body assembly (52) is fixedly connected with the thigh (02), and the second worm gear assembly (51) is rotatably connected to the bottom of the second box body assembly (52);

the second box body assembly (52) is provided with a fourth driving mechanism (6), and the fourth driving mechanism (6) is connected with and controls the second worm wheel assembly (51) to rotate by taking a fourth straight line (L4) as a rotating shaft.

17. The bipedal robot of claim 16, wherein: the second worm gear assembly (51) comprises a second worm gear (511) and a second connecting shaft (512), and the second worm gear (511) is sleeved in the middle of the second connecting shaft (512);

the two shaft ends of the second worm wheel (511) are outwards protruded with second worm wheel bosses (5111), holes are formed in the left side and the right side of the second box body assembly (52), and the holes are rotationally connected with the second worm wheel bosses (5111).

18. The bipedal robot of claim 17, wherein: the left and right sides of the top of the shank (03) are convexly provided with second connecting plates (031), two shaft ends of a second connecting shaft (512) are respectively inserted into the two second connecting plates (031), and the second connecting shaft (512) drives the shank (03) to synchronously rotate by taking the fourth straight line (L4) as a rotating shaft.

19. The bipedal robot of claim 17, wherein: the fourth driving mechanism (6) comprises a fourth motor (61), a second worm gear (62) and a fourth gear (63), and two ends of the second worm gear (62) are respectively provided with a second gear part (621) and a second worm part (622);

an output shaft of the fourth motor (61) is connected with and drives the fourth gear (63) to rotate;

The fourth gear (63) is meshed with the second gear portion (621);

the second worm part (622) is meshed with the second worm wheel (511).

20. The bipedal robot of claim 1, wherein: the thigh (02) and the shank (03) are hollow tubular.