CN216759943U - Universal joint, leg structure and humanoid robot - Google Patents

Abstract

The utility model relates to the field of humanoid robots and provides a universal joint, a leg structure and a humanoid robot. The universal joint comprises a coupling shaft, a rotating part and a switching part, the rotating part is sleeved on the coupling shaft and can rotate relative to the coupling shaft, the rotating part is also provided with shaft necks at two opposite sides, the two shaft necks are arranged oppositely, and the central axes of the two shaft necks are perpendicular to the central axis of the coupling shaft; the adaptor comprises a connecting part and two adaptor parts which are respectively formed by vertically extending from two opposite ends of the connecting part, the two adaptor parts are respectively sleeved with the two shaft necks, and the adaptor and the rotating part can rotate relatively. Compared with the prior art, the structure of the universal joint is obviously simplified, the occupied space of the universal joint is small, and the required variable angle space is small, so that the universal joint can adapt to the narrow design space of the humanoid robot, and even in the narrow design space of the humanoid robot, the variable angle movement and the adjustment state can be flexibly realized in a large range between the adapter part and the linkage shaft of the universal joint.

Description

Universal joint, leg structure and humanoid robot

Technical Field

The utility model belongs to the technical field of humanoid robots, and particularly relates to a universal joint, a leg structure and a humanoid robot.

Background

The leg structure of the humanoid robot may adopt universal joints at joint parts such as ankle joints to realize variable-angle power transmission. Conventionally, a universal joint generally includes a universal shaft body provided with journals on four sides thereof, the journals on opposite sides being disposed opposite to each other, a first rotating member rotatably connected to the two journals opposite thereto, and a second rotating member rotatably connected to the other two journals opposite thereto. However, the structure of the universal joint is complicated, and a large angle-variable space is required, which is not suitable for a narrow design space of the humanoid robot.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model aims to provide a universal joint to solve the technical problems that the existing universal joint is complex in structure and needs a large angle-variable space.

In order to achieve the purpose, the utility model adopts the technical scheme that: a universal joint, comprising:

a linkage shaft;

the rotating part is sleeved on the linkage shaft and can rotate relative to the linkage shaft, shaft necks are further arranged on two opposite sides of the rotating part, the two shaft necks are arranged oppositely, and the central axes of the two shaft necks are perpendicular to the central axis of the linkage shaft;

the adaptor comprises a connecting part and two adaptor parts which are respectively formed by vertically extending from two opposite ends of the connecting part, the two adaptor parts are respectively sleeved with the two shaft necks, and the adaptor and the rotating part can rotate relatively.

In one embodiment, the universal joint further comprises at least one rotating bearing, and the rotating bearing is sleeved between the linkage shaft and the rotating part.

In one embodiment, the rotating part is provided with a rotating hole which is arranged in a penetrating way and is used for inserting the linkage shaft;

the rotary bearings are two, and the two rotary bearings are respectively close to the two orifices of the rotary hole.

In one embodiment, the rotating hole includes two bearing sleeve hole sections which are respectively in sleeve fit with the two rotating bearings, and a limiting sleeve hole section which is communicated between the two bearing sleeve hole sections and is in sleeve fit with the coupling shaft, and the aperture of the limiting sleeve hole section is smaller than that of the bearing sleeve hole section;

the universal joint further comprises a stop gasket connected to the end side of the linkage shaft;

one of the rotating bearings is limited between the shaft shoulder of the linkage shaft and the limiting sleeve hole section, and the other rotating bearing is limited between the limiting sleeve hole section and the stopping gasket.

In one embodiment, the universal joint further includes two adapter bearings, and the two adapter bearings are respectively sleeved between the two journals and the corresponding adapter portions.

In one embodiment, the universal joint further comprises two limit washers connected to end sides of the two journals, respectively, and each limit washer is used for limiting the adapter bearing to be separated from the journal.

In one embodiment, the adapter portion is in the shape of an open ring, two opposite adapter pins are arranged on one side of the adapter portion away from the connecting portion, an opening is formed between the two adapter pins, and the two adapter pins can be connected through a connecting piece.

In one embodiment, the number of the rotating parts and the number of the adaptor parts are two, wherein the two rotating parts are respectively sleeved at two ends of the linkage shaft.

In one embodiment, a shaft fixing hole is formed in the middle of the linkage shaft, and the extending direction of the shaft fixing hole is perpendicular to the central axis of the linkage shaft;

the universal joint is characterized by further comprising a linkage seat arranged in the middle of the linkage shaft, the linkage seat is provided with a through hole through which the middle of the linkage shaft penetrates, and is also provided with a seat fixing hole which can be communicated with the shaft fixing hole in an aligned mode, and the seat fixing hole and the shaft fixing hole can be connected through a connecting piece.

An object of an embodiment of the present invention is to provide a leg structure, which includes a foot plate, a linkage assembly, and an ankle joint driver for driving the linkage assembly to move, wherein the linkage assembly is connected to the foot plate through the universal joint in a universal rotation manner, one end of the linkage assembly, which is far away from the ankle joint driver, is relatively fixedly connected to the connecting portion, and the foot plate is relatively fixedly connected to the linkage shaft.

It is also an aim of embodiments of the present invention to provide a humanoid robot comprising the gimbal, and/or the leg structure.

The utility model has the following beneficial effects:

according to the universal joint provided by the embodiment of the utility model, the rotating part is sleeved on the linkage shaft, so that the rotating part and the linkage shaft can rotate relatively around the central axis of the linkage shaft; the two switching parts of the switching piece are respectively sleeved on the two shaft necks of the rotating piece, so that the whole switching piece and the rotating piece can rotate relatively around the central axes of the two shaft necks; therefore, the included angle between the adapter piece and the linkage shaft can be flexibly adjusted and changed within a certain range, and further variable-angle power transmission can be realized. Compared with the prior art, the structure of the universal joint is obviously simplified, the occupied space of the universal joint is small, and the universal joint can adapt to the narrow design space of the humanoid robot; moreover, the universal joint needs a small angle-changing space, and even in a narrow design space of the humanoid robot, the angle-changing movement and the state adjustment between the adapter and the linkage shaft can be flexibly realized in a large range.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description 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 for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic perspective view of a gimbal provided in an embodiment of the present invention;

FIG. 2 is a cross-sectional view taken along A-A provided in FIG. 1;

FIG. 3 is a front view of the gimbal provided in FIG. 1;

FIG. 4 is a cross-sectional view taken along line B-B as provided in FIG. 3;

fig. 5 is a perspective view of a leg structure according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

100-linkage shaft, 110-shaft shoulder and 101-shaft fixing hole; 200-rotating piece, 210-journal, 201-rotating hole, 2011-bearing socket hole section, 2012-limit socket hole section; 300-adapter, 310-adapter, 311-adapter, 312-opening, 320-connection; 400-a rotational bearing; 500-a stop washer; 600-a transfer bearing; 700-a spacing washer; 800-linkage seat, 801-through hole and 802-seat fixing hole;

10-gimbal, 20-foot plate, 30-linkage assembly, 40-ankle drive.

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 utility model and are not intended to limit the utility model.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present 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.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following describes a specific implementation of the present invention in more detail with reference to specific embodiments:

referring to fig. 1, 2, and 4, an embodiment of the utility model provides a universal joint 10, including a coupling shaft 100, a rotating member 200, and an adaptor 300, where the rotating member 200 is sleeved on the coupling shaft 100 and can rotate relative to the coupling shaft 100, the rotating member 200 is further provided with journals 210 at two opposite sides thereof, the two journals 210 are arranged opposite to each other, and a central axis L1 of the two journals 210 is perpendicular to a central axis L2 of the coupling shaft 100; the adaptor 300 includes a connecting portion 320 and two adaptor portions 310 respectively extending vertically from two opposite ends of the connecting portion 320, the two adaptor portions 310 are respectively sleeved with the two journals 210, and the adaptor 300 and the rotating member 200 can rotate relatively.

It should be noted that the rotating element 200 may be cylindrical or spherical, the cylindrical or spherical rotating element 200 is provided with a rotating hole 201 into which the linking shaft 100 is inserted, and the rotating hole 201 may be a blind hole or a through hole.

Or, the rotating member 200 may be annular, and the inner ring of the rotating member 200 may be used for the coupling shaft 100 to pass through.

Based on any of the above arrangements, the rotating member 200 can be in sleeve connection with the coupling shaft 100 and can rotate relative to the coupling shaft 100, and the rotation axis is the central axis L2 of the coupling shaft 100.

It should be further noted that the rotating member 200 is provided with two opposite journals 210, and the central axes of the two journals 210 are coincident and perpendicular to the central axis L2 of the linking shaft 100.

Therefore, the adaptor 300 can be respectively sleeved and matched with the two journals 210 through the two adaptor portions 310, so that the adaptor portion 310 and the rotating member 200 can rotate relatively, and the rotation axis is the central axis L1 of the two journals 210. The two adapters 310 are connected by the connecting portion 320, so that the two adapters 310 can move synchronously and rotate smoothly, and can bear a large bending moment by the two journals 210.

Therefore, in the universal joint 10 provided in the embodiment of the present invention, the rotating member 200 is sleeved on the linking shaft 100, so that the rotating member 200 and the linking shaft 100 can rotate relatively around the central axis L2 of the linking shaft 100; the two adapter parts 310 of the adapter 300 are respectively sleeved on the two journals 210 of the rotating member 200, so that the whole adapter 300 and the rotating member 200 can rotate relatively around the central axes L1 of the two journals 210; therefore, the included angle between the adapter 300 and the linkage shaft 100 can be flexibly adjusted and changed within a certain range, and further variable-angle power transmission can be realized. Compared with the prior art, the structure of the universal joint 10 is obviously simplified, the occupied space of the universal joint 10 is small, and the universal joint can adapt to the narrow design space of the humanoid robot; further, the universal joint 10 requires a small angle-changing space, and even in a small design space of the humanoid robot, the angle-changing movement and adjustment state between the adaptor 300 and the interlocking shaft 100 can be flexibly realized in a wide range.

Referring to fig. 1 and fig. 2, in the present embodiment, the universal joint 10 further includes at least one rotation bearing 400, and the rotation bearing 400 is sleeved between the coupling shaft 100 and the rotation member 200.

Specifically, in the range of the coupling shaft 100 in sleeve fit with the rotating member 200, one rotating bearing 400 may be sleeved on the coupling shaft 100, or a plurality of rotating bearings 400 may be sleeved at intervals. The rotation bearing 400 may be supported between the coupling shaft 100 and the rotation member 200 to reduce a friction coefficient during a relative movement between the coupling shaft 100 and the rotation member 200 and to ensure a rotation accuracy therebetween. Therefore, the bending moment range jointly borne by the linkage shaft 100 and the rotating bearing 400 is favorably expanded, and the bending moment range borne by the universal joint 10 is further expanded; and the virtual position sense in the relative motion process of the linkage shaft 100 and the rotating piece 200 is favorably and effectively relieved and reduced, the response hysteresis quality when the linkage shaft 100 and the rotating piece 200 rotate relatively is favorably reduced, and the sensitivity when the linkage shaft 100 and the rotating piece 200 rotate relatively is favorably improved.

Preferably, the rotary bearing 400 is a deep groove ball bearing. With this arrangement, the radial load can be received more reliably via the rotary bearing 400, and the coefficient of friction of the rotary bearing 400 can be effectively reduced, and the limit rotational speed of the rotary bearing 400 can be increased, resulting in higher durability.

Referring to fig. 1 and 2, in the present embodiment, the rotating member 200 is provided with a rotating hole 201 penetrating therethrough and allowing the linking shaft 100 to be inserted therein; two rotary bearings 400 are provided, and the two rotary bearings 400 are respectively provided near two orifices of the rotary hole 201.

By adopting the above scheme, two rolling bearing 400 of accessible support respectively between two drill ways and the interlock axle 100 of rotating hole 201, and convenient assembling and support are more reliable, so, not only can make the stationarity of rotating piece 200 and interlock axle 100 relative rotation better, sensitivity is higher, and still can make interlock axle 100 and rolling bearing 400 can bear great moment of flexure, make universal joint 10 can bear great moment of flexure.

Referring to fig. 1 and fig. 2, in the present embodiment, the rotation hole 201 includes two bearing socket hole sections 2011 respectively in socket fit with the two rotation bearings 400, and a limiting socket hole section 2012 communicated between the two bearing socket hole sections 2011 and in socket fit with the linkage shaft 100, and an aperture of the limiting socket hole section 2012 is smaller than an aperture of the bearing socket hole section 2011; the universal joint 10 further includes a stopper washer 500 connected to an end side of the trace shaft 100; one of the rotating bearings 400 is limited between the shoulder 110 of the coupling shaft 100 and the limiting socket section 2012, and the other rotating bearing 400 is limited between the limiting socket section 2012 and the stopping pad 500.

Based on the structure, when the bearing is installed, the two rotating bearings 400 can be pressed into the two bearing socket hole sections 2011 respectively, and at the moment, the two rotating bearings 400 are limited and stopped by the limiting socket hole section 2012 and cannot be drawn closer together; then, the two rotating bearings 400 and the rotating member 200 are integrally sleeved with the linking shaft 100, and at this time, the two sides of the rotating bearing 400 relatively close to the linking shaft 100 respectively abut against the shaft shoulder 110 and the limiting socket hole section 2012 of the linking shaft 100, so as to be limited and fixed between the shaft shoulder 110 and the limiting socket hole section 2012 of the linking shaft 100; then, the stop washer 500 abuts against the end side of the coupling shaft 100, and the screw passes through the stop washer 500 and is connected to the end side of the coupling shaft 100, so that the stop washer 500 is fixed relative to the coupling shaft 100, and thus, two sides of the relatively outer rotating bearing 400 abut against the limit socket section 2012 and the stop washer 500, respectively, and are fixed between the limit socket section 2012 and the stop washer 500 in a limited manner.

Therefore, by adopting the above-mentioned scheme, the installation and matching of the interlocking shaft 100, the two rotating bearings 400 and the rotating member 200 can be conveniently realized, and after the interlocking shaft 100, the two rotating bearings 400 and the rotating member 200 are installed, the two rotating bearings 400 can be reliably limited from moving on the central axis L2 of the interlocking shaft 100 relative to the interlocking shaft 100 and the rotating member 200, that is, the relative positions of the two rotating bearings 400 relative to the interlocking shaft 100 and the rotating member 200 can be ensured to be fixed, thereby facilitating the rotating bearings 400 to stably exert the effect between the interlocking shaft 100 and the rotating member 200.

Referring to fig. 1, fig. 3 and fig. 4, in the present embodiment, the universal joint 10 further includes two adapter bearings 600, and the two adapter bearings 600 are respectively sleeved between the two journals 210 and the corresponding adapter portions 310.

Specifically, one adapter bearing 600 may be fitted on each journal 210 within the range of each journal 210 to be fitted on the adapter 310. The adapter bearing 600 may be supported between the journal 210 and the corresponding adapter 310, to reduce a friction coefficient during relative movement of the journal 210 and the adapter 310 and to ensure rotational accuracy therebetween. Therefore, the bending moment range jointly borne by the journal 210 and the adapter bearing 600 is favorably expanded, and the bending moment range borne by the universal joint 10 is further expanded; and the virtual position sense in the relative movement process of the shaft neck 210 and the adapter part 310 is favorably relieved and reduced effectively, the response hysteresis of the adapter 300 relative to the rotation of the two shaft necks 210 is favorably reduced, and the sensitivity of the adapter 300 relative to the rotation of the two shaft necks 210 is favorably improved.

Preferably, the adaptor bearing 600 is a deep groove ball bearing. With this arrangement, the radial load can be received more reliably by the adapter bearing 600, the friction coefficient of the adapter bearing 600 can be effectively reduced, the limit rotational speed of the adapter bearing 600 can be increased, and the durability can be improved.

Referring to fig. 1, 3 and 4, in the present embodiment, the universal joint 10 further includes two limiting washers 700 respectively connected to the end sides of the two shaft journals 210, and the limiting washers 700 are used to limit the adapting bearing 600 from separating from the shaft journal 210.

Based on the above structure, during installation, the adapting bearing 600 may be sleeved on the corresponding journal 210, the limiting gasket 700 may be abutted to the end side of the journal 210, and then the limiting gasket 700 may pass through the limiting gasket 700 and be connected to the end side of the journal 210 by a screw, so that the limiting gasket 700 may be fixed relative to the journal 210, and thus the adapting bearing 600 may be limited from being separated from the journal 210 by the limiting gasket 700.

Therefore, by adopting the above-mentioned scheme, the installation and matching of the adapter bearing 600 and the journal 210 can be conveniently realized, and after the installation and matching of the adapter bearing 600 and the journal 210, the adapter bearing 600 can be reliably limited from being separated from the journal 210 by the limit gasket 700, thereby being convenient for ensuring that the adapter bearing 600 can be stably exerted between the journal 210 and the adapter part 310.

Referring to fig. 1 and fig. 3, in the present embodiment, the adapter 310 is in the shape of a ring with an opening 312, two opposite adapter pins 311 are disposed on one side of the adapter 310 away from the connecting portion 320, the opening 312 is formed between the two adapter pins 311, and the two adapter pins 311 can be connected via a connecting member.

Based on the above structure, when installing, the adapter 310 may first make the journal 210 enter into the ring from the opening 312 formed between the two adapter pins 311, and then primarily socket-fit with the journal 210; the adapter bearing 600 is pressed into the space between the adapter 310 and the journal 210, and the adapter bearing 600 is supported between the adapter 310 and the journal 210. Therefore, the convenience of assembling the adapter 310 with the adapter bearing 600 and the journal 210 can be effectively improved.

Subsequently, the two adapter pins 311 can be connected by a connecting member (e.g., a screw), and the adapter 310 is released from the socket relation with the adapter bearing 600 and the journal 210 from the opening 312 side based on the limitation of the connecting member. Further, combining the relative fixed positional relationship between the two adapter portions 310 connected by the connecting portion 320, the adapter portions 310 cannot release the fitting relationship with the adapter bearing 600 and the journal 210 along the central axis L1 of the two journals 210. Therefore, the sleeving relation between the adaptor 300 and the adaptor bearing 600 and the journal 210 can be ensured and maintained, and the adaptor 300 can be ensured to be permanently kept in a motion relation of relative rotation with the rotating member 200 around the central axis L1 of the two journals 210, so that the structure of the universal joint 10 is more stable and reliable.

Referring to fig. 1, in the present embodiment, two rotating members 200 and two adapters 300 are provided, wherein the two rotating members 200 are respectively sleeved on two ends of the coupling shaft 100. The two adapters 300 are respectively connected to the two rotating members 200, wherein the specific connection relationship and the related structure configuration refer to the above description, and detailed description thereof is omitted here for the sake of brevity.

By adopting the above scheme, at any end of the linkage shaft 100, the included angle between the adaptor 300 and the linkage shaft 100 can be independently and flexibly adjusted and changed within a certain range. Based on this, the states of the two ends of the linkage shaft 100 under the influence of the corresponding adaptor 300 and the rotating member 200 can be synthesized, and the overall state of the linkage shaft 100 itself can be coordinated, so that the variable-angle power transmission from the two adaptors 300 to the linkage shaft 100 can be realized more coordinately, more reliably and more smoothly. The universal joint 10 is relatively compact in structure, relatively small in occupied space, small in required angle-variable space and suitable for the narrow design space of the humanoid robot.

Referring to fig. 1 and fig. 2, in the present embodiment, a shaft fixing hole 101 is disposed in the middle of the coupling shaft 100, and an extending direction of the shaft fixing hole 101 is perpendicular to the central axis L2 of the coupling shaft 100; the universal joint 10 further includes a coupling seat 800 disposed in the middle of the coupling shaft 100, the coupling seat 800 is provided with a through hole 801 through which the middle of the coupling shaft 100 passes, and is further provided with a seat fixing hole 802 that can be aligned and communicated with the shaft fixing hole 101, and the seat fixing hole 802 and the shaft fixing hole 101 can be connected through a connecting member.

Based on the above structure, when mounting, the coupling shaft 100 can first pass through the through hole 801, and the shaft fixing hole 101 of the coupling shaft 100 is communicated with the seat fixing hole 802 in an alignment manner; then, a connecting element (e.g., a screw) penetrates through and connects the shaft fixing hole 802 and the shaft fixing hole 101, so that the linking shaft 100 and the linking base 800 can be maintained relatively fixed.

Therefore, by adopting the above scheme, on one hand, the coupling shaft 100 penetrating through the through hole 801 can be reliably and comprehensively supported and protected by the coupling seat 800, and the bending resistance of the middle part of the coupling shaft 100 is effectively enhanced, so that the coupling shaft 100 can bear larger bending moment, and the universal joint 10 can bear larger bending moment; on the other hand, the linkage base 800 can be conveniently connected with the driven structure, and the linkage base 800 fixed relative to the linkage shaft 100 is driven by the linkage shaft 100 to synchronously adjust the state with the driven structure, so that the universal joint 10 can realize variable-angle power transmission more conveniently.

Of course, in other possible embodiments, the through hole 801 may be replaced by a through groove (not shown), which penetrates in the extending direction (longitudinal direction), and the bottom of the through groove is provided with a seat fixing hole 802 that can be aligned and communicated with the shaft fixing hole 101. Based on this, when mounting, the linking shaft 100 can be placed in the through-connection groove, and the shaft fixing hole 101 of the linking shaft 100 is communicated with the seat fixing hole 802 in an alignment manner; the linking shaft 100 and the linking base 800 are fixed by a connecting element (e.g., a screw) passing through and connecting the shaft fixing hole 802 and the shaft fixing hole 101. Therefore, by adopting the above scheme, the coupling seat 800 can also be used for supporting and protecting the coupling shaft 100 part in the through slot to a certain extent, and the coupling seat 800 fixed relative to the coupling shaft 100 and the driven structural member connected to the coupling seat 800 can also be driven by the coupling shaft 100 to synchronously adjust the state.

Referring to fig. 5, the embodiment of the present invention further provides a leg structure, which includes a foot plate 20, a linkage assembly 30 and an ankle joint driver 40 for driving the linkage assembly 30 to move, the linkage assembly 30 is connected to the foot plate 20 through a universal joint 10 in a universal rotation manner, one end of the linkage assembly 30 away from the ankle joint driver 40 is relatively fixedly connected to a connecting portion 320, and the foot plate 20 is relatively fixedly connected to the linkage shaft 100.

It should be noted that the ankle joint driver 40 can drive the linking assembly 30 to move, so as to drive the corresponding sides of the universal joint 10 and the foot plate 20 to relatively move up and down, during which the adaptor 300 and the rotating member 200 correspondingly rotate, and the rotating member 200 and the linking shaft 100 correspondingly rotate, so that the included angle between the linking assembly 30 and the foot plate 20 can be flexibly adjusted and changed within a certain range, and the linking assembly 30 and the foot plate 20 can realize variable-angle power transmission, so that the corresponding sides of the foot plate 20 can be adjusted in posture. Based on this, the postures of at least two sides of the foot board 20 are combined, so that the foot board 20 can realize rolling motion (Roll, i.e. horizontal swing) and pitching motion (Pitch, i.e. vertical swing), and the foot board has flexible movement and a large movement range.

In addition, based on the universal rotation connection relationship between the foot board 20 and the linkage assembly 30, the foot board 20 can adaptively adjust the posture of the linkage assembly 30 according to the external contact surface, so as to ensure the surface contact with the external contact surface, and the rotation (state adjustment) of the foot board 20 does not generate a reaction force on the linkage assembly 30.

In addition, corresponding to the embodiment that two rotating members 200 and two adapters 300 are provided, and the two rotating members 200 are respectively sleeved at two ends of the linking shaft 100, the leg structure may include two linking assemblies 30 and two ankle drivers 40, and the two linking assemblies 30 are respectively connected between the two ankle drivers 40 and the two adapters 300. The specific connection relationship and the related structure configuration may refer to the above description, and are not described in detail herein. Based on this, when the moving tendency of the two linking components 30 is the same, the two linking components 30 can jointly drive one of the front side and the rear side of the foot plate 20 to move in the direction away from the ankle joint driver 40 or move in the direction close to the ankle joint driver 40, so that the foot plate 20 can perform Pitch pitching motion. Conversely, when the moving tendencies of the two link assemblies 30 are opposite, one of the left and right sides of the foot plate 20 is moved away from the ankle joint driver 40 by one of the link assemblies 30, and the other of the left and right sides of the foot plate 20 is moved closer to the ankle joint driver 40 by the other link assembly 30, so that the foot plate 20 performs Roll motion. In this way, the motion of the foot plate 20 can be more flexible and coordinated.

Referring to fig. 1, the present invention further provides an anthropomorphic robot, which includes a universal joint 10 and/or a leg structure.

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 utility model, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (11)

1. A universal joint, comprising:

a linkage shaft;

the rotating part is sleeved on the linkage shaft and can rotate relative to the linkage shaft, shaft necks are further arranged on two opposite sides of the rotating part, the two shaft necks are arranged oppositely, and the central axes of the two shaft necks are perpendicular to the central axis of the linkage shaft;

the adapter comprises a connecting part and two adapter parts which are respectively formed by vertically extending the two opposite ends of the connecting part, the two adapter parts are respectively sleeved with the two shaft necks, and the adapter and the rotating part can rotate relatively.

2. The universal joint of claim 1, further comprising at least one rotational bearing, wherein the rotational bearing is sleeved between the linkage shaft and the rotational member.

3. The universal joint according to claim 2, wherein the rotating member has a rotating hole penetrating therethrough and into which the linking shaft is inserted;

the rotary bearings are two, and the two rotary bearings are respectively close to the two orifices of the rotary hole.

4. The universal joint according to claim 3, wherein the rotation hole comprises two bearing socket hole sections which are respectively in socket fit with the two rotation bearings, and a limiting socket hole section which is communicated between the two bearing socket hole sections and is in socket fit with the coupling shaft, and the aperture of the limiting socket hole section is smaller than that of the bearing socket hole section;

the universal joint further comprises a stop gasket connected to the end side of the linkage shaft;

one of the rotating bearings is limited between the shaft shoulder of the linkage shaft and the limiting sleeve hole section, and the other rotating bearing is limited between the limiting sleeve hole section and the stopping gasket.

5. The joint of claim 1, further comprising two transition bearings, each of said transition bearings being journaled between a respective one of said journals and a respective one of said transition portions.

6. The joint of claim 5, further comprising two stop washers connected to end sides of the two journals, respectively, each stop washer for limiting disengagement of the slew bearing from the journals.

7. The gimbal according to claim 1, wherein the adapter portion is in the form of an open loop, and wherein the adapter portion has two opposite adapter legs on a side thereof remote from the connecting portion, an opening being formed between the two adapter legs, and the two adapter legs being connectable via a connecting member.

8. The universal joint according to claim 1, wherein there are two rotating members and two adapter members, and the two rotating members are respectively sleeved on two ends of the linking shaft.

9. The universal joint as claimed in claim 8, wherein a shaft fixing hole is formed in the middle of the coupling shaft, and the shaft fixing hole extends in a direction perpendicular to the central axis of the coupling shaft;

the universal joint is characterized by further comprising a linkage seat arranged in the middle of the linkage shaft, the linkage seat is provided with a through hole for the middle of the linkage shaft to penetrate through, and is also provided with a seat fixing hole capable of being communicated with the shaft fixing hole in an aligned mode, and the seat fixing hole and the shaft fixing hole can be connected through a connecting piece.

10. A leg structure, which is characterized by comprising a foot plate, a linkage assembly and an ankle joint driver for driving the linkage assembly to move, wherein the linkage assembly is connected to the foot plate through the universal joint universal rotation according to any one of claims 1 to 9, one end of the linkage assembly, which is far away from the ankle joint driver, is relatively fixedly connected with the connecting part, and the foot plate is relatively fixedly connected with the linkage shaft.

11. Humanoid robot, characterized in that it comprises a gimbal according to any one of claims 1-9, and/or a leg structure according to claim 10.

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