CN218536932U

CN218536932U - Leg device and biped robot

Info

Publication number: CN218536932U
Application number: CN202222101903.1U
Authority: CN
Inventors: 郭文平
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Robot Technology Co ltd
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2023-02-28
Anticipated expiration: 2032-08-10

Abstract

The utility model discloses a shank device and biped robot. The leg device comprises a lower leg mechanism and a thigh mechanism. The lower leg mechanism includes a foot component and a lower leg drive component. The foot component comprises a heel part, a toe part arranged at an interval with the heel part and a first connecting part arranged between the heel part and the toe part, and the heel part is provided with a second connecting part arranged at an interval with the first connecting part; the shank transmission assembly comprises a shank support rod, a shank drive rod and a shank transmission rod, the shank support rod is rotatably connected with the first connecting portion, one end of the shank drive rod is rotatably arranged on the shank support rod, the other end of the shank drive rod is rotatably connected with one end of the shank transmission rod, and the other end of the shank transmission rod is rotatably connected with the second connecting portion. The thigh mechanism comprises a thigh transmission assembly connected with the shank mechanism. The leg device has good terrain adaptability, and can improve the motion performance of the biped robot.

Description

Leg device and biped robot

Technical Field

The present disclosure relates to the field of robotics, and in particular, to a leg device and a biped robot.

Background

The biped robot is an advanced development stage of advanced robot technology, comprehensively embodies the research and development levels of the aspects of mechanics, motion, dynamics and the like of the advanced robot, and is a very complex comprehensive system. The leg body structure of the biped robot is an important link in the design of the biped robot. The design requirement of the leg connecting structure of the existing biped robot is simplified as much as possible under the condition of meeting the requirements of movement and operation so as to meet the requirements of reducing the control complexity and improving the control precision. The legs of the biped robot need to have flexible rotation function, certain strength in motion collision and light weight.

However, in the related art, the leg device of the biped robot has poor terrain adaptability, which is not favorable for improving the motion performance of the biped robot.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a leg device and a biped robot. The leg device has good terrain adaptability, and can improve the motion performance of the biped robot.

The technical scheme is as follows:

according to a first aspect of embodiments of the present disclosure, there is provided a leg device comprising a lower leg mechanism and a thigh mechanism. The lower leg mechanism includes a foot component and a lower leg drive component. The foot component comprises a heel part, a toe part arranged at an interval with the heel part and a first connecting part arranged between the heel part and the toe part, and the heel part is provided with a second connecting part arranged at an interval with the first connecting part; the shank transmission assembly comprises a shank support rod, a shank drive rod and a shank transmission rod, the shank support rod is rotatably connected with the first connecting portion, one end of the shank drive rod is rotatably arranged on the shank support rod, the other end of the shank drive rod is rotatably connected with one end of the shank transmission rod, and the other end of the shank transmission rod is rotatably connected with the second connecting portion. The thigh mechanism comprises a thigh transmission assembly. Thigh drive assembly includes thigh installed part, the thigh bracing piece, first leaf spring and thigh transfer line, the thigh installed part includes rotates the first installation department of being connected with the one end of thigh bracing piece, the second installation department that sets up with first installation department interval, the other end of thigh bracing piece rotates with the shank bracing piece to be connected, the one end of first leaf spring sets firmly in the shank bracing piece, the other end of first leaf spring rotates with the one end of thigh transfer line to be connected, the other end and the second installation department of thigh transfer line rotate to be connected. Wherein, the first leaf spring sets up towards heel portion to toe portion direction anteversion.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

when this shank device uses, thigh bracing piece and first leaf spring pass through the shank bracing piece and are connected with shank mechanism, and the thigh bracing piece rotates for thigh installed part for thigh transfer line and thigh bracing piece linkage cooperation, make the shank bracing piece rotate for the thigh bracing piece, and drive the relative thigh bracing piece of shank mechanism and rotate, first leaf spring leans forward towards heel portion to toe portion direction, makes when shank mechanism rotates for thigh mechanism, can imitate people's leg knee joint and move. And the shank driving rod drives the shank driving rod to swing, so that the shank driving rod is in linkage fit with the shank supporting rod, the heel part moves or the toe part moves, and the human foot simulating motion of the foot component is realized. Furthermore, the leg device can simulate the legs of a person to move, can better adapt to complex terrains and simulate the relevant movement of the person. In the process, one end of the shank transmission rod is rotatably connected with the other end of the shank transmission rod, the other end of the shank transmission rod is rotatably connected with the second connecting part, and the transmission distance is short, so that the swing amplitude of the shank transmission rod swinging above the heel part is small, the transmission structure of the shank mechanism is more compact, the motion interference can be reduced, and the reliability of the leg device is improved.

The technical scheme of the present disclosure is further explained as follows:

in one embodiment, the first connecting part and the second connecting part of the lower leg transmission component and the foot component form a parallelogram link mechanism, the distance between the rotating center of the first connecting part and the rotating center of the second connecting part is L1, and the distance between the rotating center of one end of the lower leg transmission rod and the rotating center of the other end of the lower leg transmission rod is L2; wherein, L1: l2= 11.

And/or the thigh transmission assembly forms a parallelogram link mechanism, the distance between the rotating center of the first mounting part and the rotating center of the third mounting part is L3, and the distance between the rotating center of one end of the thigh transmission rod and the rotating center of the other end of the thigh transmission rod is L4; wherein, L3: l4= 45.

In one embodiment, the shank transmission rod is adjustable in length. And/or the length of the thigh transmission rod is adjustable.

In one embodiment, the shank transmission rod comprises a first rod, a first connecting body arranged at one end of the first rod, and a second connecting body arranged on the first rod, wherein at least one of the first connecting body and the second connecting body is in threaded connection with the first rod, so that the shank transmission rod is adjustable in length.

In one embodiment, the first rod body has a first inner threaded hole at both ends thereof, the first connecting body has a first screw engaged with the first inner threaded hole and a first stopper disposed at an end of the first screw, and the second connecting body has a second screw engaged with the first inner threaded hole and a second stopper disposed at an end of the second screw.

And/or a first force application notch is arranged on the outer side of the first rod body.

In one embodiment, the thigh transmission rod includes a second rod, a third connecting body disposed at one end of the second rod, and a fourth connecting body disposed at the second rod, at least one of the third connecting body and the fourth connecting body is in threaded connection with the second rod, so that the length of the thigh transmission rod is adjustable.

In one embodiment, the second rod body has a third inner threaded hole at both ends, the third connecting body has a third screw engaged with the third inner threaded hole and a third stopper disposed at the end of the third screw, and the fourth connecting body has a fourth screw engaged with the third inner threaded hole and a fourth stopper disposed at the end of the fourth screw.

And/or a second force application notch is arranged on the outer side of the second rod body.

In one embodiment, the lower leg mechanism further comprises a lower leg driving assembly arranged on the lower leg support rod, the lower leg driving assembly is in transmission connection with one end of the lower leg driving rod, and the lower leg driving rod is driven to swing through the lower leg driving rod.

And/or the thigh mechanism further comprises a thigh driving assembly arranged on the thigh mounting part, and the thigh driving assembly is used for driving the thigh supporting rod to rotate.

In one embodiment, the thigh mechanism further comprises a shank connecting piece, one end of the shank connecting piece is fixedly connected with the shank supporting rod, the other end of the shank connecting piece is rotatably connected with the thigh supporting rod, and one end of the first plate spring is fixedly arranged on the shank connecting piece.

In one embodiment, the thigh mount further comprises a third mount portion for rotatable connection with the torso device, the second mount portion being disposed between the first mount portion and the third mount portion.

In one embodiment, the first mounting part, the second mounting part and the third mounting part are arranged at intervals along the length direction of the thigh mounting part, and the second mounting part is arranged between the middle part of the thigh mounting part and the third mounting part.

In one embodiment, the movement direction of the thigh supporting rod and the movement direction of the thigh transmission rod are not in the same plane.

In one embodiment, the foot component comprises a foot connecting piece and a buffering adhesive, the heel part, the toe part and the first connecting part are arranged on the foot connecting piece, the buffering adhesive is fixedly connected with the foot connecting piece, the buffering adhesive comprises a first pressure bearing body, a second pressure bearing body arranged at an interval with the first pressure bearing body and a foot arch part arranged between the first pressure bearing body and the second pressure bearing body, the first pressure bearing body is arranged close to the heel part, the first pressure bearing body comprises a first pressure bearing face, the second pressure bearing body is arranged close to the toe part, the second pressure bearing body comprises a second pressure bearing face, and at least one of the first pressure bearing face and the second pressure bearing face is provided with an anti-skidding part.

In one embodiment, the buffer glue comprises a first side and a second side which are arranged at intervals, and a first pressure bearing face and a second pressure bearing face are arranged between the first side and the second side; the anti-skidding part comprises a plurality of meteorite craters, the distance between every two adjacent meteorite craters is gradually reduced from the first side to the middle direction of the first pressure bearing face and the middle direction of the second pressure bearing face, and/or the distance between every two adjacent meteorite craters is gradually reduced from the second side to the middle direction of the first pressure bearing face and the middle direction of the second pressure bearing face.

And/or the foot connecting piece is made of aluminum alloy; the Shore hardness of the buffer glue is 65-75 degrees.

According to a second aspect of the embodiments of the present disclosure, there is provided a biped robot, including a trunk device and the leg devices in any of the above embodiments, the leg devices include two and are disposed on the trunk device at intervals, and the trunk device is rotatably connected to the thigh mounting member.

the biped robot is provided with the leg device, can simulate legs of a person to move, can better adapt to complex terrains, and simulates human to carry out relevant movement. And the transmission swing is small, the motion interference is not easy to occur, and the reliability of the biped robot is improved.

The technical scheme of the present disclosure is further explained as follows:

in one embodiment, the trunk device comprises trunk connecting pieces which correspond to the leg devices one by one, and the trunk connecting pieces are rotationally connected with the corresponding thigh mounting pieces; the biped robot further comprises a first leg driving assembly arranged on the corresponding trunk connecting piece, and the first leg driving assembly drives the thigh mechanism to rotate through the thigh mounting piece.

In one embodiment, the biped robot further comprises a second leg driving assembly arranged on the corresponding trunk device, and the second leg driving assembly drives the thigh mechanism to rotate through the trunk connecting piece.

In one embodiment, the biped robot further comprises a third leg driving assembly arranged on the trunk device, and the third leg driving assembly drives the corresponding thigh mechanism to perform reciprocating lateral movement relative to the other thigh mechanism through the trunk connecting piece.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Brief description of the drawingsthe accompanying drawings, which form a part of the disclosure, are included to provide a further understanding of the disclosure, and the exemplary embodiments and descriptions thereof are provided to explain the disclosure and not to limit the disclosure.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a biped robot shown in an embodiment.

Fig. 2 shows a schematic view of the leg device.

Fig. 3 is a schematic structural view of the lower leg mechanism shown in fig. 2.

Fig. 4 is a schematic cross-sectional view of the lower leg link shown in fig. 3 in the direction of its axis.

Fig. 5 is a schematic structural view of the thigh mechanism shown in fig. 2.

Fig. 6 is a schematic cross-sectional view of the thigh link shown in fig. 5 in the axial direction thereof.

Fig. 7 is a schematic diagram (with a partial structure removed) of a side view structure of the thigh mechanism shown in fig. 5.

Fig. 8 is a partially enlarged schematic view of the lower leg mechanism shown in fig. 3.

Fig. 9 is a schematic view of the foot component shown in fig. 8.

Fig. 10 is a bottom view of the foot assembly of fig. 9.

Fig. 11 is an exploded view of the foot component shown in fig. 9.

Description of reference numerals:

1. a biped robot; 10. a leg device; 11. a shank mechanism; 12. a thigh mechanism; 100. a foot component; 110. A foot link; 111. a heel portion; 112. a toe part; 113. a first connection portion; 1131. a first through hole; 114. A second connecting portion; 1141. a second protruding shaft; 115. a third internally threaded bore; 120. buffer glue; 121. a first pressure-bearing body; 101. a first pressure bearing face; 122. a second pressure bearing body; 102. a second pressure bearing face; 123. an arch portion of the foot; 124. an anti-slip portion; 103. meteorite crater; 125. a first side; 104. a first arc surface; 105. a second arc surface; 126. a second side; 106. a third arc surface; 107. a fourth arc surface; 130. a second fastener; 131. a fourth screw; 200. a shank transmission assembly; 210. A shank support bar; 211. a second through hole; 212. a connecting gap; 213. a third through hole; 214. a second internally threaded bore; 220. a shank drive rod; 221. a first protruding shaft; 230. a shank transmission rod; 231. a first rod body; 201. a first internally threaded bore; 206. a force application notch; 232. a first connecting body; 202. a first screw; 203. a first position limiting body; 233. a second connector; 204. a second screw; 205. a second position limiting body; 234. a first fisheye joint; 235. a second fisheye joint; 240. a first rotating shaft; 250. a first fastener; 251. a third screw; 300. a thigh transmission assembly; 310. a thigh mount; 311. a first mounting portion; 312. a second mounting portion; 313. a third mounting portion; 3131. a third protruding shaft; 320. A thigh support bar; 330. a first plate spring; 331. a hinge portion; 340. a thigh transmission rod; 341. a second rod body; 301. A fourth internally threaded bore; 306. a second force application notch; 342. a third connecting body; 302. a third screw; 303. a fourth position limiting body; 343. a fourth connector; 304. a fourth screw; 305. a fourth position limiting body; 344. a third fisheye joint; 345. A fourth fisheye joint; 350. a shank link; 360. a thigh link; 370. a second plate spring; 400. a lower leg drive assembly; 500. a thigh drive assembly; 20. a torso device; 21. a trunk connector; 30. a first leg drive assembly; 40. a second leg drive assembly; 50. a third leg drive assembly.

Detailed Description

For the purpose of making the purpose, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be described in further detail below with reference to the accompanying drawings and detailed description. It should be understood that the detailed description and specific examples, while indicating the scope of the disclosure, are intended for purposes of illustration only and are not intended to limit the scope of the disclosure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein in the description of the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure.

The biped robot is a high-level development stage of the advanced robot technology, comprehensively reflects the research and development level of the advanced robot in the aspects of mechanics, motion, dynamics and the like, and is a very complex comprehensive system. The leg body structure of the biped robot is an important link in the design of the biped robot. The design requirements of the leg connecting structure of the existing biped robot are simplified as far as possible under the condition of meeting the requirements of movement and operation so as to meet the requirements of reducing the control complexity and improving the control precision. The legs of the biped robot have flexible rotation function, certain strength in motion collision and light weight.

Based on this, there is a need for an improved leg device. The leg device has good terrain adaptability, and can improve the motion performance of the biped robot.

For a better understanding of the leg device of the present application, the following structure of the biped robot is explained.

As shown in fig. 1 and 2, in the embodiment of the present disclosure, a biped robot 1 is provided, which includes a trunk device 20 and the leg devices 10, and the two leg devices 10 are spaced apart from each other on the trunk device 20. Leg device 10 the leg device 10 comprises a lower leg mechanism 11 and an upper leg mechanism 12.

As shown in fig. 2, the lower leg mechanism 11 includes, among other things, a foot assembly 100 and a lower leg drive assembly 200. The foot component 100 comprises a foot component 100 comprising a heel part 111, a toe part 112 arranged at a distance from the heel part 111, and a first connecting part 113 arranged between the heel part 111 and the toe part 112, the heel part 111 being provided with a second connecting part 114 arranged at a distance from the first connecting part 113; the calf transmission assembly 200 comprises a calf support rod 210, a calf drive rod 220 and a calf transmission rod 230, wherein the calf support rod 210 is rotatably connected with the first connecting portion 113, one end of the calf drive rod 220 is rotatably arranged on the calf support rod 210, the other end of the calf drive rod 220 is rotatably connected with one end of the calf transmission rod 230, and the other end of the calf transmission rod 230 is rotatably connected with the second connecting portion 114. In this way, the lower leg driving rod 220 drives the lower leg driving rod 230 to swing, so that the lower leg driving rod 230 is in linkage fit with the lower leg supporting rod 210, the heel 111 moves or the toe 112 moves, and the human foot simulating motion of the foot component 100 is realized. In the process, since one end of the shank transmission rod 230 is rotatably connected to the other end of the shank transmission rod 220, and the other end of the shank transmission rod 230 is rotatably connected to the second connection portion 114, the transmission distance is short, so that the swing amplitude of the shank transmission rod 230 swinging above the heel portion 111 is small, the transmission structure of the shank mechanism 11 is further compact, the motion interference can be reduced, and the improvement of the reliability of the leg device 10 is facilitated.

As shown in fig. 2, the thigh transmission assembly 300 includes a thigh mounting member 310, a thigh supporting rod 320, a first plate spring 330 and a thigh transmission rod 340, wherein the thigh mounting member 310 includes a first mounting portion 311 rotatably connected to one end of the thigh supporting rod 320, and a second mounting portion 312 spaced from the first mounting portion 311, the other end of the thigh supporting rod 320 is rotatably connected to the shank supporting rod 210, one end of the first plate spring 330 is fixedly disposed on the shank supporting rod 210, the other end of the first plate spring 330 is rotatably connected to one end of the thigh transmission rod 340, and the other end of the thigh transmission rod 340 is rotatably connected to the second mounting portion 312. The first plate spring 330 is disposed forward in a direction from the heel 111 to the toe 112. Thus, the thigh support bar 320 and the first plate spring 330 are connected to the lower leg mechanism 11 through the lower leg support bar 210, the thigh support bar 320 rotates relative to the thigh mounting member 310, the thigh transmission bar 340 is in linkage fit with the thigh support bar 320, the lower leg support bar 210 rotates relative to the thigh support bar 320, the lower leg mechanism 11 is driven to rotate relative to the thigh support bar 320, the first plate spring 330 leans forward in the direction from the heel portion 111 to the toe portion 112, and the lower leg mechanism 11 can move along the knee joint of the human leg when rotating relative to the thigh mechanism 12.

The biped robot 1 can simulate the legs of a human to move by applying the leg device 10, can better adapt to complex terrains, and can simulate the relevant motion of the human. And the transmission swing is small, the motion interference is not easy to occur, and the reliability of the biped robot 1 is improved.

In addition, the thigh transmission rod 340 is directly or indirectly rotationally connected with the thigh support rod 320 through the first plate spring 330, so that the thigh mechanism 12 has good damping performance, and meanwhile, the stress condition of the thigh mechanism 12 is convenient to obtain.

As shown in FIG. 3, in some embodiments, the lower leg mechanism 11 further comprises a lower leg drive assembly 400, the lower leg drive assembly 400 is disposed on the lower leg support bar 210, and the lower leg drive assembly 400 is in driving connection with one end of the lower leg drive bar 220 and drives the lower leg drive bar 230 to swing through the lower leg drive bar 220. In this manner, it is convenient to control the lower leg drive assembly 400 to drive the foot assembly 100 into motion. Specifically, the lower leg drive assembly 400 drives the lower leg transmission rod 230 to swing through the lower leg drive rod 220, so that the lower leg transmission rod 230 is in linkage fit with the lower leg support rod 210, the heel part 111 moves or the toe part 112 moves, and the motion of the foot assembly 100 is realized.

In addition, the first connecting part 113 is connected with the lower leg support rod 210, and the second connecting part 114 arranged on the heel part 111 is connected with the lower leg transmission rod 230, so that the foot component 100 can carry out foot lifting movement like the feet of human beings, forward or backward movement and the like are realized, the walking mode of the biped robot 1 is richer, the walking requirements of different terrains are adapted, and the reliability of the motion control of the biped robot 1 is further improved.

It can be appreciated that the shank transmission rod 230 is connected to the heel 111, which is beneficial to move the mass center of gravity of the leg device 10 upward and closer to the body device 20 of the biped robot 1 as a whole, so as to reduce the inertia of the leg device 10, reduce the actual load of the driving components (such as the shank driving component 400) of the leg device 10, make the leg movement more flexible, and further improve the overall loading capacity of the biped humanoid robot.

It should be noted that the lower leg drive assembly 400 can be drivingly connected to one end of the lower leg drive rod 220 in a variety of ways, including, but not limited to, a direct rotational connection, or an indirect rotational connection. Of course, in other embodiments, the lower leg drive assembly 400 can be drivingly connected to the lower leg drive rod 220 via a drive unit.

Optionally, as shown in fig. 3, in some embodiments, the lower leg drive assembly 400 is a servo motor, and at least a portion of the servo motor is disposed within the lower leg support bar 210 and is in fixed driving connection with the lower leg drive bar 220. Thus, the servo motor can be mounted by making full use of the inner space of the lower leg support rod 210, and the compactness of the lower leg mechanism 11 can be improved. Moreover, the servo motor is fixedly connected with the shank driving rod 220 in a transmission manner, so that the transmission gap of the shank mechanism 11 is small, and the transmission precision is improved.

When one element is considered as being fixedly connected with the other element in a transmission mode, the two elements can be fixed in a detachable connection mode or in an undetachable connection mode, power transmission can be achieved, such as sleeving, clamping, integrally-formed fixing, welding and the like, can be achieved in the traditional technology, and is not burdensome.

Optionally, in some embodiments, the lower leg mechanism 11 further comprises a first angle detection assembly (not shown) for detecting the angle of rotation of the lower leg drive rod 220. In this way, the first angle detection assembly can obtain the motion condition of the lower leg mechanism 11 by detecting the rotation angle of the lower leg driving rod 220, so as to facilitate the motion control of the lower leg mechanism 11.

It should be noted that the first angle detecting component can be implemented in various ways, including but not limited to a rotary encoder, a photoelectric sensor, a magnetic displacement sensor, and so on.

In combination with any of the above embodiments, as shown in fig. 3, in some embodiments, the lower leg transmission assembly 200 and the first connecting portion 113 and the second connecting portion 114 of the foot assembly 100 form a parallelogram link mechanism, and the distance between the rotation center of the first connecting portion 113 and the rotation center of the second connecting portion 114 is L1, and the distance between the rotation center of one end of the lower leg transmission rod 230 and the rotation center of the other end of the lower leg transmission rod 230 is L2; wherein, L1: l2= 11. Thus, the motion swing range of the shank mechanism 11 can be flexibly designed by utilizing the parallelogram link mechanism. While simultaneously allowing L1: l2=11, so that the link transmission of the lower leg mechanism 11 has no return difference, high precision and good transmission effect.

In some embodiments, in combination with any of the above embodiments, the length of the lower leg drive link 230 is adjustable. Therefore, the lower leg support rod 210 is connected with the foot component 100, and after the lower leg drive rod 220 is connected with the lower leg support rod 210, the lower leg drive rod 230 with adjustable length is installed, so that errors generated in the manufacturing process of the lower leg mechanism 11 and assembly errors generated in the assembly process can be adapted, and the installation is more convenient.

It should be noted that the specific implementation manner of the adjustable length of the lower leg transmission rod 230 can be various, for example, a telescopic rod, etc.

Optionally, as shown in fig. 3 and 4, in some embodiments, the lower leg transmission rod 230 includes a first rod 231, a first connector 232 disposed at one end of the first rod 231, and a second connector 233 disposed at the first rod 231, and at least one of the first connector 232 and the second connector 233 is in threaded connection with the first rod 231, so that the length of the lower leg transmission rod 230 is adjustable. Therefore, the length of the shank transmission rod 230 can be adjusted by connecting at least one of the first connecting body 232 and the second connecting body 233 with the first rod 231 in a threaded manner, the operation is simple, and the self-locking is reliable, so that the length of the shank transmission rod 230 cannot be easily adjusted after the shank transmission rod is installed, and the motion reliability of the shank mechanism 11 can be ensured.

Further, as shown in fig. 4, in some embodiments, the first rod 231 is provided with a first force applying notch 206 at an outer side thereof. Thus, by providing the first force application notch 206, the first rod 231 can be rotated by a force application tool such as a wrench, and the length of the shank link 230 can be adjusted.

Optionally, as shown in fig. 4, in some embodiments, both ends of the first rod 231 are provided with a first internal threaded hole 201, the first connecting body 232 is provided with a first screw 202 connected and matched with the first internal threaded hole 201 and a first position-limiting body 203 arranged at an end of the first screw 202, and the second connecting body 233 is provided with a second screw 204 connected and matched with the first internal threaded hole 201 and a second position-limiting body 205 arranged at an end of the second screw 204. Thus, through the screw connection matching of the first screw 202 and the first internal thread hole 201 and the screw connection matching of the second screw 204 and the first internal thread hole 201, the length of the shank transmission rod 230 can be adjusted in two directions, the adjustment is convenient, and the assembly efficiency is improved. In addition, by providing the first stopper 203 and the second stopper 205, the length adjustment range of the lower leg transmission rod 230 can be limited, and the movement flexibility of the lower leg mechanism 11 is prevented from being affected by over-tightening.

In addition to any of the above embodiments, as shown in fig. 3 and 4, in some embodiments, one end of the lower leg driving rod 230 is provided with a first fisheye joint 234, and the lower leg driving rod 220 is provided with a first protruding shaft 221 rotatably connected with the first fisheye joint 234. In this way, the first fisheye joint 234 is rotatably connected to the first protruding shaft 221, so that the lower leg driving rod 230 can bear a large load after being connected to the lower leg driving rod 220. The shank transmission rod 230 can tilt within a certain angle range during the swinging process, so that the shank mechanism 11 can still work normally, and the reliability of the leg device 10 is improved.

In addition to any of the above embodiments, as shown in fig. 4 and 9, in some embodiments, the other end of the shank link 230 is provided with a second fisheye joint 235, and the second connecting portion 114 is provided with a second protruding shaft 1141 rotatably connected to the second fisheye joint 235. In this way, the second fisheye joint 235 is rotatably connected to the second protruding shaft 1141, so that the shank link 230 can bear a large load after being connected to the second connecting portion 114. The shank transmission rod 230 can do tilting motion within a certain angle range in the swinging process, the shank mechanism 11 can still work normally, and the reliability of the leg device 10 is improved.

As shown in fig. 5, in some embodiments, thigh mechanism 12 also includes a thigh drive assembly 500. A thigh drive assembly 500 is disposed on the thigh mount 310, and the thigh drive assembly 500 is used for driving the thigh support bar 320 to rotate. The thigh mechanism 12 is connected to the calf mechanism 11 by a calf link 350. In this manner, the leg device 10 is conveniently driven for knee joint movement by the thigh drive assembly 500. Specifically, the thigh driving assembly 500 drives the thigh supporting rod 320 to rotate through the thigh mounting member 310, so that the thigh transmission rod 340 is in linkage fit with the thigh supporting rod 320, and the shank connecting member 350 drives the shank mechanism 11 to rotate, thereby realizing the motion effect of the knee joint.

On the basis of any of the above embodiments, as shown in fig. 5, in some embodiments, the thigh mechanism 12 further includes a shank link 350, one end of the shank link 350 is fixedly connected to the shank support bar 210, the other end of the shank link 350 is rotatably connected to the thigh support bar 320, and one end of the first plate spring 330 is fixedly connected to the shank link 350. In this way, the shank link 350 is used to connect the shank support bar 210 and the thigh support bar 320, so that the rotation position between the shank support bar 210 and the thigh support bar 320 can be flexibly adjusted, and the first plate spring 330 can be conveniently installed.

In addition to any of the above embodiments, as shown in fig. 5, in some embodiments, the thigh mount 310 further includes a third mount portion 313 for rotatably connecting with the trunk unit 20, and the second mount portion 312 is disposed between the first mount portion 311 and the third mount portion 313. Because one end of the thigh transmission rod 340 is rotatably connected with the other end of the first plate spring 330, and the other end of the thigh transmission rod 340 is rotatably connected with the third mounting part 313, the transmission distance is short, so that the swing amplitude of the thigh transmission rod 340 swinging on the side of the thigh support rod 320 is small, the transmission structure of the thigh mechanism 12 is more compact, the movement interference can be reduced, the reliability of the leg device 10 is improved, and the leg device 10 is also beneficial to miniaturization development.

In addition, the first mounting part 311 is connected to the thigh supporting rod 320, and the third mounting part 313 provided on the thigh mounting part 310 is connected to the thigh transmission rod 340, so that the thigh mechanism 12 can perform knee bending or knee lifting movement like a human thigh, and forward or backward movement and the like are realized, so that the walking mode of the biped robot 1 is richer, the walking requirements of different terrains are adapted, and the reliability of motion control of the biped robot 1 is further improved.

As can be appreciated, the thigh transmission rod 340 is connected to the third mounting part 313, so that the thigh driving assembly 500 moves upwards, the mass center of gravity of the leg device 10 is moved upwards and closer to the trunk device 20 of the biped robot 1, the inertia of the leg device 10 is reduced, the actual load of the driving assembly (such as the thigh driving assembly 500) of the leg device 10 is reduced, the leg movement is more flexible, and the overall loading capacity of the biped humanoid robot can be improved.

In addition to any of the above embodiments, as shown in fig. 5, in some embodiments, the first mounting portion 311, the third mounting portion 313 and the second mounting portion 312 are disposed at intervals along the length direction of the thigh mounting piece 310, and the third mounting portion 313 is disposed between the middle portion of the thigh mounting piece 310 and the second mounting portion 312. Thus, under the condition of reducing the movement and arrangement of the thigh mechanism 12, the transmission ratio of the thigh mechanism 12 is ensured, so as to reduce the performance requirement on the thigh driving assembly 500 and reduce the cost of the biped robot 1.

It should be noted that the thigh drive assembly 500 can be connected to one end of the thigh support bar 320 in a variety of ways, including but not limited to, a direct rotational connection or an indirect rotational connection. Of course, in other embodiments, the thigh driving assembly 500 may drive the thigh supporting rod 320 via the transmission unit.

As shown in fig. 5, in some embodiments, thigh link assembly 300 further comprises a thigh link 360, thigh support rod 320 is rotatably connected to thigh mount 310 via thigh link 360, and thigh drive assembly 500 drives thigh link 360 to rotate. Thus, the thigh connecting part 360 is fixedly connected with the thigh supporting rod 320, and the thigh driving assembly 500 drives the thigh to rotate so as to drive the thigh supporting rod 320 to rotate, so that the position between the thigh supporting rod 320 and the thigh driving assembly 500 can be flexibly adjusted, the mass center of gravity of the leg device 10 can be conveniently moved upwards integrally and is closer to the trunk device 20 of the biped robot 1, and the inertia of the leg device 10 is reduced.

Further, in some embodiments, thigh drive assembly 500 is a servo motor, and at least a portion of the servo motor is disposed within thigh mount 310 and is in fixed driving connection with thigh link 360. Thus, the inner space of the thigh supporting rod 320 can be fully utilized to install the servo motor, and the structure compactness of the thigh mechanism 12 is improved. Moreover, the servo motor is fixedly connected with the thigh connecting piece 360 in a transmission manner, so that the transmission gap of the thigh mechanism 12 is small, and the transmission precision is improved.

Optionally, the thigh mounting member 310 is a mounting bracket, and an accommodating space for accommodating the servo motor is provided therein.

Optionally, in some embodiments, the thigh mechanism 12 further comprises a second angle detection assembly (not shown) for detecting a rotation angle of the thigh support bar 320. In this way, the second angle detecting assembly can obtain the motion condition of the thigh mechanism 12 by detecting the rotation angle of the thigh supporting rod 320, so as to facilitate the motion control of the thigh mechanism 12.

It should be noted that the specific implementation manner of the second angle detection assembly can be various, including but not limited to a rotary encoder, a photoelectric sensor, a magnetic displacement sensor, and so on.

In addition to any of the above embodiments, as shown in fig. 5, in some embodiments, the thigh transmission assembly 300 further comprises a second plate spring 370, one end of the second plate spring 370 is connected to the thigh mounting member 310, and the other end is connected to the thigh support bar 320. Thus, the thigh plate spring is connected with the thigh mounting member 310 and the thigh supporting rod 320, so that the buffering performance of the thigh mechanism 12 can be improved, and meanwhile, the stress condition of the thigh supporting rod 320 can be conveniently acquired, so that the control precision is improved.

In combination with any of the above embodiments, as shown in fig. 5, in some embodiments, the thigh transmission assembly 300 forms a parallelogram linkage mechanism, and the distance between the rotation center of the first mounting portion 311 and the rotation center of the third mounting portion 313 is L3, and the distance between the rotation center of one end of the thigh transmission rod 340 and the rotation center of the other end of the thigh transmission rod 340 is L4; wherein, L3: l4= 45. Thus, the range of motion swing of the thigh mechanism 12 can be flexibly designed by using the parallelogram link mechanism. While simultaneously allowing L3: l4=45, so that the link transmission of the thigh mechanism 12 has no return difference, high precision and good transmission effect.

In combination with any of the above embodiments, in some embodiments, the thigh link 340 is adjustable in length. Thus, the thigh supporting rod 320 is connected with the shank connecting piece 350, the first plate spring 330 is connected with the shank connecting piece 350, the thigh mounting piece 310 is connected with the thigh supporting rod 320, then the thigh transmission rod 340 with adjustable length is mounted, errors generated in the manufacturing process of the thigh mechanism 12 and assembly errors generated in the assembly process can be adapted, and the mounting is more convenient.

It should be noted that the length of the thigh transmission rod 340 can be adjusted in various ways, such as a telescopic rod.

Optionally, as shown in fig. 5 and fig. 6, in some embodiments, the thigh transmission rod 340 includes a second rod 341, a third connector 342 disposed at one end of the second rod 341, and a fourth connector 343 disposed on the second rod 341, and at least one of the third connector 342 and the fourth connector 343 is threadedly connected to the second rod 341, so that the length of the thigh transmission rod 340 is adjustable. Therefore, the adjustable length of the thigh transmission rod 340 is realized by the threaded connection between at least one of the third connector 342 and the fourth connector 343 and the second rod 341, the operation is simple, and the self-locking is reliable, so that the length of the thigh transmission rod 340 cannot be easily adjusted after the thigh transmission rod 340 is installed, and the motion reliability of the thigh mechanism 12 is favorably ensured.

Further, as shown in fig. 6, in some embodiments, a second force application notch 306206 is formed on the outer side of the second rod 341. Thus, by providing the second force application notch 306206, the second rod 341 can be rotated by a force application tool such as a wrench, and the length of the thigh transmission rod 340 can be adjusted.

Optionally, as shown in fig. 6, in some embodiments, both ends of the second rod 341 are provided with a fourth internal threaded hole 301, the third connecting body 342 is provided with a third screw 302251 connected and matched with the fourth internal threaded hole 301 and a fourth stopper 305303 disposed at an end of the third screw 302251, and the fourth connecting body 343 is provided with a fourth screw 304131 connected and matched with the fourth internal threaded hole 301 and a fourth stopper 305303 disposed at an end of the fourth screw 304131. Thus, the length of the thigh transmission rod 340 can be adjusted in two directions through the screw connection fit between the third screw 302251 and the fourth internal thread hole 301 and the screw connection fit between the fourth screw 304131 and the fourth internal thread hole 301, and the adjustment is convenient, thereby being beneficial to improving the assembly efficiency. In addition, the fourth position-limiting body 305303 and the fourth position-limiting body 305303 are arranged, so that the length adjustment range of the thigh transmission rod 340 can be limited, and the phenomenon that the movement flexibility of the thigh mechanism 12 is affected due to over-tightening can be avoided.

In addition to any of the above embodiments, as shown in fig. 6, in some embodiments, the other end of the thigh link bar 340 is provided with a third fisheye joint 344, and the third mounting portion 313 is provided with a third protruding shaft 3131 rotatably connected to the third fisheye joint 344. In this way, the third fisheye joint 344 is rotatably connected to the third protruding shaft 3131, so that the thigh link 340 can bear a large load after being connected to the thigh mount 310. The thigh transmission rod 340 can tilt within a certain angle range during the swinging process, so that the thigh mechanism 12 can still work normally, and the reliability of the leg device 10 is improved.

In addition to any of the above embodiments, as shown in fig. 6, in some embodiments, one end of the thigh link 340 is provided with a fourth fisheye joint 345, and the first plate spring 330 is provided with a hinge portion 331 rotatably connected to the fourth fisheye joint 345. In this way, the fourth fisheye joint 345 is rotatably connected to the hinge 331, so that the thigh link 340 can bear a large load when connected to the first leaf spring 330. The thigh transmission rod 340 can do tilting movement within a certain angle range in the swinging process, and the thigh mechanism 12 can still work normally, so that the reliability of the leg device 10 is improved.

Further, in combination with the third and fourth

fisheye joints

344 and 345, as shown in fig. 7, in some embodiments, the moving direction of the thigh support bar 320 is not in the same plane as the moving direction of the thigh transmission bar 340. Thus, at least part of the thigh mounting part 310 is conveniently arranged at the inner side of the thigh supporting rod 320, the thigh transmission rod 340 extends towards the inner side direction of the thigh supporting rod 320 to the third mounting part 313 for connection, the thigh supporting rod 320 is conveniently used for protecting the thigh transmission rod 340, the movement interference is further reduced, and the reliability of the biped robot 1 is improved.

On the basis of any of the above embodiments, as shown in fig. 8 and 9, in some embodiments, the first connection portion 113 is provided with a first through hole 1131, the lower leg support rod 210 is provided with a second through hole 211 corresponding to the first through hole 1131 one by one, and the lower leg transmission assembly 200 further includes a first rotating shaft 240, and the first rotating shaft 240 is inserted between the first through hole 1131 and the second through hole 211, so that the lower leg support rod 210 is rotatably connected with the first connection portion 113. Thus, the first shaft 240 is connected to the first through hole 1131 and the second through hole 211, so that the lower leg support rod 210 is rotatably connected to the first connection portion 113, and the assembly is convenient and easy to implement.

Further, as shown in fig. 8, in some embodiments, the second through hole 211 is provided with a connection notch 212, a third through hole 213 disposed through one sidewall of the connection notch 212, and a fifth internal threaded hole disposed in the other sidewall of the connection notch 212. The lower leg drive assembly 200 further includes a first fastener 250, and the first fastener 250 includes a fifth threaded rod that passes through the third through hole 213 and is in fastening engagement with the fifth internally threaded hole to fixedly couple the lower leg drive assembly 200 to the first spindle 240. Thus, the fifth screw rod passing through the third through hole 213 and fastened to the fifth internal threaded hole by the first fastener 250 fixes the lower leg transmission assembly 200 on the first rotating shaft 240, and the first rotating shaft 240 is rotatably fitted to the first through hole 1131, so that the lower leg support rod 210 is rotatably connected to the first connecting portion 113, and the assembly is convenient.

In addition to any of the above embodiments, as shown in fig. 9-11, in some embodiments, the foot assembly 100 includes a foot link 110 rotatably coupled to the lower leg drive assembly 200 and a cushion gum 120. The heel 111, the toe 112 and the first connecting portion 113 are disposed on the foot connecting member 110, and the cushion rubber 120 is fixedly connected to the foot connecting member 110. The cushion rubber 120 includes a first pressure-receiving body 121, a second pressure-receiving body 122 spaced apart from the first pressure-receiving body 121, and a pantograph portion 123 disposed between the first pressure-receiving body 121 and the second pressure-receiving body 122. The first bearing body 121 includes a first bearing face 101, the second bearing body 122 includes a second bearing face 102, and at least one of the first bearing face 101 and the second bearing face 102 is provided with a slip prevention portion 124. In this way, when the biped robot 1 is assembled, the foot component 100 is connected to the lower leg transmission component 200 through the foot connector 110, so that the lower leg transmission component 200 is in contact with the ground through the cushion rubber 120. The trunk unit 20 is connected to the foot unit 100 through the lower leg transmission unit 200, and the weight of the biped robot 1 is received by the foot unit 100, and when the biped robot 1 walks, the cushion rubber 120 contacts the ground through the first pressure receiving surface 101 and the second pressure receiving surface 102, and the friction force with the ground is increased by the anti-slip part 124, and the impact force received by the cushion rubber 120 can be absorbed by the cushion shock through the elastic deformation of the cushion rubber 120 and the arch part 123. In this way, the impact force can be reduced or prevented from being transmitted to the lower leg transmission assembly 200 by the foot assembly 100, so that the movement of the lower leg mechanism 11 is more accurate, and the stability of the leg control of the biped robot 1 is improved.

It should be noted that the specific implementation of the rotational connection between foot link 110 and lower leg drive assembly 200 can be varied, including but not limited to a shaft connection, a hinge connection, etc.

In addition to any of the above embodiments, as shown in fig. 9 to 11, in some embodiments, the cushion gum 120 includes a first side 125 and a second side 126 which are spaced apart from each other, and the first pressure-bearing face 101 and the second pressure-bearing face 102 are disposed between the first side 125 and the second side 126; the anti-slip part 124 includes a plurality of meteorite craters 103, and the space between two adjacent meteorite craters 103 becomes gradually smaller from the first side 125 to the middle direction of the first pressure bearing face 101 and the middle direction of the second pressure bearing face 102 respectively. And/or the spacing between two adjacent meteorite craters 103 may taper from second side 126 in a medial direction to first bearing face 101 and a medial direction to second bearing face 102, respectively. Thus, the closer to the middle of the cushion gum 120, the more merle craters 103 on the non-slip portion 124, the better the non-slip effect. While the portions adjacent to first side 125 and/or second side 126 may be relatively sparse in the number of merle wells 103 to facilitate sideslip of foot assembly 100 to accommodate different terrain walking requirements.

It should be noted that the specific shape of the meteorite crater 103 includes, but is not limited to, a partial spherical shape, an ellipsoidal shape, and the like.

In some embodiments, the merle crate 103 is partially spherical, based on any of the embodiments of the merle crate 103 described above. The manufacturing is easy, the manufacturing difficulty of the buffer glue 120 is reduced, and the cost is reduced.

Optionally, as shown in fig. 9 and 10, in some embodiments, the first side 125 includes a first arc surface 104 connected to the first pressure bearing face 101 and a second arc surface 105 connected to the second pressure bearing face 102, and the anti-slip portion 124 is disposed between the first arc surface 104 and the second arc surface 105. In this manner, the anti-slip portion 124 is also added by the first and

second arcs

104 and 105 of the first side 125 to increase the area of friction with the ground, which may improve the anti-slip performance of the foot component 100. In particular, when the first side 125 contacts with a projection on the ground or when the first side 125 slides sideways, the anti-slip part 124 can be used for anti-slip, thereby improving the motion reliability of the lower leg transmission assembly 200.

On the basis of any of the embodiments of the first side 125 described above, as shown in fig. 11, in some embodiments, the second side 126 includes a third arc surface 106 connected to the second pressure-bearing face 102 and a fourth arc surface 107 connected to the second pressure-bearing face 102, and the non-slip portion 124 is disposed between the third arc surface 106 and the fourth arc surface 107. In this manner, the anti-slip portion 124 is also added by the third and

fourth arcs

106, 107 on the second side 126 to increase the area of friction with the ground, thereby improving the anti-slip performance of the foot component 100. Particularly, when the second side 126 contacts with a projection of the ground or when the second side 126 slides sideways, the anti-slip part 124 can be used for anti-slip, so that the motion reliability of the leg mechanism is improved.

It should be noted that the foot link 110 may be made of various materials, including but not limited to steel, titanium alloy, magnesium alloy, aluminum alloy, etc.

In addition to any of the above embodiments, in some embodiments, the foot connecting member 110 is made of an aluminum alloy. Thus, the foot connecting member 110 manufactured by using the aluminum alloy has sufficient strength and hardness to satisfy the supporting and walking requirements of the biped robot 1, and is low in manufacturing cost, thereby being beneficial to reducing the cost of the biped robot 1.

On the basis of any of the above embodiments, in some embodiments, the shore hardness of the cushion gum 120 is 65 degrees to 75 degrees. Therefore, the cushion rubber 120 can be ensured to have good buffering and energy absorbing effects, and the anti-skid performance is good.

Optionally, the shore hardness of the cushion gum 120 is 65 degrees, 66 degrees, 67 degrees, 68 degrees, 69 degrees, 70 degrees, 71 degrees, 72 degrees, 73 degrees, 74 degrees, 75 degrees, and the like.

It should be noted that the material of the cushion rubber 120 may be various, including but not limited to rubber, composite rubber, and silicone rubber.

Optionally, the cushion rubber 120 is made of rubber, and the shore hardness is 70 degrees. In this way, good cushioning performance can be obtained, and good anti-slip performance can be obtained by combining the anti-slip portion 124.

In addition to any of the above embodiments, as shown in fig. 10 and 11, in some embodiments, the cushion gum 120 is provided with at least two connecting holes, the foot connecting member 110 is provided with sixth internally threaded holes corresponding to the connecting holes one to one, the foot assembly 100 further comprises a second fastening member 130 corresponding to the sixth internally threaded holes one to one, and the second fastening member 130 comprises a sixth threaded rod which passes through the connecting hole and is in threaded connection with the sixth internally threaded holes. So, pass connecting hole and sixth internal thread hole threaded connection through the sixth screw rod, fix the buffering glue 120 shell on foot connecting piece 110 with dismantling, be convenient for according to the friction condition of buffering glue 120, change the buffering glue 120 and improve the life of biped robot 1.

In addition to any of the above embodiments, in some embodiments, the first pressure bearing face 101 and the second pressure bearing face 102 are provided with connecting holes. In this way, the first pressure-bearing body 121 and the second pressure-bearing body 122 can be sufficiently screwed and fixed with the foot link 110, so that the first pressure-bearing face 101 and the second pressure-bearing face 102 can be reliably fixed on the foot link 110, and the connection reliability of the foot assembly 100 is improved.

In addition to any of the above embodiments, as shown in fig. 9 and 11, in some embodiments, the cushion gum 120 is provided with a positioning groove, and a portion of the foot connecting member 110 is inserted into the positioning groove and is positioned and matched with the positioning groove. Therefore, the positioning groove is matched with the foot connecting component in a positioning mode, so that pre-fixing installation is facilitated, and the connecting strength of the positioning groove and the foot connecting component can be improved.

On the basis of any of the above embodiments, referring back to fig. 1 and fig. 5, in some embodiments, the trunk device 20 includes trunk connectors 21 corresponding to the leg devices 10 one by one, and the trunk connectors 21 are rotatably connected to the second mounting portions 312; the biped robot 1 further comprises a first leg driving assembly 30 disposed on the corresponding trunk connecting member 21, and the first leg driving assembly 30 drives the thigh mechanism 12 to rotate through the thigh mounting member 310. So, rotate through trunk connecting piece 21 and second installation department 312 and be connected, realize installing leg device 10 rotatable on trunk device 20 to install first shank drive assembly 30 through trunk connecting piece 21, utilize first shank drive assembly 30 to drive thigh installed part 310 and rotate, and then drive thigh mechanism 12 through thigh installed part 310 and rotate for trunk connecting piece 21, convenient assembly. Furthermore, the trunk attachment 21 is rotatably connected to the thigh mount 310, and the first leg driving unit 30 is disposed on the trunk attachment 21, so that the connection of the trunk device 20 to the leg device 10 is more compact.

Further, referring back to fig. 1, in some embodiments, the biped robot 1 further includes a second leg driving assembly 40 disposed on the corresponding trunk device 20, and the second leg driving assembly 40 rotates the thigh mechanism 12 through the trunk link 21. Thus, the second leg driving assembly 40 is used to drive the trunk connector 21 to rotate, and then the trunk connector 21 drives the leg device 10 to rotate.

Based on any of the embodiments of torso joint 21 described above, and referring back to FIG. 1, in some embodiments, both feet are provided

The robot 1 further comprises a third leg driving assembly 50 disposed on the trunk device 20, wherein the third leg driving assembly 50 drives the corresponding thigh mechanism 12 to swing reciprocally and laterally relative to the other thigh mechanism 12 through the 5-trunk connection 21. Thus, utilize

The second leg driving assembly 40 drives the trunk connecting member 21 to perform reciprocating sidesway, so as to drive the leg device 10 to perform reciprocating sidesway relative to the other leg device 10 through the trunk connecting member 21, thereby enabling the motion performance of the biped robot 1 to be better.

In addition, "first leg driving assembly 30", "second leg driving assembly 40", and "third leg driving assembly

The specific implementation of the drive assembly 50 "can be varied, including but not limited to, a rotary 0-force device such as a rotary hydraulic cylinder, a servo motor, or the like.

Alternatively, the first leg drive assembly 30 may be a power device for the hip elevation joint; the second leg drive assembly 40 may be a hip spin joint power device; the second leg drive assembly 40 may be a hip joint power device.

It should be noted that the "second protruding shaft 1141" may be a "part of the foot connecting member 110", i.e., "the first protruding shaft

Two protruding shafts 1141 "are integrally formed with other portions of foot link 110, such as heel portion 111"; or 5 a separate member separable from the other parts of the connecting member, e.g. heel 111, i.e. "second protruding shaft 1141"

Can be manufactured separately and then integrated with other portions of the "connecting member, such as heel portion 111".

Equivalently, "a body" and "a part" can be part of a corresponding "component," i.e., "a body" and "a part"

Integrally formed with the other part of the member; or can be separated from other parts of the member

The vertical member, i.e. "some body" and "some portion" can be manufactured separately and then combined with "other portion of the member" to form a whole 0. The expressions "a certain body" and "a certain portion" in the present disclosure are only one of the embodiments, and for the convenience of reading,

rather than to limit the scope of the present disclosure, which is to be construed as equivalents thereof, provided that the features described above are included and that they function in the same manner.

It should be noted that the "foot link 110" may be one of the modules of the "foot assembly 100

The parts are assembled into a module with other components of the foot component 100, and then are assembled in a modularized way; or 5 may be separate from the other components of foot assembly 100, i.e., may be mounted to the foot in the present device

The other components of the assembly 100 "comprise a single piece.

Equivalently, the components, the mechanisms and the devices of the present disclosure can be flexibly combined, i.e., can be produced in a modularized manner according to the actual situation, and can be assembled in a modularized manner as an independent module; can also be carried out separately

The assembly forms a module in the device. The division of the above-mentioned components into the present disclosure is only one example, and is 0 for easy reading, and not for limiting the scope of the present disclosure, as long as the above-mentioned components are included and the functions should be the same

But rather the claims are to be understood to be equivalents thereof.

In the description of the present disclosure, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the disclosure and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the disclosure.

Furthermore, the terms "first", "second", etc. 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," "second," etc. may explicitly or implicitly include at least one of the feature. In the description of the present disclosure, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.

In the present disclosure, 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 integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In the present disclosure, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to," "disposed on," "secured to," or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show several embodiments of the present disclosure, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for those skilled in the art, variations and modifications can be made without departing from the inventive concept of the present disclosure, and these are all within the scope of the present disclosure.

Claims

1. A leg device, comprising:

the lower leg mechanism comprises a foot component and a lower leg transmission component; the foot component comprises a heel part, a toe part and a first connecting part, wherein the toe part is arranged at an interval with the heel part, the first connecting part is arranged between the heel part and the toe part, and the heel part is provided with a second connecting part arranged at an interval with the first connecting part; the shank transmission assembly comprises a shank support rod, a shank drive rod and a shank transmission rod, the shank support rod is rotatably connected with the first connecting part, one end of the shank drive rod is rotatably arranged on the shank support rod, the other end of the shank drive rod is rotatably connected with one end of the shank transmission rod, and the other end of the shank transmission rod is rotatably connected with the second connecting part; and

a thigh mechanism comprising a thigh transmission assembly; the thigh transmission assembly comprises a thigh mounting part, a thigh supporting rod, a first plate spring and a thigh transmission rod, the thigh mounting part comprises a first mounting part and a second mounting part, the first mounting part is rotatably connected with one end of the thigh supporting rod, the second mounting part is arranged at an interval with the first mounting part, the other end of the thigh supporting rod is rotatably connected with the shank supporting rod, one end of the first plate spring is fixedly arranged on the shank supporting rod, the other end of the first plate spring is rotatably connected with one end of the thigh transmission rod, and the other end of the thigh transmission rod is rotatably connected with the second mounting part;

wherein the first leaf spring is disposed obliquely forward in a direction from the heel portion to the toe portion.

2. The leg device according to claim 1, wherein the first and second connecting portions of the lower leg transmission assembly and the foot assembly form a parallelogram linkage mechanism, and a distance between a rotation center of the first connecting portion and a rotation center of the second connecting portion is L1, and a distance between a rotation center of one end of the lower leg transmission rod and a rotation center of the other end of the lower leg transmission rod is L2; wherein, L1: l2= 11;

and/or the thigh mounting part further comprises a third mounting part which is used for being rotatably connected with the trunk device, and the second mounting part is arranged between the first mounting part and the third mounting part; the thigh transmission assembly forms a parallelogram link mechanism, the distance between the rotation center of the first installation part and the rotation center of the third installation part is L3, and the distance between the rotation center of one end of the thigh transmission rod and the rotation center of the other end of the thigh transmission rod is L4; wherein, L3: l4= 45.

3. The leg arrangement as claimed in claim 1, wherein the shank drive bar is adjustable in length; and/or the length of the thigh transmission rod is adjustable.

4. The leg device as claimed in claim 3, wherein the shank link comprises a first rod, a first connecting member disposed at one end of the first rod, and a second connecting member disposed at the first rod, at least one of the first connecting member and the second connecting member being threadedly coupled to the first rod, such that the shank link is adjustable in length.

5. The leg device according to claim 4, wherein both ends of the first rod body are provided with first internal threaded holes, the first connecting body is provided with a first screw rod which is connected and matched with the first internal threaded holes and a first limiting body which is arranged at the end part of the first screw rod, and the second connecting body is provided with a second screw rod which is connected and matched with the first internal threaded holes and a second limiting body which is arranged at the end part of the second screw rod;

6. The leg device as claimed in claim 3, wherein the thigh transmission rod comprises a second rod, a third connecting body disposed at one end of the second rod, and a fourth connecting body disposed at the second rod, at least one of the third connecting body and the fourth connecting body is threadedly connected to the second rod, so that the length of the thigh transmission rod is adjustable.

7. The leg device according to claim 6, wherein both ends of the second rod body are provided with third internal threaded holes, the third connecting body is provided with a third screw rod which is matched with the third internal threaded holes and a third limiting body which is arranged at the end part of the third screw rod, and the fourth connecting body is provided with a fourth screw rod which is matched with the third internal threaded holes and a fourth limiting body which is arranged at the end part of the fourth screw rod;

8. The leg device according to claim 1, wherein the shank mechanism further comprises a shank driving assembly disposed on the shank support rod, the shank driving assembly is in transmission connection with one end of the shank driving rod and drives the shank driving rod to swing through the shank driving rod;

9. The leg device as claimed in claim 1, wherein the thigh mechanism further comprises a shank link, one end of the shank link is fixedly connected to the shank support bar, the other end of the shank link is rotatably connected to the thigh support bar, and one end of the first plate spring is fixedly connected to the shank link.

10. The leg apparatus of claim 1, wherein the thigh mount further comprises a third mount portion for rotatable connection with the torso apparatus, the second mount portion being disposed between the first mount portion and the third mount portion.

11. The leg arrangement of claim 10 wherein said first, second and third mounting portions are spaced apart along a length of said thigh mount, said second mounting portion being disposed between a middle of said thigh mount and said third mounting portion.

12. A leg arrangement as claimed in claim 1, characterized in that the direction of movement of the thigh support bar is not in the same plane as the direction of movement of the thigh transmission bar.

13. A leg arrangement according to any one of claims 1-12, wherein the foot component comprises a foot connection member and a cushion gum, the heel portion, the toe portion and the first connection portion are provided on the foot connection member, the cushion gum is fixedly connected to the foot connection member, the cushion gum comprises a first pressure body, a second pressure body spaced apart from the first pressure body, and a arch portion provided between the first pressure body and the second pressure body, the first pressure body is provided adjacent to the heel portion, the first pressure body comprises a first pressure face, the second pressure body is provided adjacent to the toe portion, the second pressure body comprises a second pressure face, and at least one of the first pressure face and the second pressure face is provided with a slip prevention portion.

14. The leg apparatus of claim 13 wherein said cushion gum includes a first side and a second side spaced apart, said first and second bearing surfaces being disposed between said first and second sides; the anti-skid part comprises a plurality of meteorite craters, the distance between every two adjacent meteorite craters is gradually reduced from the first side to the middle direction of the first pressure bearing face and the middle direction of the second pressure bearing face, and/or the distance between every two adjacent meteorite craters is gradually reduced from the second side to the middle direction of the first pressure bearing face and the middle direction of the second pressure bearing face;

15. A biped robot comprising a trunk means and leg means according to any one of claims 1 to 12, said leg means comprising two spaced apart legs and being pivotally connected to said thigh mount.

16. The biped robot of claim 15 wherein the trunk means comprises a trunk link in one-to-one correspondence with the leg means, the trunk link being pivotally connected to the corresponding thigh mount; the biped robot further comprises a first leg driving assembly arranged on the corresponding trunk connecting piece, and the first leg driving assembly drives the thigh mechanism to rotate through the thigh mounting piece.

17. The biped robot of claim 16 further comprising a second leg driving assembly provided to the corresponding trunk device, the second leg driving assembly rotating the thigh mechanism via the trunk link.

18. The biped robot of claim 16 or 17 further comprising a third leg drive assembly provided to the trunk mechanism, the third leg drive assembly moving the corresponding thigh mechanism to and fro side-shift relative to the other thigh mechanism via the trunk link.