CN219969848U - Lower limb component of biped robot - Google Patents

Abstract

The utility model relates to the technical field of robots, and discloses a lower limb component of a biped robot. The lower limb assembly at least comprises a hip joint, a knee joint, an ankle joint and a plurality of actuators; the first actuator is arranged at a preset position of the hip joint and is used for driving the hip joint to move in series; the second actuator is arranged on the opposite side of the preset position of the hip joint and is used for driving the knee joint to move in series; the third actuator is arranged between the knee joint and the ankle joint and is used for driving the ankle joint to move in parallel; wherein, the vertical coordinates of the first actuator and the second actuator are higher than the vertical coordinates of the third actuator when the lower limb component is in a standing state. The centroid of the lower limb component can be improved by adopting the lower limb component, and the control difficulty of the lower limb component is reduced.

Description

Lower limb component of biped robot

Technical Field

The utility model relates to the technical field of robots, in particular to a lower limb component of a biped robot.

Background

Currently, the implementation of bipedal robots requires mechanical structural components and corresponding control algorithms. Wherein, the mechanical structural member comprises joints and an actuator for driving the joints to move, and the control algorithm controls the actuator to make the joints move in a coordinated way, so that the robot completes the given action and maintains the balance of the robot.

For example, in a lower limb assembly of a robot, the mechanical structure includes a hip joint, a knee joint, an ankle joint, and an actuator for driving movement of the hip joint, an actuator for driving movement of the knee joint, and an actuator for driving movement of the ankle joint. The actuators are controlled by the control algorithm, so that the motions of the hip joint, the knee joint and the ankle joint are matched with each other, and the lower limb assembly can complete the given motions such as the action motion, the standing motion and the like and maintain the balance of the robot.

In the process of implementing the embodiment of the utility model, the related art is found to have at least the following problems:

the actuator for driving the hip joint to move is arranged at the hip joint, the actuator for driving the knee joint to move is arranged at the knee joint, and the actuator for driving the ankle joint to move is arranged at the ankle joint, so that the torque output by the actuator for driving the knee joint is required to overcome the moment of inertia of a shank structural member and a sole structural member, and the moment of inertia of the actuator at the ankle joint, which results in higher requirement on the output torque of the actuator at the knee joint; meanwhile, the torque output by the actuator for driving the hip joint to move not only needs to overcome the rotational inertia of the thigh structural part, the shank structural part and the sole structural part, but also needs to overcome the rotational inertia of the actuator at the ankle joint and the rotational inertia of the actuator at the knee joint; the requirement on the output torque of the knee joint actuator is improved by the actuator arranged at the ankle joint, the actuator with higher output torque is required to be arranged at the knee joint, and the output torque of the actuator is positively correlated with the mass of the actuator, so that the mass of the actuator at the knee joint is larger, and the requirement on the output torque of the actuator at the hip joint is further improved; when the robot is switched between a static state and a moving state, the torque output by the actuators has large variation amplitude, so that the control difficulty of the lower limb component is high; meanwhile, the rotational inertia of the actuator at the ankle joint and the rotational inertia of the actuator at the knee joint have great adverse effects on the balance control of the robot, so that the balance control difficulty of the robot is high.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.

The embodiment of the utility model provides a lower limb component of a biped robot, which enables the whole mass center of the lower limb component to move upwards by adjusting the setting position of an actuator, reduces the requirement on the output torque of each actuator, reduces the moment of inertia of each actuator and reduces the control difficulty of the robot.

In some embodiments, the lower limb assembly of the bipedal robot includes at least a hip joint, a knee joint, an ankle joint, and a plurality of actuators; the first actuator is arranged at a preset position of the hip joint and is used for driving the hip joint to move in series; a second actuator is arranged on the opposite side of the preset position of the hip joint and is used for driving the knee joint to move in series; the third actuator is arranged between the knee joint and the ankle joint and is used for driving the ankle joint to move in parallel; wherein, the lower limb assembly is in a standing state, and the longitudinal coordinates of the first actuator and the second actuator are higher than the longitudinal coordinates of the third actuator.

Optionally, the preset position is at a revolving shaft of the hip joint, the revolving shaft is coaxial with an output end of the first actuator, and the first actuator drives the thigh structural part of the lower limb assembly to rotate around the revolving shaft.

Optionally, the thigh structural part is plate-shaped, and one side surface of the thigh structural part is movably connected with the hip joint through the revolving shaft; the second actuator is arranged on the other side surface of the thigh structural part and is opposite to the first actuator; the lower limb assembly is in a standing state, and the longitudinal coordinate of the first actuator is higher than the longitudinal coordinate of the second actuator.

Optionally, the thigh structural part of the lower limb component is provided with a hollow interlayer; the output end of the second actuator is positioned in the hollow interlayer and is in transmission connection with the knee joint through a transmission connecting piece arranged in the hollow interlayer so as to drive the shank structural member of the lower limb assembly to rotate with the knee joint as the center.

Optionally, the shank structure of the lower limb assembly comprises a first end, a second end and a shank portion, the first end and the second end are respectively located at two ends of the shank portion along the length direction, the first end is connected with the thigh structure of the lower limb assembly through the knee joint, and the second end is connected with the sole structure of the lower limb assembly through the ankle joint.

Optionally, the lower limb assembly further comprises a fourth actuator; one of the third actuator and the fourth actuator is disposed at the calf bone and near the first end, the other is disposed at the knee joint; alternatively, the third and fourth actuators are each disposed at the calf bone and proximate the first end.

Optionally, the axis of the output end of the third actuator is perpendicular to or parallel to the axis of the output end of the fourth actuator, and the third actuator and the fourth actuator are in transmission connection with the ankle joint and are used for driving the ankle joint to move.

Optionally, the calf bone is provided with an installation space matched with the third actuator and/or the fourth actuator, and the installation space penetrates through the calf structural part; the third actuator and/or the fourth actuator are/is arranged in the installation space.

Optionally, the sole structure is connected with the second end part in a universal rotation manner; the inner side and the outer side of the sole end or the heel end of the sole structural member are respectively in transmission connection with the third actuator and the fourth actuator through a crank; or the inner side or the outer side of the sole structural member is in transmission connection with the third actuator through a crank, and the sole end or the heel end of the sole structural member is in transmission connection with the fourth actuator through a crank;

the third actuator and the fourth actuator cooperate to drive the ball structure in a universal rotation relative to the second end of the shank structure.

Optionally, the mass of the first actuator is greater than the mass of the third actuator, and the mass of the second actuator is greater than the mass of the third actuator.

Optionally, the reduction ratio of the first actuator is smaller than the reduction ratio of the third actuator, and the reduction ratio of the second actuator is smaller than the reduction ratio of the third actuator.

The lower limb component of the biped robot provided by the embodiment of the utility model can realize the following technical effects:

the third actuator is arranged between the knee joint and the ankle joint, so that the moment of inertia of the third actuator relative to the knee joint is small, the moment of inertia of the third actuator relative to the hip joint is small, and the requirements on the output torque of the second actuator and the first actuator are reduced; the second actuator is arranged on the opposite side of the preset position of the hip joint, so that the moment of inertia of the second actuator relative to the hip joint is small, and the requirement on the output torque of the first actuator is reduced; meanwhile, the arrangement position of the third actuator reduces the requirement on the output torque of the second actuator, and the second actuator can adopt an actuator with smaller output torque, so that the mass of the second actuator is reduced, the moment of inertia of the second actuator relative to the hip joint is also reduced, the requirement on the output torque of the first actuator is reduced, and the control difficulty of the lower limb component is reduced;

meanwhile, the arrangement position of the third actuator reduces the moment of inertia of the third actuator relative to the hip joint, so that the mass distribution of the lower limb component is gathered towards the hip joint, and the mass center of the lower limb component is improved; the arrangement position of the second actuator also reduces the rotational inertia of the second actuator relative to the hip joint, so that the mass distribution of the lower limb component is gathered towards the hip joint, and the mass center of the lower limb component is improved.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the utility model.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:

FIG. 1 is an isometric view of one motion modality of a lower extremity assembly of a biped robot provided by an embodiment of the present utility model;

fig. 2 is a front view of another action pattern of a lower limb assembly of the bipedal robot provided by the embodiment of the utility model;

FIG. 3 is a left side view of another motion modality of a lower limb assembly of a bipedal robot in accordance with an embodiment of the utility model;

fig. 4 is a right side view of another action pattern of the lower limb assembly of the bipedal robot provided by the embodiment of the utility model.

Reference numerals:

11. a hip joint; 111. a rotating shaft; 12. a knee joint; 13. an ankle joint; 21. a first actuator; 22. a second actuator; 23. a third actuator; 24. a fourth actuator; 31. thigh structural members; 311. a hollow interlayer; 312. a first thigh structural panel; 313. a second thigh structural panel; 32. a shank structure; 33. sole structural member.

Detailed Description

For a more complete understanding of the nature and the technical content of the embodiments of the present utility model, reference should be made to the following detailed description of embodiments of the utility model, taken in conjunction with the accompanying drawings, which are meant to be illustrative only and not limiting of the embodiments of the utility model. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.

The terms first, second and the like in the description and in the claims of embodiments of the utility model and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the utility model herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

In the embodiments of the present utility model, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate the azimuth or the positional relationship based on the azimuth or the positional relationship shown in the drawings. These terms are only used to facilitate a better description of embodiments of the utility model and their examples and are not intended to limit the scope of the indicated devices, elements or components to the particular orientation or to be constructed and operated in a particular orientation. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in embodiments of the present utility model will be understood by those of ordinary skill in the art in view of the specific circumstances.

In addition, the terms "disposed," "connected," "secured" and "affixed" are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the embodiments of the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

The term "plurality" means two or more, unless otherwise indicated.

In the embodiment of the utility model, the character "/" indicates that the front object and the rear object are in an OR relationship. For example, A/B represents: a or B.

The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.

Referring to fig. 1 to 4, the lower limb assembly according to the embodiment of the present utility model includes at least a hip joint 11, a knee joint 12, an ankle joint 13, and a plurality of actuators;

the first actuator 21 is arranged at a preset position of the hip joint 11 and is used for driving the hip joint 11 to move in series;

the second actuator 22 is disposed at the opposite side of the preset position of the hip joint 11 for serially driving the knee joint 12 to move;

the third actuator 23 is disposed between the knee joint 12 and the ankle joint 13 for driving the ankle joint 13 to move in parallel;

wherein, the longitudinal coordinates of the first actuator 21 and the second actuator 22 are higher than those of the third actuator 23 in the standing state of the lower limb assembly.

The lower limb assembly in the embodiment of the utility model can be applied to a bipedal robot. After the lower limb assembly is applied to the bipedal robot, the standing state of the lower limb assembly refers to the standing state of the bipedal robot.

The first actuator 21, the second actuator 22 and the third actuator 23 may be positioned in the same coordinate system, and the ordinate axes of the coordinate system where the first actuator 21, the second actuator 22 and the third actuator 23 are positioned are perpendicular to the horizontal plane. The longitudinal elevation of the first actuator 21 and the second coordinate system is higher than the longitudinal coordinate of the third actuator 23, which means that the distance between the first actuator 21 and the horizontal plane of the sole structural member 33 of the lower limb assembly is greater than the distance between the third actuator 23 and the horizontal plane of the sole structural member 33 of the lower limb assembly in the standing state; the distance between the second actuator 22 and the horizontal plane of the sole structure 33 of the lower limb assembly is greater than the distance between the third actuator 23 and the horizontal plane of the sole structure 33 of the lower limb assembly.

The first actuator 21, the second actuator 22 and the third actuator 23 in the embodiment of the present utility model may be actuators composed of a motor and a speed reducer, wherein an output end of the motor is in transmission connection with an input end of the speed reducer, and an output end of the speed reducer is an output end of the actuator.

In the embodiment of the utility model, the serial driving refers to driving a robot structural member to move by an actuator. The first actuators 21 drive the movement of the hip joint 11 in series, meaning that only one first actuator 21 drives the movement of the hip joint 11. In practical applications, the movement direction of the hip joint 11 includes three degrees of freedom, and the first actuator 21 in the embodiment of the present utility model drives the hip joint 11 in series, which may be that only the first actuator 21 drives the hip joint 11 to move in the front-back degrees of freedom. The second actuators 22 are connected in series to drive the movement of the knee joint 12, meaning that only one second actuator 22 drives the movement of the knee joint 12.

In an application scenario in which the first actuator 21 drives the hip joint 11 in series and the second actuator 22 drives the knee joint 12 in series, both the hip joint 11 and the knee joint 12 can be independently operated. For example, in the case that the first actuator 21 drives the hip joint 11 to move in the front-back degrees of freedom, the bipedal robot can perform a leg lifting motion, and in the course of the bipedal robot performing the leg lifting motion, the knee joint 12 can maintain the original angle unchanged, for example, the knee joint 12 can maintain 180 ° unchanged (the thigh structural member and the calf structural member are in a straight line), so that a front leg kicking motion is performed; alternatively, the knee joint 12 may be bent from 180 ° to 90 ° (the thigh structure and the shank structure change from a state of being in the same straight line to a state of being gradually changed to 90 °) so that a high leg lifting operation is achieved.

In the embodiment of the utility model, parallel driving refers to driving a robot structural member to move by at least two actuators. The third actuator 23 drives the ankle joint 13 to move in parallel, which means that the third actuator 23 and one or more other actuators drive the ankle joint to move, for example, one third actuator 23 and one fourth actuator 24 can be matched with each other to drive the ankle joint 13.

In the lower limb assembly of the biped robot provided by the embodiment of the utility model, the third actuator 23 is arranged between the knee joint 12 and the ankle joint 13, so that the moment of inertia of the third actuator 23 relative to the knee joint 12 is smaller, the moment of inertia of the third actuator 23 relative to the hip joint 11 is smaller, and the requirements on the output torque of the second actuator 22 and the first actuator 21 are reduced; the second actuator 22 is arranged on the opposite side of the preset position of the hip joint 11, so that the moment of inertia of the second actuator 22 relative to the hip joint 11 is small, and the requirement for the output torque of the first actuator 21 is reduced; at the same time, the setting position of the third actuator 23 reduces the requirement for the output torque of the second actuator 22, and the second actuator 22 can adopt an actuator with smaller output torque, which reduces the mass of the second actuator 22, reduces the moment of inertia of the second actuator 22 relative to the hip joint 11, reduces the requirement for the output torque of the first actuator 21, and reduces the difficulty in controlling the lower limb components.

At the same time, the setting position of the third actuator 23 reduces the moment of inertia of the third actuator 23 relative to the hip joint 11, so that the mass distribution of the lower limb assembly is gathered towards the hip joint 11, and the mass center of the lower limb assembly is improved; the arrangement position of the second actuator 22 also reduces the rotational inertia of the second actuator 22 relative to the hip joint 11, so that the mass distribution of the lower limb assembly is gathered towards the hip joint 11, and the mass center of the lower limb assembly is improved, thus, on the basis of reducing the mass of the first actuator 21 and the second actuator 22, the mass distribution of the lower limb assembly can still be gathered towards the hip joint 11, the physical model of the lower limb assembly is more approximate to a rigid body which is higher than the ground, the influence of the rotational inertia of the actuator of the ankle joint 13 and the rotational inertia of the actuator of the knee joint 12 on the balance control of the robot is reduced, and the difficulty of the balance control of the robot is reduced.

In practical application, the lower limb assembly further comprises a thigh structural member 31, a shank structural member 32 and a sole structural member 33, wherein the thigh structural member 31 is connected with the hip joint 11, the thigh structural member 31 is connected with the shank structural member 32 through the knee joint 12, and the shank structural member 32 is connected with the sole structural member 33 through the ankle joint 13.

The first actuator 21 and the second actuator 22 are exemplarily described below.

The preset position may be at the pivot axis 111 of the hip joint 11, the pivot axis 111 being coaxial with the output end of the first actuator 21, the first actuator 21 driving the thigh structure 31 of the lower limb assembly to rotate about the pivot axis 111.

The pivot 111 may be a connection between the thigh structure 31 and the hip joint 11. Further, the pivot shaft 111 is a pivot axis of the hip joint 11 in the back-and-forth swing degree of freedom. The hip joint 11 of the lower limb assembly comprises three degrees of freedom, a front-back swing degree of freedom, a side swing degree of freedom and a rotation degree of freedom, and the movement of the hip joint 11 in each degree of freedom can be completed under the drive of a corresponding actuator. The front-back swing degree of freedom refers to the front-back swing of the thigh structural member 31 relative to the hip joint 11, the side swing degree of freedom refers to the left-right swing of the thigh structural member 31 relative to the hip joint 11, in practical application, the swing amplitude of the thigh structural member 31 in the front-back swing degree of freedom is larger than the swing amplitude of the thigh structural member 31 in the side swing degree of freedom, the pivot axis 111 is the swing axis of the hip joint 11 in the front-back swing degree of freedom, that means that the longitudinal coordinates of the pivot axis (not shown) of the side swing degree of freedom and the pivot axis 111 of the rotation degree of freedom of the hip joint 11 are higher than the longitudinal coordinates of the pivot axis 111 of the front-back swing degree of freedom, and in the process that the first actuator 21 drives the hip joint 11 to move along the front-back swing degree of freedom, there is no need to overcome the moment of inertia brought by the actuator driving the hip joint 11 to move along the rotation degree of freedom, so that the requirement of the output torque of the first actuator 21 is reduced.

Further, the longitudinal coordinates of the first actuator 21 are higher than the longitudinal coordinates of the second actuator 22 in the standing state of the lower limb assembly.

The lower limb assembly is exemplified below in connection with the thigh structure 31 again.

Optionally, the thigh structure 31 is plate-shaped, and one side surface of the thigh structure 31 is movably connected with the hip joint 11 through the rotating shaft 111; the second actuator 22 is disposed on the other side surface of the thigh structural part 31, opposite to the first actuator 21; in the standing position of the lower limb assembly, the longitudinal coordinate of the first actuator 21 is higher than the longitudinal coordinate of the second actuator 22. In this way, the second actuator 22 has a small moment of inertia relative to the hip joint 11, which is advantageous in reducing the demand for the output torque of the first actuator 21.

Further, the thigh structure 31 is provided with a hollow interlayer 311; the output end of the second actuator 22 is positioned in the hollow interlayer 311 and is in transmission connection with the knee joint 12 through a transmission connecting piece arranged in the hollow interlayer 311 so as to drive the shank structural member 32 of the lower limb assembly to rotate around the knee joint 12.

For example, the thigh structure 31 may be formed by the first thigh structure plate 312 and the second thigh structure plate 313 being bonded; wherein, the first thigh structure plate 312 is provided with a folded edge, the second thigh structure plate 313 is provided with a folded edge, and the folded edge of the first thigh structure plate 312 is attached to the folded edge of the second thigh structure plate 313 to form the hollow interlayer 311.

The outer layer of the thigh structural part 31 may be provided with a mounting through hole for mounting the second actuator 22, the outer shell of the second actuator 22 is fixedly connected with the outer layer of the thigh structural part 31, and the second actuator 22 extends into the hollow interlayer 311 of the thigh structural part 31 along the mounting through hole.

The drive connection may be a link, i.e. the output of the second actuator 22 may be in drive connection with the knee joint 12 via a link.

The lower limb assembly is exemplified below in connection with the lower leg structure 32.

Optionally, the shank structure 32 of the lower limb assembly comprises a first end, a second end and a shank portion, the first end and the second end are respectively positioned at two ends of the shank portion along the length direction, the first end is connected with the thigh structure 31 of the lower limb assembly through the knee joint 12, and the second end is connected with the sole structure 33 of the lower limb assembly through the ankle joint 13; the third actuator 23 is arranged on the calf bone, and the distance between the third actuator 23 and the first end part is smaller than the distance between the third actuator 23 and the second end part; alternatively, the third actuator 23 is provided at the knee joint 12 (not shown in the drawings).

In this way, the moment of inertia of the third actuator 23 relative to the knee joint 12 is reduced, the requirement for the output torque of the second actuator 22 is reduced, the mass of the second actuator 22 is reduced, the moment of inertia of the second actuator 22 relative to the hip joint 11 is reduced, the requirement for the output torque of the first actuator 21 is reduced, and the difficulty in controlling the lower limb assembly is reduced.

The lower limb assembly may further include a fourth actuator 24, one of the third actuator 23 and the fourth actuator 24 being disposed on the calf bone and proximate the first end and the other being disposed on the knee joint 13; alternatively, the third actuator 23 and the fourth actuator 24 are both disposed on the calf bone and near the first end;

the axis of the output end of the third actuator 23 is parallel to the axis of the output end of the fourth actuator 24, and the third actuator 23 and the fourth actuator 24 are in transmission connection with the ankle joint 13 and are used for driving the ankle joint 13 to move.

Alternatively, the axis of the output end of the third actuator 23 is perpendicular to the axis of the output end of the fourth actuator 24 (not shown in the figure), and both the third actuator 23 and the fourth actuator 24 are in driving connection with the ankle joint 13 for driving the ankle joint 13 to move.

In this way, the moment of inertia of the fourth actuator 24 relative to the knee joint 12 is reduced, the requirement for the output torque of the second actuator 22 is reduced, the mass of the second actuator 22 is reduced, the moment of inertia of the second actuator 22 relative to the hip joint 11 is reduced, the requirement for the output torque of the first actuator 21 is reduced, and the difficulty in controlling the lower limb assembly is reduced.

In the above solution, the distance between the actuator and the first end is smaller than the distance between the actuator and the second end.

The scheme comprises the following embodiments:

first embodiment: one of the third actuator 23 and the fourth actuator 24 is provided at the calf bone portion, near the first end portion, and the other is provided at the knee joint 13; the axis of the output end of the third actuator 23 is parallel to the axis of the output end of the fourth actuator 24, and the third actuator 23 and the fourth actuator 24 are in transmission connection with the ankle joint 13 and are used for driving the ankle joint 13 to move.

In the second embodiment, one of the third actuator 23 and the fourth actuator 24 is provided on the calf bone portion, near the first end portion, and the other is provided on the knee joint 13; the axis of the output end of the third actuator 23 is perpendicular to the axis of the output end of the fourth actuator 24 (not shown in the figure), and both the third actuator 23 and the fourth actuator 24 are in transmission connection with the ankle joint 13 for driving the ankle joint 13 to move.

In the third embodiment, the third actuator 23 and the fourth actuator 24 are both disposed on the calf bone and near the first end; the axis of the output end of the third actuator 23 is parallel to the axis of the output end of the fourth actuator 24, and the third actuator 23 and the fourth actuator 24 are in transmission connection with the ankle joint 13 and are used for driving the ankle joint 13 to move.

In the fourth embodiment, the third actuator 23 and the fourth actuator 24 are both disposed on the calf bone and near the first end; the axis of the output end of the third actuator 23 is perpendicular to the axis of the output end of the fourth actuator 24 (not shown in the figure), and both the third actuator 23 and the fourth actuator 24 are in transmission connection with the ankle joint 13 for driving the ankle joint 13 to move.

The fourth actuator 24 in the embodiment of the present utility model may be an actuator formed by a motor and a speed reducer, where an output end of the motor is in transmission connection with an input end of the speed reducer, and an output end of the speed reducer is an output end of the actuator.

Further, in the case that the axes of the output ends of the third actuator 23 and the fourth actuator 24 are parallel, the third actuator 23 and the fourth actuator 24 may be disposed opposite to each other, and the third actuator 23 and the fourth actuator 24 are both in driving connection with the ankle joint 13 for driving the ankle joint 13 to move.

For example, the output end of the third actuator 23 is directed in one of the right and left directions, and the output end of the fourth actuator 24 is directed in the other of the right and left directions.

Specifically, the calf bone of the calf structure 32 is provided with an installation space adapted to the third actuator 23 and/or the fourth actuator 24, and the installation space penetrates the calf structure 32; the third actuator 23 and/or the fourth actuator 24 are arranged in the installation space. This reduces the volume of the calf structure.

The above technical solution includes two embodiments, a first embodiment: the lower leg structural member 32 is provided with an installation space adapted to the third actuator 23, the installation space penetrates the lower leg structural member 32, the third actuator 23 is arranged in the installation space, and the lower leg structural member 32 does not provide an installation space for the fourth actuator 24. The third actuator 23 is provided on the calf bone, the fourth actuator 24 is provided on the calf bone, and the fourth actuator 24 is provided on the knee joint 13.

In the second embodiment, the lower leg structural member 32 is provided with installation spaces adapted to the third actuator 23 and the fourth actuator 24, respectively, the installation spaces penetrate the lower leg structural member 32, and the third actuator 23 and the fourth actuator 24 are disposed in the corresponding installation spaces, respectively. The third actuator 23 and the fourth actuator 24 are each disposed on the calf bone.

Still further, the installation space penetrates the lower leg structural member 32 in the left-right direction, and after the third actuator 23 and the fourth actuator 24 are disposed in the installation space, the output end of one of the third actuator 23 and the fourth actuator 24 is directed in one of the left-right directions, and the output end of the other of the third actuator 23 and the fourth actuator 24 is directed in the other of the left-right directions.

The movement of the ankle joint 13 driven by the third actuator 23 and the fourth actuator 24 will be exemplarily described below.

Optionally, the lower limb assembly further comprises a sole structural member 33, the sole structural member 33 is in universal rotation connection with the second end portion of the shank structural member 32, the inner side and the outer side of the sole end or the heel end of the sole structural member 33 are respectively in transmission connection with the third actuator 23 and the fourth actuator 24 through a crank, or the inner side or the outer side of the sole structural member 33 is in transmission connection with the third actuator 23 through a crank, and the sole end or the ankle end of the sole structural member 33 is in transmission connection with the fourth actuator 24 through a crank; both third and fourth actuators 23, 24 cooperate to drive the ball of foot structure 33 in a universal rotation relative to the second end of shank structure 32.

If the inner side and the outer side of the sole end of the sole structural member 33 are respectively in transmission connection with the third actuator 23 and the fourth actuator 24 through a crank, the third actuator 23 and the fourth actuator 24 drive the sole end to move upwards through the crank transmission, and the dorsiflexion action of the sole structural member 33 can be realized; the third actuator 23 and the fourth actuator 24 drive the sole end to move downwards through crank transmission, so that the toe bending action of the sole structural member 33 can be realized; one of the third actuator 23 and the fourth actuator 24 drives the sole end to move upwards through crank transmission, and the other of the third actuator 23 and the fourth actuator 24 drives the sole end to move downwards through crank transmission, so that the varus or valgus of the sole structural member 33 can be realized.

If the inner side and the outer side of the heel end are respectively in transmission connection with the third actuator 23 and the fourth actuator 24 through a crank, the third actuator 23 and the fourth actuator 24 drive the heel end to move downwards through the crank, so that dorsiflexion action of the sole structural member 33 can be realized; the third actuator 23 and the fourth actuator 24 drive the heel end to move upwards through crank transmission, so that toe bending action of the sole structural member 33 can be realized; one of the third actuator 23 and the fourth actuator 24 drives the heel end to move downwards through crank transmission, and the other of the third actuator 23 and the fourth actuator 24 drives the heel end to move upwards through crank transmission, so that the varus action or valgus action of the sole structural member 33 can be realized.

If the inner side or the outer side of the sole structural member 33 is in transmission connection with the third actuator 23 through a crank, the sole end or the ankle end of the sole structural member 33 is in transmission connection with the fourth actuator 24 through a crank, the third actuator 23 rotates through the crank to maintain the inside and outside of the sole steady, the dorsiflexion action of the sole structural member 33 can be realized under the condition that the fourth actuator 24 rotates through the crank and the crank to drive the sole end to move upwards, and the dorsiflexion action of the sole structural member 33 can be realized under the condition that the fourth actuator 24 rotates through the crank and the crank to drive the sole end to move downwards; the fourth actuator 14 is rotated by the crank to maintain the sole and heel ends stable, and the sole structural member 33 can be turned in under the condition that the third actuator 23 is rotated by the crank to drive the inner side to move upward, and the sole structural member 33 can be turned out under the condition that the third actuator 23 is rotated by the crank to drive the inner side to move downward.

The sole structure 33 and the second end of the calf structure 32 may be coupled in a universal drive connection via a universal joint.

With the above-described structure, the third actuator 23 and the fourth actuator 24 can drive the ankle joint 13 to move.

Further, the mass of the first actuator 21 is greater than the mass of the third actuator 23, and the mass of the second actuator 22 is greater than the mass of the third actuator 23.

In a standing state of the lower limb component, the longitudinal coordinates of the first actuator 21 and the second actuator 22 are higher than those of the third actuator 23, and then the mass of the first actuator 21 and the second actuator 22 is larger than that of the third actuator 23, so that the mass center of the lower limb component is improved, the mass distribution of the lower limb component is gathered towards the hip joint 11, the physical model of the lower limb component is more approximate to a rigid body which is higher than the ground, the adverse effects of the rotational inertia of the actuators of the ankle joint 13 and the rotational inertia of the actuators of the knee joint 12 on the balance control of the robot are reduced, and the difficulty of the balance control of the robot is reduced.

Alternatively, the reduction ratio of the first actuator 21 is smaller than that of the third actuator 23, and the reduction ratio of the second actuator 22 is smaller than that of the third actuator 23.

When the maximum output torque is the same, the smaller the reduction ratio of the actuator is, the larger the maximum output torque of the motor of the actuator is, the larger the volume and the mass of the motor are, and the larger the volume and the mass of the actuator are; in the process of designing the lower limb assembly, under the condition that the requirements of the lower limb assembly on the maximum torque of the ankle joint 13, the knee joint 12 and the hip joint 11 are unchanged, the reduction ratio of the first actuator 21 is smaller than that of the third actuator 23, so that the mass of the first actuator 21 is relatively larger, the mass of the third actuator 23 is relatively smaller, the reduction ratio of the second actuator 22 is smaller than that of the third actuator 23, the mass of the second actuator 22 is relatively larger, the mass of the third actuator 23 is relatively smaller, and the longitudinal coordinates of the first actuator 21 and the second actuator 22 are higher than those of the third actuator 23 under the standing state of the lower limb assembly, so that the mass centers of the first actuator 21 and the second actuator 22 with relatively larger mass and the third actuator 23 with relatively smaller mass can be jointly improved, the physical model of the lower limb assembly is more approximate to a rigid body with higher distance from the ground, the moment of inertia of the actuator 13 and the moment of inertia of the knee joint 12 of the actuator are relatively larger, and the influence of the lower limb assembly on the robot balance is controlled by the robot is reduced.

The third actuator 23 is provided between the ankle joint 13 and the knee joint 12, and the moment of inertia of the third actuator 23 with respect to the knee joint 12 is made smaller than that of the conventional manner of providing the third actuator 23 between the ankle joint 13, the moment of inertia of the third actuator 23 with respect to the hip joint 11 is made smaller, the requirements for the output torque of the second actuator 22 and the first actuator 21 are reduced, and the lower the requirements for the output torque of the first actuator 21 and the second actuator 22 are, the lower the mass of the first actuator 21 and the second actuator 22 is; further, since the reduction ratio of the first actuator 21 is smaller than that of the third actuator 23 and the reduction ratio of the second actuator 22 is smaller than that of the third actuator 23, the mass of the first actuator 21 and the second actuator 22 is caused to be relatively large without changing the output torque requirements of the first actuator 21 and the second actuator 22. In this case, on the one hand, the smaller moment of inertia of the third actuator 23 reduces the requirement for the output torque of the first actuator 21 and the second actuator 22, resulting in relatively smaller masses of the first actuator 21 and the second actuator 22, and at the same time, the smaller reduction ratio on the other hand results in relatively larger masses of the first actuator 21 and the second actuator 22, which in combination still can gather the mass distribution of the lower limb assembly toward the hip joint 11, which is beneficial to maintaining a rigid body model of the lower limb assembly with a higher distance from the ground, and is beneficial to reducing the difficulty of the balance control of the robot.

In addition, the reduction ratio of the first actuator 21 to the second actuator 22 is relatively small, so that the transparency of the actuators can be improved, and the stress change of the hip joint 11 is easier to feed back as the change of the driving current and/or the driving voltage of the motor in the first actuator 21; the change in force on the knee joint 12 is more easily fed back as a change in drive current and/or voltage to the motor in the second actuator 22. Further, the stress change of the sole structural member 33 of the robot is fed back as the stress change of the knee joint 12 and the stress change of the hip joint 11, and further fed back as the change of the driving current and/or the voltage of the motors in the first actuator 21 and the second actuator 22, so that the stress change of the sole structural member 33 of the robot can be judged through the change of the driving current and/or the voltage of the motors in the first actuator 21 and the second actuator 22 in the process of maintaining the balance of the robot, and the output torque of the first actuator 21 and the second actuator 22 can be calculated more quickly according to the robot balance control algorithm, and the feedback delay of the stress change of the sole structural member 33 is small in the process of maintaining the balance of the robot, thereby being more beneficial to maintaining the balance of the robot by the robot balance control algorithm and reducing the difficulty of the balance control of the robot.

Finally, the reduction ratio of the third actuator 23 is relatively large, so that the volume of the third actuator 23 is relatively small, which is beneficial to reducing the volume and mass of the ankle joint 13. And after the stress of the ankle joint 13 with smaller mass is changed, the stress change of the ankle joint 13 is more easily and accurately fed back to the stress change of the knee joint 12 and the hip joint 13 of the robot, and then fed back to the change of the driving current and/or the driving voltage of the motors in the first actuator 21 and the second actuator 22, so that the capability of the robot balance control algorithm for maintaining the balance of the robot is further promoted, and the difficulty of the robot balance control is further reduced.

The above description and the drawings illustrate embodiments of the utility model sufficiently to enable those skilled in the art to practice them. Other embodiments may include structural and other modifications. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The embodiment of the present utility model is not limited to the structure that has been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the utility model is limited only by the appended claims.

Claims (10)

1. A lower limb component of a biped robot is characterized by at least comprising a hip joint, a knee joint, an ankle joint and a plurality of actuators;

the first actuator is arranged at a preset position of the hip joint and is used for driving the hip joint to move in series;

a second actuator is arranged on the opposite side of the preset position of the hip joint and is used for driving the knee joint to move in series;

the third actuator is arranged between the knee joint and the ankle joint and is used for driving the ankle joint to move in parallel;

wherein, the lower limb assembly is in a standing state, and the longitudinal coordinates of the first actuator and the second actuator are higher than the longitudinal coordinates of the third actuator.

2. The lower limb assembly of claim 1, wherein the predetermined position is at a swivel axis of the hip joint, the swivel axis being coaxial with an output of the first actuator, the first actuator driving the thigh structure of the lower limb assembly to rotate about the swivel axis.

3. The lower limb assembly of claim 2, wherein the thigh structure is plate-shaped, and a side of the thigh structure is movably connected with the hip joint through the swivel shaft;

the second actuator is arranged on the other side surface of the thigh structural part and is opposite to the first actuator; the lower limb assembly is in a standing state, and the longitudinal coordinate of the first actuator is higher than the longitudinal coordinate of the second actuator.

4. The lower limb assembly of claim 1, wherein the thigh structure of the lower limb assembly is provided with a hollow interlayer;

the output end of the second actuator is positioned in the hollow interlayer and is in transmission connection with the knee joint through a transmission connecting piece arranged in the hollow interlayer so as to drive the shank structural member of the lower limb assembly to rotate with the knee joint as the center.

5. The lower limb assembly of claim 1, wherein the lower limb structure comprises a first end, a second end and a lower leg bone portion, the first end and the second end being located at respective ends of the lower leg bone portion in a length direction, the first end being connected to the thigh structure of the lower limb assembly by the knee joint, and the second end being connected to the sole structure of the lower limb assembly by the ankle joint.

6. The lower limb assembly of claim 5, further comprising a fourth actuator;

one of the third actuator and the fourth actuator is disposed at the calf bone and near the first end, the other is disposed at the knee joint; alternatively, the third and fourth actuators are each disposed at the calf bone and proximate the first end.

7. The lower limb assembly of claim 6, wherein the axis of the output of the third actuator is perpendicular or parallel to the axis of the output of the fourth actuator, and wherein the third actuator and the fourth actuator are each drivingly connected to the ankle for driving movement of the ankle.

8. The lower limb assembly of claim 6, wherein the calf bone opens an installation space adapted to the third and/or fourth actuators, the installation space extending through the calf structure;

the third actuator and/or the fourth actuator are/is arranged in the installation space.

9. The lower extremity assembly of claim 6, wherein said ball structure is connected for universal rotation with said second end;

the inner side and the outer side of the sole end or the heel end of the sole structural member are respectively in transmission connection with the third actuator and the fourth actuator through a crank; or the inner side or the outer side of the sole structural member is in transmission connection with the third actuator through a crank, and the sole end or the heel end of the sole structural member is in transmission connection with the fourth actuator through a crank;

the third actuator and the fourth actuator cooperate to drive the ball structure in a universal rotation relative to the second end of the shank structure.

10. The lower limb assembly of any of claims 1-9, wherein the first actuator has a mass greater than the third actuator, and the second actuator has a mass greater than the third actuator;

or the reduction ratio of the first actuator is smaller than that of the third actuator, and the reduction ratio of the second actuator is smaller than that of the third actuator.