CN116277124A - Bipedal robot and hip joint structure thereof - Google Patents

Abstract

The application belongs to the technical field of intelligent robots, and particularly relates to a bipedal robot and a hip joint structure thereof. The hip joint structure includes: the hip switching structure comprises a first switching part and a second switching part which are fixedly connected with each other, and the second switching part is used for connecting the leg structures of the bipedal robot; the first driving mechanism is fixedly arranged on the second switching part and is used for driving the leg structure to swing sideways; the second driving mechanism is fixedly connected with the output rotating shaft of the first driving mechanism, the end part of the leg structure is connected with the output rotating shaft of the second driving mechanism, the axial direction of the output rotating shaft of the second driving mechanism is orthogonal to the axial direction of the output rotating shaft of the first driving mechanism, and the second driving mechanism is used for driving the leg structure to rotate. By the technical scheme, the problem that the hip joint of the biped robot is quite bulky due to complex structural design of the hip joint in the existing biped robot is solved.

Description

Biped robot and its hip joint structure

technical field

The present application belongs to the technical field of intelligent robots, and in particular relates to a biped robot and a hip joint structure thereof.

Background technique

With the advancement of science and technology, more and more applications of intelligent robots have been applied in all walks of life, especially in the service industry, where the application penetration rate of intelligent robots is relatively higher. In the past, the shape of intelligent robots was relatively simple. For example, the walking system of intelligent robots was generally replaced by a wheeled motion system. Now, intelligent robots tend to be more and more humanoid in design, therefore, biped robots emerge as the times require.

Any single leg of a humanoid biped robot should include corresponding leg joints such as hip joints, knee joints, and ankle joints. The joints of the legs cooperate with each other to complete walking motions similar to human movements. Since the hip joint is the connecting joint between the upper body of the robot and the lower body of the robot, the degree of freedom of motion involved in the hip joint is one of the relatively many leg joints. In the current biped robot, the hip joint is not only responsible for the left and right swing of the upper body of the robot, but also for the left and right twist of the upper body of the robot. put. In order to be able to achieve the above-mentioned movements of each degree of freedom, the current design of biped robots makes the structure of the hip joint very complex, and uses complex motion mechanisms to cooperate to achieve the above-mentioned movements of each degree of freedom, which makes the hip joints of the current biped robots The volume of the joint is very bloated, commonly known as the waist of the bucket, which is quite different from people's aesthetic concept of humanoid robots.

Contents of the invention

The purpose of this application is to provide a biped robot and its hip joint structure, aiming to solve the problem that the hip joint of the biped robot is very bulky due to the complicated structural design of the hip joint in the current biped robot.

In order to achieve the above purpose, the technical solution adopted by this application is: a hip joint structure of a biped robot, including:

A hip transfer structure, the hip transfer structure includes a first transfer part and a second transfer part that are fixedly connected to each other, and the second transfer part is used to connect the leg structure of the biped robot;

A first driving mechanism, the first driving mechanism is fixedly installed on the second adapter part, and the first driving mechanism is used to drive the side swing of the leg structure;

The second drive mechanism, the axis direction of the output shaft of the second drive mechanism is perpendicular to the axis direction of the output shaft of the first drive mechanism, and the second drive mechanism is used to drive the leg structure around the axis of the output shaft of the second drive mechanism Rotate, the second drive mechanism is installed on the second transfer part.

In one embodiment, both the first transition part and the second transition part are plate-shaped members, the extension direction of the first transition part and the extension direction of the second transition part are set orthogonally, and the first transition part The extension direction of the part is basically horizontal; the first drive mechanism and the second drive mechanism are respectively located on both sides of the second transfer part, and the second transfer part is provided with an assembly hole, and the output shaft of the first drive mechanism passes through the assembly hole. Connect with the second drive mechanism.

In one embodiment, the hip joint structure further includes a hip flange member and a hip support member, the hip flange member is fixedly connected to the output shaft of the first drive mechanism, the hip support member is fixedly connected to the hip flange member, and the second drive The mechanism is mounted on the hip support member.

In one embodiment, the hip joint structure further includes a third drive mechanism and a leg transfer member, the leg transfer member is fixedly connected to the output shaft of the second drive mechanism, and the third drive mechanism is installed on the leg transfer member , the axis direction of the output shaft of the third drive mechanism is orthogonal to the axis direction of the output shaft of the first drive mechanism and the axis direction of the output shaft of the third drive mechanism is orthogonal to the axis direction of the second drive mechanism, The leg structure is fixedly connected to the output shaft of the third driving mechanism.

In one embodiment, the third drive mechanism is located on the outside of the leg transition member.

According to another aspect of the present application, a biped robot is provided. Specifically, the biped robot includes:

leg structure; and

Like the hip joint structure of the aforementioned biped robot, the leg structure is connected to the hip joint structure.

In one embodiment, the thigh limb, the first end of the thigh limb is connected to the hip joint structure; the lower leg, the lower leg is rotated and installed on the second end of the thigh limb, and the lower leg is close to The end is provided with a first connecting end; the knee driving mechanism is fixedly installed on the end of the thigh limb close to the hip joint structure; the first knee link is the output shaft of the knee driving mechanism and the first knee The first end of the connecting rod is drivingly connected, and the second end of the first knee connecting rod is rotationally connected to the first connecting end.

In one embodiment, the leg structure further includes the sole of the foot, and the sole of the foot is provided with a first connecting seat and a second connecting seat at intervals; the lower leg includes: a lower leg limb, the first end of the lower leg limb is rotatably mounted on The second end of the thigh limb and the second end of the calf limb are flexibly connected to the first connecting seat, and the second end of the calf limb is extended with a first connection end; the first calf driving mechanism is installed on the first calf driving mechanism For the lower leg trunk; the first lower leg connecting rod, the output shaft of the first lower leg driving mechanism is connected to the first end of the first lower leg connecting rod by driving, and the second end of the first lower leg connecting rod is connected to the second connecting seat in rotation.

In one embodiment, the lower leg part further includes a second lower leg driving mechanism and a second lower leg connecting rod, the second lower leg driving mechanism is installed on the lower leg trunk, the output shaft of the second lower leg driving mechanism and the second lower leg connecting rod The first end is driven and connected, the second end of the second shank link is rotatably connected to the second connecting seat, and the first shank link and the second shank link are arranged side by side.

In one embodiment, the leg structure further includes an ankle connection member, the ankle connection member is provided with a first connection head, a second connection head, a third connection head and a fourth connection head, the first connection head and the second connection head The connecting line of the connecting head is perpendicular to the connecting line of the third connecting head and the fourth connecting head, the second end of the calf limb is provided with opposite and spaced first connecting ears and second connecting ears, and the first connecting seat includes opposite and spaced connecting ears. The first ankle connecting ear and the second ankle connecting ear, and the connecting line between the first ankle connecting ear and the second ankle connecting ear is perpendicular to the connecting line between the first connecting ear and the second connecting ear, and the first connecting head is rotatably connected to the second ankle connecting ear. One connecting ear, the second connecting head is rotatably connected to the second connecting ear, the fourth connecting head is rotatably connected to the first ankle connecting ear, and the third connecting head is rotatably connected to the second ankle connecting ear.

The application at least has the following beneficial effects:

Apply the hip joint structure provided by this application, use the hip transfer structure as a connecting support and transfer platform to assemble the upper body part and leg structure of the robot, and the leg structure is carried out through the first driving mechanism and the second driving mechanism Transferred to the hip transfer structure, during the execution of the hip joint movement, the leg structure can be driven by the first drive mechanism to perform two degrees of freedom of swinging the legs left and right with the axis of the output shaft of the first drive mechanism as the rotation axis ( That is, the leg structure is sideways), and the second drive mechanism can drive the leg structure to rotate clockwise or counterclockwise with the axis of the output shaft of the second drive mechanism as the axis of rotation. leg structure to rotate). In this way, the multi-degree-of-freedom movement capability of the hip joint is realized, and the number of components used in the hip joint structure provided by the application is small, and the structure is simple. Compared with the existing biped robot, the hip joint can be effectively reduced. The volume makes the humanoid outline of the biped robot more in line with people's aesthetic sense.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Figure 1 is a schematic diagram of the assembly structure of the hip joint structure and the legs in the biped robot of the embodiment of the present application, wherein the hip joint structure is in a partially decomposed state;

Fig. 2 is a second schematic diagram of the assembly structure of the hip joint structure and the legs in the biped robot of the embodiment of the present application, wherein the hip joint structure is in a partially decomposed state;

FIG. 3 is a structural schematic diagram of the left leg and part of the hip joint structure corresponding to the left leg in the biped robot according to the embodiment of the present application;

Fig. 4 is a third schematic diagram of the assembly structure of the hip joint structure and the legs in the biped robot of the embodiment of the present application, wherein the left leg is in a disassembled state;

Fig. 5 is a structural schematic diagram of the left leg and part of the hip joint structure corresponding to the left leg in the biped robot according to the embodiment of the present application, wherein the left leg is in a disassembled state;

Fig. 6 is a schematic diagram of the assembly structure of the middle ankle connecting member of the biped robot according to the embodiment of the present application;

FIG. 7 is a schematic diagram of the exploded structure of FIG. 6 .

Wherein, each reference sign in the figure:

121, left leg; 122, right leg; 110, hip transfer structure; 111, first transfer part; 112, second transfer part; 1121, assembly hole; 130, first drive mechanism; 140, second drive Mechanism; 151, hip flange member; 152, hip support member; 160, third driving mechanism; 170, leg transfer member;

200, thigh; 210, thigh limb; 211, accommodation space; 220, knee drive mechanism; 230, first knee connecting rod; 231, first bar segment; 232, second bar segment; 233, the first Three bar sections; 240, the second knee connecting rod; 251, the first knee pin; 252, the second knee pin;

300, calf; 310, calf trunk; 320, the first calf driving mechanism; 330, the first calf connecting rod; 340, the second calf driving mechanism; 350, the second calf connecting rod; 360, the third calf connecting rod Rod; 370, the fourth shank connecting rod; 380, connecting shaft; 381, the first shank pin; 382, the second shank pin; 383, the third shank pin; 384, the fourth shank pin; 390, pivot Shaft; 391, the first limit block; 3911, the first limit gap; 392, the second limit block; 3921, the second limit gap; 301, the first rod segment; 302, the second rod segment; 303, the third rod section; 304, the first connecting ear; 305, the second connecting ear; 311, the first connecting end;

400, the sole of the foot; 401, the first connecting seat; 402, the second connecting seat; 411, the first ankle connecting ear; 412, the second ankle connecting ear; 420, the ankle connecting member; 421, the first connecting head; 422, The second connector; 423, the third connector; 424, the fourth connector; 4201, the first horizontal axis; 4202, the second horizontal axis; 4203, the vertical axis; 42031, perforation; 4204, fixing bolts; 431, the first bearing; 432, the second bearing; 433, the third bearing; 434, the fourth bearing.

Detailed ways

Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than Nothing to indicate or imply that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should therefore not be construed as limiting the application.

In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

The biped robot of the present application includes a hip joint structure, and the hip joint structure is the load-bearing transfer part between the upper body part and the lower body part (ie, both legs, and any single leg of the two legs is the leg structure) of the robot, so that it can be assembled and formed The hip joint is one of the important joints of a humanoid robot. Specifically, as shown in FIGS. 1 to 5 , the hip joint structure includes a hip transfer structure 110 , a first driving mechanism 130 and a second driving mechanism 140 . The hip transfer structure 110 includes a first transfer part 111 and a second transfer part 112 that are fixedly connected to each other. The first transfer part 111 is used to install the upper body part of the supporting robot, and the second transfer part 112 is used to support and connect the upper body part of the robot. The leg structure of a footed robot. Wherein, the left leg 121 and the right leg 122 of both legs are arranged symmetrically with respect to the symmetry plane of the hip transfer structure 110, that is to say, the left leg 121 and the right leg 122 are all leg structures, and the structures of the two are the same Correspondingly, two first driving mechanisms 130 and two second driving mechanisms 140 are provided, corresponding to the left leg 121 and the right leg 122 respectively. Hereinafter, the first driving mechanism 130 and the second driving mechanism 140 of one of the leg structures and the corresponding hip joint structure are used for illustration.

The first drive mechanism 130 is fixedly installed on the second adapter portion 112. When the first drive mechanism 130 is assembled on the second adapter portion 112, the axis extending direction of the output shaft of the first drive mechanism 130 is substantially horizontal (and The axis extension directions of the output shafts of the two first driving mechanisms 130 are substantially parallel). The second drive mechanism 140 is fixedly connected to the output shaft of the first drive mechanism 130. When the second drive mechanism 140 is assembled, the axis extension direction of the output shaft of the second drive mechanism 140 and the corresponding output of the first drive mechanism 130 The axial extension direction of the rotating shaft is substantially vertical, that is, the axial direction of the output rotating shaft of the second driving mechanism 140 and the axial direction of the output rotating shaft of the first driving mechanism 130 are arranged orthogonally. Then, the end of the leg structure is connected to the output shaft of the second driving mechanism 140 .

Apply the hip joint structure provided by this application, use the hip transfer structure 110 as a support and transfer platform to assemble the upper body part and leg structure of the robot, and the leg structure is driven by the first drive mechanism 130 and the second drive mechanism. The mechanism 140 transfers to the hip transfer structure. During the hip joint movement, the first drive mechanism 130 can drive the leg structure to perform two left and right swings with the axis of the output shaft of the first drive mechanism 130 as the rotation axis. One degree of freedom movement (that is, the leg structure swings sideways), the second drive mechanism 140 can drive the two leg structures to rotate clockwise or counterclockwise with the axis of the output shaft of the second drive mechanism 140 as the rotation axis. degrees of freedom for rotational leg movement (i.e. the leg structure performs a rotation). In this way, the multi-degree-of-freedom movement capability of the hip joint is realized, and the number of components used in the hip joint structure provided by the application is small, and the structure is simple. Compared with the existing biped robot, the hip joint can be effectively reduced. The volume makes the humanoid outline of the biped robot more in line with people's aesthetic sense.

In order to realize the relative flexion and extension motion between the leg structure and the upper body of the robot (i.e. squat motion or bending motion, especially the squat motion), therefore, as shown in Figures 1 to 5, the hip joint structure also includes a third The drive mechanism 160 and the leg adapter member 170 . During specific assembly, the leg adapter member 170 is fixedly connected to the output shaft of the second drive mechanism 140 , and the third drive mechanism 160 is fixedly installed on the leg adapter member 170 . When the third drive mechanism 160 is assembled, between the axis extension direction of the output shaft of the third drive mechanism 160 and the axis extension direction of the output shaft of the first drive mechanism 130 and the axis extension direction of the output shaft of the third drive mechanism 160 They are substantially perpendicular to the extension direction of the axis of the second driving mechanism 140 . Moreover, the end of the leg structure is fixedly connected to the output shaft of the third driving mechanism 160 . When performing squat exercise, take the left leg 121 as an example, as shown in Figure 3, the third drive mechanism 160 starts and outputs the rotational power to the end of the left leg 121, so that the left leg 121 is rotated by the output shaft of the third drive mechanism 160 The axis is the rotation axis and rotates relative to the leg adapter member 170, so as to realize the two degrees of freedom motion of squatting down and restoring upright.

In the embodiment of the present application, the third driving mechanism 160 is located on the outer side of the leg transfer member 170 (ie, the outer side of the thigh). That is, the third drive mechanism 160 corresponding to the left leg 121 is located on the side of the left leg 121 away from the right leg 122 , and the third drive mechanism 160 corresponding to the right leg 122 is located on the side of the right leg 122 away from the left leg 121 . Taking the left leg 121 as an example, as shown in FIG. 3 , the assembled third driving mechanism 160 is located on the outside of the left leg 121 close to the hip joint, which basically belongs to the position where the outer diameter of the thigh muscle of the left leg 121 is the largest. Therefore, in After assembling the thigh shell on the left leg 121 to cover the third driving mechanism 160, the outline of the position will appear fuller, closer to the outline of the thigh in a humanoid shape, and the lines of the thigh will be more beautiful.

Further, as shown in FIG. 1 and FIG. 2 , both the first transfer portion 111 and the second transfer portion 112 are plate-shaped members, and the extension direction of the first transfer portion 111 and the extension direction of the second transfer portion 112 Orthogonal arrangement, and the extension direction of the first transfer part 111 is basically horizontal, so that the layout of the hip transfer structure 110 is more in line with the shape of the humanoid waist, and the first transfer part 111 in a substantially horizontal state is more convenient to support The upper body part of the robot is installed, and the second transfer part 112 in a substantially vertical state is also more convenient for transferring and installing the legs of the biped robot. Moreover, the first drive mechanism 130 and the second drive mechanism 140 are respectively located on both sides of the second adapter part 112, the second adapter part 112 is provided with an assembly hole 1121, and the output shaft of the first drive mechanism 130 passes through the assembly hole 1121 The rear is fixedly connected with the second drive mechanism 140. In this way, the assembled two first driving mechanisms 130 are located at the buttocks of the biped robot, and when wrapped with the buttock shell of the robot, the buttocks of the robot can appear plump and beautiful.

In order to improve assembly efficiency and reduce assembly difficulty, therefore, as shown in Figures 1 to 5, the hip joint structure also includes a hip flange member 151 and a hip support member 152, through which the hip flange member 151 and the hip support member 152 pair the first The driving mechanism 130 and the second driving mechanism 140 are installed through switching. Specifically, the hip flange member 151 is fixedly connected to the output shaft of the first driving mechanism 130 , the hip supporting member 152 is fixedly connected to the hip flange member 151 , and the second driving mechanism 140 is fixedly installed on the hip supporting member 152 .

The leg structure of the biped robot provided in this application includes a thigh limb 210 , a lower leg 300 , a knee driving mechanism 220 and a first knee link 230 . The thigh limb 210 and the lower leg 300 form the limb main structure of the leg structure, wherein the thigh limb 210, the knee driving mechanism 220 and the first knee link 230 form the leg of the biped robot. The thigh portion 200 of the structure.

As shown in Figures 1 to 5, the first end of the thigh limb 210 is connected to the output shaft of the third driving mechanism 160 of the hip joint structure, and the lower leg 300 is rotatably installed on the second end of the thigh limb 210 through the connecting shaft 380. end (that is, the second end of the lower leg 300 and the thigh 210 is hinged through the connecting shaft 380), and the knee joint (that is, the knee part) is formed between the thigh limb 210 and the lower leg 300, so that the thigh Between the trunk 210 and the lower leg 300, flexion and extension can be realized. Further, the end of the lower leg 300 close to the thigh 210 is provided with a first connection end 311 , and the knee driving mechanism 220 is fixedly installed on the end of the thigh 210 close to the hip joint structure. When the knee driving mechanism 220 is fixedly installed on the thigh limb 210, the axis extension direction of the output shaft of the knee driving mechanism 220 is substantially horizontal and substantially perpendicular to the forward direction of the robot, and the output shaft of the knee driving mechanism 220 and The first end of the first knee link 230 is drivingly connected, and the second end of the first knee link 230 is rotationally connected to the first connecting end 311 . The knee driving mechanism 220 drives the first knee connecting rod 230 to move, and then the first knee connecting rod 230 drives the first connecting end 311, so that the lower leg 300 takes the axis connecting the rotating shaft 380 as the rotation axis relative to the thigh limb 210 Rotate to perform knee flexion and extension motions.

Compared with the leg structure of the current biped robot, the biped robot of the present application directly assembles the rotating motor connecting the thigh limb and the calf to the knee, and the biped robot of the present application uses the The assembly position is moved up to the first end of the thigh limb 210 close to the hip joint structure, so that the volume of the knee joint formed between the lower leg 300 and the second end of the thigh limb 210 can be reduced, ensuring that the thigh On the basis of realizing flexion and extension movements between the limbs 210 and the lower legs 300 , it is also possible to obtain a knee part of a humanoid knee with a compact structure. And, the knee driving mechanism 220 that has moved up the installation position is just at the position of the maximum outer diameter of the thigh limb 210, which is the position of the thigh where the human thigh muscles are most developed. In this way, after the thigh limb 210 is assembled with the shell, Not only is the assembly space of the thigh part reasonably utilized, but also the part where the knee driving mechanism 220 is assembled can approach the muscle line of the thigh, making the leg structure of the biped robot more beautiful.

As shown in Fig. 3 to Fig. 5, the leg structure further includes a second knee link 240, and the drive between the output shaft of the knee driving mechanism 220 and the first knee link 230 is realized through the second knee link 240. connect. Specifically, the first end of the second knee link 240 is fixedly connected to the output shaft of the knee driving mechanism 220, and the second end of the second knee link 240 and the first end of the first knee link 230 rotate connect. The knee driving mechanism 220 drives the second knee link 240 to move, and then the second knee link 240 drives the first knee link 230 to move, and then the first knee link 230 drives the first connecting end 311, so that the small The leg 300 rotates relative to the thigh trunk 210 with the axis connected to the rotating shaft 380 as the rotation axis, so as to perform leg flexion and extension movements.

As shown in FIG. 4 , the second end of the second knee link 240 is hinged to the first end of the first knee link 230 through a first knee pin 251 . Further, the second end of the first knee link 230 is hinged to the first connection end 311 through the second knee pin 252 . During the flexion and extension movement of any single leg, the second end of the second knee link 240 is opposite to the first end of the first knee link 230 with the axis of the first knee pin 251 as the axis of rotation. Rotation, relative rotation between the second end of the first knee link 230 and the first connection end 311 takes the axis of the second knee pin 252 as the rotation axis.

Or, in another embodiment of the present application, one of the second end of the second knee link 240 and the first end of the first knee link 230 is provided with a first knee ball head (not shown). shown), the other of the second end of the second knee link 240 and the first end of the first knee link 230 is provided with a first knee socket structure (not shown), the first knee The ball head is hinged to the socket structure of the first knee. Further, one of the second end of the first knee link 230 and the first connecting end 311 is provided with a second knee ball joint (not shown), and the second end of the first knee link 230 and The other of the first connecting ends 311 is provided with a second knee socket structure (not shown), and the second knee ball head is hinged to the second knee socket structure.

As shown in Figure 4, the first knee link 230 of the embodiment of the present application includes a first bar segment 231, a second bar segment 232 and a third bar segment 233, that is, the first knee link 230 is a combined bar , the overall length of the first knee link 230 can be adjusted, so that the first knee link 230 can be more accurately assembled between the second knee link 240 and the first connecting end 311, and the first knee link 230 can be eliminated. The assembly gap generated by the dimensional chain error between the link 230 and the second knee link 240 and the assembly gap generated by the dimensional chain error between the first knee link 230 and the first connecting end 311 are eliminated. Specifically, the first rod segment 231 and the third rod segment 233 are screwed to both ends of the second rod segment 232 respectively, and the threads of the first rod segment 231 and the third rod segment 233 are opposite to each other.

The second end of the lower leg 300 and the thigh limb 210 is hinged through the connecting shaft 380 and the knee driving mechanism 220 is fixedly installed on the thigh limb 210 and the second knee link 240 is fixedly connected to the knee. After the output shaft of the drive mechanism 220, when assembling the first knee link 230, according to the assembly dimension chain between the second knee link 240 and the first connection end 311, the first knee link 230 The length is adjusted to a suitable assembly length, and then the two ends of the first knee link 230 are hinged to the second end of the second knee link 240 through the first knee pin 251 and the second knee pin 252 respectively and the first connection end 311. Then, depending on whether the length of the first knee link 230 is in a slightly longer state where it is tightly fitted between the second knee link 240 and the first connecting end 311 or is in a tensioned fit on the second knee link. The slightly shorter state between the rod 240 and the first connecting end 311, thereby rotating the second rod segment 232, so that the first rod segment 231 and the third rod segment 233 approach each other relative to the second rod segment 232 to shorten the first knee The overall length of the link 230 may be far away from each other to extend the overall length of the first knee link 230 so that the assembly length of the first knee link 230 is optimized.

As shown in Fig. 4 and Fig. 5, the thigh limb 210 is provided with an accommodating space 211, the first knee link 230 and the second knee link 240 are located in the accommodating space 211, and the first connecting end 311 extends into the accommodating space. Space 211. In this way, the first knee link 230 and the second knee link 240 are stored and assembled using the accommodation space 211 , so that the overall assembly structure of the thigh 200 is more compact.

The leg structure of the biped robot of the present application also includes a sole part 400, the sole part 400 is provided with a first connecting seat 401 and a second connecting seat 402 spaced apart, and the first connecting seat 401 and the second connecting seat 402 The extension direction of the connection line is the same as the travel direction of the robot. The lower leg part 300 of the leg structure of the biped robot provides power to the action of the sole part 400 . As shown in FIGS. 3 to 5 , the calf part 300 includes a calf limb 310 , a first calf driving mechanism 320 and a first calf link 330 , which constitute the main components of the calf part 300 . During specific assembly, the first end of the calf limb 310 is rotatably installed on the second end of the thigh limb 210, the second end of the calf limb 310 is flexibly connected with the first connecting seat 401, and the second end of the calf limb 310 The end extension is provided with a first connecting end 311 . In this way, an ankle joint imitating a human ankle is assembled between the calf limb 310 and the sole portion 400 . Further, the first lower leg driving mechanism 320 is fixedly installed on the lower leg trunk 310. After the first lower leg driving mechanism 320 is assembled, the extension direction of the axis of the output shaft of the first lower leg driving mechanism 320 is substantially horizontal and substantially perpendicular to the axis of the robot. Forward direction. Moreover, the output shaft of the first calf driving mechanism 320 is drivingly connected to the first end of the first calf link 330 , and the second end of the first calf link 330 is rotationally connected to the second connecting seat 402 . In this way, the first shank driving mechanism 320 is activated to make the output shaft output rotational power, thereby driving the first shank link 330 to move, and then the first shank link 330 drives the sole 400 through the second connecting seat 402 to drive the shank trunk 310 and The ankle joint structure formed by the assembly of the sole part 400 is to rotate the fulcrum to carry out the movement of the sole of the foot, and the movement of the sole of the foot includes two degrees of freedom of lifting the sole of the foot and lowering the sole of the foot.

In the biped robot provided in the present application, the calf part 300 is driven by the power transmission of the first calf driving mechanism 320 and the first calf link 330 to drive the sole part 400 to lift the sole of the foot. Since the first shank link 330 is a rigid rod, it can transmit to the sole 400 the traction power that lifts the sole 400, and also transmits the driving force to lower the sole 400 to the sole 400. That is to say, this The calf part 300 of the biped robot of the application only needs to simply design and assemble a set of transmission structures of the first calf driving mechanism 320 and the first calf link 330 to realize the power transmission of the sole lifting motion. Compared with the current biped robot, the lower leg 300 of the biped robot of the present application has fewer components and a simpler structure, which greatly reduces the difficulty of assembly and significantly improves the assembly efficiency.

As shown in FIGS. 4 and 5 , the calf portion 300 further includes a third calf link 360 , through which the output shaft of the first calf driving mechanism 320 and the first end of the first calf link 330 are realized. driver connections. Specifically, the first end of the third shank link 360 is fixedly connected to the output shaft of the first shank driving mechanism 320 , and the second end of the third shank link 360 is rotatably connected to the first end of the first shank link 330 . In this way, when the first shank driving mechanism 320 is activated to make the output shaft output rotational power, the output shaft drives the third shank link 360 to swing with the axis of the output shaft as the rotation axis, thereby driving the first shank link 330 to move, and then The first calf connecting rod 330 drives the sole part 400 through the second connecting seat 402 to lift the sole of the foot with the ankle joint formed by the assembly of the calf limb 310 and the sole part 400 as the fulcrum.

Further, as shown in FIG. 4 and FIG. 5 , the lower leg part 300 further includes a second lower leg driving mechanism 340 and a second lower leg link 350 . The second shank driving mechanism 340 is fixedly installed on the shank limb 310. When the second shank driving mechanism 340 is assembled, the axis extension direction of the output shaft of the second shank driving mechanism 340 is substantially horizontal and substantially perpendicular to the forward direction of the robot. Moreover, the output shaft of the second lower leg driving mechanism 340 is drivingly connected to the first end of the second lower leg connecting rod 350 , and the second end of the second lower leg connecting rod 350 is rotationally connected to the second connecting seat 402 . Further, the first lower leg link 330 and the second lower leg link 350 are arranged side by side along a direction perpendicular to the forward direction of the robot. In this way, a group of transmission structures composed of the second shank driving mechanism 340 and the second shank link 350 and a group of transmission structures of the first shank driving mechanism 320 and the first shank link 330 are arranged side by side, and the two sets of transmission structures together The sole part 400 provides power to drive the sole part 400 to lift the sole of the foot at the same time. In this way, the first shank driving mechanism 320 and the second shank driving mechanism 340 can select power devices with relatively small rated power (such as motors with relatively small rated power), so that the first shank driving mechanism 320 and the second shank drive The device volume of the mechanism 340 is relatively small, so that the overall volume of the lower leg 300 is smaller, and the outline of the lower leg 300 is closer to that of a human lower leg.

As shown in FIG. 4 and FIG. 5 , the lower leg part 300 further includes a fourth lower leg link 370, through which the output shaft of the second lower leg driving mechanism 340 and the first end of the second lower leg link 350 are realized. driver connections. Specifically, the first end of the fourth shank link 370 is fixedly connected to the output shaft of the second shank driving mechanism 340 , and the second end of the fourth shank link 370 is rotatably connected to the first end of the second shank link 350 . In this way, when the second shank driving mechanism 340 is activated to make the output shaft output rotational power, the output shaft drives the fourth shank link 370 to swing with the axis of the output shaft as the axis of rotation, thereby driving the second shank link 350 to move, and then The second calf connecting rod 350 also drives the sole part 400 through the second connection seat 402 to lift the sole of the foot with the ankle joint formed by the assembly of the calf limb 310 and the sole part 400 as the fulcrum.

In the embodiment of the present application, as shown in Fig. 4 and Fig. 5, the second end of the third shank link 360 is hinged to the first end of the first shank link 330 through the first shank pin 381, and the fourth The second end of the lower leg link 370 is hinged to the first end of the second lower leg link 350 through the second lower leg pin 382 . In the process of lifting the sole of the foot, the second end of the third shank link 360 and the first end of the first shank link 330 rotate relatively with the axis of the first shank pin 381 as the axis of rotation, and the fourth shank link 381 rotates relative to the axis of rotation. The second end of the rod 370 and the first end of the second lower leg link 350 rotate relative to each other with the axis of the second lower leg pin 382 as the rotation axis.

As shown in FIGS. 4 and 5 , the calf portion 300 further includes a pivot 390 , the pivot 390 is rotatably passed through the second connecting seat 402 , and the second end of the first calf link 330 and one end of the pivot 390 rotate connected, the second end of the second calf link 350 is rotationally connected to the other end of the pivot 390 . When lifting the sole of the foot, the pivot 390 rotates relative to the sole of the foot 400 with its own axis as the rotation axis.

Further, as shown in FIGS. 4 and 5 , the second end of the first shank link 330 is hinged to one end of the pivot 390 through a third shank pin 383 , and the second end of the second shank link 350 is hinged to the first end of the pivot 390 . The other ends of the pivot 390 are hinged through the fourth lower leg pin 384 . That is to say, the second end of the first shank link 330 and one end of the pivot 390 can rotate with the axis of the third shank pin 383 as the rotation axis, and the second end of the second shank link 350 and the second end of the pivot 390 can be rotated. The other ends of the pivot 390 can rotate with the axis of the fourth calf pin 384 as the rotation axis. Moreover, the extension direction of the axis of the third shank pin shaft 383 and the axis extension direction of the fourth shank pin shaft 384 are parallel to each other and consistent with the moving direction of the robot. At this time, referring to Fig. 1 to Fig. 5, taking the left leg shown in Fig. 3 and Fig. 5 as an example, when the sole part 400 needs to perform the movement of the sole of the right side (that is, the sole of the foot swings inward), the first calf The drive mechanism 320 outputs the power to drive the first shank link 330 to move downward, and the second shank drive mechanism 340 outputs the power to drive the second shank link 350 to move upward, so that the sole of the foot 400 connects the first connecting seat 401 and the second shank. The connecting line between the two connecting seats 402 is the rotation axis to turn and swing inwardly. When the sole part 400 needs to swing the sole of the left side (i.e. swing the sole of the foot outward), the first calf driving mechanism 320 outputs the power to drive the first calf link 330 to move upward, and the second calf driving mechanism 340 outputs the power to drive the second The power of the downward movement of the calf link 350 makes the sole part 400 flip and swing to the outside with the line connecting the first connecting seat 401 and the second connecting seat 402 as the axis of rotation.

Or, in another embodiment of the present application, one of the second end of the third shank link 360 and the first end of the first shank link 330 is provided with a first shank ball head (not shown), The other of the second end of the third shank link 360 and the first end of the first shank link 330 is provided with a first shank socket structure (not shown), and the first shank ball joint is hinged to the first shank. nest structure. And, one of the second end of the fourth shank link 370 and the first end of the second shank link 350 is provided with a second shank ball joint (not shown), and the second end of the fourth shank link 370 The other of the two first ends of the second calf connecting rod 350 is provided with a second calf socket structure (not shown), and the second calf ball head is hinged to the second calf socket structure. Further, one of the second end of the first shank link 330 and one end of the pivot 390 is provided with a third shank ball joint (not shown), and the second end of the first shank link 330 and the pivot 390 The other end of the two is provided with a third calf socket structure (not shown), and the ball head of the third calf is hinged to the third calf socket structure. And, one of the second end of the second shank link 350 and the other end of the pivot 390 is provided with a fourth shank ball joint (not shown), and the second end of the second shank link 350 and the pivot 390 The other end of the two is provided with a fourth calf socket structure (not shown), and the ball head of the fourth calf is hinged to the socket of the fourth calf.

As shown in FIG. 5 , the first shank link 330 and the second shank link 350 both include a first bar segment 301 , a second bar segment 302 and a third bar segment 303 , namely, the first shank link 330 and the second bar segment 303 . The second shank link 350 is a combined bar, and the overall assembly length of the bar can be adjusted, so that the first shank link 330 and the second shank link 350 can be assembled more accurately. Adjust the assembly length of the first shank link 330 to eliminate the assembly gap between the first shank link 330, the pivot 390 and the third shank link 360; adjust the assembly length of the second shank link 350 to The assembly clearance among the second lower leg link 350 , the pivot 390 and the fourth lower leg link 370 is eliminated. Specifically, the first rod section 301 and the third rod section 303 are screwed to both ends of the second rod section 302 respectively, and the threads of the first rod section 301 and the threads of the third rod section 303 are opposite to each other. Towards.

Taking the first shank link 330 as an example, after the first shank driving mechanism 320 is fixedly installed on the shank limb 310 and the third shank link 360 is fixedly connected to the output shaft of the first shank driving mechanism 320 and the pivot 390 After being installed on the second connecting seat 402, when assembling the first shank link 330, adjust the length of the first shank link 330 to a suitable length according to the assembly dimension chain between the third shank link 360 and the pivot 390 Assemble the length, and then hinge the two ends of the first shank link 330 to the second end of the third shank link 360 and the pivot 390 through the first shank pin 381 and the second shank pin 382 respectively. Then, according to the length of the first shank link 330 at this time, it is in a slightly longer state where it is tightly fitted between the second end of the third shank link 360 and the pivot 390 or is in a state of being tension-fitted on the third shank link. 360 and the slightly shorter state between the second end of the pivot 390, thereby rotating the second pole portion 302, so that the first pole portion 301 and the third pole portion 303 approach each other relative to the second pole portion 302 so as to The overall length of the first shank links 330 is shortened or moved away from each other to lengthen the overall length of the first shank links 330 , so that the assembly length of the first shank links 330 can be optimized.

In the embodiment of the present application, both the first calf driving mechanism 320 and the second calf driving mechanism 340 are embedded and fixed in the calf limb 310 , which can make the overall assembly of the calf part 300 more compact. Moreover, the first calf driving mechanism 320 and the second calf driving mechanism 340 are arranged at intervals along the extending direction of the calf limb 310, and the output shaft of the first calf driving mechanism 320 extends out in the extending direction of the calf limb 310 and drives the second calf. The direction in which the output shaft of the mechanism 340 extends out of the calf limb 310 is opposite. In this way, the overall volume of the calf portion 300 is smaller, and the contour shape of the calf portion 300 is closer to the contour shape of a human calf.

As shown in FIG. 4 and FIG. 5 , the calf portion 300 further includes a first limiting block 391 , and at this time, the calf portion 300 is only provided with the first limiting block 391 . Specifically, the first limiting block 391 is fixedly installed on the calf trunk 310 corresponding to the first calf driving mechanism 320, the first limiting block 391 is formed with a first limiting notch 3911, and the third calf connecting rod 360 moves from the first limiting The notch 3911 protrudes, and the two end walls of the first limiting notch 3911 are used to limit the swing range of the third lower leg link 360 .

Alternatively, as shown in FIG. 5 , the lower leg 300 further includes a second limiting block 392 , and at this time, only the second limiting block 392 is provided on the lower leg 300 . Specifically, the second limiting block 392 is fixedly installed on the calf trunk 310 corresponding to the second calf driving mechanism 340, the second limiting block 392 is formed with a second limiting notch 3921, and the third calf connecting rod 360 moves from the second limiting The notch 3921 protrudes, and the two end walls of the second limiting notch 3921 are used to limit the swing range of the fourth calf link 370 .

Alternatively, the calf portion 300 is provided with a first limiting block 391 and a second limiting block 392 at the same time, and the structural form and assembly form of the first limiting block 391 and the second limiting block 392 are the same as those described above, so they are no longer repeat.

The leg structure of the biped robot of the present application further includes an ankle connection member 420 . As shown in FIG. 3 to FIG. 5 , one end of the lower leg 300 is used to connect the upper leg 200 of the biped robot, and the lower leg 300 and the upper leg 200 form the limb structure of the leg structure. The other end of the calf portion 300 is provided with a first connecting ear 304 and a second connecting ear 305 opposite and spaced apart. Correspondingly, the sole portion 400 is provided with a first connecting seat 401, the first connecting seat 401 includes a first ankle connecting ear 411 and a second ankle connecting ear 412 opposite and spaced apart, and the first ankle connecting ear 411 and the second ankle connecting ear 411 are connected The connecting line of the ear 412 is perpendicular to the connecting line of the first connecting ear 304 and the second connecting ear 305 . The end of the lower leg 300 far away from the thigh 200 and the first connection seat 401 are connected through the ankle connection member 420 to realize multi-degree-of-freedom movement. During specific assembly, the ankle connection member 420 is provided with a first connection head 421, a second The connecting head 422, the third connecting head 423 and the fourth connecting head 424, the connecting line of the first connecting head 421 and the second connecting head 422 is perpendicular to the connecting line of the third connecting head 423 and the fourth connecting head 424, the first connecting head The head 421 is rotatably connected to the first connecting ear 304, the second connecting head 422 is rotatably connected to the second connecting ear 305, the fourth connecting head 424 is rotatably connected to the first ankle connecting ear 411, and the third connecting head 423 is rotatably connected to the second connecting ear 305. The ankle is connected to the ear 412 .

In this way, the first connection seat 401 of the sole part 400 and the end of the calf part 300 are assembled through the ankle connection member 420 to form an ankle joint structure. During the movement of the sole part 400, the sole part 400 can take the line connecting the first joint 421 and the second joint 422 as the axis of rotation to perform two degrees of freedom movements of lifting the sole of the foot and dropping the sole of the foot, and the sole of the foot The 400 can take the line connecting the third joint 423 and the fourth joint 424 as the rotation axis to perform two degrees of freedom motions of left foot swing and right foot swing. That is to say, the ankle joint structure formed by assembling the sole part 400 can basically realize the most important four-degree-of-freedom movement of the human-like ankle joint, and basically realize the multi-degree-of-freedom movement function of the ankle joint. Moreover, the present application adopts the simple structure of the ankle connecting member 420, which can reduce the volume of the ankle joint as much as possible, so that the volume and outline of the ankle joint of the leg structure of the biped robot are closer to the human ankle joint, and more In line with people's aesthetic senses.

In the embodiment of the present application, as shown in FIG. 6 and FIG. 7 , the first connecting head 421 and the first connecting ear 304 are rotationally connected through the first bearing 431 , and the connection between the second connecting head 422 and the second connecting ear 305 The connection between the fourth connection head 424 and the first ankle connection ear 411 is through the fourth bearing 434, and the connection between the third connection head 423 and the second ankle connection ear 412 is through the third bearing 433. Turn to connect. Or, in another embodiment of the present application, between the first connecting head 421 and the first connecting ear 304, between the second connecting head 422 and the second connecting ear 305, between the fourth connecting head 424 and the first ankle connection Between the ears 411 , between the third connecting head 423 and the second ankle connecting ear 412 are ball hinge connections.

In order to facilitate the assembly of the ankle connection member 420 between the first connection ear 304, the second connection ear 305, the first ankle connection ear 411 and the second ankle connection ear 412, therefore, as shown in Figures 6 and 7, the ankle connection The component 420 adopts a combined structure design. Specifically, the ankle connection member 420 includes a first horizontal axis 4201, a second horizontal axis 4202 and a vertical axis 4203, and one end of the first horizontal axis 4201 and one end of the second horizontal axis 4202 are fixedly connected to the longitudinal axis. 4203 and the axis of the first horizontal axis 4201 and the axis of the second horizontal axis 4202 are on the same straight line, the axis of the first horizontal axis 4201 and the axis of the second horizontal axis 4202 are perpendicular to the axis of the vertical axis 4203 axis. At this time, the two ends of the vertical axis 4203 are respectively the third connector 423 and the fourth connector 424, the end of the first horizontal axis 4201 away from the vertical axis 4203 is the first connector 421, and the second horizontal axis 4202 The end away from the vertical axis 4203 is the second connecting head 422 . During specific assembly, the first horizontal axis member 4201 is rotatably connected to the first connecting ear 304, the second horizontal axis member 4202 is rotatably connected to the second connecting ear 305, and the two ends of the vertical axis member 4203 are respectively rotatably connected to the first connecting seat 401. The first ankle connecting ear 411 and the second ankle connecting ear 412.

As shown in FIGS. 6 and 7 , the ankle connection member 420 further includes a fixing bolt 4204 , and the longitudinal shaft member 4203 is provided with a through hole 42031 whose hole axis is perpendicular to the axis of the longitudinal shaft member 4203 . During specific assembly, the first transverse axis 4201 and the second transverse axis 4202 respectively correspond to the holes on both sides of the through hole 42031, and the fixing bolts 4204 pass through the first transverse axis 4201, the through hole 42031 and the second transverse axis 4202 in turn. Screw fixed. In this way, the first horizontal axis piece 4201 and the second horizontal axis piece 4202 are locked and fixed on the vertical axis piece 4203 through the fixing bolts 4204 .

When adopting the ankle connecting member 420 of combined structure to assemble, at first the vertical shaft part 4203 is placed between the first ankle connecting ear 411 and the second ankle connecting ear 412, and then the first transverse shaft part 4201 is placed on the first connecting ear. Between the lug 304 and the vertical axis piece 4203 and the second horizontal axis piece 4202 is placed between the second connection ear 305 and the vertical axis piece 4203, then the first horizontal axis piece 4201 and the second horizontal axis piece are connected by the fixing bolt 4204 4202 is locked and fixed on the longitudinal shaft member 4203. Then the first bearing 431, the second bearing 432, the third bearing 433 and the fourth bearing 434 are sequentially assembled, that is, the first bearing 431 is assembled between the first connecting head 421 and the first connecting ear 304, and the The second bearing 432 is assembled between the second connecting head 422 and the second connecting ear 305, the third bearing 433 is assembled between the second ankle connecting ear 412 and the third connecting head 423, and the fourth bearing 434 is assembled to the second connecting ear 423. An ankle is connected between the ear 411 and the fourth connection head 424 .

Additionally, in another embodiment of the present application, the ankle connection member 420 is an integrally formed member. Preferably, the ankle connection member 420 is an integral forged member, or the ankle connection member 420 is a casting.

The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application should be included in the protection of the application. within range.

Claims (10)

1. A hip joint structure of a biped robot, characterized in that it comprises: A hip transfer structure (110), the hip transfer structure (110) comprising a first transfer part (111) and a second transfer part (112) fixedly connected to each other, the second transfer part (112) Leg structure for connecting biped robots; A first drive mechanism (130), the first drive mechanism (130) is fixedly installed on the second transfer part (112), and the first drive mechanism (130) is used to drive the side swing of the leg structure; The second drive mechanism (140), the axis direction of the output shaft of the second drive mechanism (140) and the axis direction of the output shaft of the first drive mechanism (130) are arranged orthogonally, and the second drive mechanism ( 140) is used to drive the leg structure to rotate around the axis of the output shaft of the second driving mechanism (140), and the second driving mechanism (140) is installed on the second adapter part (112). 2. the hip joint structure of biped robot according to claim 1, is characterized in that, Both the first transfer part (111) and the second transfer part (112) are plate-shaped members, and the extending direction of the first transfer part (111) and the second transfer part (112) ) is arranged orthogonally to the extension direction, and the extension direction of the first transition part (111) is substantially horizontal; The first drive mechanism (130) and the second drive mechanism (140) are respectively located on both sides of the second transfer part (112), and the second transfer part (112) is provided with an assembly hole ( 1121), the output shaft of the first driving mechanism (130) passes through the assembly hole (1121) and is connected to the second driving mechanism (140). 3. the hip joint structure of biped robot according to claim 2, is characterized in that, The hip joint structure also includes a hip flange member (151) and a hip support member (152), the hip flange member (151) is fixedly connected to the output shaft of the first driving mechanism (130), and the hip The support member (152) is fixedly connected to the hip flange member (151), and the second driving mechanism (140) is installed on the hip support member (152). 4. The hip joint structure of the biped robot according to any one of claims 1-3, characterized in that, The hip joint structure also includes a third drive mechanism (160) and a leg transfer member (170), the leg transfer member (170) is fixedly connected to the output shaft of the second drive mechanism (140), The third drive mechanism (160) is installed on the leg transfer member (170), the axis direction of the output shaft of the third drive mechanism (160) is the same as the output shaft of the first drive mechanism (130). The axial direction of the output shaft of the third driving mechanism (160) and the axial direction of the second driving mechanism (140) are all orthogonally set, and the leg structure is fixedly connected to the Describe the output rotating shaft of the third driving mechanism (160). 5. the hip joint structure of biped robot according to claim 4, is characterized in that, The third drive mechanism (160) is located outside the leg transfer member (170). 6. A biped robot, characterized in that it comprises: leg structure; and The hip joint structure of a biped robot according to any one of claims 1-5, wherein the leg structure is connected to the hip joint structure. 7. The biped robot according to claim 6, wherein the leg structure comprises: a thigh limb (210), the first end of the thigh limb (210) is connected to the hip joint structure; A calf (300), the calf (300) is rotatably mounted on the second end of the thigh (210), the calf (300) is close to the end of the thigh (210) The part is provided with a first connection end (311); A knee driving mechanism (220), the knee driving mechanism (220) is fixedly installed on one end of the thigh limb (210) close to the hip joint structure; The first knee link (230), the output shaft of the knee driving mechanism (220) is drivingly connected to the first end of the first knee link (230), and the first knee link ( 230) is rotationally connected to the first connecting end (311). 8. The biped robot according to claim 7, wherein: The leg structure further includes soles (400), and the soles (400) are provided with spaced apart first connecting seats (401) and second connecting seats (402); The lower leg (300) includes: The calf limb (310), the first end of the calf limb (310) is rotatably mounted on the second end of the thigh limb (210), the second end of the calf limb (310) and the The first connection seat (401) is movably connected, and the second end of the calf (310) is extended with the first connection end (311); A first calf driving mechanism (320), the first calf driving mechanism (320) is installed on the calf limb (310); The first shank link (330), the output shaft of the first shank driving mechanism (320) is drivingly connected to the first end of the first shank link (330), and the first shank link (330) The second end of the second connecting seat (402) is rotationally connected. 9. The biped robot according to claim 8, wherein: The lower leg part (300) further includes a second lower leg driving mechanism (340) and a second lower leg connecting rod (350), the second lower leg driving mechanism (340) is installed on the lower leg trunk (310), so The output shaft of the second shank driving mechanism (340) is drivingly connected to the first end of the second shank link (350), and the second end of the second shank link (350) is connected to the second link. The seat (402) is rotatably connected, and the first shank link (330) and the second shank link (350) are arranged side by side. 10. The biped robot according to claim 8 or 9, characterized in that, The leg structure also includes an ankle connection member (420) having a first connection head (421), a second connection head (422), a third connection head (423) and a fourth connection head (420). Connector (424), the connecting line of the first connector (421) and the second connector (422) is perpendicular to the connection between the third connector (423) and the fourth connector (424) The second end of the calf limb (310) is provided with opposite and spaced first connecting ears (304) and second connecting ears (305), and the first connecting seat (401) includes opposite and spaced The first ankle connecting ear (411) and the second ankle connecting ear (412), and the connecting line between the first ankle connecting ear (411) and the second ankle connecting ear (412) is perpendicular to the first connecting ear (304) and the connection line of the second connecting ear (305), the first connecting head (421) is rotatably connected to the first connecting ear (304), and the second connecting head (422) is rotatably connected In the second connection ear (305), the fourth connection head (424) is rotatably connected to the first ankle connection ear (411), and the third connection head (423) is rotatably connected to the second ankle connection ear (411). Ankle connects to ear (412).

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