CN114475845B - Humanoid robot lower limb structure - Google Patents
Humanoid robot lower limb structure Download PDFInfo
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- CN114475845B CN114475845B CN202011259319.8A CN202011259319A CN114475845B CN 114475845 B CN114475845 B CN 114475845B CN 202011259319 A CN202011259319 A CN 202011259319A CN 114475845 B CN114475845 B CN 114475845B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 56
- 238000013016 damping Methods 0.000 claims abstract description 95
- 210000004394 hip joint Anatomy 0.000 claims description 100
- 210000000629 knee joint Anatomy 0.000 claims description 47
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 46
- 210000003423 ankle Anatomy 0.000 claims description 24
- 210000000689 upper leg Anatomy 0.000 claims description 23
- 210000001699 lower leg Anatomy 0.000 claims description 18
- 210000001624 hip Anatomy 0.000 claims description 7
- 210000001694 thigh bone Anatomy 0.000 claims description 6
- 244000309466 calf Species 0.000 claims description 5
- 230000036544 posture Effects 0.000 description 10
- 210000002414 leg Anatomy 0.000 description 8
- 210000003127 knee Anatomy 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 3
- 210000002303 tibia Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000001217 buttock Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of intelligent robots, in particular to a lower limb structure of a humanoid robot, which comprises a fixed frame, an adapter, a framework and a damping hinge; the fixing frame is connected with one framework, the adapter is connected with the other framework, and the fixing frame is rotationally connected with the adapter through the damping hinge. The lower limb structure of the humanoid robot provided by the invention can realize the stopping and swinging of the lower limb of the robot at any angle by utilizing the cooperation of the fixing frame, the adapter and the damping hinge, thereby realizing more accurate and richer display of the anthropomorphic gesture.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a lower limb structure of a humanoid robot.
Background
In order to make the humanoid robot highly anthropomorphic, the lower limbs of the robot need to move forward, backward, left and right in different directions to achieve the anthropomorphic postures of bending knees, lifting legs, squatting down, running, standing upright, standing on the tiptoe, kneeling on the one's feet, and the like. The fixed straight rod or the fuzzy lower limb structure adopted in the prior art cannot realize the stopping and swinging of any position of the joint.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the lower limb structure of the humanoid robot can realize the stopping and swinging of any position of the joint.
In order to solve the technical problems, the invention adopts the following technical scheme: a lower limb structure of a humanoid robot comprises a fixed frame, an adapter, a framework and a damping hinge; the fixing frame is connected with one framework, the adapter is connected with the other framework, and the fixing frame is rotationally connected with the adapter through the damping hinge.
The invention has the beneficial effects that: the utility model provides a humanoid robot lower limb structure, including mount, adaptor, skeleton and damping hinge, utilize the mount to connect a skeleton, the adaptor is connected another skeleton, the mount passes through damping hinge connection adaptor, compact structure can realize in the angle scope of predetermineeing joint rotation like this, when no external force is exerted, can accomplish that the lower limb is put wantonly, fix at given angle, in order to demonstrate different anthropomorphic gesture, when needing to adjust the gesture of putting, only need exert less power rotation joint, can change new anthropomorphic gesture; meanwhile, the adjustability of the lower limb joint actuation moment is increased by utilizing the damping hinge, so that a more accurate and vivid lower limb form is realized. The lower limb structure of the humanoid robot provided by the invention can realize the stopping and swinging of the lower limb of the robot at any angle by utilizing the cooperation of the fixing frame, the adapter and the damping hinge, thereby realizing more accurate and richer display of the anthropomorphic gesture.
Drawings
Fig. 1 is a schematic diagram of a lower limb structure of a humanoid robot according to an embodiment of the present invention;
fig. 2 is another schematic diagram of a lower limb structure of the humanoid robot according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a two-degree-of-freedom hip joint structure of a humanoid robot according to a second embodiment of the present invention;
FIG. 4 is a top view of a two degree of freedom hip joint structure of a humanoid robot of a second embodiment of the present invention;
FIG. 5 is a front view of a two degree of freedom hip joint structure of a humanoid robot of a second embodiment of the present invention;
FIG. 6 is a schematic view of a one-degree-of-freedom knee joint structure of a humanoid robot in accordance with a third embodiment of the present invention;
FIG. 7 is a top view of a one degree of freedom knee joint structure of a humanoid robot of a third embodiment of the present invention;
FIG. 8 is a front view of a one-degree-of-freedom knee joint structure of a humanoid robot in accordance with a third embodiment of the present invention;
FIG. 9 is a schematic view of a two-degree-of-freedom ankle joint structure of a humanoid robot in accordance with a fourth embodiment of the present invention;
FIG. 10 is a top view of a two degree of freedom ankle joint structure of a humanoid robot of a fourth embodiment of the present invention;
FIG. 11 is a front view of a two-degree-of-freedom ankle joint structure of a humanoid robot of a fourth embodiment of the present invention;
description of the reference numerals:
1. a fixing frame; 11. a hip joint cross frame; 111. a first damped hinge; 12. a first hip joint connection beam; 121. a first interface; 13. a second hip joint connection beam; 131. a second interface; 14. a knee joint cross frame; 141. a third damped hinge; 142. a fourth interface; 15. an ankle joint cross frame; 151. a sixth interface; 152. a fourth damped hinge;
2. an adapter; 21. a hip joint base; 22. hip joint swing frame; 221. a second damped hinge; 222. a third interface; 23. a knee joint swing frame; 231. a fifth interface; 24. an ankle joint base; 25. an ankle swing frame; 251. a fifth damped hinge; 252. a seventh interface;
3. a buttock skeleton;
4. a lower limb switching framework;
5. thigh skeletons;
6. a lower leg armature;
7. a sole frame;
8. and (5) supporting frames.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 11, a lower limb structure of a humanoid robot includes a fixing frame, an adapter, a framework and a damping hinge; the fixing frame is connected with one framework, the adapter is connected with the other framework, and the fixing frame is rotationally connected with the adapter through the damping hinge.
From the above description, the beneficial effects of the invention are as follows: the utility model provides a humanoid robot lower limb structure, including mount, adaptor, skeleton and damping hinge, utilize the mount to connect a skeleton, the adaptor is connected another skeleton, the mount passes through damping hinge connection adaptor, compact structure can realize in the angle scope of predetermineeing joint rotation like this, when no external force is exerted, can accomplish that the lower limb is put wantonly, fix at given angle, in order to demonstrate different anthropomorphic gesture, when needing to adjust the gesture of putting, only need exert less power rotation joint, can change new anthropomorphic gesture; meanwhile, the adjustability of the lower limb joint actuation moment is increased by utilizing the damping hinge, so that a more accurate and vivid lower limb form is realized. The lower limb structure of the humanoid robot provided by the invention can realize the stopping and swinging of the lower limb of the robot at any angle by utilizing the cooperation of the fixing frame, the adapter and the damping hinge, thereby realizing more accurate and richer display of the anthropomorphic gesture.
Further, the fixing frame comprises a hip joint cross frame, the adapter comprises a hip joint base, the framework comprises a lower limb adapting framework and a thigh framework, the damping hinge comprises a first damping hinge, the hip joint cross frame is fixedly connected with the lower limb adapting framework, the hip joint cross frame is rotatably connected with the hip joint base through the first damping hinge, the hip joint base is connected with the thigh framework, and the rotation axis of the hip joint base is parallel to a coronal axis.
From the above description, the hip joint crossbearer is used for connecting the lower limb switching framework, and the hip joint base is rotationally connected with the hip joint crossbearer through the first damping hinge and then is connected with the thigh bone, so that the rotation axis of the hip joint base is ensured to be parallel to the coronal axis, and the hip joint flexion and extension motion is realized.
Further, the adapter further comprises a hip joint swing frame, the damping hinge further comprises a second damping hinge, the hip joint swing frame is rotatably connected with the hip joint base through the second damping hinge, the hip joint swing frame is fixedly connected with the thigh bone, and the rotation axis of the hip joint swing frame is parallel to the sagittal axis.
From the above description, the hip-joint swing frame is rotationally connected with the hip-joint base through the second damping hinge and then connected with the thigh bone, so that the rotation axis of the hip-joint swing frame is ensured to be parallel to the sagittal axis, and the abduction and adduction movement of the hip joint is realized.
Further, the fixing frame further comprises a first hip joint connecting beam and a second hip joint connecting beam, the framework further comprises a hip framework, the first hip joint connecting beam is detachably connected with the hip joint transverse frame, the first hip joint connecting beam is provided with a first interface detachably connected with the hip framework, the second hip joint connecting beam is detachably connected with the first hip joint connecting beam, the second hip joint connecting beam is provided with a second interface detachably connected with the lower limb switching framework, and the hip joint swing frame is provided with a third interface detachably connected with the thigh framework.
As can be seen from the above description, the first hip joint connection beam and the second hip joint connection beam are respectively used for connecting the hip skeleton and the lower limb switching skeleton, and the first hip joint connection beam, the second hip joint connection beam and the hip joint swing frame are respectively provided with a detachable interface, so that the quick assembly, disassembly and replacement of the skeleton are facilitated.
Further, the fixing frame further comprises a knee joint transverse frame, the adapter further comprises a knee joint swing frame, the framework further comprises a shank framework, the damping hinge further comprises a third damping hinge, the knee joint transverse frame is fixedly connected with the thigh framework, the knee joint transverse frame is rotatably connected with the knee joint swing frame through the third damping hinge, the knee joint swing frame is connected with the shank framework, and the rotation axis of the knee joint swing frame is parallel to the coronal axis.
From the above description, the knee joint spreader is used for connecting the thigh bone, and the knee joint spreader is connected with the knee joint spreader through the third damping hinge and then connected with the shank bone, so that the rotation axis of the knee joint spreader is ensured to be parallel to the coronal axis, and the knee joint buckling and hyper-extension motion is realized.
Further, the knee joint transverse frame is provided with a fourth interface which is detachably connected with the lower leg framework, and the knee joint swing frame is provided with a fifth interface which is detachably connected with the thigh framework.
From the above description, quick-connection interfaces are arranged on the knee joint transverse frame and the knee joint swing frame, so that the thigh skeletons and the calf skeletons with different specifications and shapes can be conveniently disassembled and replaced.
Further, the fixing frame further comprises an ankle joint transverse frame, the adapter further comprises an ankle joint base, the framework further comprises a sole framework, the damping hinge further comprises a fourth damping hinge, the ankle joint transverse frame is fixedly connected with the lower leg framework, the ankle joint transverse frame is rotatably connected with the ankle joint base through the fourth damping hinge, the ankle joint base is connected with the sole framework, and the rotation axis of the ankle joint base is parallel to the vertical axis.
From the above description, it is known that the ankle joint cross frame is used for connecting the shank bone frame, and the ankle joint base is connected with the ankle joint cross frame through the fourth damping hinge and then connected with the sole skeleton, so that the rotation axis of the ankle joint base is ensured to be parallel to the vertical axis, and the eversion and inversion actions of the ankle joint are realized.
Further, the fixing frame further comprises an ankle swing frame, the damping hinge further comprises a fifth damping hinge, the ankle swing frame is rotatably connected with the ankle base through the fifth damping hinge, the ankle swing frame is connected with the sole framework, and the rotation axis of the ankle swing frame is parallel to the coronal axis.
From the above description, it can be seen that the ankle swing frame is connected to the ankle base through the fifth damping hinge and then connected to the sole skeleton, so as to ensure that the rotation axis of the ankle swing frame is parallel to the coronal axis, thereby realizing dorsiflexion and plantarflexion actions of the ankle.
Further, the ankle joint transverse frame is provided with a sixth interface which is detachably connected with the shank framework, and the ankle joint swing frame is provided with a seventh interface which is detachably connected with the sole framework.
From the above description, the ankle joint transverse frame and the ankle joint swing frame are respectively provided with a quick connection interface, so that the lower leg framework and the sole framework with different specifications and forms can be conveniently disassembled and replaced.
Further, a damping adjusting knob is arranged on the damping hinge.
From the above description, the damping adjusting knob is used for adjusting the damping hinge to obtain force values of different torques, so as to adjust feedback hand feeling of the lower limb posture under different posture angles, and enable the lower limb structure of the robot to be more anthropomorphic and vivid.
Referring to fig. 1, a first embodiment of the present invention is as follows:
the lower limb structure of the humanoid robot comprises a fixing frame 1, an adapter 2, a framework and a damping hinge; the fixing frame 1 is detachably connected with one framework through a screw, the adapter 2 is detachably connected with the other framework through a screw, and the fixing frame 1 is rotatably connected with the adapter 2 through a damping hinge. And the damping hinge is provided with a damping adjusting knob for adjusting the moment.
Referring to fig. 1 to 5, a second embodiment of the present invention is as follows:
the utility model provides a humanoid robot two degrees of freedom hip joint structure, mount 1 includes hip joint crossbearer 11, adaptor 2 includes hip joint base 21, the skeleton includes low limbs switching skeleton 4 and thigh skeleton 5, damping hinge includes first damping hinge 111, low limbs switching skeleton 4 passes through support frame 8 to be fixed subaerial, hip joint crossbearer 11 with low limbs switching skeleton 4 fixed connection, hip joint crossbearer 11 passes through first damping hinge 111 with hip joint base 21 rotates to be connected, hip joint base 21 with thigh skeleton 5 is connected, the axis of rotation of hip joint base 21 is on a parallel with the coronal axis.
The adapter 2 further comprises a hip joint swing frame 22, the damping hinge further comprises a second damping hinge 221, the hip joint swing frame 22 is rotatably connected with the hip joint base 21 through the second damping hinge 221, the hip joint swing frame 22 is fixedly connected with the thigh skeleton 5, and the rotation axis of the hip joint swing frame 22 is parallel to the sagittal axis. The fixing frame 1 further comprises a first hip joint connecting beam 12 and a second hip joint connecting beam 13, the framework further comprises a hip framework 3, the first hip joint connecting beam 12 is detachably connected with the hip joint transverse frame 11, the first hip joint connecting beam 12 is provided with a first interface 121 detachably connected with the hip joint framework 3, the second hip joint connecting beam 13 is detachably connected with the first hip joint connecting beam 12, the second hip joint connecting beam 13 is provided with a second interface 131 detachably connected with the lower limb switching framework 4, and the hip joint swing frame 22 is provided with a third interface 222 detachably connected with the thigh framework 5.
Referring to fig. 1, 2, 6, 7 and 8, the difference between the third embodiment and the second embodiment of the present invention is that:
the utility model provides a humanoid robot knee joint structure of degree of freedom, mount 1 still includes knee joint crossbearer 14, adaptor 2 still includes knee joint rocker 23, the skeleton still includes shank frame 6, damping hinge still includes third damping hinge 141, knee joint crossbearer 14 with thigh skeleton 5 fixed connection, knee joint crossbearer 14 passes through third damping hinge 141 with knee joint rocker 23 rotates to be connected, knee joint rocker 23 with shank frame 6 is connected, knee joint rocker 23's axis of rotation is parallel to the coronal axis.
The knee joint crossarm 14 is provided with a fourth interface 142 detachably connected with the lower leg armature 6, and the knee joint rocker 23 is provided with a fifth interface 231 detachably connected with the thigh armature 5.
Referring to fig. 1, 2, 9, 10 and 11, the fourth embodiment of the present invention is different from the third embodiment in that:
the utility model provides a humanoid robot two degrees of freedom ankle joint structure, mount 1 still includes ankle joint crossbearer 15, adaptor 2 still includes ankle joint base 24, the skeleton still includes sole skeleton 7, damping hinge still includes fourth damping hinge 152, ankle joint crossbearer 15 with shank skeleton 6 fixed connection, ankle joint crossbearer 15 passes through fourth damping hinge 152 with ankle joint base 24 rotates to be connected, ankle joint base 24 with sole skeleton 7 is connected, ankle joint base 24's axis of rotation is parallel to the vertical axis.
The fixing frame 1 further comprises an ankle swing frame 25, the damping hinge further comprises a fifth damping hinge 251, the ankle swing frame 25 is rotatably connected with the ankle base 24 through the fifth damping hinge 251, the ankle swing frame 25 is connected with the sole frame 7, and the rotation axis of the ankle swing frame 25 is parallel to the coronal axis. The ankle joint cross frame 15 is provided with a sixth interface 151 detachably connected with the lower leg frame 6, and the ankle joint swing frame 25 is provided with a seventh interface 252 detachably connected with the sole frame 7.
Referring to fig. 1 to 2, a fifth embodiment of the present invention is as follows:
when the joint structures of the four embodiments are combined for use, through the cooperation of the multiple groups of crossbearers, the rocker and the base, the angles of rotation of the five damping hinges are respectively controlled, so that the joint structures can be combined into anthropomorphic postures of knee bending, leg lifting, squatting, running, standing on standing, single knee kneeling and the like, wherein the cooperation of the components is specifically described by the single knee kneeling action, the upright state of the two legs of the robot is defined as an initial state before the operation, and then the following operations are sequentially carried out: first, the right thigh is taken as a force applying arm, and the first damping hinge 111 of the right thigh is rotated 90 degrees clockwise; the right lower leg is used as a force applying arm, and the third damping hinge 141 of the right leg is rotated by 100 degrees in the anticlockwise direction; the right sole is used as a force applying arm, and the right leg fifth damping hinge 251 is rotated by 10 degrees clockwise; the left thigh is used as a force applying arm to keep the initial state of the left leg first damping hinge 111; the left lower leg is used as a force applying arm, and the left leg third damping hinge 141 is rotated 90 degrees in the anticlockwise direction; the left sole is used as a force application arm, and the left leg fifth damping hinge 251 is rotated by 35 degrees clockwise. The above completes the demonstration of the single knee kneeling action. The rotation angle of the embodiment is exemplified to better describe the movement state of the joint, and the actual display posture can be adjusted according to the field requirement.
In summary, the invention provides a lower limb structure of a humanoid robot, which comprises a fixing frame, an adapter, a framework and damping hinges, wherein the fixing frame is connected with one framework, the adapter is connected with the other framework, and the fixing frame is connected with the adapter through the damping hinges, so that the lower limb can be placed and fixed at a given angle at will within a preset joint rotation angle range when no external force is applied, different anthropomorphic postures can be displayed, and when the placing posture is required to be adjusted, the joint can be rotated by applying smaller force, and a new anthropomorphic posture can be switched; meanwhile, the adjustability of the lower limb joint actuation moment is increased by utilizing the damping hinge, so that a more accurate and vivid lower limb form is realized. The lower limb structure of the humanoid robot provided by the invention can realize the stopping and swinging of the lower limb of the robot at any angle by utilizing the cooperation of the fixing frame, the adapter and the damping hinge, thereby realizing more accurate and richer display of the anthropomorphic gesture. The hip joint transverse frame is used for connecting a lower limb switching framework, the hip joint base is rotationally connected with the hip joint transverse frame through a first damping hinge and then is connected with the thigh framework, and the rotation axis of the hip joint base is ensured to be parallel to the coronal axis, so that the hip joint can flex and stretch backwards. The hip joint swing frame is rotationally connected with the hip joint base through the second damping hinge and then connected with the thigh bone, so that the rotation axis of the hip joint swing frame is ensured to be parallel to the sagittal axis, and the hip joint abduction and adduction movement is realized. The first hip joint connecting beam and the second hip joint connecting beam are respectively used for connecting the hip framework and the lower limb switching framework, and the first hip joint connecting beam, the second hip joint connecting beam and the hip joint swing frame are all provided with detachable interfaces, so that the framework can be conveniently and rapidly disassembled and replaced. The knee joint crossbearer is used for connecting the thigh skeleton, and the knee joint rocker is connected with the knee joint crossbearer through the third damping hinge and then is connected with the shank skeleton, so that the rotation axis of the knee joint rocker is ensured to be parallel to the coronal axis, and the knee joint buckling and hyperextension movement is realized. Quick-connection interfaces are arranged on the knee joint transverse frame and the knee joint swing frame, so that the thigh frameworks and the calf frameworks with different specifications and forms can be conveniently disassembled and replaced. The ankle joint crossbearer is used for connecting the shank bone frame, and the ankle joint base is connected with the ankle joint crossbearer through the fourth damping hinge and then connected with the sole skeleton, so that the rotation axis of the ankle joint base is parallel to the vertical axis, and the eversion and inversion actions of the ankle joint are realized. The ankle swing frame is connected with the ankle base through the fifth damping hinge and then connected with the sole framework, so that the rotation axis of the ankle swing frame is ensured to be parallel to the coronal axis, and dorsiflexion and plantarflexion actions of the ankle are realized. Quick connectors are arranged on the ankle joint transverse frame and the ankle joint swing frame, so that the lower leg framework and the sole framework with different specifications and forms can be conveniently disassembled and replaced. The damping adjusting knob is used for adjusting the damping hinge to obtain force values of different torques, so that feedback handfeel of the lower limb posture is adjusted under different posture angles, and the lower limb structure of the robot is more anthropomorphic and vivid.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (7)
1. The lower limb structure of the humanoid robot is characterized by comprising a fixing frame, an adapter, a framework and a damping hinge; the fixing frame is connected with one framework, the adapter is connected with the other framework, and the fixing frame is rotationally connected with the adapter through the damping hinge;
the fixing frame comprises a hip joint transverse frame, the adapter comprises a hip joint base, the framework comprises a lower limb adapter framework and a thigh framework, the damping hinge comprises a second damping hinge, the lower limb adapter framework is fixed on the ground through a supporting frame, the hip joint transverse frame is fixedly connected with the lower limb adapter framework, the hip joint transverse frame is rotationally connected with the hip joint base through the second damping hinge, and the rotation axis of the hip joint base is parallel to a coronal axis;
the adapter piece further comprises a hip joint swing frame, the damping hinge further comprises a first damping hinge, the hip joint swing frame is rotatably connected with the hip joint base through the first damping hinge, the hip joint swing frame is fixedly connected with the thigh bone, and the rotation axis of the hip joint swing frame is parallel to the sagittal axis.
2. The humanoid robot lower limb structure of claim 1, wherein the fixing frame further comprises a first hip joint connecting beam and a second hip joint connecting beam, the framework further comprises a hip framework, the first hip joint connecting beam is detachably connected with the hip joint cross frame, the first hip joint connecting beam is provided with a first interface detachably connected with the hip framework, the second hip joint connecting beam is detachably connected with the first hip joint connecting beam, the second hip joint connecting beam is provided with a second interface detachably connected with the lower limb switching framework, and the hip joint swing frame is provided with a third interface detachably connected with the thigh framework.
3. The humanoid robot lower limb structure of claim 1, wherein the mount further comprises a knee joint cross frame, the adapter further comprises a knee joint swing frame, the frame further comprises a calf frame, the damping hinge further comprises a third damping hinge, the knee joint cross frame is fixedly connected with the thigh frame, the knee joint cross frame is rotatably connected with the knee joint swing frame through the third damping hinge, the knee joint swing frame is connected with the calf frame, and the rotation axis of the knee joint swing frame is parallel to a coronal axis.
4. The humanoid robot lower limb structure of claim 3, wherein the knee joint cross frame is provided with a fourth interface detachably connected with the thigh skeleton, and the knee joint swing frame is provided with a fifth interface detachably connected with the calf skeleton.
5. The humanoid robot lower limb structure of claim 4, wherein the mount further comprises an ankle joint cross frame, the adapter further comprises an ankle joint base, the frame further comprises a sole frame, the damping hinge further comprises a fourth damping hinge, the ankle joint cross frame is fixedly connected with the lower leg frame, the ankle joint cross frame is rotatably connected with the ankle joint base through the fourth damping hinge, and the rotation axis of the ankle joint base is parallel to a vertical axis;
the connecting piece further comprises an ankle swing frame, the damping hinge further comprises a fifth damping hinge, the ankle swing frame is rotatably connected with the ankle base through the fifth damping hinge, the ankle swing frame is connected with the sole framework, and the rotation axis of the ankle swing frame is parallel to the coronal axis.
6. The humanoid robot lower limb structure according to claim 5, wherein the ankle joint cross frame is provided with a sixth interface detachably connected with the shank frame, and the ankle joint swing frame is provided with a seventh interface detachably connected with the sole frame.
7. The humanoid robot lower limb structure of claim 1, wherein the damping hinge is provided with a damping adjustment knob.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2931718B1 (en) * | 2008-05-29 | 2011-02-11 | Bia | HIP FOR HUMANOID ROBOT |
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| CN2684666Y (en) * | 2004-03-31 | 2005-03-16 | 陈建国 | Anthropomorphic dummy |
| CN201235218Y (en) * | 2008-06-27 | 2009-05-13 | 黄国威 | Artificial human body model |
| JP2011206874A (en) * | 2010-03-29 | 2011-10-20 | Honda Motor Co Ltd | Leg type mobile robot |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
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