Shank composite structure and humanoid robot comprising shank composite structure

Abstract

The invention provides a shank composite structure and a humanoid robot comprising the shank composite structure. The shank composite structure comprises supporting side plates, an embedded filling structure clamped between the supporting side plates and a shell wrapping the outer periphery of the supporting side plates and the embedded filling structure. The supporting side plates comprises the shank outer plate and the shank inner plate which are fixedly installed at intervals on the left side and the right side at a preset distance, the upper ends of the shank outer plate and the shank inner plate are provided with upper end connecting support parts used for supporting and connecting knee joint assemblies, and the lower ends of the shank outer plate and the shank inner side plate are provided with lower end connecting support parts. The embedded filling structure comprises upper plugs located below the upper end connecting support parts and fixedly connected to the support side plates, lower plugs located above the lower end connected support parts and inner cavity structures fixed between the upper plugs and the lower plugs and fixedly connected to the support side plates, wherein each inner cavity structure is provided with an accommodating cavity. The structure has good strength and rigidity in all directions, and the internal space of the shank can be fully utilized.

Description

technical field [0001] The invention relates to the field of humanoid robots, in particular to a composite structure of lower legs and a humanoid robot including the composite structure of lower legs. Background technique [0002] Humanoid robot is an advanced development stage of advanced robot technology, which comprehensively embodies the research and development level of many aspects such as mechanism, motion and dynamics of advanced robot, and is a very complex comprehensive system. Among them, the leg body structure of humanoid robot is an important link in the design of humanoid robot. At present, the design of the leg connection structure of humanoid robots needs to be as simple as possible under the conditions of motion and operation, so as to reduce the control complexity and improve the control precision. The legs of a humanoid robot should not only realize the flexible rotation function, but also have a certain strength in the motion collision, and at the same t...

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Problems solved by technology

[0005] In order to solve or alleviate the problems of insufficient front and rear side support strength and ineffective use of the internal space of the lower leg in the prior art humanoid robot leg connecting structure, the present invention provides a lower leg composite structure and a composite structure containing the lower leg humanoid robot

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