Humanoid robot and shank structure thereof

Abstract

The invention discloses a humanoid robot and a shank structure thereof. The shank structure comprises a knee frame, a foot plate, a driving assembly and a cam; the foot plate is rotatably connected to the knee frame around the X axis; the knee frame is provided with a rotating seat; the inner shaft is rotationally connected to the rotating seat around the Y axis; the fixing sleeve is rotatably mounted on the inner shaft; the driven planetary gears are meshed with the driving planetary gears on the two sides; one end of the side shaft is limited to the fixing sleeve, and the driven planetary gear is rotationally arranged on the side shaft in a sleeving mode. The upper end of the connecting rod is rotatably connected to the connecting seat, and the lower end of the connecting rod is rotatably connected to the foot plate; when the cams at the left and right positions rotate towards the same direction, the connecting seat drives the foot plate and the knee frame to rotate around the Y axis through the connecting rod; when the cams at the left and right positions rotate in opposite directions, the connecting seat rotates around the side shaft and drives the foot plate to rotate around the X axis relative to the knee frame through the connecting rod. According to the scheme, more flexible gait control can be achieved, and the problem that the weight burden of shanks is too heavy due to a direct drive mode in a traditional system is solved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a humanoid robot and a calf structure thereof. Background Art

[0002] Most humanoid robots currently on the market use a direct-drive design for gait control. This design uses motors to directly drive joint movement. While this can achieve basic gait control, the heavier lower leg requires the motor to continuously output high power to maintain joint torque, significantly increasing the weight and energy consumption of the drive system. This positive feedback relationship between power and weight reduces the system's overall efficiency and limits its response speed in dynamic motion scenarios. Furthermore, direct-drive designs often struggle to achieve precise rotational control within a small space and suffer from deficiencies in control flexibility and precision. Summary of the Invention

[0003] The purpose of the present invention is to propose a calf structure of a humanoid robot, which can drive the active planetary gear to rotate in the same direction or in the opposite direction through a cam, so that the calf structure can move at different angles in different steering states. Based on the cooperation of the active planetary gear, the driven planetary gear, the connecting seat and the connecting rod, the active planetary gear can adjust the rotation angle of the calf, thereby achieving more flexible gait control.

[0004] The present invention also provides a humanoid robot, which uses the above-mentioned calf structure of the humanoid robot.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A calf structure of a humanoid robot, comprising: a knee frame, a foot plate, a drive assembly and a cam;

[0007] The foot plate is rotatably connected to the knee frame around the X axis; the knee frame is provided with a swivel seat;

[0008] The driving assembly includes: an inner shaft, a fixed sleeve, a driving planetary gear, a driven planetary gear, a side shaft, a connecting seat and a connecting rod;

[0009] The inner shaft is rotatably connected to the swivel seat around the Y axis; the fixed sleeve is rotatably mounted on the inner shaft; the active planetary gear is fixed to the cam, and both are rotatably mounted on the inner shaft, with the active planetary gears being located on the left and right sides of the fixed sleeve respectively; the cam is used to drive the active planetary gear to rotate around the Y axis;

[0010] The driven planetary gear is connected to the connecting seat, and the driven planetary gear is meshed with the driving planetary gears on both sides; one end of the side shaft is limited to the fixed sleeve, and the driven planetary gear is rotatably sleeved on the side shaft; the upper end of the connecting rod is rotatably connected to the connecting seat, and the lower end of the connecting rod is rotatably connected to the foot plate;

[0011] When the cams at the left and right positions rotate in the same direction, the connecting seat drives the foot plate and the knee frame to rotate around the Y axis through the connecting rod;

[0012] When the cams at the left and right positions rotate in opposite directions, the connecting seat rotates around the side shaft and drives the foot plate to rotate relative to the knee frame around the X axis through the connecting rod.

[0013] Optimally, the footboard is provided with a foot connector; the foot connector comprises: a foot swivel seat, a foot front seat and a foot rear seat;

[0014] The front foot seat is located relatively forward of the rear foot seat, and the foot swivel seat is provided with foot swivel shafts at the front and rear positions, one of the foot swivel shafts is rotatably connected to the foot swivel seat, and the other foot swivel shaft is rotatably connected to the rear foot seat;

[0015] The foot swivel is installed on the knee frame, and the lower end of the connecting rod is rotatably connected to the front foot seat; when the cams at the left and right positions rotate in opposite directions, the foot plate rotates around the foot shaft.

[0016] Optimally, the knee frame is provided with a bottom axis, and the bottom axis is parallel to the inner axis;

[0017] The knee frame is rotatably connected to the foot swivel via the bottom shaft;

[0018] When the cams at the left and right positions rotate in the same direction, the foot plate rotates around the bottom shaft.

[0019] Preferably, the knee support is provided with a limit rotation block, the limit rotation block is provided with the bottom shaft; the foot swivel seat is provided with a limit cavity; the bottom shaft is rotatably mounted in the limit cavity, so that the limit rotation block rotates relative to the limit cavity; a movable gap is formed between the limit cavity and the limit rotation block;

[0020] The foot plate rotates around the bottom shaft until it abuts against the front inner wall or the rear inner wall of the limiting cavity.

[0021] Optimally, the connecting rods are respectively arranged at left and right positions of the connecting seat and the foot plate.

[0022] Optimally, the transposition seat comprises: a base plate and an end cap;

[0023] The end covers are detachably mounted on the left and right sides of the base plate; and both ends of the inner shaft are rotatably connected to the end covers.

[0024] Optimally, one end of the side shaft extends into the fixing sleeve, and the side shaft fixes the driven planetary gear and the connecting seat together;

[0025] The fixing sleeve is provided with an adjustment opening, through which the side shaft is exposed; the adjustment opening is used to adjust the movement of the side shaft so as to adjust the tightness of the connection between the driven planetary gear and the connecting seat.

[0026] Optimally, the side shaft is provided with a screw head at one end in the fixing sleeve, the connecting seat is provided with an internal thread structure at the other end of the side shaft, the side shaft is provided with an external thread structure, and the side shaft thread is matched with the internal thread structure.

[0027] A humanoid robot is provided with the above-mentioned calf structure of the humanoid robot.

[0028] Optimally, it further comprises: a thigh structure, a rotation driver and a motor drive rod;

[0029] The thigh structure is rotatably mounted on the inner shaft; the rotation driver is mounted on the thigh structure, and the upper end of the motor drive rod is connected to the cam; the output end of the rotation driver is connected to the lower end of the motor drive rod, for driving the cam to rotate around the inner shaft through the motor drive rod.

[0030] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0031] This solution provides a calf structure for a humanoid robot, which drives the active planetary gear to rotate in the same direction or in the opposite direction through a cam, so that the calf structure can move at different angles in different steering states. Based on the cooperation of the active planetary gear, the driven planetary gear, the connecting seat and the connecting rod, the active planetary gear can adjust the rotation angle of the calf, which can achieve more flexible gait control and solve the problem of excessive weight burden on the calf caused by the direct drive method in the traditional system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural diagram of one embodiment of the calf structure;

[0033] Figure 2 It is a structural diagram of one embodiment of the calf structure;

[0034] Figure 3 is a schematic structural diagram of one embodiment of a drive assembly;

[0035] Figure 4This is a structural diagram of one embodiment of the connection between the thigh structure and the calf structure;

[0036] Figure 5 yes Figure 1 Enlarged view of part A in the middle.

[0037] in:

[0038] Knee frame 1, foot plate 2, drive assembly 3, cam 4; thigh structure 5, rotation driver 6, motor drive rod 7;

[0039] Rotating seat 11, bottom shaft 12, limiting rotating block 13; base plate 111, end cover 112; foot connector 21;

[0040] Foot swivel seat 211, front foot seat 212, rear foot seat 213; foot shaft 214; limiting cavity 215; movable gap 216;

[0041] Inner shaft 31 , fixed sleeve 32 , driving planetary gear 33 , driven planetary gear 34 , side shaft 35 , connecting seat 36 , connecting rod 37 ; adjustment port 321 ; screw head 351 ; internal thread structure 352 . DETAILED DESCRIPTION

[0042] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", "inner end", "outer end", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of the features, and are used to distinguish the described features, without distinction of order or importance. In the description of the present invention, unless otherwise specified, "multiple" means more than two.

[0044] like Figure 1-5 , a calf structure of a humanoid robot, comprising: a knee frame 1, a foot plate 2, a driving assembly 3 and a cam 4;

[0045] The foot plate 2 is rotatably connected to the knee frame 1 around the X axis; the knee frame 1 is provided with a rotating seat 11;

[0046] The driving assembly 3 includes: an inner shaft 31, a fixed sleeve 32, a driving planetary gear 33, a driven planetary gear 34, a side shaft 35, a connecting seat 36 and a connecting rod 37;

[0047] The inner shaft 31 is rotatably connected to the rotating base 11 about the Y axis; the fixed sleeve 32 is rotatably mounted on the inner shaft 31; the driving planetary gear 33 is fixed to the cam 4, and both are rotatably mounted on the inner shaft 31, and the driving planetary gears 33 are respectively located on the left and right sides of the fixed sleeve 32; the cam 4 is used to drive the driving planetary gear 33 to rotate about the Y axis;

[0048] The driven planetary gear 34 is connected to the connecting seat 36, and the driven planetary gear 34 is meshed with the driving planetary gears 33 on both sides; one end of the side shaft 35 is limited to the fixed sleeve 32, and the driven planetary gear 34 is rotatably sleeved on the side shaft 35; the upper end of the connecting rod 37 is rotatably connected to the connecting seat 36, and the lower end of the connecting rod 37 is rotatably connected to the foot plate 2;

[0049] When the cams 4 at the left and right positions rotate in the same direction, the connecting seat 36 drives the foot plate 2 and the knee frame 1 to rotate around the Y axis through the connecting rod 37;

[0050] When the cams 4 at the left and right positions rotate in opposite directions, the connecting seat 36 rotates around the side shaft 35 and drives the foot plate 2 to rotate relative to the knee frame 1 around the X axis through the connecting rod 37.

[0051] This solution provides a calf structure of a humanoid robot, which drives the active planetary gear 33 to rotate in the same direction or in the opposite direction through the cam 4, so that the calf structure can move at different angles in different steering states. Based on the cooperation of the active planetary gear 33, the driven planetary gear 34, the connecting seat 36 and the connecting rod 37, the active planetary gear 33 can adjust the rotation angle of the calf, thereby achieving more flexible gait control and solving the problem of excessive weight burden on the calf caused by the direct drive method in the traditional system.

[0052] Specifically, the calf structure is the calf of the humanoid robot, that is, the calf structure is connected to the thigh structure 5 at the top, for example, the knee frame 1 is rotatably connected to the thigh structure 5; a rotation driver 6 can be set as needed at any position between the calf structure and the thigh structure 5, and the rotation driver 6 can directly or indirectly drive the cam 4 to rotate, so as to realize the rotation of the cam 4; the cam 4 is fixed to the driving planetary gear 33, and the two are synchronously rotated and arranged on the inner shaft 31, and the inner shaft 31 is respectively provided with a cam 4 and a driving planetary gear 33 at the left and right positions; a fixing sleeve 32 is provided between two adjacent driving planetary gears 33; the driven planetary gear 34 is fixed to the connecting seat 36, and the driven planetary gear 34 can rotate relative to the side shaft 35 and drive the connecting seat 36 to rotate; one end of the side shaft 35 is rotatably connected to the fixing sleeve 32, so that the driven planetary gear 34 is limited between the two driving planetary gears 33, and the driven planetary gear 34 is respectively engaged with the left and right driving planetary gears 33, such as Figure 2 ;like Figure 1 The connecting seat 36 is connected to the foot plate 2 through a connecting rod 37, and the foot plate 2 and the knee frame 1 can rotate in the X-axis direction.

[0053] The rotary actuator 6 independently rotates one of the cams 4, allowing the two cams 4 to rotate in the same or opposite directions. When the two cams 4 rotate in the same direction, the two driving planetary gears 33 rotate in the same direction, simultaneously causing the driven planetary gear 34 to remain stationary or rotate at a low speed. Because the connecting base 36 and the fixed sleeve 32 are connected via a side shaft 35, the driven planetary gear 34, the connecting base 36, and the fixed sleeve 32 rotate about the inner shaft 31. The connecting base 36 drives the foot plate 2 and the knee frame 1 to rotate about the Y-axis via the connecting rod 37. This causes the entire calf structure to rotate about the Y-axis relative to the thigh structure 5, equivalent to the back-and-forth swinging of the calf structure of the humanoid robot. Furthermore, because the driving planetary gears 33 rotate simultaneously in the same direction, it is equivalent to using two rotary actuators 6 to simultaneously drive the knee frame 1 and the foot plate 2, reducing the weight burden on the calf. When the two cams 4 rotate in opposite directions, the two driving planetary gears 33 rotate in opposite directions, and the two driving planetary gears 33 simultaneously cause the driven planetary gear 34 to rotate clockwise or counterclockwise; based on the connection between the connecting seat 36 and the fixed sleeve 32 via the side shaft 35, and the connection relationship between the side shaft 35 and the fixed sleeve 32; the driven planetary gear 34 and the connecting seat 36 rotate around the side shaft 35; Figure 1 The connecting rod 37 can move up and down, driving the footplate 2 to rotate. The footplate 2 rotates about the X-axis relative to the knee frame 1, thereby lifting the footplate 2 and reducing the weight burden on the footplate 2. In this way, this solution can achieve more flexible gait control and solve the problem of excessive weight burden on the lower leg caused by the direct drive method in traditional systems.

[0054] Optimally, the footboard 2 is provided with a foot connector 21; the foot connector 21 comprises: a foot swivel seat 211, a front foot seat 212 and a rear foot seat 213;

[0055] The front foot seat 212 is located relatively forward of the rear foot seat 213. The foot swivel seat 211 is provided with foot swivel shafts 214 at the front and rear positions, respectively. One of the foot swivel shafts 214 is rotatably connected to the foot swivel seat 211, and the other foot swivel shaft 214 is rotatably connected to the rear foot seat 213.

[0056] The foot swivel seat 211 is installed on the knee frame 1, and the lower end of the connecting rod 37 is rotatably connected to the front foot seat 212; when the cams 4 at the left and right positions rotate in opposite directions, the foot plate 2 rotates around the foot swivel shaft 214.

[0057] This solution uses a double cam 4 to cooperate with the active planetary gear 33 to drive the calf structure to swing and drive the foot plate 2 to rotate. The foot plate 2 is provided with a foot connector 21, wherein the foot rotating seat 211 is provided with a foot rotating shaft 214 at the front and rear respectively. Figure 1 Initially, the foot pivot 214 faces the X-axis and can rotate relative to the front foot seat 212 and the rear foot seat 213, meaning the knee frame 1 rotates relative to the X-axis. The front and rear foot pivots 214 provide greater rotational stability for the footplate 2, with the center of gravity primarily concentrated on the foot pivot seat 211, facilitating precise control of the horizontal angle of the footplate 2. When the connecting seat 36 rotates about the lateral axis 35 to cause the connecting rod 37 to move relatively downward, the footplate 2 corresponding to the side below the connecting rod 37 swings downward about the foot pivot 214, while the other side of the footplate 2 tilts upward about the foot pivot 214, thereby enabling flexible gait control.

[0058] Optimally, the knee frame 1 is provided with a bottom shaft 12 , and the bottom shaft 12 is parallel to the inner shaft 31 ;

[0059] The knee frame 1 is rotatably connected to the foot swivel seat 211 via the bottom shaft 12;

[0060] When the cams 4 at the left and right positions rotate in the same direction, the foot plate 2 rotates around the bottom shaft 12 .

[0061] This embodiment further improves the gait of the calf structure. When the humanoid robot raises or lowers the calf structure, the footplate 2 can swing in the direction of movement, thereby coordinating the raising or lowering of the calf. Specifically, the knee frame 1 is provided with a bottom shaft 12. In the initial state, the bottom shaft 12 is parallel to the inner shaft 31. When the two cams 4 rotate in the same direction, the connecting seat 36 drives the footplate 2 and the knee frame 1 to rotate about the Y-axis via the connecting rod 37. At the same time, because the knee frame 1 is provided with the bottom shaft 12, the connecting rod 37 can drive the footplate 2 to rotate about the bottom shaft 12, thereby tilting the footplate 2 when the calf structure is raised and restoring the footplate 2 when the calf structure is lowered. The calf structure's gait is more biomimetic, facilitating the footplate 2 to rotate upward about the bottom shaft 12 to avoid obstacles before the leg is extended. When the footplate 2 rotates about the bottom shaft 12 to lower, the toes and soles of the feet touch the ground one after another, improving the gait stability of the calf structure. Furthermore, the inner shaft 31, the bottom shaft 12, the upper end of the connecting rod 37 and the lower end of the connecting rod 37 are rotatable structures, such as Figure 4 From the side view of the calf structure, it can be seen that the angle formed by the four is rotatable around the Y-axis. Therefore, the calf structure can make adaptive angle adjustments around the Y-axis in a natural state, thereby making the calf structure adaptive to the standing and walking postures of the humanoid robot.

[0062] Optimally, the knee support 1 is provided with a limit rotation block 13, and the limit rotation block 13 is provided with the bottom shaft 12; the foot swivel seat 211 is provided with a limit cavity 215; the bottom shaft 12 is rotatably mounted in the limit cavity 215, so that the limit rotation block 13 rotates relative to the limit cavity 215; and a movable gap 216 is formed between the limit cavity 215 and the limit rotation block 13;

[0063] The foot plate 2 rotates around the bottom shaft 12 until it abuts against the front inner wall or the rear inner wall of the limiting cavity 215 .

[0064] This embodiment can further improve the gait of the calf structure, and the limit cavity 215 is used to limit the lifting or lowering of the foot plate 2 to prevent the foot plate 2 from over-turning; specifically, the knee frame 1 is provided with a limit rotation block 13, and the limit rotation block 13 is provided with a bottom shaft 12. The limit rotation block 13 extends into the limit cavity 215, and the bottom shaft 12 is installed in the limit cavity 215, so that the limit rotation block 13 is limited in the limit cavity 215; an active gap 216 is formed between the inner wall of the limit cavity 215 and the limit rotation block 13, which can increase the rotation range of the limit rotation block 13 and enable the foot plate 2 to rotate within a limited range; when the limit rotation block 13 rotates in the limit cavity 215 around the bottom shaft 12, the inner wall of the limit cavity 215 in front of or behind the limit rotation block 13 abuts against the limit rotation block 13, thereby limiting the foot plate 2 from continuing to rotate, so as to ensure that the foot plate 2 maintains a specific angle for lifting or lowering, thereby improving the angular stability of the foot plate 2.

[0065] Optimally, the connecting rod 37 is respectively provided at the left and right positions of the connecting seat 36 and the foot plate 2 .

[0066] The connecting rods 37 are arranged in pairs, located to the left and right of the connecting base 36 and to the left and right of the footplate 2. The dual connecting rods 37 drive the lower leg structure, further improving its balance during movement. In this embodiment, when the two cams 4 rotate in the same direction, the connecting base 36 drives the footplate 2 and kneerest 1 about the Y-axis via the connecting rods 37 on either side. The two rotary actuators 6 simultaneously drive the kneerest 1 and footplate 2 through the connecting rods 37, reducing the weight load on each connecting rod 37. Under low-load conditions, the connecting rods 37 provide more accurate angle adjustment of the kneerest 1 and footplate 2. When the two cams 4 rotate in opposite directions, the driven planetary gears 34 and the connecting base 36 rotate about the lateral axis 35, causing the connecting rods 37 to move upward and downward, with one connecting rod 37 moving relatively downward and the other upward, ensuring a stable angle of the footplate 2.

[0067] Optimally, the swivel base 11 includes: a base plate 111 and an end cover 112;

[0068] The end covers 112 are detachably mounted on the left and right sides of the base plate 111 ; both ends of the inner shaft 31 are rotatably connected to the end covers 112 .

[0069] The swivel seat 11 of this solution preferably uses a detachable structure, which can be assembled sequentially from one end of the inner shaft 31 to the other end. One end of the inner shaft 31 can be installed on an end cover 112 first, and then the cam 4, the fixed sleeve 32 (and its driven planetary gear 34, the connecting seat 36) and the cam 4 can be assembled in sequence, and then the other end of the inner shaft 31 can be installed on another end cover 112, thereby simplifying the assembly structure of the calf structure.

[0070] Optimally, one end of the side shaft 35 extends into the fixing sleeve 32 , and the side shaft 35 fixes the driven planetary gear 34 and the connecting seat 36 together;

[0071] The fixing sleeve 32 is provided with an adjustment opening 321 , through which the side shaft 35 is exposed. The adjustment opening 321 is used to adjust the movement of the side shaft 35 , thereby adjusting the tightness of the connection between the driven planetary gear 34 and the connecting seat 36 .

[0072] The inner shaft 31 defines a shaft hole 311 , one end of the shaft hole 311 is exposed to the side shaft 35 , and the adjustment port 321 is exposed to the other end of the shaft hole 311 .

[0073] The driven planetary gear 34 and the connecting seat 36 of the present scheme are preferably connected in a split manner. Specifically, the fixing sleeve 32 is provided with an adjustment port 321, and one end of the side shaft 35 extends into the fixing sleeve 32. The adjustment port 321 can expose one end of the side shaft 35 in the fixing sleeve 32, so that an external tool (such as a screwdriver) can be inserted into the interior of the fixing sleeve 32 through the adjustment port 321, and then the side shaft 35 can be adjusted by the external tool to make the side shaft 35 movable; since the side shaft 35 fixes the driven planetary gear 34 and the connecting seat 36 as a whole, driving the side shaft 35 to move can make the driven planetary gear 34 and the connecting seat 36 more tightly connected, or make the driven planetary gear 34 and the connecting seat 36 disassembled and separated, thereby simplifying the installation process between the fixing sleeve 32, the side shaft 35, the driven planetary gear 34 and the connecting seat 36.

[0074] In this embodiment, the inner shaft 31 is provided with a shaft hole 311, the axis of which is aligned in a straight line. This allows the shaft hole 311 to engage with the side shaft 35 at one end and with the adjustment port 321 at the other end. The end of the side shaft 35 within the fixing sleeve 32 can extend into the shaft hole 311, which accommodates one end of the inner shaft 31, eliminating the need to enlarge the fixing sleeve 32. Furthermore, the shaft hole 311 can accommodate an external tool, facilitating its movement within the shaft hole 311.

[0075] Optimally, the side shaft 35 is provided with a screw head 351 at one end inside the fixing sleeve 32, and the connecting seat 36 is provided with an internal thread structure 352 at the other end of the side shaft 35. The side shaft 35 is provided with an external thread structure, and the side shaft 35 is threadedly matched with the internal thread structure 352.

[0076] The side shaft 35 is similar to a screw and is provided with a screw head 351. The adjustment port 321 exposes the screw head 351 at one end of the side shaft 35. The other end of the side shaft 35 is threadedly engaged with the internal thread structure 352 of the connecting seat 36. The internal thread structure 352 can be a hole structure in the connecting seat 36 itself, or it can be a hole structure as shown in FIG. Figure 2 Thus, when the side shaft 35 is threadedly engaged with the internal thread structure 352, the screw head 351 can be adjusted through the adjustment port 321 to loosen or tighten the side shaft 35, so as to adjust the tightness of the connection between the driven planetary gear 34 and the connecting seat 36 through the screw head 351 and the internal thread structure 352, thereby improving the installation flexibility and convenience.

[0077] A humanoid robot is provided with the above-mentioned calf structure of the humanoid robot.

[0078] Optimally, it further comprises: a thigh structure 5, a rotation driver 6 and a motor drive rod 7;

[0079] The thigh structure 5 is rotatably mounted on the inner shaft 31; the rotation driver 6 is mounted on the thigh structure 5, and the upper end of the motor drive rod 7 is connected to the cam 4; the output end of the rotation driver 6 is connected to the lower end of the motor drive rod 7, and is used to drive the cam 4 to rotate around the inner shaft 31 through the motor drive rod 7.

[0080] The rotary driver 6 of this solution is arranged on the thigh structure 5, which can make the calf lighter; at the same time, the rotary driver 6 can be a drive motor, preferably a combination of a drive motor and a differential, or a combination of a drive motor and a reducer, which can accurately adjust the rotation angle of the upper end of the motor drive rod 7, so as to be directly or indirectly connected to the cam 4 through the motor drive rod 7, and the cam 4 is connected to the motor drive rod 7 through a hole structure; in this way, the angle input of the rotary driver 6 is converted into the angle output of the cam 4, and then further drives the rotation of the calf through the drive component 3, thereby realizing precise control of the rotation process and avoiding the problem of excessive weight burden on the calf caused by the direct drive method in the traditional system.

[0081] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A calf structure of a humanoid robot, characterized in that: include: knee frame, foot plate, drive assembly, and cam; The foot plate is rotatably connected to the knee frame around an X-axis; The knee frame is provided with a swivel seat; The driving assembly includes: an inner shaft, a fixed sleeve, a driving planetary gear, a driven planetary gear, a side shaft, a connecting seat and a connecting rod; The inner shaft is rotatably connected to the swivel seat around the Y axis; the fixed sleeve is rotatably mounted on the inner shaft; the active planetary gear is fixed to the cam, and both are rotatably mounted on the inner shaft, with the active planetary gears being located on the left and right sides of the fixed sleeve respectively; the cam is used to drive the active planetary gear to rotate around the Y axis; The driven planetary gear is connected to the connecting seat, and the driven planetary gear is meshed with the driving planetary gears on both sides; one end of the side shaft is limited to the fixed sleeve, and the driven planetary gear is rotatably sleeved on the side shaft; the upper end of the connecting rod is rotatably connected to the connecting seat, and the lower end of the connecting rod is rotatably connected to the foot plate; When the cams at the left and right positions rotate in the same direction, the connecting seat drives the foot plate and the knee frame to rotate around the Y axis through the connecting rod; When the cams at the left and right positions rotate in opposite directions, the connecting seat rotates around the side shaft and drives the foot plate to rotate relative to the knee frame around the X axis through the connecting rod.

2. The lower leg structure of a humanoid robot according to claim 1, characterized in that: The footboard is provided with a foot connector; the foot connector comprises: a foot swivel seat, a foot front seat and a foot rear seat; The front foot seat is located relatively forward of the rear foot seat, and the foot swivel seat is provided with foot swivel shafts at the front and rear positions, one of the foot swivel shafts is rotatably connected to the foot swivel seat, and the other foot swivel shaft is rotatably connected to the rear foot seat; The foot swivel is installed on the knee frame, and the lower end of the connecting rod is rotatably connected to the front foot seat; when the cams at the left and right positions rotate in opposite directions, the foot plate rotates around the foot shaft.

3. The lower leg structure of a humanoid robot according to claim 2, characterized in that: The knee frame is provided with a bottom axis, the bottom axis being parallel to the inner axis; The knee frame is rotatably connected to the foot swivel via the bottom shaft; When the cams at the left and right positions rotate in the same direction, the foot plate rotates around the bottom shaft.

4. The lower leg structure of a humanoid robot according to claim 3, characterized in that: The knee support is provided with a limit rotation block, and the limit rotation block is provided with the bottom shaft; the foot swivel seat is provided with a limit cavity; the bottom shaft is rotatably mounted in the limit cavity, so that the limit rotation block rotates relative to the limit cavity; a movable gap is formed between the limit cavity and the limit rotation block; The foot plate rotates around the bottom shaft until it abuts against the front inner wall or the rear inner wall of the limiting cavity.

5. The lower leg structure of a humanoid robot according to claim 2, characterized in that: The connecting rods are respectively arranged at the left and right positions of the connecting seat and the foot plate.

6. The lower leg structure of a humanoid robot according to claim 1, characterized in that: The swivel seat comprises: a base plate and an end cap; The end covers are detachably mounted on the left and right sides of the base plate; and both ends of the inner shaft are rotatably connected to the end covers.

7. The lower leg structure of a humanoid robot according to claim 1, characterized in that: One end of the side shaft extends into the fixed sleeve, and the side shaft fixes the driven planetary gear and the connecting seat together; The fixing sleeve is provided with an adjustment opening, and the adjustment opening exposes the side shaft; the adjustment opening is used to adjust the movement of the side shaft to adjust the tightness of the connection between the driven planetary gear and the connecting seat; the inner shaft is provided with an axial hole, one end of the axial hole exposes the side shaft, and the adjustment opening exposes the other end of the axial hole.

8. The lower leg structure of a humanoid robot according to claim 7, characterized in that: The side shaft is provided with a screw head at one end in the fixing sleeve, the connecting seat is provided with an internal thread structure at the other end of the side shaft, the side shaft is provided with an external thread structure, and the side shaft thread is matched with the internal thread structure.

9. A humanoid robot, characterized in that: A humanoid robot calf structure according to any one of claims 1 to 8 is provided.

10. The humanoid robot according to claim 9, characterized in that: Also includes: Thigh structure, rotation driver and motor drive rod; The thigh structure is rotatably mounted on the inner shaft; The rotation driver is installed on the thigh structure, and the upper end of the motor drive rod is connected to the cam; the output end of the rotation driver is connected to the lower end of the motor drive rod, which is used to drive the cam to rotate around the inner shaft through the motor drive rod.

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