Humanoid robot leg structure and sole assembly based on rope driving

Abstract

The invention relates to a humanoid robot leg structure and sole assembly based on rope driving, which comprises a hip assembly, a thigh assembly, a shank assembly and a sole assembly, the joint of the hip assembly and the thigh assembly is a hip joint, the joint of the thigh assembly and the shank assembly is a knee joint, and the joint of the shank assembly and the sole assembly is an ankle joint. A first driving source is arranged on the upper side of a hip joint and used for driving the hip to roll, a second driving source and a third driving source are arranged on the left side and the right side of the hip joint respectively and used for driving the hip to pitch and yaw, and a fourth driving source and a fifth driving source are arranged on the left side and the right side of the upper portion of a thigh assembly respectively and used for driving the hip to roll. The fourth driving source is used for driving the knee joint to move, the fifth driving source is used for driving the ankle to do pitching motion, and the sixth driving source is arranged at the joint of the shank assembly and the sole assembly and used for driving the ankle to do rolling motion. The dynamic performance of the whole robot can be improved.

Description

Technical Field

[0001] The invention relates to a leg structure and a sole assembly of a humanoid robot driven by a rope, and belongs to the technical field of robots. Background Art

[0002] With the rapid development of the robotics industry, various types of robots continue to emerge. The research on humanoid robots is an industry focus. Humanoid robots refer to robots that look like humans. The legs of humanoid robots are usually composed of thighs, calves, feet, etc. In the existing related technologies, the power mechanisms of multiple joints are set at the corresponding joint locations. For example, the power mechanism is directly set at the knee joint to control the relative swing between the thigh and the calf; and the power mechanism is directly set at the ankle joint to control the relative swing between the foot and the calf. In the above-mentioned related technologies, the power mechanisms of multiple joints are set at the corresponding joint locations, which will cause the center of mass of the legs to be low and the moment of inertia of the legs to be high. At the same time, in the existing related technologies, the layout of the power mechanisms is not all within the leg frame, which will cause leg lumps, uneven leg mass distribution, and poor walking stability.

[0003] In addition, the feet of humanoid robots also play a vital role in the walking process. In related technologies, the soles of the feet are designed with flat feet. During the walking process of the robot, the force area is small, and the gait is difficult to be humanoid. Summary of the Invention

[0004] The present invention provides a rope-driven humanoid robot leg structure and foot assembly, aiming to address at least one of the technical problems existing in the prior art. To this end, the rope-driven humanoid robot leg structure and foot assembly proposed in the present invention can improve the overall dynamic performance of the robot.

[0005] The technical solution of the present invention relates, on the one hand, to a humanoid robot leg structure and foot assembly based on rope drive, comprising: A hip component, a thigh component, a calf component, and a sole component, wherein the thigh component is connected to the hip component, and the connection between the hip component and the thigh component is a hip joint; the thigh component is connected to the calf component, and the connection between the thigh component and the calf component is a knee joint; the calf component is connected to the sole component, and the connection between the calf component and the sole component is an ankle joint; It also includes a first driving source, a second driving source, a third driving source, a fourth driving source, a fifth driving source and a sixth driving source; the first driving source is arranged above the hip joint, for driving hip rolling movement; the second driving source and the third driving source are respectively arranged on both sides of the hip joint, for driving hip pitching movement and hip yaw movement; the fourth driving source and the fifth driving source are respectively arranged on both sides of the thigh component, the fourth driving source is used to drive the knee joint movement, and the fifth driving source is used to drive the ankle pitching movement; the sixth driving source is arranged at the connection between the calf component and the sole component, for driving ankle rolling movement.

[0006] Furthermore, the hip assembly includes a hip motor fixing part, a first crank-connecting rod mechanism and a second crank-connecting rod mechanism, the upper side of the hip motor fixing part is fixedly connected to the first driving source, the two sides of the hip motor fixing part are respectively fixedly connected to the second driving source and the third driving source, the first crank-connecting rod mechanism connects the second driving source and the fourth driving source, and the second crank-connecting rod mechanism connects the third driving source and the fifth driving source.

[0007] Furthermore, the hip motor fixing part includes the hip roll connecting plate and the hip motor fixing bracket, the upper side of the hip roll connecting plate is fixedly connected to the first driving source, and the hip roll connecting plate is rotatably arranged on the upper side of the hip motor fixing bracket; the hip motor fixing bracket includes a hip motor fixing plate, two hip motor fixing discs and two hip motor connecting plates, the upper side of the hip motor fixing plate is connected to the hip roll connecting plate, and the front end and the rear end of the hip motor fixing plate are respectively connected to the upper ends of the two hip motor connecting plates.

[0008] Furthermore, the hip assembly also includes a hip cross axis and a hip motor connector, the hip motor connector is rotatably connected to the hip cross axis, and the hip motor is fixedly connected to the hip motor connecting plate; the hip cross axis includes a thigh center connecting plate, two hip yaw bearings and two hip motor connecting discs, the thigh center connecting plate is fixedly connected to the hip yaw bearing connecting plate, the hip motor connector is rotatably mounted on the hip yaw bearing, the hip motor connecting disc is fixedly connected to the thigh center connection, and the two hip motor connecting discs are rotatably mounted on the fourth drive source and the fifth drive source respectively.

[0009] Further, the first crank-connecting rod mechanism includes a first hip output link, a first hip output crank and a first hip output rocker, the two ends of the first hip output link are rotatably connected to the first hip output crank and the first hip output rocker respectively, the first hip output crank is fixedly connected to the second driving source, and the first hip output rocker is fixedly connected to the fourth driving source; the second crank-connecting rod mechanism includes a second hip output link, a second hip output crank and a second hip output rocker, the two ends of the second hip output link are rotatably connected to the second hip output crank and the second hip output rocker respectively, the second hip output crank is fixedly connected to the third driving source, and the second hip output rocker is fixedly connected to the fifth driving source.

[0010] Furthermore, the thigh component includes a bare output pulley, a knee output pulley, a bare joint drive rope, a knee joint drive rope and two thigh plates, the two thigh plates are fixedly connected to the fourth drive source and the fifth drive source respectively, and the two thigh plates are rotatably connected to the two hip motor connecting discs respectively; the bare output pulley and the knee output pulley are fixedly connected to the rotating shaft of the fourth drive source and the rotating shaft of the fifth drive source respectively; the bare joint drive rope is connected to the bare joint drive rope, and the knee joint drive rope is connected to the knee output pulley.

[0011] Furthermore, the calf assembly includes a knee shaft, a bare driven pulley, a knee driven pulley and two calf plates, the two sides of the knee shaft are rotatably connected to the lower ends of the two thigh plates, the two sides of the knee shaft are fixedly connected to the calf plates, the bare driven pulley and the knee driven pulley are fixedly connected to the two sides of the knee shaft, and the bare driven pulley and the knee driven pulley are connected to the bare joint driving rope and the knee joint driving rope respectively.

[0012] Furthermore, the sole assembly includes a forefoot, a rear sole, a metatarsal axis and a buffer component, the forefoot and the rear sole are rotatably connected through the metatarsal axis, and the buffer component is arranged below the forefoot and the rear sole.

[0013] Furthermore, the naked component includes a naked roll fixing part, a naked roll output frame and two naked pitch axes, the naked roll fixing part is fixedly connected to the main body of the sixth driving source, the two naked pitch axes are fixedly connected to the opposite ends of the naked roll fixing part, and the two naked pitch axes are rotatably connected to the lower ends of the two calf plates respectively, the naked roll output frame is fixedly connected to the sole component, the naked roll output frame is fixedly connected to the rotating shaft of the sixth driving source, and the naked roll output frame is rotatably connected to the naked roll fixing part.

[0014] Furthermore, the bare component also includes a bare transmission part, which includes a bare rocker, a bare transmission rod and a bare connecting rod. The bare rocker is fixedly connected to the bare rolling fixture, the bare rocker is rotatably connected to the bare transmission rod, the bare transmission rod is rotatably connected to the bare connecting rod, and the bare connecting rod is fixedly connected to the bare driven pulley.

[0015] The beneficial effects of the present invention are as follows.

[0016] The cable-driven humanoid robot leg and foot assembly of this embodiment of the present invention relocates most of the motors to the hip joint, raising the robot's center of mass, reducing the leg's moment of inertia, and improving the robot's overall dynamic performance. Furthermore, the knee joint is flexibly driven by cables, reducing the impact of bottom-side reaction forces on the knee motors and better simulating muscle contraction and relaxation.

[0017] In an embodiment of the present invention, the first, second, third, fourth, and fifth drive sources are fixed to the upper end of the thigh, reducing the overall rotational inertia of the robotic leg and achieving low mass and low inertia at the end of the leg. Furthermore, the first, second, third, fourth, fifth, and sixth drive sources are arranged within a thigh assembly that serves as a thigh frame, reducing thigh mass. The center of mass of the thigh is entirely within the thigh frame, enhancing the robot's controllability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which: Figure 1 This is a schematic diagram of the front structure of a humanoid robot according to an embodiment of the present invention.

[0019] Figure 2 This is a structural exploded view of the hip assembly of the humanoid robot according to an embodiment of the present invention.

[0020] Figure 3 Schematic diagram of the structure of the hip motor fixing bracket of the humanoid robot according to an embodiment of the present invention.

[0021] Figure 4 Schematic diagram of the structure of the hip cross axis of the humanoid robot according to an embodiment of the present invention.

[0022] Figure 5 This is a structural exploded view of the thigh assembly of the humanoid robot according to an embodiment of the present invention.

[0023] Figure 6 This is a structural exploded view of the lower leg assembly of the humanoid robot according to an embodiment of the present invention.

[0024] Figure 7This is a structural cross-sectional view of the knee joint of a humanoid robot according to an embodiment of the present invention.

[0025] Figure 8 1 is a structural exploded view of the bare components of the humanoid robot according to an embodiment of the present invention.

[0026] Figure 9 This is a structural connection diagram of the bare rolling fixture and bare bearing of the humanoid robot according to an embodiment of the present invention.

[0027] Figure 10 Schematic diagram of the structure of the naked rolling output frame of the humanoid robot according to an embodiment of the present invention.

[0028] Figure 11 Schematic diagram of the structure of the foot assembly of the humanoid robot according to an embodiment of the present invention.

[0029] Figure 12 Schematic diagram of the side structure of the humanoid robot according to an embodiment of the present invention.

[0030] Description of reference numerals: 100, humanoid robot; 110, first drive source; 120, second drive source; 130, third drive source; 140, fourth drive source; 150, fifth drive source; 160, sixth drive source; 161, rotating shaft of the sixth drive source; 170, hip joint; 180, knee joint; 190, ankle joint; 200, hip assembly; 210, hip motor fixing member; 211, hip roll connecting plate; 212, hip motor fixing bracket; 213, hip motor fixing plate; 214, motor fixing disc; 215, hip motor connecting plate; 220, first crank-connecting rod mechanism; 221, first hip output connecting rod; 222, first hip output crank; 223, first hip output rocker; 230, second crank-connecting rod mechanism; 231, second hip output connecting rod; 232, second hip output crank; 233, second hip output rocker; 240, hip cross shaft; 241, thigh center connecting plate; 242, hip yaw bearing; 243, hip yaw bearing connecting plate; 244, hip motor connecting disc; 250, hip motor connecting member; 260, hip pitch bearing; 261, hip pitch bearing outer race; 262, hip pitch bearing inner race; 270, hip support rod; 300, thigh assembly; 310, bare output pulley; 320, knee output pulley; 330, bare joint drive rope; 340, knee joint drive rope; 350, thigh plate; 360, thigh support rod; 400, calf assembly; 410, knee shaft; 411, knee bearing; 412, knee encoder; 413, knee transmission element; 414, knee bearing baffle; 420, bare driven sheave; 430, knee driven sheave; 440, calf plate; 450, calf support plate; 500, bare assembly; 510, bare roll fixing part; 511, bare roll bearing outer ring fixing part; 520, bare roll output frame; 521, output base plate; 522, output connecting plate; 523, output connecting ring; 530, bare pitch axis; 531, bare encoder; 532, bare bearing; 533, bare bearing baffle; 540, bare transmission part; 541, bare rocker; 542, bare transmission rod; 543, bare connecting rod; 600, sole assembly; 610, forefoot; 620, rearfoot; 630, metatarsal axis; 631, metatarsal axis spring; 640, buffer; 650, pressure sensor. DETAILED DESCRIPTION

[0031] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0032] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, terms such as "upper," "lower," "left," "right," "top," and "bottom" used in this disclosure are intended solely to describe the relative positions of the components of the disclosure as shown in the accompanying drawings.

[0033] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any combination of one or more of the related listed items.

[0034] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element without departing from the scope of the present disclosure.

[0035] See also Figures 1 to 12The rope-driven humanoid robot leg structure and foot sole assembly of the technical solution of the present invention are applied to the humanoid robot 100, which includes a hip assembly 200, a thigh assembly 300, a calf assembly 400, and a foot sole assembly 600. The thigh assembly 300 is connected to the hip assembly 200, and the connection between the hip assembly 200 and the thigh assembly 300 is a hip joint 170; the thigh assembly 300 is connected to the calf assembly 400, and the connection between the thigh assembly 300 and the calf assembly 400 is a knee joint 180; the calf assembly 400 is connected to the foot sole assembly 600, and the connection between the calf assembly 400 and the foot sole assembly 600 is an ankle joint 190; it also includes a first driving source 110, a second driving source 120, and a third driving source 130. A driving source 130, a fourth driving source 140, a fifth driving source 150 and a sixth driving source 160; the first driving source 110 is arranged on the upper side of the hip joint 170, for driving the hip roll movement; the second driving source 120 and the third driving source 130 are respectively arranged on the left and right sides of the hip joint 170, for driving the hip pitch movement and the hip yaw movement; the fourth driving source 140 and the fifth driving source 150 are respectively arranged on the left and right sides above the thigh component 300, the fourth driving source 140 is used to drive the knee joint 180 movement, and the fifth driving source 150 is used to drive the ankle pitch movement; the sixth driving source 160 is arranged at the connection between the calf component 400 and the sole component 600, for driving the ankle roll movement.

[0036] See also Figure 1 The humanoid robot 100 of the embodiment of the present invention includes a thigh structure composed of a hip assembly 200, a thigh assembly 300, and a calf assembly 400, and a foot assembly 600. The upper end of the thigh assembly 300 is connected to the hip assembly 200, and the connection between the hip assembly 200 and the thigh assembly 300 is a hip joint 170; the lower end of the thigh assembly 300 is connected to the upper end of the calf assembly 400, and the connection between the thigh assembly 300 and the calf assembly 400 is a knee joint 180; the lower end of the calf assembly 400 is connected to the foot assembly 600, and the connection between the calf assembly 400 and the foot assembly 600 is an ankle joint 190. The humanoid robot 100 of the embodiment of the present invention has six degrees of freedom, of which the hip joint 170 is provided with three degrees of freedom, namely, hip roll motion, hip yaw motion, and hip pitch motion; the knee joint 180 has one degree of freedom; and the ankle joint 190 has two degrees of freedom, namely, ankle pitch motion and ankle roll motion.

[0037] Further, see Figure 1The humanoid robot 100 of the embodiment of the present invention is further provided with a first drive source 110, a second drive source 120, a third drive source 130, a fourth drive source 140, a fifth drive source 150, and a sixth drive source 160. The first drive source 110 is disposed above the hip joint 170 and is used to drive the roll motion of the thigh assembly 300, i.e., to achieve hip roll motion of the hip joint 170. The second drive source 120 and the third drive source 130 are disposed on the left and right sides of the hip joint 170, respectively, and are used to drive the pitch motion and yaw motion of the thigh assembly 300, i.e., to achieve hip pitch motion and hip yaw motion of the hip joint 170. The fourth drive source 140 and the fifth drive source 150 are disposed on the left and right sides above the thigh assembly 300, respectively. The fourth drive source 140 is used to drive the movement of the knee joint 180, i.e., to achieve one-degree-of-freedom motion of the knee joint 180. The fifth drive source 150 is used to drive the bare pitch motion of the ankle joint 190. The sixth driving source 160 is provided at the connection between the calf component 400 and the sole component 600 , and is used to drive the bare rolling motion of the ankle joint 190 .

[0038] Specifically, in the humanoid robot 100 of the embodiment of the present invention, the two degrees of freedom of the hip joint 170 adopt differential drive, which can improve the explosive power of the robot and have better dynamic performance compared with mechanical legs with the same number of motors; the knee joint 180 adopts rope drive, which can reduce the impact of ground recoil on the knee joint 180 motor compared to rigid drive, better protect the motor, and simulate the contraction and relaxation of human leg muscles; the ankle joint 190 adopts rope transmission plus four-bar linkage and servo motor direct drive, which can reduce leg inertia and leg mass, so that all motors are within the leg frame, thereby improving stability.

[0039] In some embodiments of the present invention, see Figures 2 to 4 The hip assembly 200 of the embodiment of the present invention includes a hip motor fixing part 210, a first crank-connecting rod mechanism 220, and a second crank-connecting rod mechanism 230. The upper side of the hip motor fixing part 210 is fixedly connected to the first driving source 110, and the two sides of the hip motor fixing part 210 are respectively fixedly connected to the second driving source 120 and the third driving source 130. The first crank-connecting rod mechanism 220 is connected to the side of the second driving source 120 facing away from the third driving source 130, and the second crank-connecting rod mechanism 230 is connected to the side of the third driving source 130 facing away from the second driving source 120.

[0040] In some specific embodiments of the present invention, the hip motor fixing member 210 includes a hip roll connection plate 211 and a hip motor fixing bracket 212. Figure 2The first drive source 110 is fixedly connected to the upper side of the hip roll connection plate 211. The hip roll connection plate 211 is rotatably disposed on the upper side of the hip motor fixing bracket 212 to perform hip roll motion. It should be noted that the rotating shaft of the first drive source 110 is connected to the hip motor fixing bracket 212, and the hip roll connection plate 211 is fixedly connected to the upper body of the robot. Therefore, the first drive source 110 drives the hip motor fixing bracket 212 to rotate relative to the hip roll connection plate 211, thereby achieving hip roll motion of the lower limb structure composed of the thigh assembly 300, calf assembly 400, and foot assembly 600 relative to the upper body of the robot.

[0041] Further, see Figure 3 The hip motor fixing bracket 212 includes a hip motor fixing plate 213, two hip motor fixing discs 214, and two hip motor connecting plates 215. The hip motor fixing plate 213 is connected to the hip roll connecting plate 211 on its upper side, and the front and rear ends of the hip motor fixing plate 213 are respectively connected to the upper ends of the two hip motor connecting plates 215. The hip motor fixing disc 214 is disposed between the two hip motor connecting plates 215, and its rear side is connected to the rear hip motor connecting plate 215. The two hip motor fixing discs 214 are symmetrically arranged, with the left hip motor fixing disc 214 connected to the side of the second drive source 120, and the right hip motor fixing disc 214 connected to the side of the third drive source 130. It should be noted that the rotating shafts of the second drive source 120 and the third drive source 130 can be coaxially arranged, the rotating shaft of the first drive source 110 being perpendicular to the rotating shaft of the second drive source 120, and the hip motor fixing plate 213 rotating about the rotating shaft of the first drive source 110 relative to the hip roll connection plate 211. It is understood that the hip motor connection plate 215 can be provided with routing holes for managing signal cables and the like from the drive sources.

[0042] In some embodiments of the present invention, the hip assembly 200 of the present invention further includes a hip cross shaft 240 and two hip motor connectors 250. The two hip motor connectors 250 are respectively disposed in front of and behind the hip cross shaft 240. The lower inner sides of the hip motor connectors 250 are rotatably connected to the hip cross shaft 240, and the upper ends of the hip motors are fixedly connected to the lower end of the hip motor connection plate 215. The hip cross shaft 240 includes a thigh center connection plate 241, two hip yaw bearings 242, and two hip motor connection discs 244. The thigh center connection plate 241 is fixedly connected to the hip yaw bearing connection plate 243. The hip yaw bearing 242 is disposed on the hip yaw bearing connection plate 243. The hip motor connector 250 is rotatably mounted on the hip yaw bearing 242. The hip motor connection discs 244 are fixedly connected to the thigh center connection plate. The two hip motor connection discs 244 are rotatably mounted on the fourth drive source 140 and the fifth drive source 150, respectively.

[0043] Specifically, see Figure 1 and Figure 4 The hip cross axis 240 includes a thigh center connecting plate 241, two hip yaw bearings 242, two hip yaw bearing connecting plates 243 and two hip motor connecting discs 244. The front and rear sides of the thigh center connecting plate 241 are fixedly connected to the upper ends of the two hip yaw bearing connecting plates 243 respectively. The hip yaw bearing 242 is arranged at the lower end of the hip yaw bearing connecting plate 243, and the hip yaw bearing 242 protrudes from the outside of the hip yaw bearing connecting plate 243. The lower end of the hip motor connecting piece 250 is rotatably mounted on the hip yaw bearing 242. The upper sides of the two hip motor connecting discs 244 are fixedly connected to the left and right sides of the thigh center connecting plate respectively. The two hip motor connecting discs 244 are rotatably mounted on the fourth driving source 140 and the fifth driving source 150 respectively. Furthermore, the hip cross axis 240 is also provided with a hip support rod 270, which is arranged between the two hip motor connecting discs 244, and the two ends of the hip support rod 270 are respectively connected to the inner sides of the lower ends of the two hip yaw bearing connecting plates 243.

[0044] It can be understood that the rotating shaft of the fourth driving source 140 and the rotating shaft of the fifth driving source 150 can be coaxially arranged, and the rotating shaft of the second driving source 120 is parallel to the rotating shaft of the fourth driving source 140, and the central axis of the hip yaw bearing 242 is perpendicular to the rotating shaft of the fourth driving source and perpendicular to the rotating shaft of the first driving source 110.

[0045] In some specific embodiments of the present invention, the hip yaw bearing 242 is fixedly connected to the hip yaw bearing connecting plate 243 through a flange, thereby increasing the reliability of the robot joint. It can be understood that the hip yaw bearing 242 of the embodiment of the present invention can be a flange bearing, and the hip yaw bearing 242 and the hip yaw bearing connecting plate 243 are matched with tolerances to achieve radial limitation, and are axially positioned by the flange and the lower end of the hip yaw bearing connecting plate 243.

[0046] In some specific embodiments of the present invention, the hip yaw bearing connecting plate 243 and the thigh center connecting plate 241 are connected by mortise and tenon structures and screws, thereby improving the structural strength and fitting accuracy of the hinge point and improving the load capacity of the robot. A hollow hole is provided on the thigh center connecting plate to reduce the weight of the robot while ensuring structural strength.

[0047] In some embodiments of the present invention, see Figure 1 、 Figure 2 and Figure 12The first crank-connecting rod mechanism 220 and the second crank-connecting rod mechanism 230 of the embodiment of the present invention have the same structure and, further, the first crank-connecting rod mechanism 220 and the second crank-connecting rod mechanism 230 are symmetrically arranged on the left and right sides of the humanoid robot 100, the first crank-connecting rod mechanism 220 is connected to the second driving source 120 and the fourth driving source 140 on the same side, and the second crank-connecting rod mechanism 230 is connected to the third driving source 130 and the fifth driving source 150 on the same side, thereby completing the hip pitch motion and hip yaw motion through two parallelogram crank-connecting rod mechanisms.

[0048] See also Figure 1 and Figure 2 The first crank-connecting rod mechanism 220 includes a first hip output connecting rod 221, a first hip output crank 222 and a first hip output rocker 223. The upper end of the first hip output connecting rod 221 is rotatably connected to the first hip output crank 222, and the lower end of the first hip output connecting rod 221 is rotatably connected to the first hip output rocker 223. The first hip output crank 222 is fixedly connected to the second driving source 120, and the first hip output rocker 223 is fixedly connected to the fourth driving source 140. Correspondingly, the second crank-connecting rod mechanism 230 includes a second hip output link 231, a second hip output crank 232 and a second hip output rocker 233. The upper end of the second hip output link 231 is rotatably connected to the second hip output crank 232, and the lower end of the second hip output link 231 is rotatably connected to the second hip output rocker 233. The second hip output crank 232 is fixedly connected to the third driving source 130, and the second hip output rocker 233 is fixedly connected to the fifth driving source 150.

[0049] Specifically, see Figure 2The first hip output rocker 223 is provided with two rocker connecting rings, the larger rocker connecting ring of the first hip output rocker 223 is fixedly mounted on the fourth driving source 140, the larger rocker connecting ring of the first hip output rocker 223 is rotatably connected to one of the hip motor connecting discs 244 of the hip cross shaft 240, and the smaller rocker connecting ring of the first hip output rocker 223 is rotatably connected to the first hip output connecting rod 221 through bolts and fisheye bearings; the first hip output crank 222 is provided with two crank connecting rings, the larger crank connecting ring of the first hip output crank 222 is fixedly connected to the second driving source 120, and the smaller crank connecting ring of the first hip output crank 222 is rotatably connected to the first hip output connecting rod 221 through bolts and fisheye bearings. Correspondingly, the second hip output rocker 233 is provided with two rocker connecting rings, the larger rocker connecting ring of the second hip output rocker 233 is fixedly mounted on the fifth driving source 150, the larger rocker connecting ring of the second hip output rocker 233 is rotatably connected to another hip motor connecting disc 244 of the hip cross shaft 240, and the smaller rocker connecting ring of the second hip output rocker 233 is rotatably connected to the second hip output connecting rod through bolts and fisheye bearings; the second hip output crank 232 is provided with two crank connecting rings, the larger crank connecting ring of the second hip output crank 232 is fixedly connected to the third driving source 130, and the smaller crank connecting ring of the second hip output crank 232 is rotatably connected to the second hip output connecting rod 231 through bolts and fisheye bearings. It should be noted that the two connecting rings and the center axes of the two fisheye bearings of the first crank-connecting rod mechanism 220 are parallel to the second driving source 120 , and the two connecting rings and the center axes of the two fisheye bearings of the second crank-connecting rod mechanism 230 are parallel to the third driving source 130 .

[0050] In some embodiments of the present invention, see Figure 1 and Figure 5 The thigh component 300 includes a bare output pulley 310, a knee output pulley 320, a bare joint drive rope 330, a knee joint drive rope 340 and two thigh plates 350. The upper ends of the two thigh plates 350 are fixedly connected to the fourth drive source 140 and the fifth drive source 150 respectively. The upper ends of the two thigh plates 350 are rotatably connected to the two hip motor connecting discs 244 respectively. The bare output pulley 310 and the knee output pulley 320 are both arranged between the two hip motor connecting discs 244, and the bare output pulley 310 and the knee output pulley 320 are fixedly connected to the rotating shaft of the fourth drive source 140 and the rotating shaft of the fifth drive source 150 respectively. It can be understood that the bare output pulley 310 and the knee output pulley 320 are arranged at intervals, and the hip support rod 270 is arranged between the bare output pulley 310 and the knee output pulley 320. The upper ends of the bare joint driving rope 330 and the knee joint driving rope 340 are connected to the bare output rope pulley 310 and the knee output rope pulley 320 respectively.

[0051] Furthermore, a tensioning slider is connected between the bare joint drive rope 330 and the bare output pulley 310, and a tensioning slider is also connected between the knee joint drive rope 340 and the knee output pulley 320. Specifically, the bare output pulley 310 and the knee output pulley 320 are both provided with a slide groove, and the tensioning slider is movably provided in the slide groove, and the outer sides of the two tensioning sliders are fixedly connected to the bare joint drive rope 330 and the knee joint drive rope 340 respectively.

[0052] In some specific embodiments of the present invention, the thigh assembly 300 further includes a plurality of thigh support rods 360, and the thigh support rods 360 are disposed between the two thigh plates 350. Figure 5 The two ends of the thigh support rod 360 are connected to the inner sides of the two thigh plates 350. Furthermore, multiple thigh support rods 360 are provided, for example, five thigh support rods 360, two of which are located on the upper sides of the thigh plates 350, one thigh support rod 360 is located in the middle of the thigh plate 350, and the remaining two thigh support rods 360 are located on the lower sides of the thigh plates 350. The thigh support rod 360 connects the two thigh plates 350, increasing thigh rigidity, reducing left-right leg deformation, and improving the structural strength of the thigh. Furthermore, the thigh support rod 360 is fixed to the thigh plates 350 using screws and a mortise and tenon structure.

[0053] In some specific embodiments of the present invention, a hip pitch bearing 260 is provided between the hip cross axis 240 and the thigh plate 350 to enable the hip assembly 200 to rotate relative to the thigh assembly 300, thereby completing the hip pitch movement. Figure 1 and Figure 4 There are two hip pitch bearings 260, which include a hip pitch bearing outer ring 261 and a hip pitch bearing inner ring 262. The two hip pitch bearing outer rings 261 are respectively fixedly connected to the inner sides of the two hip motor connecting discs 244, and the two hip pitch bearing inner rings 262 are respectively fixedly connected to the outer sides of the two thigh plates 350. The hip pitch bearing outer rings 261 and the hip pitch bearing inner rings 262 rotate relative to each other through the ball bearings, so that the hip joint 170 completes the hip pitch movement.

[0054] In some embodiments of the present invention, see Figure 5The upper end of the thigh plate 350 is provided with a thigh connecting hole and a thigh connecting flange. The thigh connecting flange is provided on the outer side of the thigh plate 350 and on the outer periphery of the thigh connecting hole, thereby forming a concave cavity for accommodating the drive source. The fourth drive source 140 and the fifth drive source 150 are partially provided in the concave cavity. The side surfaces of the fourth drive source 140 and the fifth drive source 150 are fixedly connected to the inner wall of the concave cavity of the thigh plate 350. The rotating shafts of the fourth drive source 140 and the fifth drive source 150 pass through the thigh connecting hole and are respectively connected to the two bare output wheels. The outer peripheral surface of the thigh connecting flange is fixedly connected to the inner ring 262 of the hip pitch bearing. The hip motor connecting disc 244 is provided on the outer side of the thigh plate 350. The side surface of the hip motor connecting disc 244 is fixedly connected to the side surface of the thigh connecting flange by screws. The outer ring 261 of the hip pitch bearing of the present invention is axially limited by the thigh connection center plate, and the inner ring 262 of the hip pitch bearing is axially limited by the first hip output link 221 and the second hip output link 231 and the two thigh plates 350, thereby reducing the number of parts while ensuring high precision and reducing errors caused by part matching.

[0055] In some embodiments of the present invention, see Figure 1 、 Figure 6 and Figure 7 The calf assembly 400 includes a knee shaft 410, a bare driven pulley 420, a knee driven pulley 430, and two calf plates 440. The bare driven pulley 420 and the knee driven pulley 430 are disposed between the two calf plates 440. The two sides of the knee shaft 410 are rotatably connected to the lower ends of the two thigh plates 350, and the two sides of the knee shaft 410 are fixedly connected to the calf plates 440. The bare driven pulley 420 and the knee driven pulley 430 are fixedly connected to the two sides of the knee shaft 410, and the bare driven pulley 420 and the knee driven pulley 430 are respectively connected to the lower ends of the bare joint drive rope 330 and the knee joint drive rope 340. Furthermore, the two calf plates 440 are both disposed between the two thigh plates 350, and the bare driven pulley 420 and the knee driven pulley 430 are disposed between the two calf plates 440. Further, the bare driven rope wheel 420 and the knee driven rope wheel 430 are all connected to the knee shaft 410 through a D-type key and transmit power. It can be understood that the bare driven rope wheel 420 and the knee driven rope wheel 430 are arranged at intervals.

[0056] Furthermore, a tensioning slider is connected between the bare joint drive rope 330 and the bare driven rope sheave 420, and between the knee joint drive rope 340 and the knee driven rope sheave 430. Their structures are identical to those of the bare output rope sheave 310 and the knee output rope sheave 320, and the tensioning sliders. The tension of the knee joint drive rope 340 and the knee driven rope sheave 430 can be adjusted by adjusting the positions of the tensioning sliders in the bare output rope sheave 310 and the knee output rope sheave 320, and in the bare driven rope sheave 420 and the knee driven rope sheave 430.

[0057] In some specific embodiments of the present invention, the calf assembly 400 further includes a plurality of calf support plates 450, and the calf support plates 450 are disposed between the two calf plates 440. Figure 6 The two sides of the calf support plate 450 are respectively connected to the inner sides of the two calf plates 440. Furthermore, there are multiple calf support plates 450. For example, there are two calf support plates 450, and the two calf support plates 450 are respectively arranged on the front and rear sides of the calf plate 440.

[0058] In some specific embodiments of the present invention, a knee bearing 411 is connected between the thigh plate 350 and the knee shaft 410, allowing the thigh plate 350 and the knee shaft 410 to rotate relative to each other. Furthermore, the knee bearing 411 can be an angular contact ball bearing, with the two angular contact ball bearings on the left and right sides arranged face to face or back to back. Furthermore, the knee bearing 411 can be connected to the thigh plate 350 via a knee bearing baffle 414. A knee transmission member 413 is connected between the calf plate 440 and the knee shaft 410, allowing power to be transmitted between the calf plate 440 and the knee shaft 410. Furthermore, the calf plate 440 and the knee transmission member 413 are fixedly connected by screws, and the shaft section of the knee shaft 410 provided with a D-key is fixedly connected to the knee transmission member 413.

[0059] In some specific embodiments of the present invention, the calf assembly 400 further includes a knee encoder 412 for feeding back the rotation angle of the knee shaft 410. The knee encoder 412 is used to detect the rotation angle of the knee shaft 410. Figure 6 The knee encoder 412 is fixed to the outer side of the lower end of one of the thigh plates 350. Furthermore, the knee encoder 412 is fixed to the outer side of the thigh plate 350 near the bare output sheave 310. Furthermore, the inner ring rotor of the knee encoder 412 is axially positioned by one end of the knee shaft 410 and radially positioned by the knee shaft 410 via a jackscrew.

[0060] In some embodiments of the present invention, the sole assembly 600 includes a forefoot 610, a rearfoot 620, and a metatarsal shaft 630. The forefoot 610 and the rearfoot 620 are rotatably connected via the metatarsal shaft 630. Figure 11The rear side of the forefoot 610 is provided with two first connection holes, which are rotatably mounted on either side of the metatarsal shaft 630. The front side of the rearfoot 620 is provided with two second connection holes, which are rotatably mounted on either side of the metatarsal shaft 630, so that the forefoot 610 and the rearfoot 620 can rotate relative to each other. Furthermore, a metatarsal shaft spring 631 is mounted on the metatarsal shaft 630 for resetting. It is understood that the metatarsal shaft spring 631 can be a torsion spring, with its two ends respectively contacting the forefoot 610 and the rearfoot 620. Furthermore, both the forefoot 610 and the rearfoot 620 are provided with sole grooves, and the ends of the torsion spring are disposed in the sole grooves to fix the torsion spring between the forefoot 610 and the rearfoot 620. Furthermore, an impact pad is provided between the forefoot 610 and the rearfoot 620 to cushion the impact generated when the forefoot 610 and the rearfoot 620 rotate relative to each other.

[0061] Furthermore, the sole assembly 600 also includes a buffer 640, which is disposed beneath the forefoot 610 and rearfoot 620 to cushion the impact of the sole assembly 600 contacting the ground. Furthermore, the sole assembly 600 is provided with four pressure sensors 650, two of which are disposed between the forefoot 610 and the buffer 640, and two between the rearfoot 620 and the buffer 640. The present invention uses the values ​​from these four pressure sensors 650 to calculate the overall center state of the humanoid robot in real time, thereby improving control accuracy. Furthermore, the forefoot 610, rearfoot 620, and buffer 640 are each provided with mounting slots for the pressure sensors 650. Mounting the pressure sensors 650 within these slots effectively prevents damage caused by leakage. Furthermore, the sole assembly 600 is provided with a wiring trough to manage the signal cables of the pressure sensors 650.

[0062] It is understood that the cushioning member 640 can be a rubber pad or a silicone pad. Both rubber and silicone pads can isolate vibrations and absorb shock, thereby better protecting the robot during dynamic movement. Furthermore, the bottom surface of the cushioning member 640 is provided with anti-slip grooves to increase friction during dynamic movement and enhance the anti-slip effect of the robot's sole. The bottom surface of the cushioning member 640 at the metatarsal axis 630 is reduced in thickness to make the toes easier to bend.

[0063] In some embodiments of the present invention, see Figures 8 to 10The bare assembly 500 further includes a bare roll fixture 510, a bare roll output frame 520, and two bare pitch shafts 530. The bare roll fixture 510 is fixedly connected to the body of the sixth drive source 160. The two bare pitch shafts 530 are fixedly connected to opposite ends of the bare roll fixture 510, and the two bare pitch shafts 530 are rotatably connected to the lower ends of the two calf plates 440, respectively. The bare roll output frame 520 is fixedly connected to the sole assembly 600. The bare roll output frame 520 is fixedly connected to the rotating shaft 161 of the sixth drive source, and the bare roll output frame 520 is rotatably connected to the bare roll fixture 510. It should be noted that the rotating shaft 161 of the sixth drive source is perpendicular to the fifth drive source 150, and the sixth drive source 160 is perpendicular to the first drive source 110. The bare bearing 532 is perpendicular to the sixth drive source 160, and the bare bearing 532 is parallel to the fifth drive source 150.

[0064] Furthermore, the bare assembly 500 is also provided with a bare encoder 531, which is used to detect the rotation angle of the bare pitch axis 530. The bare encoder 531 is disposed on the outer side of the lower end of the calf plate 440. Specifically, the rotor of the ankle encoder is axially limited by the outer shaft segment of the ankle pitch axis. It is radially positioned with the shaft segment of the ankle pitch axis via a rotor top screw. The stator of the ankle encoder is fixedly connected to the calf plate 440 via a flange on the stator.

[0065] Specifically, see Figure 8 and Figure 12 The naked roll fixing part 510 is hollow and cylindrical in shape. The sixth driving source 160 is arranged in the inner cavity of the naked roll fixing part 510. The body of the sixth driving source 160 is fixedly connected to the front side of the naked roll fixing part 510. The two naked pitch axes 530 are fixedly connected to the left and right sides of the outer peripheral surface of the naked roll output part, so that the body of the sixth driving source 160 is fixedly connected to the naked pitch axes 530. A naked bearing 532 is connected between the naked pitch axes 530 and the calf plate 440.

[0066] It should be noted that a bare bearing baffle 533 is provided on the bare bearing 532, and the bare bearing baffle 533 is fixedly connected to the calf plate 440 via a flange. Furthermore, the bare bearing 532 in this embodiment of the present invention can be a deep groove ball bearing or an angular contact ball bearing, with the outer ring of the ankle bearing being limited by the ankle bearing baffle, and the inner ring of the ankle bearing being limited by the outer shaft segment of the ankle pitch axis.

[0067] Further, see Figure 10 and Figure 12The bare rolling output frame 520 includes an output base plate 521, an output connecting plate 522, and an output connecting ring 523. The lower sides of the output connecting plate 522 and the output connecting ring 523 are connected to the front and rear sides of the output base plate 521, respectively. The output base plate 521 is fixedly connected to the rear sole 620. The rotating shaft 161 of the sixth drive source is disposed in the middle of the front side thereof. The output connecting plate 522 is fixedly connected to the rotating shaft 161 of the sixth drive source. The output connecting ring 523 is rotatably connected to the rear end of the bare rolling fixture 510 via a connecting bearing. Furthermore, a bearing support seat is fixedly connected between the rotating shaft 161 of the sixth drive source and the output connecting plate 522. The outer side of the bearing support seat is provided with a bare rolling bearing. The outer side of the bare rolling bearing is provided with a bare rolling bearing outer ring fixture 511. The bare rolling bearing outer ring fixture 511 is fixedly connected to the body of the sixth drive source 160.

[0068] In some embodiments of the present invention, see Figure 12 The bare assembly 500 further includes a bare transmission member 540, which is respectively connected to the sixth drive source 160 and the bare driven rope pulley 420. Specifically, the bare transmission member 540 includes a bare rocker 541, a bare transmission rod 542, and a bare connecting rod 543. The front side of the bare rocker 541 is fixedly connected to the rear side of the bare rolling fixture 510, the rear side of the bare rocker 541 is rotatably connected to the lower end of the bare transmission rod 542, the upper end of the bare transmission rod 542 is rotatably connected to the rear side of the bare connecting rod 543, and the front side of the bare connecting rod 543 is fixedly connected to the bare driven rope pulley 420. Furthermore, the bare transmission member 540 is connected to the bare rocker 541 and the bare connecting rod 543 respectively by two fisheye bearings. It should be noted that the center axes of the two fisheye bearings can be parallel to the fourth drive source 140.

[0069] The present invention's cable-driven humanoid robot leg and foot assembly places the majority of the drive source at the hip joint 170, raising the robot's center of mass, reducing the leg's moment of inertia, and improving the robot's overall dynamic performance. Furthermore, the flexible cable drive of the knee joint 180 reduces the impact of bottom-side reaction forces on the knee joint's motor and better simulates muscle contraction and relaxation.

[0070] Furthermore, embodiments of the present invention utilize passive toe joints to better simulate a human walking gait and enhance stability. Torsion springs installed in the toe joints simulate muscles and better store and release energy, improving the robot system's energy utilization and reducing energy consumption. Four pressure sensors 650 are installed in the sole member. These sensors can detect the robot's center of gravity in real time, determining whether it is in a safe position and improving control accuracy.

[0071] Furthermore, the leg structure of the humanoid robot 100 and its foot assembly 600 in the embodiment of the present invention utilizes three types of joints: the hip joint 170, the knee joint 180, and the ankle joint 190. This provides six degrees of freedom, a wide range of motion, and enhanced flexibility. Furthermore, the hip joint 170 can be a ball joint, making the kinematics of the robotic arm easier to analytically solve.

[0072] In the humanoid robot 100 of the embodiment of the present invention, the first drive source 110, second drive source 120, third drive source 130, fourth drive source 140, and fifth drive source 150 are fixed to the beginning of the thigh, reducing the overall rotational inertia of the robotic leg and achieving low mass and low inertia at the end of the robotic leg. Furthermore, the first drive source 110, second drive source 120, third drive source 130, fourth drive source 140, fifth drive source 150, and the sixth drive source 160 are disposed within the thigh assembly 300, which serves as the thigh frame. This reduces thigh mass and keeps the center of mass of the thigh entirely within the thigh frame, enhancing the robot's controllability.

[0073] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the aforementioned embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Within the scope of protection of the present invention, its technical solutions and / or implementation methods may be modified and varied in various ways.

Claims

1. A humanoid robot leg structure and foot assembly based on rope drive, characterized in that: include: A hip component (200), a thigh component (300), a calf component (400), and a sole component (600), wherein the thigh component (300) is connected to the hip component (200), and the connection between the hip component (200) and the thigh component (300) is a hip joint (170); the thigh component (300) is connected to the calf component (400), and the connection between the thigh component (300) and the calf component (400) is a knee joint (180); the calf component (400) is connected to the sole component (600), and the connection between the calf component (400) and the sole component (600) is an ankle joint (190); The invention also includes a first driving source (110), a second driving source (120), a third driving source (130), a fourth driving source (140), a fifth driving source (150) and a sixth driving source (160); the first driving source (110) is arranged above the hip joint (170) for driving hip rolling motion; the second driving source (120) and the third driving source (130) are respectively arranged on both sides of the hip joint (170) for driving hip pitching motion and hip yaw motion; the fourth driving source (140) and the fifth driving source (150) are respectively arranged on both sides of the thigh component (300), the fourth driving source (140) is used to drive the knee joint (180) to move, and the fifth driving source (150) is used to drive the ankle pitching motion; the sixth driving source (160) is arranged at the connection between the calf component (400) and the sole component (600) for driving ankle rolling motion.

2. The rope-driven humanoid robot leg structure and foot assembly according to claim 1, characterized in that: The hip assembly (200) includes a hip motor fixing part (210), a first crank-connecting rod mechanism (220) and a second crank-connecting rod mechanism (230), wherein the upper side of the hip motor fixing part (210) is fixedly connected to the first driving source (110), and the two sides of the hip motor fixing part (210) are fixedly connected to the second driving source (120) and the third driving source (130), respectively; the first crank-connecting rod mechanism (220) is connected to the second driving source (120) and the fourth driving source (140), and the second crank-connecting rod mechanism (230) is connected to the third driving source (130) and the fifth driving source (150).

3. The rope-driven humanoid robot leg structure and foot assembly according to claim 2, characterized in that: The hip motor fixing member (210) comprises the hip roll connection plate (211) and the hip motor fixing bracket (212); the upper side of the hip roll connection plate (211) is fixedly connected to the first driving source (110); the hip roll connection plate (211) is rotatably arranged on the upper side of the hip motor fixing bracket (212); the hip motor fixing bracket (212) comprises a hip motor fixing plate (213), two hip motor fixing discs (214) and two hip motor connecting plates (215); the upper side of the hip motor fixing plate (213) is connected to the hip roll connection plate (211); the front end and the rear end of the hip motor fixing plate (213) are respectively connected to the upper ends of the two hip motor connecting plates (215).

4. The rope-driven humanoid robot leg structure and foot assembly according to claim 3, characterized in that: The hip assembly (200) further includes a hip cross shaft (240) and a hip motor connector (250), wherein the hip motor connector (250) is rotatably connected to the hip cross shaft (240), and the hip motor is fixedly connected to the hip motor connecting plate (215); the hip cross shaft (240) includes a thigh center connecting plate (241), two hip yaw bearings (242) and two hip motor connecting discs (244), wherein the thigh center connecting plate (241) is fixedly connected to the hip yaw bearing connecting plate (243), the hip motor connector (250) is rotatably sleeved on the hip yaw bearing (242), the hip motor connecting disc (244) is fixedly connected to the thigh center connection, and the two hip motor connecting discs (244) are rotatably sleeved on the fourth driving source (140) and the fifth driving source (150), respectively.

5. The rope-driven humanoid robot leg structure and foot assembly according to claim 1, characterized in that: The first crank-connecting rod mechanism (220) comprises a first hip output connecting rod (221), a first hip output crank (222) and a first hip output rocker (223), wherein both ends of the first hip output connecting rod (221) are rotatably connected to the first hip output crank (222) and the first hip output rocker (223), respectively; the first hip output crank (222) is fixedly connected to the second driving source (120), and the first hip output rocker (223) is fixedly connected to the fourth driving source (140); The second crank-connecting rod mechanism (230) comprises a second hip output connecting rod (231), a second hip output crank (232) and a second hip output rocker (233), wherein both ends of the second hip output connecting rod (231) are rotatably connected to the second hip output crank (232) and the second hip output rocker (233), respectively; the second hip output crank (232) is fixedly connected to the third driving source (130), and the second hip output rocker (233) is fixedly connected to the fifth driving source (150).

6. The rope-driven humanoid robot leg structure and foot assembly according to claim 5, characterized in that: The thigh assembly (300) comprises a bare output pulley (310), a knee output pulley (320), a bare joint drive rope (330), a knee joint drive rope (340) and two thigh plates (350), wherein the two thigh plates (350) are fixedly connected to the fourth drive source (140) and the fifth drive source (150) respectively, and the two thigh plates (350) are rotatably connected to the two hip motor connection discs (244) respectively; the bare output pulley (310) and the knee output pulley (320) are fixedly connected to the rotating shaft of the fourth drive source (140) and the rotating shaft of the fifth drive source (150) respectively; the bare joint drive rope (330) is connected to the bare joint drive rope (330), and the knee joint drive rope (340) is connected to the knee output pulley (320).

7. The rope-driven humanoid robot leg structure and foot assembly according to claim 6, characterized in that: The calf assembly (400) includes a knee shaft (410), a bare driven rope pulley (420), a knee driven rope pulley (430) and two calf plates (440), wherein the two sides of the knee shaft (410) are rotatably connected to the lower ends of the two thigh plates (350), the two sides of the knee shaft (410) are fixedly connected to the calf plates (440), the bare driven rope pulley (420) and the knee driven rope pulley (430) are fixedly connected to the two sides of the knee shaft (410), and the bare driven rope pulley (420) and the knee driven rope pulley (430) are connected to the bare joint driving rope (330) and the knee joint driving rope (340) respectively.

8. The rope-driven humanoid robot leg structure and foot assembly according to claim 6, characterized in that: The sole assembly (600) comprises a forefoot, a rear sole, a metatarsal axis and a buffer component, wherein the forefoot and the rear sole are rotatably connected via the metatarsal axis, and the buffer component is arranged below the forefoot and the rear sole.

9. The rope-driven humanoid robot leg structure and foot assembly according to claim 8, characterized in that: The naked assembly includes a naked roll fixing member (510), a naked roll output frame (520) and two naked pitch axes, the naked roll fixing member (510) is fixedly connected to the body of the sixth driving source (160), the two naked pitch axes are fixedly connected to the opposite ends of the naked roll fixing member (510), and the two naked pitch axes are rotatably connected to the lower ends of the two calf plates respectively, the naked roll output frame is fixedly connected to the sole assembly, the naked roll output frame is fixedly connected to the rotating shaft (161) of the sixth driving source, and the naked roll output frame is rotatably connected to the naked roll fixing member (510).

10. The rope-driven humanoid robot leg structure and foot assembly according to claim 9, characterized in that: The bare assembly also includes a bare transmission component (540), and the bare transmission component (540) includes a bare rocker (541), a bare transmission rod (542) and a bare connecting rod (543). The bare rocker (541) is fixedly connected to the bare rolling fixed component (510), the bare rocker (541) is rotatably connected to the bare transmission rod (542), the bare transmission rod (542) is rotatably connected to the bare connecting rod (543), and the bare connecting rod (543) is fixedly connected to the bare driven rope pulley (310).

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