Leg and foot structure and humanoid robot

Abstract

The invention discloses a leg and foot structure and a humanoid robot, and belongs to the field of humanoid robots. The leg-foot structure comprises a leg component, a foot component, a first driving component, a second driving component and a third driving component, the foot component comprises a heel part and a sole part, the heel part is movably connected with the sole part, and the heel part is movably connected with the leg component; the first driving assembly is arranged on the leg assembly and connected with the heel part, the second driving assembly is arranged on the heel part, the third driving assembly is arranged on the sole part, the first driving assembly is used for driving the foot assembly to do pitching motion relative to the leg assembly, and the second driving assembly is used for driving the heel part to do side-sway motion relative to the leg assembly. The third driving assembly is used for driving the foot sole part to do pitching motion relative to the heel part.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of humanoid robots, and particularly relates to a leg-foot structure and a humanoid robot. BACKGROUND

[0002] As an important branch of the field of robots, the development goal of humanoid robots is to imitate human morphology and movement ability, so as to realize more natural and flexible interaction and work. The foot structure as the core component of the movement of the humanoid robot, the degree of freedom design directly affects the movement performance, stability and adaptability of the robot.

[0003] In the related art, the foot structure of the humanoid robot usually adopts a simplified design with limited degrees of freedom, for example, the pitch and lateral swing degrees of freedom of the ankle joint. Although such a design is simple in structure and convenient to control, it also has limitations such as insufficient movement flexibility and poor environmental adaptability.

[0004] Therefore, it is a technical problem to be solved by those skilled in the art to develop a humanoid robot that can improve movement flexibility. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a leg-foot structure and a humanoid robot, which at least solve the above problems.

[0006] In a first aspect, the embodiments of the present application provide a leg-foot structure, comprising: a leg assembly, a foot assembly, a first driving assembly, a second driving assembly and a third driving assembly;

[0007] The foot assembly comprises a heel part and a foot sole part, the heel part is movably connected with the foot sole part, and the heel part is movably connected with the leg assembly;

[0008] The first driving assembly is arranged on the leg assembly, and the first driving assembly is connected with the heel part, the second driving assembly is arranged on the heel part, and the third driving assembly is arranged on the foot sole part, the first driving assembly is used to drive the foot assembly to make a pitch movement relative to the leg assembly, the second driving assembly is used to drive the heel part to make a lateral swing movement relative to the leg assembly, so that the foot assembly makes a lateral swing movement relative to the leg assembly, and the third driving assembly is used to drive the foot sole part to make a pitch movement relative to the heel part.

[0009] Optionally, the leg-foot structure further comprises a transmission member;

[0010] One end of the transmission member is connected with the first driving assembly, and the other end of the transmission member is connected with the foot assembly;

[0011] When the first driving assembly is in operation, the first driving assembly drives the transmission member to move, so that the transmission member drives the foot assembly to perform a pitching motion relative to the leg assembly.

[0012] Optionally, the leg assembly comprises a mounting portion and a connecting portion connected to each other.

[0013] The mounting portion is provided with a mounting cavity, and the first driving assembly is mounted in the mounting cavity.

[0014] The connecting portion comprises a first connecting member and a second connecting member, the first connecting member and the second connecting member are spaced apart, the first connecting member and the second connecting member are connected to the mounting portion, at least part of the foot assembly is located between the first connecting member and the second connecting member, and the foot assembly is movably connected to the first connecting member and the second connecting member respectively.

[0015] Optionally, the first connecting member has a first surface facing the second connecting member, the second connecting member has a second surface facing the first connecting member, at least one of the first surface and the second surface is provided with a first limiting table, the first limiting table has a first limiting surface, the first limiting surface faces the instep portion, and the first limiting surface is used for limiting the instep portion.

[0016] The distance between the first connecting member and the second connecting member is greater than or equal to the size of the instep portion in the first direction, and the first direction is the direction from the first connecting member to the second connecting member.

[0017] Optionally, the first connecting member has a first surface facing the second connecting member, the second connecting member has a second surface facing the first connecting member, at least one of the first surface and the second surface is provided with a second limiting table, the second limiting table has a second limiting surface, the second limiting surface faces the heel portion, and the second limiting surface is used for limiting the heel portion.

[0018] The distance between the first connecting member and the second connecting member is greater than or equal to the size of at least part of the heel portion in the first direction, and the first direction is the direction from the first connecting member to the second connecting member.

[0019] Optionally, the heel portion comprises a first heel structure and a second heel structure connected to each other, the first heel structure and the second heel structure enclose a containing space, and the second driving assembly is arranged in the containing space.

[0020] The first heel structure is movably connected with the instep part, the first driving assembly is connected with the second heel structure, and the heel part is movably connected with the leg assembly through the second driving assembly.

[0021] Optionally, the first heel structure comprises a first heel forming member and a second heel forming member connected with each other.

[0022] The first heel forming member and the second heel forming member are located in planes with an included angle therebetween, the second heel structure is connected with the second heel forming member, the first heel forming member is located opposite to the second heel structure, and the second driving assembly is located between the first heel forming member and the second heel structure.

[0023] The second heel forming member is provided with a limiting structure thereon, and the limiting structure is used for limiting the heel part in a track of side swing movement of the heel part.

[0024] Optionally, in the track of side swing movement of the heel part, the second heel forming member has a first side and a second side opposite to each other, and the first side and the second side are both provided with the limiting structure.

[0025] Optionally, the instep part has a mounting space, the third driving assembly is mounted in the mounting space, and the third driving assembly is connected with an inner wall of the instep part, so that the instep part is movably connected with the heel part through the third driving assembly.

[0026] Optionally, a connecting structure is fixed on an outer shell of the third driving assembly, the connecting structure is movably connected with the heel part, so that the third driving assembly is movably connected with the heel part.

[0027] In a second aspect, the embodiments of the present application provide a humanoid robot, which comprises the leg-foot structure according to any one of the first aspect.

[0028] In this embodiment, since the heel and the ball of the foot are movably connected, and the heel and the leg assembly are movably connected, the foot assembly can move relative to the leg assembly once it is subjected to force. Moreover, once the heel is subjected to force, the heel can also drive the ball of the foot, so that the ball of the foot and the heel move relative to the leg assembly simultaneously. Once the ball of the foot is subjected to force, the ball of the foot can move relative to the heel, thereby making the movement of the foot assembly more flexible. When the leg and foot structure is applied to a humanoid robot, it helps the humanoid robot to walk or perform other more flexible movements. In addition, the first drive component is disposed on the leg component and connected to the heel, and the second drive component is disposed on the heel. Thus, the first drive component can drive the foot component to perform pitching motion relative to the leg component, that is, the first drive component applies force to the foot component to make the foot component pitching motion relative to the leg component. It can also drive the heel to move, that is, the second drive component applies force to the heel to make the heel drive the ball of the foot to move simultaneously, and the heel and the ball of the foot swing sideways relative to the leg component. It can also drive the ball of the foot to move, that is, the third drive component applies force to the ball of the foot to make the ball of the foot pitching motion relative to the heel. In other words, in this embodiment, by setting a first drive component, a second drive component, and a third drive component, the ball of the foot and the heel can perform lateral and pitching movements together under the drive of the first and second drive components. Furthermore, the third drive component enables independent pitching movements of the ball of the foot, thereby improving the flexibility of leg and foot movement and enhancing the adaptability of the leg and foot structure to terrain, thus improving stability and safety, and providing technical support for a wider range of application scenarios. Moreover, the movably connected ball of the foot and heel, by mimicking the structure of the human foot, can utilize energy more efficiently and reduce energy loss during movement. Attached Figure Description

[0029] Figure 1 This is an exploded view of a leg structure provided in an embodiment of this application;

[0030] Figure 2 This is an axonometric view of a leg structure provided in an embodiment of this application;

[0031] Figure 3 This is a left view of a leg structure provided in an embodiment of this application;

[0032] Figure 4 This is a right view of a leg structure provided in an embodiment of this application;

[0033] Figure 5 This is a rear view of a leg structure provided in an embodiment of this application.

[0034] Figure label:

[0035] 001: cam-shaped connecting piece; 10: leg assembly; 11: mounting portion; 12: connecting portion; 111: mounting cavity; 121: first connecting piece; 122: second connecting piece; 123: first limiting platform; 124: second limiting platform; 1231: first limiting surface; 1241: second limiting surface; 20: foot assembly; 21: heel portion; 22: instep portion; 211: first heel structure; 212: second heel structure; 221: mounting space; 2111: first heel forming piece; 2112: second heel forming piece; 2113: limiting structure; 2121: first heel piece; 2122: second heel piece; 30: first driving assembly; 40: second driving assembly; 50: third driving assembly; 501: connecting structure; 60: transmission piece. DETAILED DESCRIPTION

[0036] The terms "first", "second" in the specification and claims of the present application can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0037] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] As shown in the figure, the leg-foot structure includes: a leg assembly 10, a foot assembly 20, a first driving assembly 30, a second driving assembly 40, and a third driving assembly 50. Figures 1 to 5 As shown in the figure, the leg-foot structure includes: a leg assembly 10, a foot assembly 20, a first driving assembly 30, a second driving assembly 40, and a third driving assembly 50.

[0040] The foot assembly 20 comprises a heel part 21 and a sole part 22, the heel part 21 is movably connected with the sole part 22, and the heel part 21 is movably connected with the leg assembly 10; the first driving assembly 30 is arranged on the leg assembly 10, and the first driving assembly 30 is connected with the heel part 21; the second driving assembly 40 is arranged on the heel part 21; the third driving assembly 50 is arranged on the sole part 22; the first driving assembly 30 is used to drive the foot assembly 20 to make a pitching motion relative to the leg assembly 10; the second driving assembly 40 is used to drive the heel part 21 to make a side swing motion relative to the leg assembly 10, so that the foot assembly 20 makes a side swing motion relative to the leg assembly 10; and the third driving assembly 50 is used to drive the sole part 22 to make a pitching motion relative to the heel part 21.

[0041] In the embodiment of the present application, since the heel part 21 is movably connected with the instep part 22, and the heel part 21 is movably connected with the leg part assembly 10, once the foot part assembly 20 is subjected to force, the foot part assembly 20 can move relative to the leg part assembly 10, and once the heel part 21 is subjected to force, the heel part 21 can drive the instep part 22, so that the instep part 22 and the heel part 21 move relative to the leg part assembly 10 at the same time, and once the instep part 22 is subjected to force, the instep part 22 can move relative to the heel part 21, so that the movement of the foot part assembly 20 is more flexible, which is helpful for the humanoid robot to walk or make other more flexible movements. In addition, the first driving assembly 30 is arranged on the leg part assembly 10, and the first driving assembly 30 is connected with the heel part 21, and the second driving assembly 40 is arranged on the heel part 21, so that the first driving assembly 30 can drive the foot part assembly 20 to make pitching movement relative to the leg part assembly 10, that is, the first movement assembly applies force to the foot part assembly 20, so that the foot part assembly 20 makes pitching movement relative to the leg part assembly 10, the second driving assembly 40 can also drive the heel part 21 to move, that is, the second driving assembly 40 applies force to the heel part 21, so that the heel part 21 drives the instep part 22 to move at the same time, and the heel part 21 and the instep part 22 make lateral movement relative to the leg part assembly 10, and the third driving assembly 50 can also drive the instep part 22 to move, that is, the third driving assembly 50 applies force to the instep part 22, so that the instep part 22 makes pitching movement relative to the heel part 21. That is, in the embodiment of the present application, by arranging the first driving assembly 30, the second driving assembly 40 and the third driving assembly 50, the instep part 22 and the heel part 21 can make lateral movement and pitching movement together under the driving of the first driving assembly 30 and the second driving assembly 40, and the third driving assembly 50 can also make independent pitching movement of the instep part 22, so as to improve the flexibility of the leg-foot structure movement and the adaptability of the leg-foot structure to the terrain, and thus improve the stability and safety, and provide technical support for more extensive application scenarios. Further, the movably connected instep part 22 and heel part 21 can also more efficiently utilize energy and reduce energy loss in movement by imitating the foot structure of human beings.

[0042] It should be noted that in the embodiment of the present application, the leg part assembly 10 is arranged to realize the walking, running and jumping movements of the humanoid robot. The foot part assembly 20 directly contacts the ground, and is responsible for supporting the body weight of the humanoid robot, absorbing impact force and providing propulsion.

[0043] In addition, in the embodiment of the present application, the first driving assembly 30 can be operated according to actual needs, that is, the first driving assembly 30 is operated, and the second driving assembly 40 and the third driving assembly 50 are not operated, at this time, the first driving assembly 30 applies force to the foot assembly 20, so that the foot assembly 20 performs a pitching motion relative to the leg assembly 10; the second driving assembly 40 can also be operated, that is, the second driving assembly 40 is operated, and the first driving assembly 30 and the third driving assembly 50 are not operated, at this time, the second driving assembly 40 applies force to the heel 21, so that the heel 21 performs a side swing motion relative to the leg assembly 10, and the instep 22 is driven by the heel 21 to move, that is, the heel 21 and the instep 22 simultaneously perform a side swing motion relative to the leg assembly 10; the third driving assembly 50 can also be operated, that is, the third driving assembly 50 is operated, and the first driving assembly 30 and the second driving assembly 40 are not operated, at this time, the third driving assembly 50 applies force to the instep 22, so that the instep 22 performs a pitching motion relative to the heel 21; of course, in the embodiment of the present application, at least two of the first driving assembly 30, the second driving assembly 40 and the third driving assembly 50 can be operated simultaneously according to actual needs, so as to make the leg-foot structure move, for example, the first driving assembly 30 and the third driving assembly 50 are operated simultaneously, for another example, the second driving assembly 40 and the third driving assembly 50 are operated simultaneously, and for another example, the first driving assembly 30, the second driving assembly 40 and the third driving assembly 50 are operated simultaneously. In this regard, the embodiment of the present application is not limited herein.

[0044] In addition, in the embodiment of the present application, the first driving assembly 30, the second driving assembly 40 and the third driving assembly 50 can all be motor assemblies, wherein the motor assembly comprises a motor body and a speed reducer, the motor body is connected with the speed reducer, and the speed reducer is connected with the corresponding component. For example, the speed reducer included in the first driving assembly 30 is connected with the foot assembly 20, so that when the motor body included in the first driving assembly 30 is operated, the speed reducer connected therewith is connected, so that the operation of the speed reducer makes the foot assembly 20 perform a pitching motion relative to the leg assembly 10.

[0045] It should be noted that, in the embodiment of the present application, the side swing motion of the foot assembly 20 relative to the leg assembly 10 refers to that the foot assembly 20 swings between the first side and the second side of the leg assembly 10, the first side and the second side are opposite, for example, as shown in Figure 2 In addition, the pitching motion of the foot assembly 20 relative to the leg assembly 10 refers to that the foot assembly 20 rotates a preset angle relative to the leg assembly 10, for example, as shown in Figure 2As shown in the figure, the Y direction represents the direction of the foot assembly 20 relative to the leg assembly 10 in the pitch motion. In addition, the direction of the sole 22 relative to the heel 21 in the pitch motion is the same as the direction of the foot assembly 20 relative to the leg assembly 10 in the pitch motion.

[0046] In addition, in some embodiments, as shown in Figure 1 and Figure 2 The leg-foot structure can further include a transmission member 60, one end of the transmission member 60 is connected with the first driving assembly 30, and the other end of the transmission member 60 is connected with the foot assembly 20; in the case that the first driving assembly 30 operates, the first driving assembly 30 drives the transmission member 60 to move, so that the transmission member 60 drives the foot assembly 20 to move relative to the leg assembly 10 in the pitch motion.

[0047] Since one end of the transmission member 60 is connected with the first driving assembly 30, and the other end of the transmission member 60 is connected with the foot assembly 20, once the first driving assembly 30 moves, the first driving assembly 30 can drive the transmission member 60 to move, that is, the first driving assembly 30 applies force to the transmission member 60, and the transmission member 60 can apply force to the foot assembly 20 after being forced, so that the foot assembly 20 moves relative to the leg assembly 10 in the pitch motion. And by arranging the transmission member 60, the transmission member 60 is equivalent to a force transmission medium, which not only can transmit the force of the first driving assembly 30 to make the foot assembly 20 move relative to the leg assembly 10, but also can make the setting position of the first driving assembly 30 more flexible, that is, by changing the length of the transmission member 60, the first driving assembly 30 can be arranged at different positions of the leg assembly 10, so that the first driving assembly 30 can be arranged more flexibly on the leg assembly 10.

[0048] It should be noted that in the embodiments of the present application, the transmission member 60 can be a connecting rod, of course, the transmission member 60 can also be other components with transmission function, for example, the structure of the transmission member 60 is a plate structure. The specific type of the transmission member 60 is not limited in the embodiments of the present application.

[0049] In addition, in the embodiments of the present application, when the first driving assembly 30 includes a motor body and a speed reducer, and the transmission member 60 is a connecting rod, at this time, as shown in Figure 1 and Figure 2 The speed reducer is connected with a connecting member cam-shaped connecting member 001, one end of the connecting rod is connected with the cam-shaped connecting member 001, and the other end of the connecting rod is connected with the foot assembly 20, so that when the motor body operates, the motor body drives the speed reducer to operate, so that the speed reducer drives the cam-shaped connecting member 001 to rotate, the cam-shaped connecting member 001 drives the connecting rod to move, so that the connecting rod drives the foot assembly 20 to move relative to the leg assembly 10 in the pitch motion.

[0050] In addition, in some embodiments, as shown inFigure 1 and Figure 2 As shown in FIG. 1, the leg assembly 10 can include a connecting mounting portion 11 and a connecting portion 12; the mounting portion 11 is provided with a mounting cavity 111, and the first driving assembly 30 is mounted in the mounting cavity 111; the connecting portion 12 includes a first connecting piece 121 and a second connecting piece 122, the first connecting piece 121 and the second connecting piece 122 are spaced apart, and the first connecting piece 121 and the second connecting piece 122 are both connected to the mounting portion 11; at least part of the foot assembly 20 is located between the first connecting piece 121 and the second connecting piece 122, and the foot assembly 20 is movably connected to the first connecting piece 121 and the second connecting piece 122, respectively.

[0051] Since the mounting portion 11 is provided with the mounting cavity 111, when the first driving assembly 30 is arranged on the leg assembly 10, the first driving assembly 30 can be directly mounted in the mounting cavity 111, which can effectively avoid the first driving assembly 30 from being exposed to the leg assembly 10, thereby avoiding the problem that the first driving assembly 30 is easily damaged due to external impact. In addition, the first connecting piece 121 and the second connecting piece 122 are spaced apart, and the first connecting piece 121 and the second connecting piece 122 are both connected to the mounting portion 11, so that there is a gap between the first connecting piece 121 and the second connecting piece 122, and at least part of the foot assembly 20 is located between the first connecting piece 121 and the second connecting piece 122, and the foot assembly 20 is movably connected to the first connecting piece 121 and the second connecting piece 122, respectively. Therefore, when the foot assembly 20 is driven by the first driving assembly 30, the gap between the first connecting piece 121 and the second connecting piece 122 can provide a larger space for the foot assembly 20 to perform the pitching motion, which is beneficial to improve the movement range of the foot assembly 20, and thus effectively improve the flexibility of the leg-foot structure.

[0052] It should be noted that the structure of the first connecting piece 121 and the structure of the second connecting piece 122 can both be a plate structure, of course, the structure of the first connecting piece 121 and the structure of the second connecting piece 122 can also be other types of structures, for example, the structure of the first connecting piece 121 and the structure of the second connecting piece 122 are rod structures. In this regard, the embodiments of the present application are not limited here.

[0053] In addition, in the embodiments of the present application, in order to facilitate the installation of the first driving assembly 30 on the leg assembly 10, the mounting cavity 111 has an opening, and the mounting cavity 111 is in communication with the outside of the leg assembly 10 through the opening, so that when the first driving assembly 30 is installed, the first driving assembly 30 can be directly installed in the mounting cavity 111 through the opening.

[0054] In addition, in some embodiments, as shown in FIG. 1, Figure 1As shown, the first connecting piece 121 has a first surface facing the second connecting piece 122, the second connecting piece 122 has a second surface facing the first connecting piece 121, at least one of the first surface and the second surface is provided with a first limiting table 123, the first limiting table 123 has a first limiting surface 1231, the first limiting surface 1231 faces the instep part 22, and the first limiting surface 1231 is used for limiting the instep part 22; wherein the distance between the first connecting piece 121 and the second connecting piece 122 is greater than or equal to the size of the instep part 22 in the first direction, and the first direction is the direction from the first connecting piece 121 to the second connecting piece 122.

[0055] Since at least one of the first surface and the second surface is provided with the first limiting table 123, the first limiting table 123 has the first limiting surface 1231, and the first limiting surface 1231 faces the instep part 22, once the third driving assembly 50 moves, the third driving assembly 50 drives the instep part 22 to make a pitching motion relative to the heel part 21, and during the movement of the instep part 22, once the instep part 22 moves between the first connecting piece 121 and the second connecting piece 122, during the continuous movement of the instep part 22, the instep part 22 will abut against the first limiting surface 1231 of the first limiting table 123, so that the first limiting surface 1231 will block the continuous movement of the instep part 22, avoiding the excessive movement of the instep part 22 between the first connecting piece 121 and the second connecting piece 122. Wherein the distance between the first connecting piece 121 and the second connecting piece 122 is greater than or equal to the size of the instep part 22 in the first direction, which can effectively ensure that the instep part 22 moves between the first connecting piece 121 and the second connecting piece 122 during the movement. That is, by providing the first limiting table 123 on at least one of the first surface and the second surface, the first limiting table 123 can effectively limit the instep part 22 when the instep part 22 moves between the first connecting piece 121 and the second connecting piece 122, avoiding the excessive movement of the instep part 22 between the first connecting piece 121 and the second connecting piece 122, and causing the instep part 22 to be damaged.

[0056] It should be noted that in the embodiments of the present application, the first limiting table 123 can be provided only on the first surface, and the first limiting table 123 can also be provided only on the second surface, and the first limiting table 123 can also be provided on both the first surface and the second surface. For this, the embodiments of the present application are not limited herein.

[0057] In addition, the shape of the first limiting surface 1231 can be set according to actual needs, for example, the first limiting surface 1231 is a curved surface, and for another example, the first limiting surface 1231 is an inclined surface inclined relative to the axis of the foot part assembly 20. The specific shape of the first limiting surface 1231 is not limited herein.

[0058] Additionally, in some embodiments, such as Figure 1 As shown, the first connector 121 has a first surface facing the second connector 122, and the second connector 122 has a second surface facing the first connector 121. A second limiting platform 124 is provided on at least one of the first surface and the second surface. The second limiting platform 124 has a second limiting surface 1241 facing the heel portion 21 and is used to limit the heel portion 21. The distance between the first connector 121 and the second connector 122 is greater than or equal to the dimension of at least a portion of the heel portion 21 in a first direction, which is the direction from the first connector 121 to the second connector 122.

[0059] Since at least one of the first surface and the second surface is provided with a second limiting platform 124, and the second limiting platform 124 has a second limiting surface 1241 facing the heel 21, once the first driving component 30 moves, the third driving component 50 drives the foot component 20 to pitch relative to the leg component 10, that is, the heel 21 to pitch relative to the leg component 10. During the movement of the heel 21, once the heel 21 moves between the first connector 121 and the second connector 122, the heel 21 will abut against the second limiting surface 1241 of the second limiting platform 124 during the continued movement of the heel 21. Thus, the second limiting surface 1241 will block the heel 21 from continuing to move, preventing the heel 21 from moving excessively between the first connector 121 and the second connector 122. Wherein, the distance between the first connector 121 and the second connector 122 is greater than or equal to the dimension of at least a portion of the heel portion 21 in the first direction, which can effectively ensure that the heel portion 21 moves between the first connector 121 and the second connector 122 during movement. That is, by providing a second limiting platform 124 on at least one of the first surface and the second surface, the second limiting platform 124 can effectively limit the heel portion 21 when it moves between the first connector 121 and the second connector 122, so as to avoid the heel portion 21 moving excessively between the first connector 121 and the second connector 122, which could lead to potential damage to the heel portion 21.

[0060] It should be noted that, in the embodiments of this application, the second limiting stage 124 may be provided only on the first surface, or only on the second surface, or on both the first and second surfaces. This embodiment of the application does not limit the specific implementation of the second limiting stage 124.

[0061] In addition, the shape of the second limiting surface 1241 can be set according to actual needs, for example, the second limiting surface 1241 is an arc surface, and for another example, the second limiting surface 1241 is an inclined surface inclined relative to the axis of the foot component 20. The specific shape of the second limiting surface 1241 is not limited herein in the embodiments of the present application.

[0062] In addition, in the embodiments of the present application, when the first limiting table 123 is arranged on at least one of the first surface and the second surface, and the second limiting table 124 is arranged on at least one of the first surface and the second surface, at this time, the first limiting table 123 and the second limiting table 124 can be an integrated structure, that is, the first limiting table 123 and the second limiting table 124 are the same limiting table, thereby saving space; of course, the first limiting table 123 and the second limiting table 124 can also be two independent limiting tables, and the embodiments of the present application are not limited herein.

[0063] In addition, in some embodiments, as shown in Figure 1 The heel part 21 can include a first heel structure 211 and a second heel structure 212 connected together, the first heel structure 211 and the second heel structure 212 enclose a containing space, and the second driving assembly 40 is arranged in the containing space; the first heel structure 211 is movably connected with the instep part 22, the first driving assembly 30 is connected with the second heel structure 212, and the heel part 21 is movably connected with the leg component 10 through the second driving assembly 40.

[0064] Since the first heel structure 211 and the second heel structure 212 enclose the containing space, when the second driving assembly 40 is installed, the second driving assembly 40 can be directly installed in the containing space and connected with the space wall of the containing space, so that when the second driving assembly 40 operates, the second driving assembly 40 can apply force to the heel part 21, so that the heel part 21 performs the pitching movement relative to the leg component 10 after being stressed. In addition, the first heel structure 211 is close to the instep part 22, thereby movably connecting the first heel structure 211 with the instep part 22, movably connecting the first driving assembly 30 with the second heel structure 212, and movably connecting the heel part 21 with the leg component 10 through the second driving assembly 40. At this time, when the first driving assembly 30 moves, the first driving assembly 30 can apply force to the second heel structure 212, so that the second heel structure 212 drives the first heel structure 211 and the second driving assembly 40 to perform the side swing movement relative to the leg component 10, and the first heel structure 211 drives the instep part 22 to perform the side swing movement relative to the leg component 10; and when the second driving assembly 40 operates, the heel part 21 is movably connected with the leg component 10 through the second driving assembly 40, which can effectively ensure that the heel part 21 is movable relative to the leg component 10.

[0065] It should be noted that the outer wall of the second driving assembly 40 is provided with a connecting device 401, and the connecting device 401 is movably connected with the leg assembly 10, so that the second driving assembly 40 is movably connected with the leg assembly 10, and the second driving assembly 40 is arranged on the heel part 21, so that the heel part 21 is movably connected with the leg assembly 10 through the second driving assembly 40. The connecting device 401 can be a connecting rod, and can also be a connecting barrel. The specific type of the connecting device 401 is not limited in the embodiment of the application.

[0066] In addition, when one of the first surface and the second surface is provided with the second limiting table 124, the second limiting surface 1241 of the second limiting table 124 faces the second heel structure 212, that is, the second limiting surface 1241 limits the second heel structure 212.

[0067] In addition, in some embodiments, as shown in Figure 1 The first heel structure 211 can include a first heel forming member 2111 and a second heel forming member 2112 connected with each other, and the first heel forming member 2111 and the second heel forming member 2112 are arranged at an angle, the second heel structure 212 is connected to the second heel forming member 2112, the first heel forming member 2111 is opposite to the second heel structure 212, and the second driving assembly 40 is located between the first heel forming member 2111 and the second heel structure 212. The second heel forming member 2112 is provided with a limiting structure 2113, and the limiting structure 2113 is used for limiting the heel part 21 on a track of side swing movement of the heel part 21.

[0068] Since the plane where the first heel forming piece 2111 is located and the plane where the second heel forming piece 2112 is located have an included angle, the second heel structure 212 is connected to the second heel forming piece 2112, so that the second heel structure 212 and the first heel forming piece 2111 are both connected to the second heel forming piece 2112, and the first heel forming piece 2111 and the second heel structure 212 have a spacing therebetween, so that the second driving assembly 40 can be installed between the first heel forming piece 2111 and the second heel structure 212. In addition, the second heel forming piece 2112 has a limiting structure 2113, so that when the second driving assembly 40 operates and the second driving assembly 40 causes the heel part 21 to perform a side swing motion relative to the leg assembly 10, the limiting structure 2113 on the second heel forming piece 2112 can abut against the leg assembly 10 during the side swing of the heel part 21 relative to the leg assembly 10, so that the limiting structure 2113 limits the heel part 21, avoiding that the side swing amplitude of the heel part 21 is too large. That is, by providing the limiting structure 2113 on the second heel forming piece 2112, the limiting structure 2113 can limit the heel part 21 when the heel part 21 swings relative to the leg assembly 10, avoiding that the swing amplitude of the heel part 21 is too large, and the problem that the heel part 21 may be damaged occurs.

[0069] It should be noted that the second driving assembly 40 can be connected with the first heel forming piece 2111, at this time, the second driving assembly 40 can apply force to the first heel forming piece 2111 when operating, and finally make the heel part 21 perform a side swing motion relative to the leg assembly 10; of course, the second driving assembly 40 can also be connected with the second heel structure 212, at this time, the second driving assembly 40 can apply force to the second heel structure 212 when operating, and finally make the heel part 21 perform a side swing motion relative to the leg assembly 10. The second heel structure 212 can include a first heel piece 2121 and a second heel piece 2122, the first heel piece 2121 and the second heel piece 2122 are stacked, the first heel piece 2121 is connected with the second driving assembly 40, and the first heel piece 2121 is connected with the first driving assembly 30.

[0070] In addition, in the embodiment of the present application, the limiting structure 2113 can be a limiting groove, at this time, a limiting groove is formed on the second heel forming piece 2112, when the heel part 21 performs a side swing movement relative to the leg assembly 10, in the process of swinging of the heel part 21, part of the leg assembly 10 can enter the limiting groove, so that the groove wall or groove bottom of the limiting groove abuts against the leg assembly 10, limiting the heel part 21; of course, the limiting structure 2113 can also be other structures with limiting function, for example, the limiting structure 2113 is a limiting boss, that is, a limiting boss is arranged on the second heel forming piece 2112, so that the limiting boss abuts against the leg assembly 10, limiting the heel part 21. The specific type of the limiting structure 2113 is not limited in the embodiment of the present application.

[0071] In addition, in some embodiments, on the trajectory of the side swing movement of the heel part 21, the second heel forming piece 2112 has opposite first and second sides, and the first and second sides are both provided with the limiting structure 2113.

[0072] Since when the heel part 21 performs a side swing movement relative to the leg assembly 10, the heel part 21 can swing from the first side to the second side along the leg assembly 10, or swing from the second side to the first side along the leg assembly 10, so that the limiting structure 2113 is arranged on the first and second sides of the second heel forming piece 2112, the heel part 21 can be limited on the first and second sides of the leg assembly 10 when the heel part 21 performs a side swing movement relative to the leg assembly 10, and the heel assembly is less damaged when performing a side swing movement.

[0073] It should be noted that the first side of the second heel forming piece 2112 is located on the same side as the first side of the leg assembly 10, and the second side of the second heel forming piece 2112 is located on the same side as the second side of the leg assembly 10.

[0074] In addition, in some embodiments, as shown in Figure 1 In addition, in some embodiments, as shown in

[0075] Since the instep part 22 has the mounting space 221, when the third driving assembly 50 is arranged in the instep part 22, the third driving assembly 50 can be directly mounted in the mounting space 221, thereby facilitating the arrangement of the third driving assembly 50 in the instep part 22. In addition, the third driving assembly 50 is connected with the inner wall of the instep part 22, that is, the third driving assembly 50 is connected with the space wall of the mounting space 221, so that when the third driving assembly 50 operates, the third driving assembly 50 can directly apply force to the inner wall of the instep part 22, so that the instep part 22 is directly stressed and further performs the pitching movement relative to the heel part 21.

[0076] In addition, in the embodiment of the present application, as shown in Figure 1 the third driving assembly 50 is fixed with a connecting structure 501, and the connecting structure 501 is movably connected with the heel part 21, so that the third driving assembly 50 is movably connected with the heel part 21. By arranging the connecting structure 501, the third driving assembly 50 is movably connected with the heel part 21, thereby enabling the instep part 22 to be movable relative to the heel part 21.

[0077] It should be noted that the connecting structure 501 can be a connecting rod, and of course, the connecting structure 501 can also be other components having a connecting function, for example, the connecting structure 501 is a connecting cylinder. The specific type of the connecting structure 501 is not limited in the embodiment of the present application.

[0078] The embodiment of the present application provides a humanoid robot, which comprises the leg-foot structure in any one of the above embodiments.

[0079] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0080] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A leg-foot structure, characterized by, The leg-foot structure comprises a leg assembly, a foot assembly, a first driving assembly, a second driving assembly and a third driving assembly; The foot assembly comprises a heel part and a forefoot part, the heel part is movably connected with the forefoot part, and the heel part is movably connected with the leg assembly; The first driving assembly is arranged on the leg assembly, and the first driving assembly is connected with the heel part; the second driving assembly is arranged on the heel part; the third driving assembly is arranged on the forefoot part; the first driving assembly is used to drive the foot assembly to make a pitching motion relative to the leg assembly; the second driving assembly is used to drive the heel part to make a side swing motion relative to the leg assembly, so that the foot assembly makes a side swing motion relative to the leg assembly; and the third driving assembly is used to drive the forefoot part to make a pitching motion relative to the heel part.

2. The leg-foot structure according to claim 1, characterized in that The leg-foot structure further comprises a transmission member; One end of the transmission member is connected with the first driving assembly, and the other end of the transmission member is connected with the foot assembly; When the first driving assembly operates, the first driving assembly drives the transmission member to move, so that the transmission member drives the foot assembly to make a pitching motion relative to the leg assembly.

3. The leg-foot structure according to claim 1, characterized in that The leg assembly comprises a mounting part and a connecting part connected with each other; The mounting part is provided with a mounting cavity, and the first driving assembly is arranged in the mounting cavity; The connecting part comprises a first connecting member and a second connecting member, the first connecting member and the second connecting member are spaced apart, and the first connecting member and the second connecting member are both connected with the mounting part; at least part of the foot assembly is located between the first connecting member and the second connecting member, and the foot assembly is movably connected with the first connecting member and the second connecting member respectively.

4. The leg-foot structure according to claim 3, characterized in that The first connecting member has a first surface facing the second connecting member, the second connecting member has a second surface facing the first connecting member, at least one of the first surface and the second surface is provided with a first limiting table, the first limiting table has a first limiting surface, the first limiting surface faces the forefoot part, and the first limiting surface is used for limiting the forefoot part; The distance between the first connecting member and the second connecting member is greater than or equal to the size of the forefoot part in the first direction, and the first direction is the direction from the first connecting member to the second connecting member.

5. The leg-foot structure according to claim 3, wherein The first connecting member has a first surface facing the second connecting member, the second connecting member has a second surface facing the first connecting member, at least one of the first surface and the second surface is provided with a second limiting table, the second limiting table has a second limiting surface, the second limiting surface faces the heel part, and the second limiting surface is used for limiting the heel part; The distance between the first connecting member and the second connecting member is greater than or equal to the size of at least part of the heel part in the first direction, and the first direction is the direction from the first connecting member to the second connecting member.

6. The leg-foot structure according to claim 1, wherein The heel part comprises a first heel structure and a second heel structure connected to each other, the first heel structure and the second heel structure enclosing a containing space, and the second driving assembly is arranged in the containing space; The first heel structure is movably connected to the instep part, the first driving assembly is connected to the second heel structure, and the heel part is movably connected to the leg assembly through the second driving assembly.

7. The leg-foot structure according to claim 6, characterized in that The first heel structure comprises a first heel forming member and a second heel forming member connected to each other; The first heel forming member and the second heel forming member form an angle between the planes on which they are located, the second heel structure is connected to the second heel forming member, and the first heel forming member is opposite to the second heel structure, and the second driving assembly is located between the first heel forming member and the second heel structure; The second heel forming member is provided with a limiting structure thereon, and the limiting structure is used for limiting the heel part on a trajectory of side swing movement of the heel part.

8. The leg-foot structure according to claim 7, characterized in that On the trajectory of side swing movement of the heel part, the second heel forming member has opposite first and second sides, and the first and second sides are both provided with the limiting structure.

9. The leg-foot structure according to claim 1, wherein The instep part has a mounting space, the third driving assembly is mounted in the mounting space, and the third driving assembly is connected to the inner wall of the instep part, and the instep part is movably connected to the heel part through the third driving assembly.

10. The leg-foot structure according to claim 9, characterized in that The shell of the third driving assembly is fixed with a connecting structure, and the connecting structure is movably connected to the heel part, so that the third driving assembly is movably connected to the heel part.

11. A humanoid robot, characterized by, The humanoid robot comprises the leg and foot structure according to any one of claims 1-10.

Images