Foot power structure of humanoid robot and humanoid robot

Abstract

This invention relates to the technical field of humanoid robots and discloses a foot power structure for a humanoid robot and a humanoid robot. The foot power structure for a humanoid robot of this invention is mounted on the waist of the humanoid robot and includes a stepping drive unit, a thigh body module, a shin body module, and a leg module, which are connected in sequence. The stepping drive unit swings the entire foot power structure back and forth. The thigh body module includes a first thigh body and a second thigh body. The shin body module includes a shin body. The leg module includes a leg support member. A hip joint drive unit is mounted on the top of the first thigh body to swing the entire foot power structure left and right. A first drive unit is mounted between the first thigh body and the second thigh body to realize relative circumferential rotation between the first thigh body and the second thigh body. The overall design of the foot power structure of this invention is rational and compact, well meeting the requirement for a humanoid robot to achieve various moving postures.

Description

[Technical Field]

[0001] The present invention relates to the technical field of humanoid robots, and more particularly to a foot power structure for a humanoid robot and a humanoid robot. [Background technology]

[0002] In recent years, the robot industry has developed rapidly, and humanoid robots in particular have become one of the focal points in the field of robotics technology both at home and abroad. The foot power structure of humanoid robots is a key design focus for humanoid robots.

[0003] Furthermore, Chinese patent (disclosure number: CN111098951A) discloses a walking structure for a humanoid service robot and the robot. In this walking structure, two sets of leg connecting members and connecting rods are provided between the crotch section and the torso section. The crotch section, the torso section, one set of leg connecting members and connecting rod form a four-rod mechanism, the crotch section is fixed relative to the torso section, and a crotch micro-servo drives the torso section to swing relative to the crotch section, thereby interlocking the connecting rod and leg connecting members. The two leg connecting members are respectively fixed to the output shafts of two leg micro-servos, and each set of four-rod mechanism and the corresponding leg micro-servo function as a single foot.

[0004] However, in the above solution, the four-rod mechanism and one hip micro-servo are used to realize the movement patterns of the hip and foot, but the number of movements that can be performed is limited, which does not meet the requirement for humanoid robots to realize various postures and movements, resulting in a poor anthropomorphic effect and being disadvantageous to the widespread use and application of humanoid robots.

[0005] Furthermore, in the above solutions, the design and layout of the foot power structure of the humanoid robot are not reasonable enough, and the whole structure is bulging and not compact enough.

[0006] The information disclosed in this Background Art section is intended only to provide an understanding of the background of the concept of the present invention and may include information that does not constitute prior art. Summary of the Invention [Problem to be solved by the invention]

[0007] To address the above-mentioned problems or one of the above-mentioned problems, the present invention aims to provide a foot power structure for a humanoid robot, which can meet the requirements for the humanoid robot to achieve various postures and movements, and has a simple and compact structure.

[0008] To address the above-mentioned problems or one of the above-mentioned problems, the present invention aims to provide a humanoid robot, the foot power structure of which can meet the requirements for the humanoid robot to achieve various postures and movements, and has a simple and compact structure.

[0009] In response to the above problems or one of the above problems, the present invention aims to provide a foot power structure for a humanoid robot and a humanoid robot, which, by arranging a first thigh body, a shin body, a leg support member and corresponding hip joint drive units, knee joint drive units and ankle drive units, can perform various anthropomorphic foot and leg movements, and can well meet the requirement for humanoid robots to realize various movement postures. The overall design of the foot power structure is reasonable, the structure is compact, and the anthropomorphic effect is good, contributing to the popularization and use of humanoid robots. [Means for solving the problem]

[0010] In order to achieve one of the above objectives, the first technical solution of the present invention is as follows: A foot power structure for a humanoid robot, the foot power structure being provided on a waist of the humanoid robot and including a stepping drive unit, a thigh body module, a shin body module, and a leg module, which are connected in this order, the thigh body module including a first thigh body and a second thigh body, the shin body module including a shin body, and the leg module including a leg support member; The stepping drive unit drives the first thigh body to swing back and forth, and further swings the entire foot power structure back and forth; A hip joint drive unit is provided on the upper part of the first thigh body to drive the first thigh body to swing left and right, and further to swing the entire foot power structure left and right, A first drive unit is provided between the first thigh body and the second thigh body to realize relative circumferential rotation between the first thigh body and the second thigh body, a knee joint drive unit that realizes relative forward and backward swinging of the thigh body module and the shin body is provided between the thigh body module or the thigh body module and the shin body module; An ankle drive unit is provided on the shin body, and a connecting rod is provided at the output end of the ankle drive unit, and the connecting rod is connected to the leg support member so as to swing the leg support member up and down and left and right.

[0011] After continuous research and experimentation, in this invention, the hip joint drive unit installed in the waist of the humanoid robot drives the left and right swing of the entire leg, realizing the left and right movement of the humanoid robot; the first drive unit installed in the first thigh body or between the first thigh body and the second thigh body drives the entire body consisting of the shin body module and the leg module to rotate around its own axis, realizing the direction change of the humanoid robot; and the knee joint drive unit drives the forward and backward swing of the shin body module relative to the thigh body module. The ankle drive unit on the shin body drives the swing arm and connecting rod, which in turn drives the leg module to enable the humanoid robot to swing up and down and left and right. Therefore, the present invention can perform various anthropomorphic foot and leg movements, and can well meet the requirement for humanoid robots to achieve various moving postures. The overall design of the foot power structure is reasonable, the structure is compact, and the anthropomorphic effect is good, contributing to the popularization and use of humanoid robots.

[0012] Suitable technical measures include: The first driving unit is fixed to the first thigh body by a first hoop member, and a first axial structure that limits the axial movement of the first driving unit and a first circumferential structure that limits the circumferential rotation of the first driving unit are provided between the first hoop member and the first driving unit, and the first axial structure and the first circumferential structure are one integral structure or two separate structures; Or / and, the knee joint drive unit is fixed to the second thigh body by a second hoop member, and a second axial structure that limits the axial movement of the knee joint drive unit and a second circumferential structure that limits the circumferential movement of the knee joint drive unit are provided between the second hoop member and the knee joint drive unit, and the second axial structure and the second circumferential structure are one integrated structure or two separate structures; Or / and, the hip joint drive unit is fixed to the rotation end of the stepping drive unit by a third hoop member, and a third axial structure that limits the axial movement of the hip joint drive unit and a third circumferential structure that limits the circumferential movement of the hip joint drive unit are provided between the third hoop member and the hip joint drive unit, and the third axial structure and the third circumferential structure are one integral structure or two separate structures; Or / and, the stepping drive unit is attached to the waist abdominal member by a sixth hoop member, and between the sixth hoop member and the stepping drive unit there are provided a sixth axial structure that limits the axial movement of the stepping drive unit, and a sixth circumferential structure that limits the circumferential movement of the stepping drive unit, and the sixth axial structure and the sixth circumferential structure are one integrated structure or two separate structures.

[0013] The drive unit of the present invention is fixed by a tie member, which effectively fixes the drive unit to the foot body and prevents the drive unit from spinning freely. It also effectively reduces the use of fastening members (screws or bolts), improves the efficiency of attachment and detachment, and has a more aesthetically pleasing structure compared to a screw or bolt fixing structure.

[0014] Suitable technical measures include: the first axial structure includes a first annular protrusion provided on an inner ring of the first hoop member and a first annular groove provided on the first drive unit to engage with the first annular protrusion, and the first circumferential structure includes a first protrusion provided on the inner ring of the first hoop member and a first groove provided on the first drive unit to engage with the first protrusion, or / and the second axial structure includes a second annular protrusion provided on the inner ring of the second hoop member and a second annular groove provided on the knee joint drive unit to engage with the second annular protrusion, and the second circumferential structure includes a second protrusion provided on the inner ring of the second hoop member and a second groove provided on the knee joint drive unit to engage with the second protrusion, Or / and, the third axial structure includes a third annular protrusion provided on the inner ring of the third hoop member and a third annular groove provided on the hip joint drive unit to engage with the third annular protrusion, and the third circumferential structure includes a third protrusion provided on the inner ring of the third hoop member and a third groove provided on the hip joint drive unit to engage with the third protrusion.

[0015] The sixth axial structure includes a sixth annular protrusion provided on the inner ring of the sixth hoop member and a sixth annular groove provided on the stepping drive unit to engage with the sixth annular protrusion, and the sixth circumferential structure includes a sixth protrusion provided on the inner ring of the sixth hoop member and a sixth groove provided on the stepping drive unit to engage with the sixth protrusion.

[0016] The first drive unit, knee joint drive unit, hip joint drive unit, and stepping drive unit are all, or one or more of them can be selected and fixed to the corresponding first thigh body, second thigh body, and waist of the humanoid robot by a quick-detachable hoop structure, whereby the protrusion and groove stopper structure is used to limit the axial and circumferential displacement of the drive units on the foot body, and when removal is required, the mutually locked hoops can be released, making removal convenient and quick and the fixation reliable.

[0017] Suitable technical measures include: The first hoop member, the second hoop member, the third hoop member and the sixth hoop member are each divided in half and include two halves that are engaged and locked together, Alternatively, the first, second and sixth hoop members each have a semicircular arc structure, with connection holes at both ends for attaching fastening members; the third hoop member includes two hoop ring bodies that can be engaged and locked with each other; the corresponding first thigh body, second thigh body and waist member each have a concave arc structure, with attachment holes at their end faces for fixing fastening members; and the semicircular arc structure and the concave arc structure are screwed together to form a complete covering structure.

[0018] Due to the covering structure, the size and area of ​​the humanoid robot foot power structure do not increase due to the addition of hoop members. Furthermore, compared to the conventional circular hoop structure, only half the number of hoops need to be manufactured in this invention. Thus, the hoop members of this invention are easier to manufacture, the manufacturing cost is lower, and the humanoid robot foot power structure has a more aesthetic appearance.

[0019] As a preferred technical solution, the ankle drive unit includes a first ankle drive unit and a second ankle drive unit that are arranged vertically on the shank body; A first swing arm and a first interlocking rod are connected in that order to the output end of the first ankle drive unit, and a second swing arm and a second interlocking rod are connected in that order to the output end of the second ankle drive unit. The first and second interlocking rods form a front fork arm that is movably connected to the leg support member by a front bearing base and drives the leg support member to swing up and down and left and right. The structure is simple and practical, which contributes to production and reduces manufacturing costs.

[0020] A rear fork arm is provided at the lower end of the shank body, and is movably connected to the leg support member by a rear bearing base, and cooperates with the first interlocking rod and the second interlocking rod to complete the up-down and left-right swing of the leg support member.

[0021] Suitable technical measures include: The second thigh body is provided with a heat-conducting member that contacts the knee joint drive unit, Alternatively, an elastic protective cover that is engaged with the shin body is provided on the front or rear side of the shin body, Alternatively, the bottom of the leg support member is covered with a leg buffer member, which effectively prevents the leg support member from being worn and extends the service life of the leg structure.

[0022] Alternatively, a heat conduction member and / or a heat dissipation member is provided on or around the second thigh body and / or shin body and / or waist / abdominal member, and the heat conduction member is a metal piece, a heat pipe, a coolant, a metal wire, or a fin, and the heat dissipation member is a blower, a fan, or a heat dissipation fin, thereby effectively accelerating the heat dissipation of the second thigh body and the shin body and preventing the internal members of the second thigh body and the shin body from becoming too hot and affecting their normal operation.

[0023] Alternatively, the knee joint drive unit is attached to the thigh body module and drives the shin body module by a rod-shaped structure so as to swing back and forth relative to the thigh body module; Alternatively, the stepping drive unit, hip joint drive unit, first drive unit, knee joint drive unit, and ankle drive unit are each a rotary motor or a motor equipped with a reduction gear.

[0024] In order to achieve one of the above objectives, the second technical solution of the present invention is as follows: A foot power structure for a humanoid robot, comprising: a stepping drive unit to be attached to the humanoid robot; a first thigh body; a shin body; and a leg support member; The stepping drive unit drives the first thigh body to swing back and forth, and further swings the entire foot power structure back and forth; A hip joint drive unit is attached to the first thigh body to drive the first thigh body to swing left and right, and further to swing the entire foot power structure left and right, a knee joint drive unit is attached to the first thigh body or between the first thigh body and the shin body, the knee joint drive unit driving the shin body to swing relative to the first thigh body; An ankle drive unit for swinging the leg support member is attached to the shank body or between the shank body and the leg support member.

[0025] After continuous research and experimentation, this invention has been found to be able to perform various anthropomorphic foot and leg movements by arranging the first thigh body, shin body, leg support member and the corresponding hip joint drive unit, knee joint drive unit and ankle drive unit, thereby well meeting the requirement for humanoid robots to achieve various movement postures. The overall design of the foot power structure is reasonable, the structure is compact, and the anthropomorphic effect is good, contributing to the popularization and use of humanoid robots.

[0026] Suitable technical measures include: The first thigh body is connected to the knee joint drive unit by the second thigh body, A first drive unit, an input connection member, and an output connection member are provided between the first thigh body and the second thigh body, thereby realizing relative circumferential rotation between the first thigh body and the second thigh body, and the fixed end of the hip joint drive unit is fixedly connected to the rotating end of the stepping drive unit, and the stepping drive unit is attached to the waist abdominal member, Or / and, the fixed end of the first driving unit is fixed to the first thigh body by a first tie member, one of the first tie member and the fixed end of the first driving unit is provided with a recessed hole 1, and the other is provided with a protruding portion 1, and the cross-sectional shape of the recessed hole 1 matches the cross-sectional shape of the protruding portion 1; Or / and, the fixed end of the knee joint drive unit is fixed to the second thigh body by a second hoop member, one of the second hoop member and the fixed end of the knee joint drive unit is provided with a recessed hole 2, and the other is provided with a protruding portion 2, and the cross-sectional shape of the recessed hole 2 matches the cross-sectional shape of the protruding portion 2, or / and, the fixed end of the hip joint drive unit is fixed to the rotating end of the stepping drive unit by a third hoop member, one of the third hoop member and the fixed end of the hip joint drive unit is provided with a recessed hole 3, and the other is provided with a protruding portion 3, and the cross-sectional shape of the recessed hole 3 matches the cross-sectional shape of the protruding portion 3; Or / and, the fixed end of the ankle drive unit is fixed to the shin body by a fourth tie member, one of the fourth tie member and the fixed end of the ankle drive unit is provided with a recessed hole 4 and the other is provided with a protrusion 4, the cross-sectional shape of the recessed hole 4 and the cross-sectional shape of the protrusion 4 are aligned, or the fixed end of the ankle drive unit is directly fixed to the shin body by a bolt or screw, or / and, the input connection member and the output connection member are fixed by a fifth tie member, The stepping drive unit is attached to the waist abdominal member by a sixth hoop member, and one of the sixth hoop member and the fixed end of the stepping drive unit has a recessed hole 6, and the other has a protruding portion 6, and the cross-sectional shape of the recessed hole 6 matches the cross-sectional shape of the protruding portion 6.

[0027] Suitable technical measures include: The first, second, fourth, and sixth hoop members each have a semicircular arc structure, with connection holes at both ends for attaching fasteners. The corresponding first thigh body, second thigh body, shin body, and waist body members have concave arc structures or square-shaped structures, with attachment holes at their end faces for fixing fasteners. The semicircular arc structures and the concave arc structures are screwed together to form a complete foot covering structure. Due to the foot covering structure, the size and area of ​​the humanoid robot foot power structure do not increase due to the addition of hoop members. Furthermore, compared to the conventional circular hoop structure, only half the hoops need to be manufactured in the present invention. As such, the hoop members of the present invention are easier to manufacture, the manufacturing costs are lower, and the humanoid robot foot power structure is more aesthetically pleasing.

[0028] The third hoop member and the fifth hoop member each include two hoop ring bodies that can be engaged and locked with each other, Or / and, recessed hole 1, recessed hole 2, recessed hole 3, recessed hole 4, and recessed hole 6 are respectively angular recessed holes, or circular recessed holes, or variable diameter recessed holes, or trapezoidal recessed holes, or triangular recessed holes, and the corresponding protrusions 1, 2, 3, 4, and 6 are respectively angular protrusions, or circular protrusions, or variable diameter protrusions, or trapezoidal protrusions, or triangular protrusions. The arrangement of the recessed hole and protrusion structure directly limits the position of the drive unit in the axial and circumferential directions, making the structure simpler. According to needs, the number of recessed holes and protrusions can be multiple, which further increases the reliability of the position limiting of the drive unit.

[0029] Alternatively, the first hoop member and / or the second hoop member and / or the third hoop member and / or the fourth hoop member and / or the fifth hoop member and / or the sixth hoop member have a semicircular arc structure, or a ring structure, or a fan structure, or a strip structure, and connection holes for attaching fastening members are provided at both ends thereof; the first thigh body and / or the second thigh body and / or the waist abdominal member and / or the shin body have a concave arc structure, or a square piece structure, or a rod structure, or a columnar structure, or a sleeve structure, and attachment holes for fixing fastening members are provided at the end faces thereof; Or / and the leg support member is a shoe-like structure, or a strip-like structure, or a leg-shaped structure, or a block-like structure.

[0030] In order to achieve one of the above objectives, the third technical solution of this invention is as follows: The humanoid robot has a foot power structure for the humanoid robot attached to its waist. [Effects of the Invention]

[0031] In the humanoid robot foot power structure provided by this invention, the hip joint drive unit installed in the waist of the humanoid robot drives the left and right swing of the entire foot, realizing the left and right movement of the humanoid robot; the first drive unit installed between the first thigh body and the second thigh body drives the entire assembly consisting of the shank body module and the leg module to rotate around its own axis, realizing the direction change of the humanoid robot; the knee joint drive unit drives the shank body module to swing back and forth relative to the thigh body module, realizing the bending movement of the knee joint of the humanoid robot; and the ankle drive unit installed in the shank body moves the swing arm and connecting rod, and further drives the leg module, realizing the up and down and left and right swing of the humanoid robot. The overall design of the foot power structure is rational and the structure is compact, which well meets the requirement for the humanoid robot to realize various moving postures.

[0032] In the humanoid robot provided by the present invention, the foot power structure uses a hip joint drive unit installed in the waist of the humanoid robot to drive the left and right swing of the entire foot, thereby realizing the left and right movement of the humanoid robot; a first drive unit installed between the first thigh body and the second thigh body drives the entire assembly consisting of the shank body module and the leg module to rotate around its own axis, thereby realizing the direction change of the humanoid robot; a knee joint drive unit drives the shank body module to swing back and forth relative to the thigh body module, thereby realizing the bending movement of the knee joint of the humanoid robot; and an ankle drive unit installed in the shank body moves the swing arm and connecting rod, which further drives the leg module to realize the up and down and left and right swing of the humanoid robot. The overall design of the foot power structure is rational and the structure is compact, which well meets the requirement for the humanoid robot to realize various moving postures.

[0033] Furthermore, in this invention, by arranging the first thigh body, shin body, leg support member and the corresponding hip joint drive unit, knee joint drive unit and ankle drive unit, various anthropomorphic foot and leg movements can be performed, which can well meet the requirement of humanoid robots to realize various movement postures. The overall design of the foot power structure is reasonable, the structure is compact, and the anthropomorphic effect is good, which contributes to the popularization and use of humanoid robots.

[0034] The present invention will be described in more detail below in conjunction with the drawings and specific embodiments. [Brief explanation of the drawings]

[0035] [Figure 1] 1 is a schematic diagram of the bipedal structure of the foot power structure of the humanoid robot of the present invention. [Figure 2] 1 is an exploded view of the bipedal structure of the foot power structure of the humanoid robot of the present invention; FIG. [Figure 3] 1 is a perspective view of the foot power structure of a humanoid robot according to the present invention; FIG. [Figure 4] 1 is a rear perspective view of the foot power structure of the humanoid robot according to the present invention; FIG. [Figure 5] 1 is a side view of the foot power structure of the humanoid robot of the present invention; FIG. [Figure 6] FIG. 2 is a rear view of the foot power structure of the humanoid robot of the present invention. [Figure 7] 1 is a full cross-sectional view of the foot power structure of the humanoid robot of the present invention. [Figure 8] FIG. 2 is an exploded view of the foot power structure of the humanoid robot of the present invention. [Figure 9] 1 is a partially enlarged view of part B of the foot power structure of the humanoid robot of the present invention. FIG. [Figure 10] 1 is a partially enlarged view of part C of the foot power structure of the humanoid robot of the present invention. FIG. [Figure 11] FIG. 2 is a partially enlarged view of part D of the foot power structure of the humanoid robot of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0036] The present invention will be further described below in conjunction with the drawings and specific embodiments, and new embodiments may be formed by any combination of the embodiments or technical features described below, provided that there is no conflict.

[0037] Herein, when two elements are "fixedly connected" or "swingingly connected," the two elements may be directly connected, or there may be an intermediate element present. Also, when an element is described as being "directly" located "on" another element, there is no intermediate element present. As used herein, the terms "left," "right," "front," "rear," "above," "below," and similar expressions are for descriptive purposes only.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. The terms used herein do not limit the invention, but are merely used to describe specific examples.

[0039] As shown in Figures 1 to 11, the first specific embodiment of the foot power structure of the humanoid robot of the present invention is as follows: A foot power structure for a humanoid robot, comprising a stepping drive unit 52 to be attached to the humanoid robot, a first thigh body 11, a shin body 21, and a leg support member 31; The stepping drive unit 52 drives the first thigh body 11 to swing back and forth, and further swings the entire foot power structure back and forth, and a hip joint drive unit 13 is attached to the first thigh body 11, which drives the first thigh body 11 to swing left and right, and further swings the entire foot power structure left and right, A knee joint drive unit 15 is attached to the first thigh body 11 or between the first thigh body 11 and the shin body 21, and drives the shin body 21 to swing relative to the first thigh body 11. An ankle drive unit for swinging the leg support member 31 is attached to the shin body 21 or between the shin body 21 and the leg support member 31 .

[0040] In this embodiment, the first thigh body 11 is connected to the knee joint drive unit 15 by the second thigh body 12, A first drive unit 14, an input connection member 59, and an output connection member 60 are provided between the first thigh body 11 and the second thigh body 12, thereby realizing relative circumferential rotation between the first thigh body 11 and the second thigh body 12. The fixed end of the hip joint drive unit 13 is fixedly connected to the rotating end of the stepping drive unit 52, and the stepping drive unit 52 is attached to the waist member 53.

[0041] The fixed end of the first driving unit 14 is fixed to the first thigh body 11 by a first hoop member 4, and one of the first hoop member 4 and the fixed end of the first driving unit 14 is provided with a recessed hole 1, and the other is provided with a protruding portion 1, and the cross-sectional shape of the recessed hole 1 matches the cross-sectional shape of the protruding portion 1, The fixed end of the knee joint drive unit 15 is fixed to the second thigh body 12 by a second hoop member 49, and one of the second hoop member 49 and the fixed end of the knee joint drive unit 15 has a recessed hole 2 and the other has a protruding portion 2, and the cross-sectional shape of the recessed hole 2 matches the cross-sectional shape of the protruding portion 2, The fixed end of the hip joint drive unit 13 is fixed to the rotating end of the stepping drive unit 52 by a third hoop member 62, and one of the third hoop member 62 and the fixed end of the hip joint drive unit 13 is provided with a recessed hole 3, and the other is provided with a protruding portion 3, and the cross-sectional shape of the recessed hole 3 matches the cross-sectional shape of the protruding portion 3. The input connection member 59 and the output connection member 60 are fixed by a fifth hoop member 61 .

[0042] The stepping drive unit 52 is attached to the waist abdominal member 53 by a sixth hoop member 54, and a recessed hole 6 is provided in one of the sixth hoop member 54 and the fixed end of the stepping drive unit 52, and a protrusion 6 is provided in the other, and the cross-sectional shape of the recessed hole 6 matches the cross-sectional shape of the protrusion 6.

[0043] In this embodiment, the first tie member 4, the second tie member 49, and the sixth tie member 54 each have a semicircular arc structure, and both ends are provided with connection holes 63 for attaching fastening members. The corresponding first thigh body 11, second thigh body 12, and waist abdominal member 53 have a concave arc structure, and their end faces are provided with attachment holes 64 for fixing fastening members. The semicircular arc structure and the concave arc structure are screwed together to form a complete foot covering structure.

[0044] The third and fifth hoop members 62, 61 are each split in half and include two halves that engage and lock together.

[0045] The recessed holes 1, 2, 3, and 6 are each a rectangular recessed hole, and the corresponding protrusions 1, 2, 3, and 6 are each a rectangular protrusion.

[0046] The leg support member 31 has a leg-shaped structure.

[0047] The second specific embodiment of the foot power structure of the humanoid robot of the present invention is as follows: The foot power structure for a humanoid robot is provided on the waist of the humanoid robot and includes a stepping drive unit 52, a thigh body module 1, a shin body 21 module 2, and a leg module 3, which are connected in this order. The thigh body module 1 includes a first thigh body 11 and a second thigh body 12. The shin body 21 module 2 includes the shin body 21. The leg module 3 includes a leg support member 31. The stepping drive unit 52 drives the first thigh body 11 to swing back and forth, thereby swinging the entire foot power structure back and forth. A hip joint drive unit 1 is provided above the first thigh body 11, which drives the first thigh body 11 to swing left and right, thereby swinging the entire foot power structure left and right. 3 is provided, and a first drive unit 14 is provided between the first thigh body 11 and the second thigh body 12 to drive the first thigh body 11 and the second thigh body 12 so as to rotate them relatively in the circumferential direction, and a knee joint drive unit 15 is provided between the thigh body module 1 and the shin body 21 module 2 to drive the thigh body module 1 and the shin body 21 module 2 so as to swing them relatively back and forth, and an ankle drive unit is provided on the shin body 21, and a swing arm and a connecting rod are connected in sequence to the output end of the ankle drive unit, and the connecting rod is connected to the leg support member 31 so as to swing the leg support member 31 up and down and left and right.

[0048] In this embodiment, the first drive unit 14 is fixed to the first thigh body 11 by a first hoop member 4, and a first axial structure that limits the axial movement of the first drive unit 14 and a first circumferential structure that limits the circumferential rotation of the first drive unit 14 are provided between the first hoop member 4 and the first drive unit 14, the first axial structure and the first circumferential structure being one integrated structure or two separate structures, and the knee joint drive unit 15 is fixed to the second thigh body 12 by a second hoop member 49, and a second axial structure that limits the axial movement of the knee joint drive unit 15 and a second circumferential structure that limits the circumferential movement of the knee joint drive unit 15 are provided between the second hoop member 49 and the knee joint drive unit 15, the second axial structure and the second circumferential structure being one integrated structure or two separate structures.

[0049] The hip joint drive unit 13 is fixed to the rotation end of the stepping drive unit 52 by a third hoop member 62, and a third axial structure that limits the axial movement of the hip joint drive unit 13 and a third circumferential structure that limits the circumferential movement of the hip joint drive unit 13 are provided between the third hoop member 62 and the hip joint drive unit 13, and the third axial structure and the third circumferential structure are one integrated structure or two separate structures.

[0050] The stepping drive unit 52 is attached to the waist member 53 by a sixth hoop member 54, and between the sixth hoop member 54 and the stepping drive unit 52 there are provided a sixth axial structure for limiting the axial movement of the stepping drive unit 52 and a sixth circumferential structure for limiting the circumferential movement of the stepping drive unit 52, and the sixth axial structure and the sixth circumferential structure are one integrated structure or two separate structures.

[0051] In this embodiment, the first axial structure includes a first annular protrusion 41 provided on the inner ring of the first hoop member 4 and a first annular groove 42 provided on the first drive unit 14 to engage with the first annular protrusion 41, the first circumferential structure includes a first protrusion 43 provided on the inner ring of the first hoop member 4 and a first groove 44 provided on the first drive unit 14 to engage with the first protrusion 43, the second axial structure includes a second annular protrusion 45 provided on the inner ring of the second hoop member 49 and a second annular groove 46 provided on the knee joint drive unit 15 to engage with the second annular protrusion 45, and the second circumferential structure includes a second protrusion 47 provided on the inner ring of the second hoop member 49 and a second groove 48 provided on the knee joint drive unit 15 to engage with the second protrusion 47.

[0052] The first drive unit 14 and the knee joint drive unit 15 are both fixed to the first thigh body 11 and the second thigh body 12 by a quick-detachable hoop structure, and a protrusion and groove stopper structure is used to limit the axial and circumferential displacement of the first drive unit 14 on the first thigh body 11 and the axial and circumferential displacement of the knee joint drive unit 15 on the second thigh body 12. If removal is required, the mutually locked hoops can be released, making removal convenient and quick, and the fixation reliable.

[0053] The third axial structure includes a third annular protrusion 66 provided on the inner ring of the third hoop member 62 and a third annular groove 65 provided on the hip joint drive unit 13 to engage with the third annular protrusion 66, and the third circumferential structure includes a third protrusion 67 provided on the inner ring of the third hoop member 62 and a third groove 68 provided on the hip joint drive unit 13 to engage with the third protrusion 67, The sixth axial structure includes a sixth annular protrusion 56 provided on the inner ring of the sixth hoop member 54 and a sixth annular groove 55 provided on the stepping drive unit 52 to engage with the sixth annular protrusion 56, and the sixth circumferential structure includes a sixth protrusion 58 provided on the inner ring of the sixth hoop member 54 and a sixth groove 57 provided on the stepping drive unit 52 to engage with the sixth protrusion 58.

[0054] In this embodiment, the first tie member 4, the second tie member 49 and the sixth tie member 54 each have a semicircular arc structure, and both ends are provided with connection holes 63 for attaching fastening members. The corresponding first thigh body 11, second thigh body 12 and waist abdominal member 53 have a concave arc structure, and their end faces are provided with attachment holes 64 for fixing fastening members. The semicircular arc structure and the concave arc structure are screwed together to form a complete covering structure.

[0055] In this embodiment, the ankle drive unit includes a first ankle drive unit 22 and a second ankle drive unit 23 arranged vertically on the shank body 21. A first swing arm 24 and a first linking rod 25 are connected in this order to the output end of the first ankle drive unit 22, and a second swing arm 26 and a second linking rod 27 are connected in this order to the output end of the second ankle drive unit 23. The first linking rod 25 and the second linking rod 27 form a front fork arm which is movably connected to the leg support member 31 by a front bearing base 50 and drives the leg support member 31 to swing up and down and left and right. A rear fork arm 30 is provided at the lower end of the shank body 21 and is movably connected to the leg support member 31 by a rear bearing base 51 and cooperates with the first linking rod 25 and the second linking rod 27 to complete the swing of the leg support member 31 in the up and down and left and right directions.

[0056] In this embodiment, the second thigh body 12 is provided with a heat-conducting member 29 that contacts the knee joint drive unit 15. An elastic protective cover 28 that engages with the shin body 21 is provided on the front or rear side of the shin body 21. The leg bottom of the leg support member (31) is covered with a leg cushioning member 32. The knee joint drive unit 15 is attached to the thigh body module 1 and drives the shin body module 2 by a rod-like structure to swing back and forth relative to the thigh body module 1. The stepping drive unit 52, hip joint drive unit 13, first drive unit 14, knee joint drive unit 15, and ankle drive unit are each a rotary motor or a motor equipped with a reduction gear.

[0057] Furthermore, a heat conduction member 29 and / or a heat dissipation member 69 is provided on or around the second thigh body 12 and / or the shin body 21 and / or the waist and abdominal member 53, and the heat conduction member 29 is a metal piece, a heat pipe, a coolant, a metal wire, or a fin, and the heat dissipation member 69 is a blower, a fan, or a heat dissipation fin, and is used to dissipate heat from the drive unit.

[0058] The third embodiment of the foot power structure of the humanoid robot of the present invention is as follows: A foot power structure for a humanoid robot is provided on the waist of the humanoid robot and includes a stepping drive unit 52, a thigh rod module, a shin rod module, and a leg module 3, which are connected in this order, the thigh rod module includes a first thigh rod and a second thigh rod, the shin rod module includes a shin rod, and the leg module 3 includes a leg support member 31, the stepping drive unit 52 drives the first thigh body 11 to swing back and forth, and further swings the entire foot power structure back and forth, a hip joint motor and reduction gear unit is provided on the top of the first thigh rod to drive the first thigh rod to swing left and right, and further swings the entire foot power structure left and right, A first motor and reduction gear unit is provided between the first thigh rod and the second thigh rod, driving the first thigh rod and the second thigh rod to rotate relative to each other in the circumferential direction; a knee joint motor and reduction gear unit is provided between the thigh rod module and the shin rod module, driving the thigh rod module and the shin rod module to swing relatively back and forth; an ankle motor and reduction gear unit is provided on the shin rod, and a swing arm and a connecting rod, which are connected in sequence, are provided at the output end of the ankle motor and reduction gear unit, and the connecting rod is connected to the leg support member 31 to swing the leg support member 31 up and down and left and right.

[0059] In this embodiment, the first motor and reduction gear unit is fixed to the first thigh rod by a first hoop module, and a first axial structure that limits the axial movement of the first motor and reduction gear unit and a first circumferential structure that limits the circumferential rotation of the first motor and reduction gear unit are provided between the first hoop module and the first motor and reduction gear unit, the first axial structure and the first circumferential structure are one integrated structure or two separate structures, and the knee joint motor and reduction gear unit is fixed to the second thigh rod by a second hoop module, and a second axial structure that limits the axial movement of the knee joint motor and reduction gear unit and a second circumferential structure that limits the circumferential movement of the knee joint motor and reduction gear unit are provided between the second hoop module and the knee joint motor and reduction gear unit.

[0060] In this embodiment, the first axial structure includes a first annular protrusion 41 provided on the inner ring of the first hoop module and a first annular groove 42 provided on the first motor and reduction gear unit to engage with the first annular protrusion 41, the first circumferential structure includes a first protrusion 43 provided on the inner ring of the first hoop module and a first groove 44 provided on the first motor and reduction gear unit to engage with the first protrusion 43, the second axial structure includes a second annular protrusion 45 provided on the inner ring of the second hoop module and a second annular groove 46 provided on the knee joint motor and reduction gear unit to engage with the second annular protrusion 45, and the second circumferential structure includes a second protrusion 47 provided on the inner ring of the second hoop module and a second groove 48 provided on the knee joint motor and reduction gear unit to engage with the second protrusion 47.

[0061] In this embodiment, the first hoop module and the second hoop module are both arc-shaped hoops. The first motor and reduction gear unit and the knee joint motor and reduction gear unit are both fixed to the first thigh rod and the second thigh rod by quick-detachable hoop structures, and a protrusion and groove stop structure is used to limit the axial and circumferential displacement of the first motor and reduction gear unit on the first thigh rod, and the axial and circumferential displacement of the knee joint motor and reduction gear unit on the second thigh rod. When removal is required, the mutually locked hoops can be released, making removal convenient and fast, and the fixation reliable.

[0062] In this embodiment, the ankle motor and reduction gear unit includes a first ankle motor and reduction gear unit, and a second ankle motor and reduction gear unit. The first ankle motor and reduction gear unit and the second ankle motor and reduction gear unit are vertically arranged on the shin rod. A first swing arm 24 and a first linking rod 25 are connected in sequence to the output end of the first ankle motor and reduction gear unit, and a second swing arm 26 and a second linking rod 27 are connected to the output end of the second ankle motor and reduction gear unit. are connected in sequence, and the first interlocking rod 25 and the second interlocking rod 27 form a front fork arm, which is movably connected to the leg support member 31 by a front bearing base 50, thereby driving the leg support member 31 to swing up and down and left and right, and a rear fork arm 30 is provided at the lower end of the shin rod, which is movably connected to the leg support member 31 by a rear bearing base 51, and cooperates with the first interlocking rod 25 and the second interlocking rod 27 to complete the swing of the leg support member 31 in the up and down and left and right directions.

[0063] Specific embodiments of the humanoid robot of the present invention are as follows: The humanoid robot has a foot power structure for the humanoid robot attached to its waist.

[0064] In the present application, the fixed connection may be by screwing, welding, caulking, insertion, or other means, and those skilled in the art may select the appropriate connection according to the actual situation.

[0065] Finally, the above examples are used for illustration purposes only, rather than for limiting the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above examples, those skilled in the art will understand that amendments or equivalent replacements may still be made to the specific embodiments of the present invention, and any amendments or equivalent replacements that do not depart from the spirit and scope of the present invention should fall within the protection scope of the claims of the present invention. [Explanation of symbols]

[0066] 1 ···Thigh body module; 11 ···First thigh body; 12 ···Second thigh body; 13 ···Hip drive unit; 14 ···First drive unit; 15 ···Knee joint drive unit; 2···shank body module; 21 ···Shin body; 22 ···First ankle drive unit; 23 ···Second ankle drive unit; 24 ···First swing arm; 25 ···First interlocking rod; 26 ···Second swing arm; 27 ···Second interlocking rod; 28 ···Elastic protective cover; 29 ···Heat conduction member; 30 ··· rear fork arm; 3 ···Leg module; 31 ···Leg support member; 32 ···Leg cushioning member; 4 ···First hoop; 41 ···First annular protrusion; 42 ···First annular groove; 43...1st protrusion; 44...first groove; 45 ···Second annular protrusion; 46 ···Second annular groove; 47...Second protrusion; 48...Second groove; 49 ···Second hoop; 50...Front bearing pedestal; 51...rear bearing stand; 52 ···Stepping drive unit; 53...waist and abdomen material, 54 ···6th hoop; 55 ···6th annular groove; 56 ···6th annular process; 57...6th groove; 58...6th protrusion; 59 ···Input connection member; 60 ···Output connection member; 61 ···5th hoop; 62 ···Third hoop member; 63 ···Connection hole; 64 ···Mounting hole; 65 ···Third annular groove; 66 ···Third annular process; 67...Third protrusion; 68...Third groove; 69 ···Heat dissipation component.

Claims

1. A foot power structure for a humanoid robot, The humanoid robot includes a stepping drive unit (52), a thigh body module (1), a shin body module (2), and a leg module (3) that are provided at the waist and connected in this order, the thigh body module (1) includes a first thigh body (11) and a second thigh body (12), the shin body module (2) includes a shin body (21), and the leg module (3) includes a leg support member (31), The stepping drive unit (52) drives the first thigh body (11) to swing back and forth, and further swings the entire foot power structure back and forth; A hip joint drive unit (13) is provided on the upper part of the first thigh body (11) to drive the first thigh body (11) to swing left and right, and further to swing the entire foot power structure left and right; A first drive unit (14) is provided between the first thigh body (11) and the second thigh body (12) to realize relative rotation in the circumferential direction between the first thigh body (11) and the second thigh body (12), A knee joint drive unit (15) is provided between the thigh body module (1) or the thigh body module (1) and the shin body module (2) to realize relative forward and backward swinging of the thigh body module (1) and the shin body (21); The shank body (21) is provided with an ankle drive unit, and a connecting rod is provided at the output end of the ankle drive unit, and the connecting rod is connected to the leg support member (31) so as to swing the leg support member (31) up and down and left and right.

2. The first drive unit (14) is fixed to the first thigh body (11) by a first hoop member (4), and a first axial structure for restricting axial movement of the first drive unit (14) and a first circumferential structure for restricting circumferential rotation of the first drive unit (14) are provided between the first hoop member (4) and the first drive unit (14), and the first axial structure and the first circumferential structure are one integral structure or two separate structures; or / and the knee joint drive unit (15) is fixed to the second thigh body (12) by a second hoop member (49), and a second axial structure for restricting the axial movement of the knee joint drive unit (15) and a second circumferential structure for restricting the circumferential movement of the knee joint drive unit (15) are provided between the second hoop member (49) and the knee joint drive unit (15), and the second axial structure and the second circumferential structure are one integral structure or two separate structures; or / and the hip joint drive unit (13) is fixed to the rotation end of the stepping drive unit (52) by a third hoop member (62), and a third axial structure for restricting the axial movement of the hip joint drive unit (13) and a third circumferential structure for restricting the circumferential movement of the hip joint drive unit (13) are provided between the third hoop member (62) and the hip joint drive unit (13), and the third axial structure and the third circumferential structure are one integral structure or two separate structures; Or / and, the stepping drive unit (52) is attached to the waist member (53) by a sixth hoop member (54), and a sixth axial structure that limits the axial movement of the stepping drive unit (52) and a sixth circumferential structure that limits the circumferential movement of the stepping drive unit (52) are provided between the sixth hoop member (54) and the stepping drive unit (52), and the sixth axial structure and the sixth circumferential structure are one integrated structure or two separate structures.

3. The first axial structure includes a first annular protrusion (41) provided on the inner ring of the first hoop member (4) and a first annular groove (42) provided on the first drive unit (14) to engage with the first annular protrusion (41), and the first circumferential structure includes a first protrusion (43) provided on the inner ring of the first hoop member (4) and a first groove (44) provided on the first drive unit (14) to engage with the first protrusion (43). or / and the second axial structure includes a second annular protrusion (45) provided on the inner ring of the second hoop member (49) and a second annular groove (46) provided on the knee joint drive unit (15) to engage with the second annular protrusion (45), and the second circumferential structure includes a second protrusion (47) provided on the inner ring of the second hoop member (49) and a second groove (48) provided on the knee joint drive unit (15) to engage with the second protrusion (47); Or / and the third axial structure includes a third annular protrusion (66) provided on the inner ring of the third hoop member (62) and a third annular groove (65) provided on the hip joint drive unit (13) to be engaged with the third annular protrusion (66), and the third circumferential structure includes a third protrusion (67) provided on the inner ring of the third hoop member (62) and a third groove (68) provided on the hip joint drive unit (13) to be engaged with the third protrusion (67), 3. The foot power structure for a humanoid robot according to claim 2, wherein the sixth axial structure includes a sixth annular protrusion (56) provided on the inner ring of the sixth hoop member (54) and a sixth annular groove (55) provided on the stepping drive unit (52) to engage with the sixth annular protrusion (56), and the sixth circumferential structure includes a sixth protrusion (58) provided on the inner ring of the sixth hoop member (54) and a sixth groove (57) provided on the stepping drive unit (52) to engage with the sixth protrusion (58).

4. The first hoop member (4), the second hoop member (49), the third hoop member (62) and the sixth hoop member (54) are each divided into halves and include two halves that are engaged and locked together; Alternatively, the first hoop member (4), the second hoop member (49), and the sixth hoop member (54) each have a semicircular arc-shaped structure, with connection holes (63) at both ends for attaching fastening members; the third hoop member (62) each includes two hoop ring bodies that can be engaged and locked with each other; the corresponding first thigh body (11), second thigh body (12), and waist abdominal member (53) each have a concave arc-shaped structure, with the attachment holes (64) at their end faces for fixing the fastening members; and the semicircular arc-shaped structure and the concave arc-shaped structure are screwed together to form a complete covering structure.

5. The ankle drive unit includes a first ankle drive unit (22) and a second ankle drive unit (23) that are provided on the shank body (21) so as to be arranged vertically, A first swing arm (24) and a first interlocking rod (25) are connected in this order to the output end of the first ankle drive unit (22), and a second swing arm (26) and a second interlocking rod (27) are connected in this order to the output end of the second ankle drive unit (23). The first interlocking rod (25) and the second interlocking rod (27) form a front fork arm, which is movably connected to the leg support member (31) by a front bearing base (50) and drives the leg support member (31) to swing up and down and left and right.

5. The foot power structure for a humanoid robot according to claim 1, wherein a rear fork arm (30) is provided at the lower end of the shank body (21), and is movably connected to the leg support member (31) by a rear bearing base (51), and cooperates with the first interlocking rod (25) and the second interlocking rod (27) to complete the up-down and left-right swinging of the leg support member (31).

6. The second thigh body (12) is provided with a heat-conducting member (29) that contacts the knee joint drive unit (15), Alternatively, an elastic protective cover (28) is provided on the front or rear side of the shin body (21) and is engaged with the shin body (21), Alternatively, the bottom of the leg support member (31) is covered with a leg buffer member (32), Alternatively, the heat conducting member (29) and / or the heat dissipating member (69) are provided on or around the second thigh body (12) and / or the shin body (21) and / or the waist and abdominal member (53), the heat conducting member (29) being a metal piece, a heat pipe, a coolant, a metal wire, or a fin, and the heat dissipating member (69) being a blower, a fan, or a heat dissipating fin, Alternatively, the knee joint drive unit (15) is attached to the thigh body module (1) and drives the shin body module (2) by a rod-like structure so as to swing back and forth relative to the thigh body module (1); Alternatively, the stepping drive unit (52), the hip joint drive unit (13), the first drive unit (14), the knee joint drive unit (15), and the ankle drive unit are each a rotary motor or a motor equipped with a reduction gear.

7. A foot power structure for a humanoid robot, The robot includes a stepping drive unit (52) to be attached to the humanoid robot, a first thigh body (11), a shin body (21), and a leg support member (31), The stepping drive unit (52) drives the first thigh body (11) to swing back and forth, and further swings the entire foot power structure back and forth; A hip joint drive unit (13) is attached to the first thigh body (11) to drive the first thigh body (11) to swing left and right, and further to swing the entire foot power structure left and right; A knee joint drive unit (15) is attached to the first thigh body (11) or between the first thigh body (11) and the shin body (21), and drives the shin body (21) to swing relative to the first thigh body (11). A foot power structure for a humanoid robot, characterized in that an ankle drive unit for swinging the leg support member (31) is attached to the shin body (21) or between the shin body (21) and the leg support member (31).

8. The first thigh body (11) is connected to the knee joint drive unit (15) by a second thigh body (12), Between the first thigh body (11) and the second thigh body (12) are provided a first drive unit (14), an input connection member (59), and an output connection member (60) for realizing relative circumferential rotation between the first thigh body (11) and the second thigh body (12), and the fixed end of the hip joint drive unit (13) is fixedly connected to the rotating end of the stepping drive unit (52), and the stepping drive unit (52) is attached to a waist member (53), Or / and, the fixed end of the first drive unit (14) is fixed to the first thigh body (11) by a first hoop member (4), one of the first hoop member (4) and the fixed end of the first drive unit (14) is provided with a recessed hole 1, and the other is provided with a protrusion 1, and the cross-sectional shape of the recessed hole 1 matches the cross-sectional shape of the protrusion 1; Or / and, the fixed end of the knee joint drive unit (15) is fixed to the second thigh body (12) by a second hoop member (49), one of the second hoop member (49) and the fixed end of the knee joint drive unit (15) is provided with a recessed hole (2) and the other is provided with a protruding portion (2), and the cross-sectional shape of the recessed hole (2) matches the cross-sectional shape of the protruding portion (2); Or / and, the fixed end of the hip joint drive unit (13) is fixed to the rotating end of the stepping drive unit (52) by a third hoop member (62), one of the third hoop member (62) and the fixed end of the hip joint drive unit (13) is provided with a recessed hole (3) and the other is provided with a protrusion (3), and the cross-sectional shape of the recessed hole (3) matches the cross-sectional shape of the protrusion (3), or / and, the fixed end of the ankle drive unit is fixed to the shank body (21) by a fourth tie member, one of the fourth tie member and the fixed end of the ankle drive unit is provided with a recessed hole (4) and the other is provided with a protrusion (4), the cross-sectional shape of the recessed hole (4) and the cross-sectional shape of the protrusion (4) are aligned; and / or the input connection member (59) and the output connection member (60) are fixed by a fifth hoop member (61); 8. The foot power structure for a humanoid robot according to claim 7, wherein the stepping drive unit (52) is attached to the waist abdominal member (53) by a sixth hoop member (54), a recess (6) is provided in one of the sixth hoop member (54) and the fixed end of the stepping drive unit (52), and a protrusion (6) is provided in the other, and the cross-sectional shape of the recess (6) matches the cross-sectional shape of the protrusion (6).

9. The first hoop member (4), the second hoop member (49), the fourth hoop member, and the sixth hoop member (54) each have a semicircular arc structure, and connection holes (63) are provided at both ends for attaching fastening members. The corresponding first thigh body (11), second thigh body (12), shin body (21), and waist abdominal member (53) have a concave arc structure or a square piece structure, and attachment holes (64) are provided at their end faces for fixing the fastening members. The semicircular arc structure and the concave arc structure are screwed together to form a complete foot covering structure. The third hoop member (62) and the fifth hoop member (61) each include two hoop ring bodies that can be engaged and locked with each other, or / and the recessed hole 1, the recessed hole 2, the recessed hole 3, the recessed hole 4, and the recessed hole 6 are each a rectangular recessed hole, or a circular recessed hole, or a variable diameter recessed hole, or a trapezoidal recessed hole, or a triangular recessed hole, and the corresponding convex portion 1, the convex portion 2, the convex portion 3, the convex portion 4, and the convex portion 6 are each a rectangular convex portion, or a circular convex portion, or a variable diameter convex portion, or a trapezoidal convex portion, or a triangular convex portion, Alternatively, the first hoop member (4) or / and the second hoop member (49), or / and the third hoop member (62), or / and the fourth hoop member, or / and the fifth hoop member (61), and the sixth hoop member (54) have the semicircular arc structure, or the ring structure, or the fan-shaped structure, or the strip-shaped structure, and the connection holes (63) for attaching the fastening members are opened at both ends thereof; and the first thigh body (11) or / and the second thigh body (12), or / and the waist abdominal member (53), and / or the shin body (21) have the concave arc structure, or the square piece-shaped structure, or the rod-shaped structure, or the columnar structure, or the sleeve structure, and the attachment holes (64) for fixing the fastening members are provided at the end faces thereof. Or / and, the foot power structure of a humanoid robot according to claim 8, characterized in that the foot support member (31) is a shoe-like structure, a piece-like structure, a leg-shaped structure, or a block-like structure.

10. A humanoid robot, characterized in that the foot power structure for a humanoid robot according to any one of claims 1 to 9 is provided on the waist of the humanoid robot.

Images