Leg power structure for humanoid robot and humanoid robot

Abstract

The present invention relates to the technical field of humanoid robots. Disclosed are a leg power structure for a humanoid robot and a humanoid robot. The leg power structure for a humanoid robot of the present invention comprises a stride driving unit, thigh body assemblies, shank body assemblies and foot assemblies, which are arranged on the waist of a humanoid robot and are connected in sequence, wherein the striding driving unit is configured to drive the whole leg power structure to swing forward and backward; each thigh body assembly comprises a first thigh body and a second thigh body; each shank body assembly comprises a shank body; each foot assembly comprises a foot support member; hip joint driving units are provided on the upper portions of the first thigh bodies so as to drive the whole leg power structure to swing to the left and right; and a first driving unit is provided between each first thigh body and the corresponding second thigh body, so as to realize relative circumferential rotation between the first thigh body and the second thigh body. The whole leg power structure of the present invention has a rational design, is compact, and better meets the requirements of the humanoid robot for various motion postures.

Description

A humanoid robot leg power structure and humanoid robot Technical Field

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

[0002] In recent years, the robotics industry has developed rapidly, especially humanoid robots have become one of the focuses in the field of robotics technology at home and abroad, and the leg power structure of humanoid robots is the focus of humanoid robot design.

[0003] Furthermore, a Chinese patent (publication number CN111098951A) discloses a walking structure for a humanoid service robot and the robot itself. This walking structure features two sets of foot links and connecting rods positioned between the hips and torso. The hips, torso, and one set of foot links and connecting rods form a four-bar linkage. The hips are relatively fixed, and the hip servo drives the torso to swing relative to the hips, causing the connecting rods to move in tandem with the foot links. The two foot links are fixed to the output shafts of two foot servos, respectively. Each set of the four-bar linkage and its corresponding foot servo constitutes a leg.

[0004] However, the above scheme uses a four-bar mechanism and a hip servo to realize the movement of the hip and legs. The movements that can be made are relatively few and cannot meet the requirements of humanoid robots to achieve various postures and movements. The anthropomorphic effect is not good, which is not conducive to the promotion and use of humanoid robots.

[0005] Furthermore, in the above solution, the design and layout of the power structure of the legs of the humanoid robot are not reasonable enough, and the overall structure is relatively bloated and not compact enough.

[0006] The information disclosed in this Background Art is only for understanding the background of the present inventive concept and therefore it may include information that does not constitute prior art. Technical Solutions

[0007] In response to the above problem or one of the above problems, an object of the present invention is to provide a leg power structure of a humanoid robot that can meet the requirements of the humanoid robot to achieve various postures and movements and has a simple and compact structure.

[0008] In response to the above problem or one of the above problems, a second object of the present invention is to provide a humanoid robot whose leg power structure can meet the requirements of the humanoid robot to achieve various postures and movements and has a simple and compact structure.

[0009] In response to the above problem or one of the above problems, the third object of the present invention is to provide a leg power structure of a humanoid robot and a humanoid robot. By setting a first thigh body, a calf body and a foot support and corresponding hip joint drive unit, knee joint drive unit, and ankle drive unit, various anthropomorphic leg and foot movements can be performed, thereby well meeting the requirements of the humanoid robot to achieve various action postures, and the entire leg power structure is reasonably designed, compact in structure, and has a good anthropomorphic effect, which is convenient for the promotion and use of humanoid robots.

[0010] To achieve one of the above purposes, the first technical solution of the present invention is:

[0011] A humanoid robot leg power structure includes a stride drive unit, a thigh assembly, a shank assembly, and a foot assembly, which are connected in sequence and are located at the waist of the humanoid robot. The thigh assembly includes a first thigh assembly and a second thigh assembly, the shank assembly includes a shank assembly, and the foot assembly includes a foot support member.

[0012] The stride drive unit is used to drive the first thigh to swing back and forth, thereby driving the entire leg power structure to swing back and forth;

[0013] A hip joint driving unit is provided on the upper portion of the first thigh body to drive the first thigh body to swing left and right, thereby driving the entire leg power structure to swing left and right;

[0014] A first driving unit is provided between the first thigh body and the second thigh body to realize relative circumferential rotation of the first thigh body and the second thigh body;

[0015] A knee joint drive unit is provided on the thigh body component, or between the thigh body component and the calf body component, to enable the thigh body component and the calf body to swing relative to each other forward and backward;

[0016] The calf body is provided with an ankle driving unit, and the output end of the ankle driving unit is provided with a connecting rod, which is connected to the foot support member to drive the foot support member to swing in the up and down and left and right directions.

[0017] After continuous exploration and testing, the present invention drives the entire leg to swing left and right through the hip joint drive unit provided at the waist of the humanoid robot, thereby realizing the left and right lateral movement of the humanoid robot; drives the whole composed of the calf body component and the foot component to rotate around its own axis through the first drive unit provided at the first thigh body or provided between the first thigh body and the second thigh body, thereby realizing the turning of the humanoid robot; drives the calf body component to swing back and forth relative to the thigh body component through the knee joint drive unit, thereby realizing the bending movement of the knee joint of the humanoid robot; drives the rocker arm and the connecting rod through the ankle drive unit provided on the calf body, and then drives the foot component to realize the up and down and left and right swing of the humanoid robot; therefore, the present invention can make various anthropomorphic leg and foot movements, which can well meet the requirements of the humanoid robot to realize various action postures, and the entire leg power structure is reasonably designed, compact in structure, and has good anthropomorphic effect, which is convenient for the promotion and use of humanoid robots.

[0018] As preferred technical measures:

[0019] The first drive unit is fixed to the first thigh body via a first clamping member. A first axial structure for limiting axial movement of the first drive unit and a first circumferential structure for limiting circumferential rotation of the first drive unit are provided between the first clamping member and the first drive unit. The first axial structure and the first circumferential structure are a combined structure or two separate structures.

[0020] Or / and, the knee joint drive unit is fixed to the second thigh body via a second clamping member, and a second axial structure for limiting axial movement of the knee joint drive unit and a second circumferential structure for limiting circumferential movement of the knee joint drive unit are provided between the second clamping member and the knee joint drive unit; the second axial structure and the second circumferential structure are a combined structure or two separate structures;

[0021] Or / and, the hip joint drive unit is fixed to the rotating end of the stride drive unit via a third clamping member; a third axial structure for limiting the axial movement of the hip joint drive unit, and a third circumferential structure for limiting the circumferential movement of the hip joint drive unit are provided between the third clamping member and the hip joint drive unit; the third axial structure and the third circumferential structure are a combined structure or two separate structures;

[0022] Or / and, the stride drive unit is assembled on the waist and abdomen part through a sixth clamping member; a sixth axial structure for limiting the axial movement of the stride drive unit and a sixth circumferential structure for limiting the circumferential movement of the stride drive unit are provided between the sixth clamping member and the stride drive unit; the sixth axial structure and the sixth circumferential structure are a combined structure or two separate structures.

[0023] The drive unit of the present invention is fixed by a clamp, which can effectively fix the drive unit on the leg body to prevent the drive unit from slipping. At the same time, it can effectively reduce the use of fasteners (screws or bolts), improve the efficiency of disassembly and assembly, and is more structurally beautiful than the screw or bolt fixing structure.

[0024] As preferred technical measures:

[0025] The first axial structure includes a first annular boss provided on the inner ring of the first hoop member, and a first annular groove provided on the first drive unit and cooperating with the first annular boss; the first circumferential structure includes a first boss provided on the inner ring of the first hoop member, and a first groove provided on the first drive unit and cooperating with the first boss;

[0026] Or / and, the second axial structure includes a second annular boss provided on the inner ring of the second clamping member, and a second annular groove provided on the knee joint drive unit and cooperating with the second annular boss; the second circumferential structure includes a second boss provided on the inner ring of the second clamping member, and a second groove provided on the knee joint drive unit and cooperating with the second boss;

[0027] Or / and, the third axial structure includes a third annular boss provided on the inner ring of the third clamping member, and a third annular groove provided on the hip joint driving unit and cooperating with the third annular boss; the third circumferential structure includes a third boss provided on the inner ring of the third clamping member, and a third groove provided on the hip joint driving unit and cooperating with the third boss.

[0028] The sixth axial structure includes a sixth annular boss provided on the inner ring of the sixth clamp member, and a sixth annular groove provided on the stride drive unit and cooperating with the sixth annular boss; the sixth circumferential structure includes a sixth boss provided on the inner ring of the sixth clamp member, and a sixth groove provided on the stride drive unit and cooperating with the sixth boss.

[0029] The first drive unit, the knee joint drive unit, the hip joint drive unit, and the stride drive unit are all or one or more of them are fixed to the corresponding first thigh body, the second thigh body, and the waist of the humanoid robot through a quickly detachable clamp structure. Therefore, the axial and circumferential displacement of the drive unit on the leg body is limited by the stop structure of the boss and the groove. When disassembly is required, it is only necessary to loosen the mutually locked clamps. Disassembly is convenient and quick, and fixation is reliable.

[0030] As preferred technical measures:

[0031] The first hoop member, the second hoop member, the third hoop member and the sixth hoop member each comprise two hoops equally divided in half and locked together;

[0032] Alternatively, the first hoop member, the second hoop member, and the sixth hoop member are respectively semicircular arc structures, with connection holes for assembling fasteners at both ends thereof, and the third hoop member includes two hoop ring bodies that can cooperate and lock with each other; the corresponding first thigh body, second thigh body, and waist and abdomen member have a concave arc structure, and their end faces are provided with assembly holes for fixing fasteners; the semicircular arc structure and the concave arc structure are screwed together to form a complete covering structure.

[0033] The covering structure ensures that the size and area of ​​the leg power structure of the humanoid robot will not be increased due to the addition of the clamping hoop. At the same time, compared with the existing circular clamping hoop structure, the present invention only needs to manufacture half a clamping hoop, thereby making the manufacturing of the clamping hoop of the present invention simpler and low in manufacturing cost, and making the leg power structure of the humanoid robot more beautiful.

[0034] As a preferred technical measure: the ankle driving unit includes a first ankle driving unit and a second ankle driving unit, and the first ankle driving unit and the second ankle driving unit are arranged on the calf body in an upper and lower manner;

[0035] The output end of the first ankle drive unit is connected to the first rocker arm and the first connecting rod in sequence, and the output end of the second ankle drive unit is connected to the second rocker arm and the second connecting rod in sequence. The first connecting rod and the second connecting rod constitute a front fork arm and are movably connected to the foot support member through a front bearing seat to drive the foot support member to swing up and down and left and right. The structure is simple and practical, easy to produce and manufacture, and reduces manufacturing costs.

[0036] A rear fork arm is provided at the lower end of the calf body and is movably connected to the foot support member through a rear bearing seat to cooperate with the first connecting rod and the second connecting rod to complete the swing of the foot support member in the up and down and left and right directions.

[0037] As preferred technical measures:

[0038] The second thigh body is provided with a heat conducting member in contact with the knee joint driving unit;

[0039] Alternatively, an elastic protective cover is provided on the front or back side of the calf body and is buckled with the calf body;

[0040] Alternatively, the bottom of the foot support member is covered with a foot buffer member, thereby effectively preventing the foot support member from being worn and extending the service life of the foot structure.

[0041] Alternatively, a heat conductor and / or a heat sink is provided on or around the second thigh body and / or calf body and / or waist and abdomen part, and the heat conductor is a metal sheet or a heat pipe or a coolant or a metal wire or a fin; and the heat sink is a blower or a fan or a heat sink fin, thereby effectively accelerating the heat dissipation of the second thigh body and calf body, avoiding overheating of the internal components of the second thigh body and calf body, and affecting their normal operation.

[0042] Alternatively, the knee joint drive unit is mounted on the thigh body assembly and drives the calf body assembly to swing forward and backward relative to the thigh body assembly through a rod-shaped structure;

[0043] Alternatively, the stride drive unit, hip joint drive unit, first drive unit, knee joint drive unit, and ankle drive unit are respectively rotary motors or motors with reducers.

[0044] To achieve one of the above purposes, the second technical solution of the present invention is:

[0045] A humanoid robot leg power structure includes a stride drive unit for assembly on the humanoid robot, a first thigh body, a calf body, and a foot support member;

[0046] The stride drive unit is used to drive the first thigh to swing back and forth, thereby driving the entire leg power structure to swing back and forth;

[0047] The first thigh body is equipped with a hip joint driving unit to drive the first thigh body to swing left and right, thereby driving the entire leg power structure to swing left and right;

[0048] A knee joint drive unit is installed on the first thigh body, or between the first thigh body and the calf body, to drive the calf body to swing relative to the first thigh body;

[0049] The calf body, or between the calf body and the foot support, is equipped with an ankle driving unit to drive the foot support to swing.

[0050] After continuous exploration and testing, the present invention can make various anthropomorphic leg and foot movements by setting a first thigh body, a calf body and a foot support and corresponding hip joint drive units, knee joint drive units, and ankle drive units, thereby meeting the requirements of humanoid robots to achieve various action postures. In addition, the entire leg power structure is reasonably designed, compact in structure, and has a good anthropomorphic effect, which is convenient for the promotion and use of humanoid robots.

[0051] As preferred technical measures:

[0052] The first thigh body is connected to the knee joint drive unit through the second thigh body;

[0053] A first drive unit, an input connector, and an output connector are provided between the first thigh body and the second thigh body to enable relative circumferential rotation of the first thigh body and the second thigh body; the fixed end of the hip joint drive unit is fixedly connected to the rotating end of a stride drive unit, and the stride drive unit is assembled on the waist and abdomen component;

[0054] Or / and, the fixed end of the first driving unit is fixed to the first thigh body via a first clamping member, and one of the first clamping member and the fixed end of the first driving unit is provided with a first concave hole, and the other is provided with a first convex body; the cross-sectional shape of the first concave hole matches the cross-sectional shape of the first convex body;

[0055] Or / and, the fixed end of the knee joint drive unit is fixed to the second thigh body via a second clamping member, and one of the second clamping member and the fixed end of the knee joint drive unit is provided with a second concave hole, and the other is provided with a second convex body; the cross-sectional shape of the second concave hole matches the cross-sectional shape of the second convex body;

[0056] Or / and, the fixed end of the hip joint drive unit is fixed to the rotating end of the stride drive unit via a third clamping member; one of the third clamping member and the fixed end of the hip joint drive unit is provided with a third concave hole, and the other is provided with a third convex body; the cross-sectional shape of the third concave hole matches the cross-sectional shape of the third convex body;

[0057] Alternatively, the fixed end of the ankle drive unit is secured to the calf via a fourth clamping member, wherein either the fourth clamping member or the fixed end of the ankle drive unit is provided with a fourth recessed hole, and the other is provided with a fourth protrusion; the cross-sectional shape of the fourth recessed hole matches the cross-sectional shape of the fourth protrusion; or the fixed end of the ankle drive unit is directly secured to the calf via bolts or screws. Alternatively, the input connector and the output connector are secured via a fifth clamping member.

[0058] The stride drive unit is assembled on the waist and abdomen part through the sixth clamping hoop. One of the sixth clamping hoop and the fixed end of the stride drive unit is provided with a concave hole six, and the other is provided with a convex body six; the cross-sectional shape of the concave hole six matches the cross-sectional shape of the convex body six.

[0059] As preferred technical measures:

[0060] The first hoop member, the second hoop member, the fourth hoop member and the sixth hoop member are respectively semicircular arc structures, with connecting holes for assembling fasteners at both ends; the corresponding first thigh body, the second thigh body, the calf body and the waist and abdomen member are concave arc structures or square sheet structures, and their end faces are provided with assembly holes for fixing fasteners; the semicircular arc structure and the concave arc structure are screwed together to form a complete leg covering structure; the leg covering structure ensures that the size and area of ​​the leg power structure of the humanoid robot will not be increased due to the addition of hoop members. At the same time, compared with the existing circular hoop structure, the present invention only needs to manufacture half a hoop, which makes the manufacture of the hoop member of the present invention simpler and low in manufacturing cost, and can make the leg power structure of the humanoid robot more beautiful.

[0061] The third hoop member and the fifth hoop member respectively include two hoop ring bodies that can cooperate and lock with each other;

[0062] Or / and, concave hole one, concave hole two, concave hole three, concave hole four, and concave hole six are respectively square concave holes or circular concave holes or variable diameter concave holes or trapezoidal concave holes or triangular concave holes; the corresponding convex body one, convex body two, convex body three, convex body four, and convex body six are respectively square convex bodies or circular convex bodies or variable diameter convex bodies or trapezoidal convex bodies or triangular convex bodies; by setting the concave hole and convex body structure, the drive unit can be directly limited axially and circumferentially, which is simpler in structure. According to needs, the number of concave holes and convex bodies can be multiple, which further increases the limiting reliability of the drive unit.

[0063] Alternatively, the first hoop member or / and the second hoop member or / and the third hoop member or / and the fourth hoop member or / and the fifth hoop member, and the sixth hoop member are semicircular arc structures, ring structures, fan-shaped structures, or strip structures, with connection holes for assembling fasteners provided at both ends; the first thigh body or / and the second thigh body or / and the waist and abdomen member or / and the calf body are concave arc structures, square sheet structures, rod structures, columnar structures, or sleeve structures, with assembly holes provided on their end surfaces for fixing fasteners;

[0064] Or / and, the foot support is a shoe-like structure, a sheet-like structure, a human foot-like structure, or a block-like structure.

[0065] To achieve one of the above purposes, the third technical solution of the present invention is:

[0066] A humanoid robot has a waist provided with the above-mentioned leg power structure of the humanoid robot. Beneficial effects

[0067] The present invention provides a leg power structure of a humanoid robot, which drives the entire leg to swing left and right through a hip joint drive unit arranged at the waist of the humanoid robot, thereby realizing the left and right lateral movement of the humanoid robot; drives the entire body composed of the calf body component and the foot component to rotate around its own axis through a first drive unit arranged between the first thigh body and the second thigh body, thereby realizing the turning of the humanoid robot; drives the calf body component to swing back and forth relative to the thigh body component through the knee joint drive unit, thereby realizing the bending movement of the knee joint of the humanoid robot; drives the rocker arm and the connecting rod through the ankle drive unit arranged on the calf body, and then drives the foot component, thereby realizing the swing of the humanoid robot in the up and down and left and right directions; the entire leg power structure is reasonably designed and compact in structure, which well meets the requirements of the humanoid robot to realize various action postures.

[0068] The humanoid robot provided by the present invention has a leg power structure that drives the entire leg to swing left and right through a hip joint drive unit arranged at the waist of the humanoid robot, thereby realizing the left and right lateral movement of the humanoid robot; drives the entire body composed of the calf body component and the foot component to rotate around its own axis through a first drive unit arranged between the first thigh body and the second thigh body, thereby realizing the turning of the humanoid robot; drives the calf body component to swing back and forth relative to the thigh body component through a knee joint drive unit, thereby realizing the bending movement of the knee joint of the humanoid robot; drives the rocker arm and the connecting rod through an ankle drive unit arranged on the calf body, thereby driving the foot component to realize the upward and downward and left and right swing of the humanoid robot; the entire leg power structure is reasonably designed and compact in structure, which well meets the requirements of the humanoid robot to realize various action postures.

[0069] Furthermore, the present invention can perform various anthropomorphic leg and foot movements by providing a first thigh body, a calf body and a foot support as well as corresponding hip joint drive units, knee joint drive units, and ankle drive units, thereby being able to well meet the requirements of humanoid robots to achieve various action postures. In addition, the entire leg power structure is reasonably designed, compact in structure, and has a good anthropomorphic effect, which is convenient for the promotion and use of humanoid robots.

[0070] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] FIG1 is a schematic diagram of a double-leg structure of a leg power structure of a humanoid robot according to the present invention;

[0072] FIG2 is an exploded schematic diagram of a double-leg structure of a leg power structure of a humanoid robot according to the present invention;

[0073] FIG3 is an axonometric diagram of a leg power structure of a humanoid robot according to the present invention;

[0074] FIG4 is a rear-axle-side schematic diagram of a leg power structure of a humanoid robot according to the present invention;

[0075] FIG5 is a side view of a leg power structure of a humanoid robot according to the present invention;

[0076] FIG6 is a rear view of a leg power structure of a humanoid robot according to the present invention;

[0077] FIG7 is a full cross-sectional view of a leg power structure of a humanoid robot according to the present invention;

[0078] FIG8 is an exploded view of a leg power structure of a humanoid robot according to the present invention;

[0079] FIG9 is a partial enlarged view of part B of the leg power structure of a humanoid robot according to the present invention;

[0080] FIG10 is a partial enlarged view of part C of the leg power structure of a humanoid robot according to the present invention;

[0081] FIG11 is a partial enlarged view of a portion D of a leg power structure of a humanoid robot according to the present invention.

[0082] In the figure: 1. thigh body assembly; 11. first thigh body; 12. second thigh body; 13. hip joint drive unit; 14. first drive unit; 15. knee joint drive unit; 2. calf body assembly; 21. calf body; 22. first ankle drive unit; 23. second ankle drive unit; 24. first rocker arm; 25. first connecting rod; 26. second rocker arm; 27. second connecting rod; 28. elastic protective cover; 29. ​​heat conducting member; 30. rear fork arm; 3. foot assembly; 31. foot support member; 32. foot buffer member; 4. first hoop member; 41. first annular boss; 42. first annular groove; 43. first boss; 44. First groove; 45, second annular boss; 46, second annular groove; 47, second boss; 48, second groove; 49, second clamping member; 50, front bearing seat; 51, rear bearing seat; 52, stride drive unit; 53, waist and abdomen member; 54, sixth clamping member; 55, sixth annular groove; 56, sixth annular boss; 57, sixth groove; 58, sixth boss; 59, input connecting member; 60, output connecting member; 61, fifth clamping member; 62, third clamping member; 63, connecting hole; 64, assembly hole; 65, third annular groove; 66, third annular boss; 67, third boss; 68, third groove; 69, heat sink. Modes for Carrying Out the Invention

[0083] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0084] It should be noted that when two elements are referred to as being "fixedly connected" or "swingably connected," the two elements may be directly connected or there may be an intermediate element. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "left," "right," "front," "rear," "upper," "lower," and similar expressions used herein are for illustrative purposes only.

[0085] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention pertains. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention.

[0086] As shown in Figures 1 to 11, the first specific embodiment of the leg power structure of the humanoid robot of the present invention is as follows:

[0087] A humanoid robot leg power structure includes a stride drive unit 52 for assembly to the humanoid robot, a first thigh body 11, a calf body 21, and a foot support member 31;

[0088] The stride drive unit 52 is used to drive the first thigh body 11 to swing back and forth, thereby driving the entire leg power structure to swing back and forth; the first thigh body 11 is equipped with a hip joint drive unit 13 to drive the first thigh body 11 to swing left and right, thereby driving the entire leg power structure to swing left and right;

[0089] The first thigh body 11, or between the first thigh body 11 and the calf body 21, is equipped with a knee joint driving unit 15 to drive the calf body 21 to swing relative to the first thigh body 11;

[0090] The calf body 21 or between the calf body 21 and the foot support 31 is equipped with an ankle driving unit to drive the foot support 31 to swing.

[0091] In this embodiment: the first thigh body 11 is connected to the knee joint driving unit 15 through the second thigh body 12;

[0092] A first driving unit 14, an input connector 59 and an output connector 60 are provided between the first thigh body 11 and the second thigh body 12 to realize relative circumferential rotation of the first thigh body 11 and the second thigh body 12; the fixed end of the hip joint driving unit 13 is fixedly connected to the rotating end of a stride driving unit 52, and the stride driving unit 52 is assembled on the waist and abdomen part 53.

[0093] The fixed end of the first driving unit 14 is fixed to the first thigh body 11 via a first clamping member 4. A first concave hole is provided on one of the first clamping member 4 and the fixed end of the first driving unit 14, and a first convex body is provided on the other. The cross-sectional shape of the first concave hole matches the cross-sectional shape of the first convex body.

[0094] The fixed end of the knee joint drive unit 15 is fixed to the second thigh body 12 via a second clamping member 49. One of the second clamping member 49 and the fixed end of the knee joint drive unit 15 is provided with a second concave hole, and the other is provided with a second convex body. The cross-sectional shape of the second concave hole matches the cross-sectional shape of the second convex body.

[0095] The fixed end of the hip joint drive unit 13 is fixed to the rotating end of the stride drive unit 52 via a third clamping member 62. A third recessed hole is provided on one of the third clamping member 62 and the fixed end of the hip joint drive unit 13, while a third protrusion is provided on the other. The cross-sectional shape of the third recessed hole matches the cross-sectional shape of the third protrusion.

[0096] The input connector 59 and the output connector 60 are fixed by a fifth clamping member 61 .

[0097] The stride drive unit 52 is assembled on the waist and abdomen part 53 through the sixth clamping hoop 54. One of the fixed ends of the sixth clamping hoop 54 and the stride drive unit 52 is provided with a concave hole six, and the other is provided with a convex body six; the cross-sectional shape of the concave hole six matches the cross-sectional shape of the convex body six.

[0098] In this embodiment: the first clamping member 4, the second clamping member 49, and the sixth clamping member 54 are respectively semicircular arc structures, and connection holes 63 for assembling fasteners are provided at both ends; the corresponding first thigh body 11, the second thigh body 12, and the waist and abdomen part 53 have concave arc structures, and their end faces are provided with assembly holes 64 for fixing fasteners; the semicircular arc structure and the concave arc structure are screwed together to form a complete leg covering structure.

[0099] The third clamping hoop component 62 and the fifth clamping hoop component 61 respectively include two clamping hoops that are equally divided into two halves and cooperate with each other to lock.

[0100] The concave hole 1, the concave hole 2, the concave hole 3 and the concave hole 6 are respectively square concave holes; the corresponding convex body 1, the convex body 2, the convex body 3 and the convex body 6 are respectively square convex bodies.

[0101] The foot support 31 is a human foot-shaped structure.

[0102] The second specific embodiment of the leg power structure of the humanoid robot of the present invention:

[0103] A leg power structure of a humanoid robot includes a stride drive unit 52, a thigh body assembly 1, a calf body assembly 2, and a foot assembly 3, which are connected in sequence and are arranged at the waist of the humanoid robot. The thigh body assembly 1 includes a first thigh body 11 and a second thigh body 12, the calf body assembly 2 includes a calf body 21, and the foot assembly 3 includes a foot support 31; the stride drive unit 52 is used to drive the first thigh body 11 to swing back and forth, thereby driving the entire leg power structure to swing back and forth; the upper part of the first thigh body 11 is provided with a hip joint drive unit 13 to drive the first thigh body 11 to swing left and right, thereby driving the entire leg power structure to swing back and forth; The leg power structure swings left and right; a first driving 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 to rotate relative to each other; a knee joint driving unit 15 is provided between the thigh body assembly 1 and the calf body 21 assembly 2 to drive the thigh body assembly 1 and the calf body 21 assembly 2 to swing relative to each other forward and backward; an ankle driving unit is provided on the calf body 21, and the output end of the ankle driving unit is provided with a rocker arm and a connecting rod connected in sequence, and the connecting rod is connected to the foot support 31 to drive the foot support 31 to swing up and down and left and right.

[0104] In this embodiment: the first drive unit 14 is fixed to the first thigh body 11 through the first clamping member 4, and a first axial structure for limiting the axial movement of the first drive unit 14 and a first circumferential structure for limiting the circumferential rotation of the first drive unit 14 are provided between the first clamping member 4 and the first drive unit 14; the first axial structure and the first circumferential structure are a combined structure or two split structures; the knee joint drive unit 15 is fixed to the second thigh body 12 through the second clamping member 49, and a second axial structure for limiting the axial movement of the knee joint drive unit 15 and a second circumferential structure for limiting the circumferential movement of the knee joint drive unit 15 are provided between the second clamping member 49 and the knee joint drive unit 15; the second axial structure and the second circumferential structure are a combined structure or two split structures.

[0105] The hip joint drive unit 13 is fixed to the rotating end of the stride drive unit 52 through a third clamping member 62; a third axial structure for limiting the axial movement of the hip joint drive unit 13 and a third circumferential structure for limiting the circumferential movement of the hip joint drive unit 13 are provided between the third clamping member 62 and the hip joint drive unit 13; the third axial structure and the third circumferential structure are a combined structure or two separate structures.

[0106] The stride drive unit 52 is assembled on the waist and abdomen part 53 through the sixth clamping part 54; a sixth axial structure for limiting the axial movement of the stride drive unit 52 and a sixth circumferential structure for limiting the circumferential movement of the stride drive unit 52 are provided between the sixth clamping part 54 and the stride drive unit 52; the sixth axial structure and the sixth circumferential structure are a combined structure or two separate structures.

[0107] In this embodiment: the first axial structure includes a first annular boss 41 provided on the inner ring of the first clamping member 4, and a first annular groove 42 provided on the first drive unit 14 and cooperating with the first annular boss 41; the first circumferential structure includes a first boss 43 provided on the inner ring of the first clamping member 4, and a first groove 44 provided on the first drive unit 14 and cooperating with the first boss 43; the second axial structure includes a second annular boss 45 provided on the inner ring of the second clamping member 49, and a second annular groove 46 provided on the knee joint drive unit 15 and cooperating with the second annular boss 45; the second circumferential structure includes a second boss 47 provided on the inner ring of the second clamping member 49, and a second groove 48 provided on the knee joint drive unit 15 and cooperating with the second boss 47.

[0108] 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 quickly detachable clamp structure. 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 are limited by a stop structure of bosses and grooves. When disassembly is required, it is only necessary to loosen the mutually locked clamps, which makes disassembly convenient and quick, and the fixation is reliable.

[0109] The third axial structure includes a third annular boss 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 and cooperating with the third annular boss 66; the third circumferential structure includes a third boss 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 and cooperating with the third boss 67;

[0110] The sixth axial structure includes a sixth annular boss 56 provided on the inner ring of the sixth clamping member 54, and a sixth annular groove 55 provided on the stepping drive unit 52 and cooperating with the sixth annular boss 56; the sixth circumferential structure includes a sixth boss 58 provided on the inner ring of the sixth clamping member 54, and a sixth groove 57 provided on the stepping drive unit 52 and cooperating with the sixth boss 58.

[0111] In this embodiment: the first clamping member 4, the second clamping member 49 and the sixth clamping member 54 are respectively semicircular arc structures, and connection holes 63 for assembling fasteners are provided at both ends; the corresponding first thigh body 11, the second thigh body 12 and the waist and abdomen part 53 have concave arc structures, and their end faces are provided with assembly holes 64 for fixing fasteners; the semicircular arc structure and the concave arc structure are screwed together to form a complete covering structure.

[0112] In this embodiment: the ankle drive unit includes a first ankle drive unit 22 and a second ankle drive unit 23, and the first ankle drive unit 22 and the second ankle drive unit 23 are arranged up and down on the calf body 21; the output end of the first ankle drive unit 22 is connected to the first rocker arm 24 and the first connecting rod 25 in sequence, and the output end of the second ankle drive unit 23 is connected to the second rocker arm 26 and the second connecting rod 27 in sequence, the first connecting rod 25 and the second connecting rod 27 constitute a front fork arm, and are movably connected to the foot support 31 through the front bearing seat 50 to drive the foot support 31 to swing up and down and left and right; the lower end of the calf body 21 is provided with a rear fork arm 30, and is movably connected to the foot support 31 through the rear bearing seat 51 to cooperate with the first connecting rod 25 and the second connecting rod 27 to complete the swing of the foot support 31 in the up and down and left and right directions.

[0113] In this embodiment: the second thigh body 12 is provided with a heat conducting member 29 in contact with the knee joint drive unit 15. The front or rear side of the calf body 21 is provided with an elastic protective cover 28 that is buckled with the calf body 21. The bottom of the foot support member (31) is covered with a foot buffer member 32. The knee joint drive unit 15 is assembled on the thigh body component 1 and drives the calf body 21 component 2 to swing back and forth relative to the thigh body component 1 through a rod-shaped structure. The stride drive unit 52, hip joint drive unit 13, first drive unit 14, knee joint drive unit 15, and ankle drive unit are respectively rotating motors or motors with reducers.

[0114] Furthermore, a heat conductor 29 and / or a heat sink 69 is provided on or around the second thigh body 12 and / or the calf body 21 and / or the waist and abdomen part 53, and the heat conductor 29 is a metal sheet or a heat pipe or a coolant or a metal wire or a fin; the heat sink 69 is a blower or a fan or a heat sink fin, which is used to dissipate heat from the drive unit.

[0115] A third specific embodiment of the leg power structure of the humanoid robot of the present invention:

[0116] A leg power structure of a humanoid robot includes a stride drive unit 52, a thigh rod assembly, a shank rod assembly and a foot assembly 3, which are connected in sequence and are arranged at the waist of the humanoid robot. The thigh rod assembly includes a first thigh rod and a second thigh rod, the shank rod assembly includes a shank rod, and the foot assembly 3 includes a foot support 31; the stride drive unit 52 is used to drive the first thigh body 11 to swing back and forth, thereby driving the entire leg power structure to swing back and forth; the upper part of the first thigh rod is provided with a hip joint motor and a reducer unit to drive the first thigh rod to swing left and right, thereby driving the entire leg power structure The structure swings left and right; a first motor and reducer unit is provided between the first thigh rod and the second thigh rod to drive the first thigh rod and the second thigh rod to rotate relative to each other in a circumferential direction; a knee joint motor and reducer unit is provided between the thigh rod assembly and the calf rod assembly to drive the thigh rod assembly and the calf rod assembly to swing relative to each other back and forth; an ankle motor and reducer unit is provided on the calf rod, and the output end of the ankle motor and reducer unit is provided with a rocker arm and a connecting rod connected in sequence, and the connecting rod is connected to the foot support 31 to drive the foot support 31 to swing up and down and left and right.

[0117] In this embodiment: the first motor and reducer unit is fixed to the first thigh rod through a first clamp assembly, and a first axial structure for limiting the axial movement of the first motor and reducer unit, as well as a first circumferential structure for limiting the circumferential rotation of the first motor and reducer unit are provided between the first clamp assembly and the first motor and reducer unit; the first axial structure and the first circumferential structure are a combined structure or two separate structures; the knee joint motor and reducer unit is fixed to the second thigh rod through a second clamp assembly, and a second axial structure for limiting the axial movement of the knee joint motor and reducer unit, as well as a second circumferential structure for limiting the circumferential movement of the knee joint motor and reducer unit are provided between the second clamp assembly and the knee joint motor and reducer unit.

[0118] In this embodiment: the first axial structure includes a first annular boss 41 provided on the inner ring of the first clamp assembly, and a first annular groove 42 provided on the first motor and reducer unit and cooperating with the first annular boss 41; the first circumferential structure includes a first boss 43 provided on the inner ring of the first clamp assembly, and a first groove 44 provided on the first motor and reducer unit and cooperating with the first boss 43; the second axial structure includes a second annular boss 45 provided on the inner ring of the second clamp assembly, and a second annular groove 46 provided on the knee joint motor and reducer unit and cooperating with the second annular boss 45; the second circumferential structure includes a second boss 47 provided on the inner ring of the second clamp assembly, and a second groove 48 provided on the knee joint motor and reducer unit and cooperating with the second boss 47.

[0119] In this embodiment, both the first and second clamp assemblies are arc-shaped. The first motor and reducer unit and the knee joint motor and reducer unit are secured to the first and second thigh rods via a quickly removable clamp structure. A stop structure composed of bosses and grooves limits the axial and circumferential displacement of the first motor and reducer unit on the first thigh rod, and the knee joint motor and reducer unit on the second thigh rod. When disassembly is necessary, simply loosen the interlocking clamps, ensuring quick and easy disassembly and reliable securement.

[0120] In this embodiment: the ankle motor and reducer unit includes a first ankle motor and reducer unit and a second ankle motor and reducer unit, and the first ankle motor and reducer unit and the second ankle motor and reducer unit are arranged up and down on the calf rod; the output end of the first ankle motor and reducer unit is connected to the first rocker arm 24 and the first connecting rod 25 in sequence, and the output end of the second ankle motor and reducer unit is connected to the second rocker arm 26 and the second connecting rod 27 in sequence, the first connecting rod 25 and the second connecting rod 27 constitute a front fork arm, and are movably connected to the foot support 31 through the front bearing seat 50 to drive the foot support 31 to swing up and down and left and right; the lower end of the calf rod is provided with a rear fork arm 30, and is movably connected to the foot support 31 through the rear bearing seat 51 to cooperate with the first connecting rod 25 and the second connecting rod 27 to complete the swing of the foot support 31 in the up and down and left and right directions.

[0121] A specific embodiment of the humanoid robot of the present invention:

[0122] A humanoid robot has a waist provided with the above-mentioned leg power structure of the humanoid robot.

[0123] In the present application, the fixing method can be screw connection, welding, riveting, plug connection, or connection through other components, and those skilled in the art can choose according to actual conditions.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A leg power structure of a humanoid robot, characterized in that: The invention comprises a stride drive unit (52), a thigh body component (1), a calf body (21) component (2) and a foot component (3) which are arranged on the waist of a humanoid robot and are connected in sequence, wherein the thigh body component (1) comprises a first thigh body (11) and a second thigh body (12), the calf body (21) component (2) comprises a calf body (21), and the foot component (3) comprises a foot support member (31); The stride drive unit (52) is used to drive the first thigh body (11) to swing forward and backward, thereby driving the entire leg power structure to swing forward and backward; A hip joint driving 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, thereby driving the entire leg power structure to swing left and right; A first driving unit (14) is provided between the first thigh body (11) and the second thigh body (12) to achieve relative circumferential rotation of the first thigh body (11) and the second thigh body (12); A knee joint drive unit (15) is provided between the thigh body component (1) or between the thigh body component (1) and the calf body (21) component (2) to enable the thigh body component (1) and the calf body (21) to swing relative to each other forward and backward; The calf body (21) is provided with an ankle drive unit, and the output end of the ankle drive unit is provided with a connecting rod, and the connecting rod is connected to the foot support member (31) to drive the foot support member (31) to swing in the up-down and left-right directions.

2. The leg power structure of a humanoid robot as claimed in claim 1, characterized in that: The first drive unit (14) is fixed to the first thigh body (11) via a first hoop member (4); a first axial structure for limiting axial movement of the first drive unit (14) and a first circumferential structure for limiting 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 are a combined structure or two separate structures; Or / and, the knee joint drive unit (15) is fixed to the second thigh body (12) via a second clamping hoop (49), and a second axial structure for limiting the axial movement of the knee joint drive unit (15) and a second circumferential structure for limiting the circumferential movement of the knee joint drive unit (15) are provided between the second clamping hoop (49) and the knee joint drive unit (15); the second axial structure and the second circumferential structure are a combined structure or two separate structures; Or / and, the hip joint drive unit (13) is fixed to the rotating end of the stride drive unit (52) via a third hoop member (62); a third axial structure for limiting the axial movement of the hip joint drive unit (13) and a third circumferential structure for limiting 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); the third axial structure and the third circumferential structure are a combined structure or two separate structures; Or / and, the stride drive unit (52) is assembled on the waist and abdomen component (53) via a sixth clamping hoop component (54); a sixth axial structure for limiting the axial movement of the stride drive unit (52) and a sixth circumferential structure for limiting the circumferential movement of the stride drive unit (52) are provided between the sixth clamping hoop component (54) and the stride drive unit (52); the sixth axial structure and the sixth circumferential structure are a combined structure or two separate structures.

3. A humanoid robot leg power structure as claimed in claim 2, characterized in that: The first axial structure comprises a first annular boss (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) and matching with the first annular boss (41); the first circumferential structure comprises a first boss (43) provided on the inner ring of the first hoop member (4), and a first groove (44) provided on the first drive unit (14) and matching with the first boss (43); Or / and, the second axial structure comprises a second annular boss (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) and matching with the second annular boss (45); the second circumferential structure comprises a second boss (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) and matching with the second boss (47); Or / and, the third axial structure comprises a third annular boss (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) and matching with the third annular boss (66); the third circumferential structure comprises a third boss (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) and matching with the third boss (67); The sixth axial structure comprises a sixth annular boss (56) provided on the inner ring of the sixth clamping member (54), and a sixth annular groove (55) provided on the stepping drive unit (52) and cooperating with the sixth annular boss (56); the sixth circumferential structure comprises a sixth boss (58) provided on the inner ring of the sixth clamping member (54), and a sixth groove (57) provided on the stepping drive unit (52) and cooperating with the sixth boss (58).

4. The leg power structure of a humanoid robot as claimed in claim 3, characterized in that: The first clamping hoop component (4), the second clamping hoop component (49), the third clamping hoop component (62) and the sixth clamping hoop component (54) each comprise two clamping hoops equally divided in half and cooperating with each other to lock together; Alternatively, the first hoop member (4), the second hoop member (49), and the sixth hoop member (54) are respectively semicircular arc structures, with connection holes (63) for assembling fasteners being provided at both ends thereof, and the third hoop member (62) comprises two hoop ring bodies that can cooperate and lock with each other; the corresponding first thigh body (11), the second thigh body (12), and the waist and abdomen member (53) have concave arc structures, with assembly holes (64) for fixing fasteners being provided on their end surfaces; the semicircular arc structure and the concave arc structure are screwed together to form a complete covering structure.

5. A humanoid robot leg power structure as claimed in any one of claims 1 to 4, characterized in that: The ankle drive unit comprises a first ankle drive unit (22) and a second ankle drive unit (23), wherein the first ankle drive unit (22) and the second ankle drive unit (23) are arranged vertically on the calf body (21); The output end of the first ankle drive unit (22) is connected to a first rocker arm (24) and a first connecting rod (25) in sequence, and the output end of the second ankle drive unit (23) is connected to a second rocker arm (26) and a second connecting rod (27) in sequence. The first connecting rod (25) and the second connecting rod (27) form a front fork arm and are movably connected to the foot support member (31) via a front bearing seat (50) to drive the foot support member (31) to swing in up and down and left and right directions. A rear fork arm (30) is provided at the lower end of the calf body (21) and is movably connected to the foot support member (31) via a rear bearing seat (51) to cooperate with the first connecting rod (25) and the second connecting rod (27) to complete the swinging of the foot support member (31) in the up-down and left-right directions.

6. The leg power structure of a humanoid robot as claimed in claim 5, characterized in that: The second thigh body (12) is provided with a heat conducting member (29) in contact with the knee joint driving unit (15); Alternatively, an elastic protective cover (28) is provided on the front or rear side of the calf body (21) and is engaged with the calf body (21); Or, the bottom of the foot support member (31) is covered with a foot buffer member (32); Alternatively, a heat conducting member (29) or / and a heat dissipating member (69) is provided on or around the second thigh body (12) or / and the calf body (21) or / and the waist and abdomen part (53); the heat conducting member (29) is a metal sheet or a heat pipe or a cooling liquid or a metal wire or a fin; and the heat dissipating member (69) is a blower or a fan or a heat dissipating fin; Alternatively, the knee joint drive unit (15) is mounted on the thigh body component (1), and drives the calf body (21) component (2) to swing forward and backward relative to the thigh body component (1) via a rod-shaped structure; Alternatively, the stride 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 respectively rotary motors or motors with reducers.

7. A leg power structure of a humanoid robot, characterized in that: It comprises a stride drive unit (52) for being assembled on a humanoid robot, a first thigh body (11), a calf body (21) and a foot support member (31); The stride drive unit (52) is used to drive the first thigh body (11) to swing forward and backward, thereby driving the entire leg power structure to swing forward and backward; The first thigh body (11) is equipped with a hip joint driving unit (13) to drive the first thigh body (11) to swing left and right, thereby driving the entire leg power structure to swing left and right; A knee joint drive unit (15) is installed on the first thigh body (11), or between the first thigh body (11) and the calf body (21), so as to drive the calf body (21) to swing relative to the first thigh body (11); The calf body (21), or between the calf body (21) and the foot support (31), is equipped with an ankle drive unit to drive the foot support (31) to swing.

8. The leg power structure of a humanoid robot as claimed in claim 7, characterized in that: The first thigh body (11) is connected to the knee joint drive unit (15) via the second thigh body (12); A first driving unit (14), an input connecting member (59) and an output connecting member (60) are provided between the first thigh body (11) and the second thigh body (12) to achieve relative circumferential rotation of the first thigh body (11) and the second thigh body (12); a fixed end of the hip joint driving unit (13) is fixedly connected to a rotating end of a stride driving unit (52), and the stride driving unit (52) is mounted on the waist and abdomen component (53); Or / and, the fixed end of the first driving unit (14) is fixed to the first thigh body (11) via a first hoop member (4), one of the first hoop member (4) and the fixed end of the first driving unit (14) is provided with a concave hole one, and the other is provided with a convex body one; the cross-sectional shape of the concave hole one matches the cross-sectional shape of the convex body one; Or / and, the fixed end of the knee joint drive unit (15) is fixed to the second thigh body (12) via a second clamping hoop (49), one of the second clamping hoop (49) and the fixed end of the knee joint drive unit (15) is provided with a second concave hole, and the other is provided with a second convex body; the cross-sectional shape of the second concave hole matches the cross-sectional shape of the second convex body; Or / and, the fixed end of the hip joint drive unit (13) is fixed to the rotating end of the stride drive unit (52) via 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 concave hole three, and the other is provided with a convex body three; the cross-sectional shape of the concave hole three matches the cross-sectional shape of the convex body three; Or / and, the fixed end of the ankle drive unit is fixed to the calf body (21) via a fourth clamping member, one of the fourth clamping member and the fixed end of the ankle drive unit is provided with a fourth concave hole, and the other is provided with a fourth convex body; the cross-sectional shape of the fourth concave hole matches the cross-sectional shape of the fourth convex body; Or / and, the input connection piece (59) and the output connection piece (60) are fixed by a fifth clamping hoop piece (61); The stride drive unit (52) is assembled on the waist and abdomen component (53) via a sixth clamping hoop component (54); one of the sixth clamping hoop component (54) and the fixed end of the stride drive unit (52) is provided with a concave hole six, and the other is provided with a convex body six; the cross-sectional shape of the concave hole six matches the cross-sectional shape of the convex body six.

9. The leg power structure of a humanoid robot as claimed in claim 8, characterized in that: The first hoop member (4), the second hoop member (49), the fourth hoop member and the sixth hoop member (54) are respectively semicircular arc structures, with connection holes (63) for assembling fasteners being provided at both ends thereof; the corresponding first thigh body (11), the second thigh body (12), the calf body (21) and the waist and abdomen member (53) are concave arc structures or square sheet structures, with assembly holes (64) for fixing fasteners being provided at their end surfaces; the semicircular arc structure and the concave arc structure are screwed together to form a complete leg covering structure; The third clamping hoop member (62) and the fifth clamping hoop member (61) respectively comprise two clamping hoop ring bodies that can cooperate with each other and lock together; Or / and, the concave hole 1, the concave hole 2, the concave hole 3, the concave hole 4, and the concave hole 6 are respectively square concave holes, circular concave holes, variable diameter concave holes, trapezoidal concave holes, or triangular concave holes; the corresponding convex body 1, the convex body 2, the convex body 3, the convex body 4, and the convex body 6 are respectively square convex bodies, circular convex bodies, variable diameter convex bodies, trapezoidal convex bodies, or triangular convex bodies; 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) or the sixth hoop member (54) are semicircular arc structures or ring structures or fan structures or strip structures, and both ends of the structures are provided with connection holes (63) for assembling fasteners; the first thigh body (11) or / and the second thigh body (12) or / and the waist and abdomen component (53) or / and the calf body (21) are concave arc structures or square sheet structures or rod structures or column structures or sleeve structures, and the end surfaces of the structures are provided with assembly holes (64) for fixing fasteners; Or / and, the foot support (31) is a shoe-like structure or a sheet-like structure or a human foot-like structure or a block-like structure.

10. A humanoid robot, characterized in that: The waist is provided with a leg power structure of a humanoid robot as described in any one of claims 1-9.

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