Humanoid robot leg structure and humanoid robot having the same

Abstract

The present invention discloses a leg structure of a humanoid robot and a humanoid robot having the same. The leg structure of the humanoid robot includes: a joint drive module; two joint fixing frames, the two joint fixing frames being connected to the joint drive module; a cross-axis connecting piece, the cross-axis connecting piece having a cavity therein, the cross-axis connecting piece being rotatably arranged on the two joint fixing frames; a frame thigh; a frame calf; a foot plate; a two-joint drive module, the two-joint drive module being mounted on the two-joint fixing frame; a three-joint drive module, the three-joint drive module being mounted on the cross-axis connecting piece; a four-joint drive module, the four-joint drive module being mounted on the frame thigh and located below the three-joint drive module; and a five-joint drive module, the five-joint drive module being mounted inside the frame thigh. The leg structure of the humanoid robot according to the embodiment of the present invention has the advantages of light weight, concentrated weight, low end weight, and small moment of inertia.

Description

Technical Field

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

[0002] In recent years, the robotics industry has developed rapidly, especially in the field of humanoid robots, which has become one of the focuses of technological research at home and abroad. The difficulty in humanoid robot research lies in the design of the leg mechanism.

[0003] In the leg structure of the humanoid robot in the related art, the driving modules of the joints are arranged at the positions of the corresponding joints. For example, the driving module of the knee joint is located at the knee position of the humanoid robot's leg, and the driving module of the ankle joint is located at the ankle position of the humanoid robot's leg. This design generally has problems such as high moment of inertia, insufficient concentration of the center of mass, and excessive weight of the terminal mechanism. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a leg structure of a humanoid robot, which has the advantages of light weight, concentrated weight, low end weight, and small moment of inertia.

[0005] The present invention also provides a humanoid robot having the leg structure of the humanoid robot.

[0006] To achieve the above-mentioned purpose, according to an embodiment of the first aspect of the present invention, a leg structure of a humanoid robot is proposed, the leg structure of the humanoid robot comprising: a joint drive module; two joint fixing frames, the two joint fixing frames are connected to the joint drive module and are located below the joint drive module, the joint drive module drives the two joint fixing frames to rotate and the rotation axis is oriented along the up-down direction; a cross-axis connecting member, the cross-axis connecting member has a cavity therein, the cross-axis connecting member is rotatably arranged on the two joint fixing frames and the rotation axis is perpendicular to the up-down direction; a frame thigh, the upper end of the frame thigh is rotatably mounted in the cross-axis connecting member and the rotation axis is perpendicular to the rotation axis of the cross-axis connecting member, the upper end of the frame thigh fits in the cavity; a frame calf, the frame The upper end of the frame calf is rotatably connected to the lower end of the frame thigh and the rotation axis is parallel to the rotation axis of the frame thigh; the footplate is rotatably connected to the lower end of the frame calf and the rotation axis is parallel to the rotation axis of the frame thigh; a two-joint drive module, the two-joint drive module is installed on the two-joint fixing frame and is transmission-connected to the cross-axis connecting piece; a three-joint drive module, the three-joint drive module is installed on the cross-axis connecting piece and is transmission-connected to the frame thigh; a four-joint drive module, the four-joint drive module is installed on the frame thigh and is located below the three-joint drive module, and the four-joint drive module is transmission-connected to the frame calf; a five-joint drive module, the five-joint drive module is installed in the frame thigh and is transmission-connected to the footplate.

[0007] The leg structure of the humanoid robot according to the embodiment of the present invention has the advantages of concentrated weight, low end weight, and small moment of inertia.

[0008] In addition, the leg structure of the humanoid robot according to the above embodiment of the present invention may also have the following additional technical features:

[0009] According to one embodiment of the present invention, the leg structure of the humanoid robot further includes a four-joint connecting rod, the upper end of the four-joint connecting rod is hinged to the four-joint driving module and the lower end is hinged to the frame calf.

[0010] According to one embodiment of the present invention, the leg structure of the humanoid robot also includes a five-joint upper link, a five-joint lower link and a transfer crank, the frame thigh and the frame calf are rotatably connected through a knee joint axis, the transfer crank is rotatably provided on the knee joint axis, the upper end of the five-joint upper link is hinged to the five-joint drive module and the lower end is hinged to the transfer crank, the upper end of the five-joint lower link is hinged to the transfer crank and the lower end is hinged to the foot.

[0011] According to one embodiment of the present invention, the cross-axis connecting part includes an arc-shaped top wall, a front wall, a rear wall, a left side wall and a right side wall. The front wall, the rear wall, the left side wall and the right side wall are all connected to the arc-shaped top wall. Through holes are provided on the front wall, the rear wall, the left side wall and the right side wall. The arc-shaped top wall is provided with a weight-reducing hole. The three-joint drive module is installed on the outer surface of the right side wall.

[0012] According to one embodiment of the present invention, the frame thigh includes a left side plate, a right side plate and a connecting portion connecting the left side plate and the right side plate, the left side plate and the right side plate are rotatably connected to the left side wall and the right side wall respectively and the rotation axis is coaxially arranged, the three-joint drive module is transmission-connected to the right side plate, the four-joint drive module is installed on the outer surface of the right side plate, and the five-joint drive module is installed between the left side plate and the right side plate.

[0013] According to one embodiment of the present invention, the two-joint fixing frame is U-shaped and includes a front parallel section and a rear parallel section spaced apart in the front-to-back direction, and a connecting section connecting the upper ends of the front parallel section and the upper ends of the rear parallel section. The cross-axis connecting member is located on the inner side of the two-joint fixing frame. The front wall and the rear wall are rotatably connected to the front parallel section and the rear parallel section, respectively, and the rotation axes are coaxially arranged. The connecting section is transmission-connected to the one-joint driving module. The two-joint driving module is mounted on the outer surface of the rear parallel section and transmission-connected to the rear wall.

[0014] According to one embodiment of the present invention, the rotation axes of the five-joint driving module, the three-joint driving module and the frame thigh are coaxially arranged.

[0015] According to one embodiment of the present invention, the frame shank includes two opposite side panels and a connecting rib connecting the two side panels.

[0016] According to one embodiment of the present invention, the two-joint fixing frame and the cross-axis connecting member are made of aluminum alloy material, and at least a portion of the frame thigh and the frame shank are made of carbon fiber material.

[0017] According to an embodiment of the second aspect of the present invention, a humanoid robot is provided. The humanoid robot comprises the leg structure of the humanoid robot according to the embodiment of the first aspect of the present invention.

[0018] The humanoid robot according to the embodiment of the present invention has the advantages of light weight, concentrated weight, low end weight, small moment of inertia, etc. by utilizing the leg structure of the humanoid robot according to the embodiment of the first aspect of the present invention.

[0019] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0021] Figure 1 4 is a schematic structural diagram of the leg structure of a humanoid robot according to an embodiment of the present invention.

[0022] Figure 2 4 is a schematic diagram of a partial structure of the leg structure of a humanoid robot according to an embodiment of the present invention.

[0023] Figure 3 4 is a schematic diagram of a partial structure of the leg structure of a humanoid robot according to an embodiment of the present invention.

[0024] Figure 4 3 is a schematic structural diagram of a cross-axis connecting member of a leg structure of a humanoid robot according to an embodiment of the present invention.

[0025] Figure 5 2 is a schematic structural diagram of a frame thigh and a five-joint drive module of a leg structure of a humanoid robot according to an embodiment of the present invention.

[0026] Figure 6 2 is a schematic structural diagram of a frame calf and foot plate of a leg structure of a humanoid robot according to an embodiment of the present invention.

[0027] Figure 1: Leg structure of a humanoid robot 1, one-joint drive module 10, two-joint drive module 20, three-joint drive module 30, four-joint drive module 40, five-joint drive module 50, two-joint fixing frame 60, front parallel section 61, rear parallel section 62, connecting section 63, cross-axis connecting part 70, cavity 71, arc-shaped top wall 72, front wall 73, rear wall 74, left side wall 75, right side wall 76, weight reduction hole 77, through hole 78, frame thigh 80, knee joint axis 81, left side plate 82, right side plate 83, connecting part 84, frame calf 90, side plate 91, connecting rib 92, foot plate 100, four-joint connecting rod 110, five-joint upper connecting rod 121, five-joint lower connecting rod 122, adapter crank 123. DETAILED DESCRIPTION

[0028] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0029] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0030] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0031] The following describes a leg structure 1 of a humanoid robot according to an embodiment of the present invention with reference to the accompanying drawings.

[0032] like Figures 1-6 As shown, the leg structure 1 of the humanoid robot according to an embodiment of the present invention includes a joint drive module 10, a two-joint fixing frame 60, a cross-axis connecting member 70, a frame thigh 80, a frame calf 90, a foot plate 100, a two-joint drive module 20, a three-joint drive module 30, a four-joint drive module 40 and a five-joint drive module 50.

[0033] The two-joint fixing frame 60 is connected to a joint driving module 10 and is located below the joint driving module 10. The joint driving module 10 drives the two-joint fixing frame 60 to rotate and the rotation axis is oriented along the up and down direction (the up and down, left and right, and front and back directions are shown by arrows in the figure and are only for ease of expression, not for limiting the actual setting direction).

[0034] Specifically, a joint drive module 10 can be installed on the torso of the humanoid robot to control the rotation of the legs of the humanoid robot along the vertical axis.

[0035] The cross-axis connecting member 70 has a cavity 71 therein. The cross-axis connecting member 70 is rotatably mounted on the two-joint fixing frame 60 with its rotation axis perpendicular to the vertical direction. It will be understood by those skilled in the art that the direction of the rotation axis of the cross-axis connecting member 70 will change as the two-joint fixing frame 60 rotates, but will remain perpendicular to the vertical direction. Figure 1 In the position shown in FIG, the axis of rotation of the cross-axis connection 70 is oriented in the fore-aft direction.

[0036] Specifically, the relative rotation between the cross-axis connecting member 70 and the two-joint fixing frame 60 is to control the degree of freedom of the leg frame thigh 80 to swing, such as Figure 1 When the cross-axis connecting member 70 is in the position shown in FIG, the relative rotation between the two-joint fixing frame 60 controls the frame thigh 80 to swing left and right.

[0037] The upper end of the frame thigh 80 is rotatably mounted on the cross-axis connecting member 70 with its rotation axis perpendicular to the rotation axis of the cross-axis connecting member 70. The upper end of the frame thigh 80 fits within the cavity 71. It will be understood by those skilled in the art that the direction of the rotation axis of the frame thigh 80 will change as the two-joint fixing frame 60 rotates, but will remain perpendicular to the rotation axis of the cross-axis connecting member 70. Figure 1 The position shown in FIG is such that the axis of rotation of the frame thigh 80 is oriented in the left-right direction.

[0038] Specifically, the relative rotation between the frame thigh 80 and the cross-axis connection 70 is the degree of freedom to control the swing of the frame thigh 80, such as Figure 1 When in the position shown in FIG, the relative rotation of the frame thigh 80 and the cross-axis connecting member 70 controls the frame thigh 80 to swing forward and backward.

[0039] The upper end of the frame lower leg 90 is rotatably connected to the lower end of the frame upper leg 80, and the rotation axis is parallel to the rotation axis of the frame upper leg 80. It will be understood by those skilled in the art that the direction of the rotation axis of the frame lower leg 90 will change as the two-joint fixing frame 60 rotates, but will remain parallel to the rotation axis of the frame upper leg 80. Figure 1 In the position shown in FIG, the rotation axis of the frame lower leg 90 is oriented in the left-right direction.

[0040] Specifically, the relative rotation between the frame shank 90 and the frame thigh 80 is the degree of freedom to control the swing of the frame shank 90, such as Figure 1 When in the position shown in , the relative rotation of the frame calf 90 and the frame thigh 80 controls the frame calf 90 to swing forward and backward.

[0041] The foot plate 100 is rotatably connected to the lower end of the frame shank 90 and its rotation axis is parallel to the rotation axis of the frame thigh 80. It will be understood by those skilled in the art that the direction of the rotation axis of the foot plate 100 will change as the two-joint fixing frame 60 rotates, but will remain parallel to the rotation axis of the frame thigh 80. Figure 1 In the position shown in FIG, the rotation axis of the foot plate 100 is oriented in the left-right direction.

[0042] Specifically, the relative rotation between the foot plate 100 and the frame shank 90 is the degree of freedom to control the swing of the foot plate 100, such as Figure 1 When the foot plate 100 is in the position shown in FIG, the relative rotation between the foot plate 100 and the frame shank 90 controls the foot plate 100 to swing forward and backward.

[0043] The two-joint drive module 20 is mounted on the two-joint fixed frame 60 and is transmission-connected to the cross-axis connector 70. The three-joint drive module 30 is mounted on the cross-axis connector 70 and is transmission-connected to the frame thigh 80. The four-joint drive module 40 is mounted on the frame thigh 80 and is located below the three-joint drive module 30. The four-joint drive module 40 is transmission-connected to the frame shank 90. The five-joint drive module 50 is mounted within the frame thigh 80 and is transmission-connected to the foot plate 100.

[0044] Specifically, the driving module may include a main body and an output flange, and the main body drives the output flange to rotate. The main body of the one-joint driving module 10 is installed on the torso of the humanoid robot and the output flange is connected to the two-joint fixing frame 60. The main body of the two-joint driving module 20 is installed on the two-joint fixing frame 60 and the output flange is connected to the cross-axis connecting member 70. The main body of the three-joint driving module 30 is installed on the cross-axis connecting member 70 and the output flange is connected to the frame thigh 80. The main body of the four-joint driving module 40 is installed on the frame thigh 80 and the output flange is transmission connected to the frame calf 90. The main body of the five-joint driving module 50 is installed on the inner side of the frame thigh 80 and the output flange is transmission connected to the foot 100.

[0045] According to the leg structure 1 of the humanoid robot according to an embodiment of the present invention, by setting the two-joint fixing frame 60 below the one-joint driving module 10, installing the two-joint driving module 20 on the two-joint fixing frame 60, installing the three-joint driving module 30 on the cross-axis connecting member 70, installing the four-joint driving module 40 on the frame thigh 80 and being located below the three-joint driving module 30, and installing the five-joint driving module 50 in the frame thigh 80, compared with the technical solution in which the driving modules are arranged adjacent to the corresponding joints in the related art, all the joint driving modules can be concentrated near the frame thigh 80 and avoid being arranged at the knee joint and the ankle joint. All the joint driving modules are concentrated on the upper part of the leg structure 1 of the humanoid robot, so that the weight center of the leg structure 1 of the humanoid robot is moved upward, and the weight center is concentrated on the upper part of the leg structure 1 of the humanoid robot, thereby reducing the weight of the terminal mechanism of the leg structure 1 of the humanoid robot and reducing the moment of inertia of the leg structure 1 of the humanoid robot.

[0046] Moreover, by providing a cross-axis connector 70 with a cavity 71, compared with the technical solution of using a solid cross-axis in the related art, not only can the connecting function of the cross-axis line of the cross-axis connector 70 be retained, the weight of the cross-axis connector 70 can be reduced, thereby reducing the overall weight of the leg structure 1 of the humanoid robot, and further reducing the moment of inertia of the leg structure 1 of the humanoid robot.

[0047] Therefore, the leg structure 1 of the humanoid robot according to the embodiment of the present invention has the advantages of light weight, concentrated weight, low end weight, small moment of inertia, etc.

[0048] The following describes a leg structure 1 of a humanoid robot according to a specific embodiment of the present invention with reference to the accompanying drawings.

[0049] In some specific embodiments of the present invention, Figures 1-6 As shown, the leg structure 1 of the humanoid robot according to an embodiment of the present invention includes a joint drive module 10, a two-joint fixing frame 60, a cross-axis connecting member 70, a frame thigh 80, a frame calf 90, a foot plate 100, a two-joint drive module 20, a three-joint drive module 30, a four-joint drive module 40 and a five-joint drive module 50.

[0050] Specifically, if Figure 1 and Figure 2As shown, the leg structure 1 of the humanoid robot also includes a four-joint connecting rod 110, the upper end of which is hinged to the four-joint drive module 40 and the lower end of which is hinged to the frame shank 90. Specifically, when the four-joint drive module 40 is driven, its output flange rotates, driving the four-joint connecting rod 110 to move, and the four-joint connecting rod 110 drives the frame shank 90 to rotate. This facilitates the transmission connection between the four-joint drive module 40 and the frame shank 90, making it easier to position the four-joint drive module 40 at a distance from the frame shank 90, facilitate the installation of the four-joint drive module 40 on the frame thigh 80, facilitate the centralized arrangement of the drive modules, and reduce the weight and moment of inertia of the end.

[0051] More specifically, if Figure 1-Figure 3 As shown, the leg structure 1 of the humanoid robot also includes a five-joint upper link 121, a five-joint lower link 122, and an adapter crank 123. The frame thigh 80 and the frame shank 90 are rotatably connected via a knee joint shaft 81. The adapter crank 123 is rotatably mounted on the knee joint shaft 81. The upper end of the five-joint upper link 121 is hinged to the five-joint drive module 50, and the lower end is hinged to the adapter crank 123. The upper end of the five-joint lower link 122 is hinged to the adapter crank 123, and the lower end is hinged to the foot plate 100. Specifically, when the five-joint drive module 50 is driven, its output flange rotates, thereby driving the five-joint upper link 121 to move. The five-joint upper link 121 drives the five-joint lower link 122 to move via the adapter crank 123. The five-joint lower link 122 drives the foot plate 100 to rotate, which can be considered as the foot plate's back-and-forth swinging motion. This facilitates the transmission connection between the five-joint drive module 50 and the foot plate 100, achieving cross-stage transmission of the terminal joint. This facilitates the placement of the five-joint drive module 50 at a distance from the foot plate 100, facilitates the installation of the five-joint drive module 50 within the frame thigh 80, facilitates the centralized arrangement of the drive modules, and reduces the weight and moment of inertia of the terminal. Furthermore, the provision of the adapter crank 123 prevents the relative rotation of the frame shank 90 and frame thigh 80 from interfering with the arrangement of the connecting rod, thereby ensuring reliable transmission between the five-joint drive module 50 and the foot plate 100.

[0052] Advantageously, as Figure 4As shown, the cross-axis connector 70 includes a curved top wall 72, a front wall 73, a rear wall 74, a left side wall 75, and a right side wall 76. The front, rear, left, and right sides 76 are all connected to the curved top wall 72. Through-holes 78 are provided in the front, rear, left, and right sides 75, 76. The curved top wall 72 is provided with weight-reducing holes 77. The three-joint drive module 30 is mounted on the outer surface of the right side wall 76. This not only facilitates the formation of the cavity 71 but also leaves the lower surface of the cavity 71 open. This not only facilitates the installation of the upper end of the frame thigh 80 within the cross-axis connector 70 but also further reduces the weight of the cross-axis connector 70, thereby reducing the overall weight of the humanoid robot leg structure 1. The through-holes 78 not only allow the output flange of the drive module to pass through, facilitating transmission connection between the drive module and the corresponding structure, but also further reduce the weight of the cross-axis connector 70. The weight-reducing holes 77 further reduce the weight of the cross-axis connector 70.

[0053] More advantageously, if Figure 1-Figure 3 As shown in Figures 5 and 6, the frame thigh 80 includes a left side plate 82, a right side plate 83, and a connecting portion 84 connecting the left side plate 82 and the right side plate 83. The left side plate 82 and the right side plate 83 are rotatably connected to the left side wall 75 and the right side wall 76, respectively, and the rotation axes are coaxially arranged. The three-joint drive module 30 is transmission-connected to the right side plate 83, the four-joint drive module 40 is installed on the outer surface of the right side plate 83, and the five-joint drive module 50 is installed between the left side plate 82 and the right side plate 83. Specifically, there can be multiple connecting portions 84 and they are spaced apart along the length direction of the frame thigh 80. This not only makes it easier to reduce the weight of the frame thigh 80, but also makes it easier to install the five-joint drive module 50 in the frame thigh 80.

[0054] Furthermore, if Figure 1 and Figure 2 As shown, the two-joint fixation frame 60 is U-shaped and includes a front parallel section 61 and a rear parallel section 62 spaced apart in the front-to-back direction, and a connecting section 63 connecting the upper ends of the front parallel section 61 and the upper ends of the rear parallel section 62. A cross-axis connector 70 is located inside the two-joint fixation frame 60. A front wall 73 and a rear wall 74 are rotatably connected to the front parallel section 61 and the rear parallel section 62, respectively, with their rotation axes coaxially arranged. The connecting section 63 is drivingly connected to a joint drive module 10. The two-joint drive module 20 is mounted on the outer surface of the rear parallel section 62 and is drivingly connected to the rear wall 74. This not only reduces the weight of the two-joint fixation frame 60, but also facilitates the rotatable connection between the two-joint fixation frame 60 and the cross-axis connector 70, preventing the two-joint fixation frame 60 from interfering with the swinging of the cross-axis connector 70 and the frame thigh 80.

[0055] Furthermore, by rotatably connecting the left and right side panels 82 and 83 to the left and right side walls 75 and 76, respectively, with their rotation axes coaxially arranged, the frame thigh 80 and the cross-axis connector 70 can be supported at two locations on one axis, thereby improving the stability and reliability of the relative rotation between the cross-axis connector 70 and the frame thigh 80. The front wall 73 and the rear wall 74 are rotatably connected to the front parallel section 61 and the rear parallel section 62, respectively, with their rotation axes coaxially arranged, thereby supporting the frame thigh 80 and the cross-axis connector 70 at two locations on another axis. This improves the stability and reliability of the relative rotation between the cross-axis connector 70 and the two-joint fixing frame 60. This allows for dual support of the cross-axis connector 70 on two mutually perpendicular axes, thereby increasing the rigidity of the humanoid robot's leg structure 1.

[0056] Figures 1-6 1 shows a leg structure 1 of a humanoid robot according to some examples of the present invention. Figure 1 、 Figure 2 and Figure 5 As shown, the rotation axes of the five-joint drive module 50, the three-joint drive module 30, and the frame thigh 80 are coaxially arranged. This facilitates the centralized arrangement of the five-joint drive module 50 and the three-joint drive module 30, reduces the weight of the terminal mechanism, and further reduces the moment of inertia of the leg structure 1 of the humanoid robot.

[0057] Specifically, if Figure 6 As shown, the frame shank 90 includes two opposite side plates 91 and a connecting rib 92 connecting the two side plates 91. This can facilitate reducing the weight of the frame shank 90, facilitate reducing the weight of the terminal mechanism, and further reduce the moment of inertia of the leg structure 1 of the humanoid robot.

[0058] Optionally, the two-joint fixation frame 60 and the cross-axis connector 70 are made of an aluminum alloy, while at least a portion of the frame thigh 80 and the frame shank 90 are made of a carbon fiber material. Specifically, the two-joint fixation frame 60 and the cross-axis connector 70 can be made of a high-strength, lightweight aluminum alloy, such as aviation aluminum alloy 7075. The left and right panels 82, 83 of the frame thigh 80, and the two side panels 91 of the frame shank 90 can all be made of a high-strength carbon fiber material, such as T800 carbon fiber.

[0059] The following describes a humanoid robot according to an embodiment of the present invention. The humanoid robot according to the embodiment of the present invention includes the leg structure 1 of the humanoid robot according to the above embodiment of the present invention.

[0060] The humanoid robot according to the embodiment of the present invention has the advantages of concentrated weight, low end weight, small moment of inertia, etc. by utilizing the leg structure 1 of the humanoid robot according to the above embodiment of the present invention.

[0061] Other structures and operations of the humanoid robot according to the embodiment of the present invention are well known to those skilled in the art and will not be described in detail here.

[0062] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0063] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A leg structure of a humanoid robot, characterized in that: include: a joint drive module; Two joint fixing frames, the two joint fixing frames are connected to the one joint driving module and are located below the one joint driving module, the one joint driving module drives the two joint fixing frames to rotate with the rotation axis oriented in the up-down direction; A cross-axis connecting member having a cavity therein, the cross-axis connecting member being rotatably mounted on the two-joint fixing frame with its axis of rotation being perpendicular to the up-down direction; a frame thigh, the upper end of which is rotatably mounted in the cross-shaft connector and the rotation axis is perpendicular to the rotation axis of the cross-shaft connector, and the upper end of which is fitted in the cavity; a frame calf, wherein the upper end of the frame calf is rotatably connected to the lower end of the frame thigh and the rotation axis is parallel to the rotation axis of the frame thigh; a footboard, the footboard being rotatably connected to the lower end of the frame calf and having a rotation axis parallel to the rotation axis of the frame thigh; A two-joint drive module, the two-joint drive module is mounted on the two-joint fixing frame and is in driving connection with the cross-axis connecting member; A three-joint drive module, the three-joint drive module is mounted on the cross-axis connector and is in transmission connection with the frame thigh; A four-joint drive module, the four-joint drive module is installed on the frame thigh and is located below the three-joint drive module, and the four-joint drive module is transmission-connected to the frame calf; A five-joint drive module is installed in the thigh of the frame and is transmission-connected to the foot.

2. The leg structure of the humanoid robot according to claim 1, characterized in that: It also includes a four-joint connecting rod, the upper end of which is hinged to the four-joint driving module and the lower end of which is hinged to the frame shank.

3. The leg structure of the humanoid robot according to claim 1, characterized in that: It also includes a five-joint upper connecting rod, a five-joint lower connecting rod and a transfer crank. The frame thigh and the frame calf are rotatably connected through a knee joint axis. The transfer crank is rotatably arranged on the knee joint axis. The upper end of the five-joint upper connecting rod is hinged to the five-joint drive module and the lower end is hinged to the transfer crank. The upper end of the five-joint lower connecting rod is hinged to the transfer crank and the lower end is hinged to the foot plate.

4. The leg structure of the humanoid robot according to claim 1, characterized in that: The cross-axis connecting part includes an arc-shaped top wall, a front wall, a rear wall, a left side wall and a right side wall. The front wall, the rear wall, the left side wall and the right side wall are all connected to the arc-shaped top wall. Through holes are provided on the front wall, the rear wall, the left side wall and the right side wall. The arc-shaped top wall is provided with a weight-reducing hole. The three-joint drive module is installed on the outer surface of the right side wall.

5. The leg structure of the humanoid robot according to claim 4, characterized in that: The frame thigh includes a left side plate, a right side plate and a connecting part connecting the left side plate and the right side plate. The left side plate and the right side plate are rotatably connected to the left side wall and the right side wall respectively and the rotation axis is coaxially arranged. The three-joint drive module is transmission-connected to the right side plate, the four-joint drive module is installed on the outer surface of the right side plate, and the five-joint drive module is installed between the left side plate and the right side plate.

6. The leg structure of the humanoid robot according to claim 4, characterized in that: The two-joint fixing frame is U-shaped and includes a front parallel section and a rear parallel section spaced apart in the front-to-back direction, and a connecting section connecting the upper ends of the front parallel section and the upper ends of the rear parallel section. The cross-axis connecting member is located on the inner side of the two-joint fixing frame. The front wall and the rear wall are rotatably connected to the front parallel section and the rear parallel section respectively, and the rotation axes are coaxially arranged. The connecting section is transmission-connected to the one-joint driving module. The two-joint driving module is mounted on the outer surface of the rear parallel section and transmission-connected to the rear wall.

7. The leg structure of a humanoid robot according to claim 1, characterized in that: The five-joint drive module, the three-joint drive module and the rotation axis of the frame thigh are coaxially arranged.

8. The leg structure of a humanoid robot according to claim 1, characterized in that: The frame shank includes two opposite side panels and a connecting rib connecting the two side panels.

9. The leg structure of a humanoid robot according to claim 1, characterized in that: The two-joint fixing frame and the cross-axis connecting member are made of aluminum alloy material, and at least a portion of the frame thigh and the frame shank are made of carbon fiber material.

10. A humanoid robot, characterized in that: The invention comprises a leg structure of a humanoid robot according to any one of claims 1 to 9.

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