Leg structure, biped robot, humanoid robot, robot

Abstract

The application relates to the technical field of robots, and discloses a biped robot leg structure, which has two leg assemblies, each of which comprises a leg, the leg comprising a thigh and a thigh joint, a shank and a shank joint, a foot, a leg-rotating joint for driving the leg to rotate, and a leg-swinging joint for driving the leg assembly to swing, the leg-swinging joint having a leg-swinging rotating shaft, the leg assembly being divided into an upper mass part having an upper mass point and a lower mass part having a lower mass point by taking the horizontal plane where the leg-swinging rotating shaft is located as a boundary, the upper mass part and the lower mass part swinging synchronously and reversely about the leg-swinging rotating shaft, and at least part of the upper mass part being located above the horizontal plane where the leg-swinging rotating shaft is located in the swinging process. The application optimizes the leg-swinging inertia and torque of the biped robot leg, reduces the torque demand in the leg-swinging process, and makes it easier to realize the "light lifting and light placing" of the leg, thereby reducing the control difficulty and energy consumption of the biped robot and improving the applicability of the robot.

Description

Technical Field

[0001] This application belongs to the field of robotics technology and relates to a leg structure, a bipedal robot, a humanoid robot, and a robot. Background Technology

[0002] In robotics, humanoid bipedal robots are an important type of robot. In a bipedal robot, each leg structure includes a thigh, a lower leg, a foot, and corresponding thigh and lower leg joints, as well as swing and rotation joints located at the hip. Through the coordination between these joints, the robot can perform walking movements similar to those of a human.

[0003] In existing related technologies, such as the patent application with publication number CN116001945A, publication date April 25, 2023, entitled "Leg Structure and Bipedal Robot," the leg structure includes a thigh, lower leg, foot, and thigh joint, lower leg joint, swing joint, and rotation joint. The thigh and lower leg are driven to rotate relative to each other through the thigh joint and lower leg joint, respectively. The leg structure is driven to swing left and right through the swing joint and to rotate vertically through the rotation joint. Through the coordinated drive of various joints, humanoid walking motion is achieved. However, the rotation joint and swing joint are aligned with the axis of rotation. When swinging the leg, the output axis of the swing joint is taken as the origin. The swing arm formed from the swing joint to the sole of the foot is relatively long, and the entire mass of the leg structure is basically concentrated below the output axis of the swing joint. Thus, the output torque requirements when lifting the leg and the output torque requirements to overcome gravity when lowering the leg are both relatively large.

[0004] For example, patent application CN109969284A, published on July 5, 2019, entitled "Hybrid Mechanical Leg Mechanism and Bipedal Robot," also includes a leg structure composed of a thigh, calf, thigh joint, and calf joint. Its swing joint is connected to the top of the thigh, enabling the leg structure to swing left and right. During the swinging motion, the rotation joint does not swing with the leg structure. This results in a long swing arm from the swing joint to the foot, and the entire mass of the leg structure is concentrated below the swing joint's output axis, leading to high torque requirements when lifting the leg and overcoming gravity when lowering it.

[0005] Therefore, it can be seen that the bipedal robots in the relevant technologies have high requirements for the leg joints during the leg swinging motion. This will inevitably increase the energy consumption of the leg swinging process, and the control of the leg lifting and lowering process is more difficult, which is not conducive to the robot's walking. Summary of the Invention

[0006] This application provides a leg structure, a bipedal robot, a humanoid robot, and a robot, which aims to solve the problems of high energy consumption and difficulty in control of existing bipedal robots due to the large inertia and high torque requirements of the leg joints when swinging their legs.

[0007] In one embodiment, a bipedal robot leg structure includes two leg components, each leg component comprising a thigh and a thigh joint for rotating the thigh, a lower leg and a lower leg joint for rotating the lower leg, and a foot; further comprising: A rotating leg joint for driving the rotation of the leg, which together with the leg constitutes a leg assembly; The swing joint for driving the swing of the leg assembly has a swing rotation axis in the horizontal direction. The leg assembly is divided into an upper mass part with an upper mass point and a lower mass part with a lower mass point, with the horizontal plane where the swing leg rotation axis is located as the boundary. The mass of the upper mass point is greater than zero and less than or equal to the mass of the lower mass point. The distance from the swing leg rotation axis to the upper mass point is the upper lever arm, and the distance from the swing leg rotation axis to the lower mass point is the lower lever arm. The length of the upper lever arm is greater than zero and less than or equal to the length of the lower lever arm. The upper mass portion and the lower mass portion swing synchronously in opposite directions around the swing leg rotation axis, and during the swinging process, at least part of the upper mass portion is located above the horizontal plane where the swing leg rotation axis is located.

[0008] In one embodiment, the upper mass portion includes: The mass of the leg joint, or part or all of its mass. The total mass of the leg joint, a portion of the mass of the thigh, and at least a portion of the mass of the thigh joint, or The total mass of the leg joint, a portion of the mass of the thigh, at least a portion of the mass of the thigh joint, and at least a portion of the mass of the lower leg joint.

[0009] In one embodiment, the lower mass portion includes: The mass of the leg joint and the total mass of the thigh, calf, foot, thigh joint, calf joint, and foot joint, or The partial mass of the thigh and the thigh joint, and the total mass of the lower leg, the foot, the lower leg joint, and the foot joint, or The partial mass of the thigh, thigh joint, and calf joint, and the total mass of the calf, foot, and foot joint.

[0010] One solution includes: The first connector includes a first support plate and a second support plate, and the first support plate is provided with a swing leg joint connecting part. The output end of the swing joint is fixedly connected to the swing joint connecting part, and the swing joint is used to drive the first connecting member to rotate about the swing rotation axis. The second support plate has a rotating leg joint mounting part, and the rotating leg joint is fixedly mounted on the rotating leg joint mounting part; After the rotating leg joint is fixed to the rotating leg joint mounting part, at least part of the mass of the rotating leg joint is on the swing leg rotation axis.

[0011] In one embodiment, a rotating leg joint mounting surface is constructed on the rotating leg joint mounting part, and the rotating leg joint mounting surface is located above the rotating leg rotation axis in the axial direction of the rotating leg joint. After the rotating leg joint is fixedly mounted on the rotating leg joint mounting part, the rotating leg joint is close to or higher than the rotating leg joint mounting surface, so that the entire mass of the rotating leg joint is located above the swing leg rotation axis and forms part of the upper mass portion; When the upper mass portion swings around the swing leg rotation axis, the entire mass of the swing leg joint is located above the horizontal plane where the swing leg rotation axis is located.

[0012] In one embodiment, the first support plate and the second support plate are arranged perpendicularly to each other, the mounting surface of the rotating leg joint is arranged parallel to the horizontal plane where the swing leg rotation axis is located, and the rotating leg rotation axis and the swing leg rotation axis are arranged perpendicularly to each other.

[0013] In one embodiment, the output axis of the thigh joint is set approximately perpendicular to the swing leg rotation axis and is located on the same plane. One end of the thigh is fixed to the output end of the thigh joint, so that part of the mass of the thigh joint and part of the mass of the thigh are located above the swing leg rotation axis, forming part of the upper mass portion together with the total mass of the swing leg joint. When the upper mass portion swings around the swing leg rotation axis, the entire mass of the swing leg joint, a portion of the mass of the thigh joint, and a portion of the mass of the thigh are all located above the horizontal plane where the swing leg rotation axis is located.

[0014] One solution also includes: The second connector includes a first connecting plate and a second connecting plate that are perpendicular to each other, with the first connecting plate disposed at one end of the second connecting plate; The second support plate has a second through hole, and the first connecting plate passes through the second through hole to connect to the output end of the rotating leg joint; The second connecting plate is provided with a third through hole, the axis of which is perpendicular to the swing leg rotation axis and located on the same plane; The thigh joint is fixed to one side of the second connecting plate, and the output end of the thigh joint extends through the third through hole to the other side of the second connecting plate opposite to the thigh joint. The thigh is fixed to the output end of the thigh joint.

[0015] In one embodiment, the lower leg joint is located on the opposite side of the thigh relative to the thigh joint, and the output axis of the lower leg joint is coaxial with the output axis of the thigh joint, so that a portion of the mass of the lower leg joint is placed on the swing leg rotation axis, forming part of the upper mass portion together with the total mass of the swing leg joint, a portion of the mass of the thigh joint, and a portion of the mass of the thigh. When the upper mass portion swings around the leg rotation axis, the entire mass of the leg joint, a portion of the mass of the thigh joint, a portion of the mass of the thigh, and a portion of the mass of the lower leg joint are all located above the horizontal plane where the leg rotation axis is located.

[0016] In one embodiment, the first support plate and the second support plate are integrally formed to form the first connector, and the first connecting plate and the second connecting plate are integrally formed to form the second connector.

[0017] In one embodiment, a connector is provided on one end of the leg joint connecting part relative to the leg joint, and a connector groove is constructed on the connector. One end of the first support plate relative to the second support plate is inserted into the connector groove, thereby connecting the first support plate and the connector by a connector.

[0018] One solution also includes: A fixed frame is arranged along a vertical plane perpendicular to the rotation axis of the swing leg. The fixed frame has a first through hole. The swing leg joint is fixed on the fixed frame. The connecting part of the swing leg joint passes through the first through hole and is connected to the output end of the swing leg joint.

[0019] One embodiment also includes: a first connector and a second connector; The first connector includes a fixed shaft and a connecting seat; the fixed shaft is fixedly connected to the output flange of the swing leg joint, and the connecting seat is provided with a rotating leg joint mounting part, which is located on the swing leg rotation shaft, and the rotating leg joint is fixedly mounted on the rotating leg joint mounting part. The second connector has a through hole on the connector seat. One end of the second connector passes through the through hole and is fixedly connected to the output flange of the leg joint, and the other end is fixedly connected to the thigh joint.

[0020] In one embodiment, the connector has a relief arc surface on the side near the thigh.

[0021] In one embodiment, the upper mass portion oscillates within a range of 0 to 30 degrees between the upper lever arm and the vertical direction.

[0022] In one embodiment, the upper mass portion oscillates within a range of 0 to 15 degrees between the upper lever arm and the vertical direction.

[0023] In one embodiment, the two leg components are divided into a left leg component and a right leg component; The leg swing joint is divided into the left leg swing joint and the right leg swing joint; The leg swing rotation axis is divided into a left leg swing rotation axis and a right leg swing rotation axis; The left leg assembly consists of the upper left mass portion, the upper left lever arm, the lower left mass portion, and the lower left lever arm, with the horizontal plane where the left swing leg rotation axis is located as the boundary. The right leg assembly comprises the upper right mass portion, the upper right lever arm, the lower right mass portion, and the lower right lever arm, with the horizontal plane where the right swing leg rotation axis is located as the boundary. When walking, the left leg assembly and the right leg assembly are initially positioned perpendicular to the ground in the vertical direction; The left leg assembly is driven by the left swing leg joint and swings left and right relative to the vertical direction around the left swing leg rotation axis, wherein the upper left mass part and the lower left mass part swing in opposite directions synchronously. The right leg assembly is driven by the right swing leg joint and swings left and right relative to the vertical direction with the right swing leg rotation axis as the axis, wherein the upper right mass part and the lower right mass part swing in opposite directions synchronously.

[0024] In one embodiment, during walking, the lower left mass portion and the lower right mass portion swing in opposite directions, while the upper left mass portion and the upper right mass portion swing in opposite directions, thereby causing the left leg assembly and the right leg assembly to simultaneously open outward or retract inward.

[0025] In one embodiment, during walking, the lower left mass portion and the lower right mass portion swing in the same direction, and the upper left mass portion and the upper right mass portion swing in the same direction, thereby causing the left leg assembly and the right leg assembly to swing to one side simultaneously.

[0026] In one embodiment, during walking, the lower left and upper left mass portions do not sway, while the lower right and upper right mass portions sway left and right relative to the vertical direction; or The lower right mass portion and the upper right mass portion do not swing, while the lower left mass portion and the upper left mass portion swing left and right relative to the vertical direction. This causes the left leg assembly to swing relative to the right leg assembly, or the right leg assembly to swing relative to the left leg assembly.

[0027] In one embodiment, a bipedal robot includes the aforementioned leg structure.

[0028] In one embodiment, a humanoid robot includes the aforementioned bipedal robot as its lower limbs.

[0029] In one embodiment, a robot includes the aforementioned humanoid robot.

[0030] The beneficial effects of this application are: This application optimizes the swing inertia and torque of the bipedal robot's legs, reduces the torque requirement during the swing process, and makes it easier to achieve "light lifting and placing" of the legs, thereby reducing the control difficulty and energy consumption of the bipedal robot and improving the robot's applicability. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 and Figure 2 These are schematic diagrams of the relevant prior art in this application; Figure 3 This is a schematic diagram of a bipedal robot structure in one embodiment of this application; Figure 4 yes Figure 3 An explosion diagram; Figure 5 yes Figure 3 A diagram showing the view from the right. Figure 6 yes Figure 3 Front view diagram; Figure 7 This is a schematic diagram of a leg assembly of a bipedal robot after it has swung its leg in one embodiment of this application; Figure 8 yes Figure 7 The main view; Figure 9 This is a schematic diagram of the force analysis of the leg swing of a bipedal robot in one embodiment of this application; Figure 10This is an exploded view of each joint in one embodiment of this application; Figure 11 This is a schematic diagram of the leg component structure in one embodiment of this application; Figure 12 yes Figure 11 The right view; Figure 13 yes Figure 11 An explosion diagram; Figure 14 yes Figure 13 The right view; Figure 15 This is a schematic diagram of the first connector in one embodiment of this application; Figure 16 This is a schematic diagram of the second connector in one embodiment of this application; Figure 17 This is a schematic diagram of the cooperation between the first connector and the swing leg joint in one embodiment of this application; Figure 18 yes Figure 17 The left view; Figure 19 This is a schematic diagram of the engagement of some leg components in one embodiment of this application; Figure 20 This is a schematic diagram of the engagement of some leg components in one embodiment of this application; Figure 21 This is a schematic diagram of an explosion of a bipedal robot in one embodiment of this application; Figure 22 This is a front view schematic diagram of an embodiment of this application; Figure 23 This is a schematic diagram of the leg swing of two leg components in one embodiment of this application; Figure 24 This is a schematic diagram of the leg swing of two leg components in one embodiment of this application; Figure 25 This is a schematic diagram of the leg swing of two leg components in one embodiment of this application; The following labels are used in the figure: 1. Leg; 101. Thigh; 102. Thigh joint; 103. Lower leg; 104. Lower leg joint; 105. Leg joint. 1011, Left thigh; 1012, Right thigh; 1021, Left thigh joint; 1022, Right thigh joint; 1031, Left calf; 1032, Right calf; 1041, Left calf joint; 1042, Right calf joint; 1051, Left leg joint; 1052, Right leg joint; 106. First connecting piece; 1061. First bearing plate; 1062. Second bearing plate; 1063. Leg joint connecting part; 1064. Leg joint mounting part; 10641. Second through hole; 1065. Fixed shaft; 1066. Connecting seat; 10661. Clearance arc surface; 10662. Through hole; 1067. Insertion seat; 1068. Insertion groove; 107. Second connector; 1071. First connecting plate; 1072. Second connecting plate; 1073. Third through hole; 108. Foot; 1081. Left foot; 1082. Right foot; 109. Foot joint; 1091. Left foot joint; 1092. Right foot joint; 2. Leg swing joint; 201. Left leg swing joint; 202. Right leg swing joint; 3. Fixture; 301. First through hole; Wherein, axis A is the leg swing rotation axis; axis B is the leg rotation axis; axis C is the output axis of the thigh joint; axis D is the output axis of the lower leg joint; axis G is the left leg swing rotation axis; axis H is the right leg swing rotation axis; Plane α is the horizontal plane where the swing leg rotation axis A is located; plane γ is the mounting surface of the swing leg joint. Detailed Implementation

[0033] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application. Similarly, the following examples are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] The reference to "embodiment" in this application means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0035] Please see Figure 1 and Figure 2 These are schematic diagrams of two robot structures in existing related technologies. For example... Figure 1This bipedal robot includes a thigh 1002, a lower leg 1003, a foot 1007, a thigh joint 1004, a lower leg joint 1005, and a foot joint 1008. The thigh 1002 and lower leg 1003 are driven to rotate relative to each other through the thigh joint 1004 and the lower leg joint 1005, respectively. It also includes a swing joint 1001 for driving the leg structure to swing left and right, and a rotation joint 1006 for driving the leg structure to rotate vertically. Through the coordinated drive of these joints, humanoid walking motion is achieved. However, the rotation axes of the leg joint 1006 and the swing joint 1001 are aligned. During leg swing, with the output axis of the swing joint 1001 as the origin, the swing lever arm formed from the swing joint 1001 to the bottom of the foot 1007 is relatively long. The entire mass of the leg structure is concentrated below the output axis of the swing joint. Therefore, a large output torque is required when lifting the leg. When landing, the leg structure returns to its original position under its own weight, requiring the output torque of the swing joint 1001 to cushion the fall and ensure a smooth landing. Clearly, given the long swing lever arm, the swing joint 1001 also requires a large output torque to overcome gravity.

[0036] For example Figure 2 This bipedal robot also includes a leg structure consisting of a thigh 2002, a lower leg 1003, a thigh joint 2004, and a lower leg joint 2005. Its swing joint 2001 is connected to the top of the thigh 2002, enabling the leg structure to swing left and right. During the swinging motion, the rotating joint does not swing with the leg structure. Therefore, the swing lever arm formed from the swing joint 2001 to the bottom of the foot 2007 is still relatively long. The entire mass of the leg structure is still primarily concentrated below the output axis of the swing joint, resulting in a still significant demand for output torque during leg lifting and overcoming gravity during leg lowering.

[0037] Therefore, it can be seen that the bipedal robots in the relevant technologies have high requirements for the leg joints during the leg swinging motion. This will inevitably increase the energy consumption of the leg swinging process, and there are also problems such as greater difficulty in controlling the leg lifting and lowering process, which is not conducive to the robot's walking.

[0038] To address the aforementioned problems in the prior art, this application provides the following embodiments.

[0039] Please see Figures 3-9 In some embodiments, this application provides a bipedal robot having two leg assemblies. Each leg assembly includes a leg 1, which includes a thigh 101 and a thigh joint 102 for rotating the thigh 101, a lower leg 103 and a lower leg joint 104 for rotating the lower leg 103, and a foot 108. It also includes a rotating leg joint 105 for rotating the leg 1, which, together with the leg 1, constitutes the leg assembly. A swing leg joint 2 for swinging the leg assembly has a horizontally oriented swing rotation axis A.

[0040] The leg assembly is divided into upper mass parts with upper mass points, with the horizontal plane α where the leg swing axis A is located as the boundary. and the lower mass portion with lower mass point The mass of the upper particle is greater than zero and less than or equal to the mass of the lower particle. The distance from the swing leg's rotation axis A to the upper particle is the upper lever arm. The distance from the pivot point A to the lower mass is the lower lever arm. upper lever arm The length is greater than zero and less than or equal to the lower lever arm. The length.

[0041] Among them, the upper quality part With lower mass part The legs swing synchronously in opposite directions around the rotation axis A, and during the swing, at least part of the mass of the upper body... Located above the horizontal plane α where the swing leg rotation axis A is located, such as Figure 7 , Figure 8 and Figure 9 As shown.

[0042] In summary, in this example, the mass of the leg assembly is divided into an upper mass portion, with the leg swing axis A as the boundary. With lower mass part The upper mass part when swinging the leg With lower mass part Synchronous counter-oscillation, thus, as the leg assembly oscillates, the upper mass part oscillates in a relatively counter-directional manner. For the lower mass part The swinging process forms a buffer, effectively reducing the rotational inertia of the leg component and the required output torque of the swinging leg joint 2. That is, it optimizes the rotational inertia and torque of the leg component and reduces the requirements of the swinging leg joint 2.

[0043] Specifically, during leg swinging, the leg components have a smaller moment of inertia, resulting in a lower demand for the output torque of the leg swing joint 2. Similarly, during leg lowering, the torque required by the leg swing joint 2 to overcome gravity is also smaller. This effectively reduces the control difficulty of the leg swinging process, making it easier to achieve "gentle lifting and lowering" of the leg. On another front, it is obvious that under the same walking conditions, the energy consumption of the leg swing joint 2 can be reduced, or under the same selection conditions, a smaller model of the leg swing joint 2 can be chosen to meet the requirements, which is conducive to the miniaturization of the robot and reduces costs.

[0044] Please see Figure 9 The diagram illustrates the force analysis of a bipedal robot using conventional technology and the solution described in this embodiment during the leg swinging process.

[0045] like Figure 9As shown, Torque calculation: The torque of a bipedal robot in the leg-swinging state 'a' in traditional technology: ; ; The torque of the bipedal robot in the leg-swinging state a in this embodiment is: ; ; ; in, It refers to the quality of the traditional robot leg structure; for Gravity; yes Tangential component of force during oscillation; It is a traditional robot leg-swinging lever arm; This refers to the lower mass portion in this embodiment; yes Gravity; yes Tangential component of force during oscillation This is the lower lever arm in this embodiment; This refers to the upper mass portion in this embodiment; yes Gravity; yes Tangential component of force during oscillation This is the lower lever arm in this embodiment; It is the gravity coefficient; in, = , = + , = + ; Thus, in this embodiment, the torque in leg-swinging state a is: ; Obviously, under the same swing angle α, the torque required for the leg assembly of this application to swing the leg is... It requires less torque than the leg swinging torque of traditional robot leg structures.

[0046] Calculation of moment of inertia: The moment of inertia of a robot in motion process 'a' using traditional technology is: = + ; In this embodiment, the moment of inertia for motion process a is: ; Obviously, under the same motion process a, the moment of inertia of the leg component of this application is... The moment of inertia is smaller than that of traditional robot leg structures. .

[0047] In this example, we further verify the calculation by substituting the parameters into the above formula.

[0048] For example, if the designed movement process 'a' is a 15° lateral leg raise, i.e., a = 15°, then... =75°, =1.2m, =40kg, =1m, =0.2m, =30kg, =10kg, the calculation results are as follows: Traditional robot leg structure achieves movement process a: The required torque is: The moment of inertia is: = In this embodiment, the robot's leg structure achieves the following movement process: The required torque is: =266.2 The moment of inertia is: ; In summary, compared with the traditional robot leg structure, the bipedal robot leg assembly of this application reduces the torque by 41.40% and the moment of inertia by 47.22% in the same leg swinging process (a).

[0049] In summary, this example effectively optimized the leg swing inertia and torque of the bipedal robot, reduced the torque requirement during the leg swing process, and made it easier to achieve "light lifting and placing" of the legs. This reduced the control difficulty and energy consumption of the bipedal robot and improved its applicability.

[0050] In some implementations, it can be seen from the above formula that the upper mass portion The closer the quality is to the lower mass part The mass of the upper mass component during the swinging process of the leg assembly. For the lower mass part The cushioning effect becomes more pronounced, i.e., the leg swing torque. and moment of inertia Smaller.

[0051] Therefore, in this example, the upper mass part This includes: part or all of the mass of the leg joint 105. Alternatively, it includes the entire mass of the leg joint 105, part of the mass of the thigh 101, and at least part of the mass of the thigh joint 102. Alternatively, it includes the entire mass of the leg joint 105, part of the mass of the thigh 101, at least part of the mass of the thigh joint 102, and at least part of the mass of the lower leg joint 104.

[0052] Thus, the upper quality part The mass of the upper particle is greater than zero and approaches the mass of the lower particle to the greatest extent. The mass of the lower mass point can better achieve the effect of reducing the swing torque and reducing the moment of inertia.

[0053] In some implementations, the lower mass portion This includes: a portion of the mass of the leg joint 105 and the total mass of the thigh 101, lower leg 103, foot 108, thigh joint 102, lower leg joint 104, and foot joint 109. Alternatively, it can be a portion of the mass of the thigh 101 and thigh joint 102, and the total mass of the lower leg 103, foot 108, lower leg joint 104, and foot joint 109. Or, it can be a portion of the mass of the thigh 101, thigh joint 102, and lower leg joint 104, and the total mass of the lower leg 103, foot 108, and foot joint 109.

[0054] Under this premise, ensure the quality of the lower part. The mass of the entire leg assembly is not entirely included, thus avoiding the concentration of the entire leg assembly's mass below the swing joint 2's swing rotation axis A. Instead, the mass of the leg assembly is shifted upwards as much as possible to the upper side of the swing rotation axis A, i.e., transferred to the part forming the upper mass. In this way, the upper mass part can be reduced to the greatest extent. With lower mass part The difference in value can better achieve the effect of reducing leg swing torque and reducing rotational inertia.

[0055] Please see Figure 3 , Figure 5 , Figure 11 and Figure 15 In some embodiments, the bipedal robot leg structure includes a first connector 106, which includes a first support plate 1061 and a second support plate 1062. The first support plate 1061 is provided with a swing joint connecting part 1063.

[0056] The output end of the swing joint 2 is fixedly connected to the swing joint connecting part 1063. The swing joint 2 is used to drive the first connecting part 106 to rotate around the swing rotation axis A.

[0057] The second support plate 1062 has a leg joint mounting portion 1064, and the leg joint 105 is fixedly mounted on the leg joint mounting portion 1064. After the leg joint 105 is fixed on the leg joint mounting portion 1064, at least a portion of the mass of the leg joint 105 is disposed on the leg swing axis A. That is, through the first connector 106, a portion of the mass of the leg joint 105 is disposed on the leg swing axis A, forming an upper mass portion. Part of the process of swinging the leg, through the upper mass component Relative lower mass part By swinging in the opposite direction, the leg swing torque of the leg component is optimized, thereby achieving the effect of reducing the leg swing torque and rotational inertia as described above.

[0058] Please see Figure 12 , Figure 13 , Figure 14 and Figure 15 In some embodiments, a leg joint mounting surface γ is constructed on the leg joint mounting part 1064, and the leg joint mounting surface γ is located above the leg swing rotation axis A in the axial direction of the leg rotation axis B of the leg joint 105.

[0059] After the leg joint 105 is fixedly mounted on the leg joint mounting part 1064, the leg joint 105 is attached to or higher than the leg joint mounting surface γ, so that the entire mass of the leg joint 105 is located above the leg swing axis A, forming an upper mass portion. Part of it.

[0060] In the upper quality section When the leg swings around the pivot A, the entire mass of the leg joint 105 is located above the horizontal plane α where the pivot A is located.

[0061] Thus, by mounting the rotating leg joint 105 on the rotating leg joint mounting surface γ of the first connector 106, it can be ensured that the entire mass of the rotating leg joint 105 is set on the swing leg rotation axis A, forming the upper mass portion. Part of it, and at this time the upper mass part Including the entire mass of the leg joint 105, the upper mass portion is increased. The quality was improved, and the upper quality section was reduced. With lower mass part The difference in value further optimizes the leg swing torque of the leg component, thereby enhancing the aforementioned effect of reducing leg swing torque and rotational inertia.

[0062] As an example, such as Figure 13 As shown, the first support plate 1061 and the second support plate 1062 can be set perpendicular to each other. The mounting surface γ of the rotating leg joint is set parallel to the horizontal plane α where the swing leg rotation axis A is located. The rotating leg rotation axis B is set perpendicular to the swing leg rotation axis A. This makes the installation and matching of the rotating leg joint 105, the swing leg joint 2, and the first connecting piece 106 simpler and more convenient, and also facilitates the selection of joints and the manufacture of the first connecting piece.

[0063] Please see Figure 10 In some embodiments, the output axis C of the thigh joint 102 is arranged approximately perpendicular to each other and on the same plane, such as plane α. One end of the thigh 101 is fixed to the output end of the thigh joint 102, so that part of the mass of the thigh joint 102 and part of the mass of the thigh 101 are located above the leg swing axis A, forming the upper mass together with the entire mass of the leg swing joint 2. Part of it.

[0064] In the upper quality section When the leg swings around the rotation axis A, the entire mass of the leg joint 2, part of the mass of the thigh joint 102, and part of the mass of the thigh 101 are all located above the horizontal plane α where the leg rotation axis A is located.

[0065] In this way, part of the mass of the thigh joint 102, part of the mass of the thigh 101, and the entire mass of the swing joint 2 are located above the swing rotation axis A, together forming the upper mass portion. Part of it, further increasing the mass of the upper part The quality and reduction of the upper quality part With lower mass part The difference further optimized the leg swing torque of the leg component, enhancing the aforementioned effect of reducing leg swing torque and rotational inertia.

[0066] Please see Figures 10-14 and Figure 16 In some embodiments, the bipedal robot of this application further includes a second connector 107, which includes a first connecting plate 1071 and a second connecting plate 1072 perpendicular to each other, with the first connecting plate 1071 disposed at one end of the second connecting plate 1072.

[0067] The second support plate 1062 has a second through hole 10641, through which the first connecting plate 1071 passes and connects to the output end of the rotating leg joint 105. The second connecting plate 1072 has a third through hole 1073, the axis of which is perpendicular to the swing leg rotation axis A and lies on the same plane, specifically on plane α.

[0068] The thigh joint 102 is fixed to one side of the second connecting plate 1072. The output end of the thigh joint 102 extends through the third through hole 1073 to the other side of the second connecting plate 1072 opposite to the thigh joint 102. The thigh 101 is fixed to the output end of the thigh joint 102, so that the output axis C of the thigh joint 102 and the swing leg rotation axis A are simultaneously located on the plane α, and that a portion of the mass at the top of the thigh 101 and a portion of the mass of the thigh joint 102 are located above the swing leg rotation axis A, forming the upper mass portion. Part of it.

[0069] Please see Figure 10 In some embodiments, the lower leg joint 104 is located on the opposite side of the thigh joint 102 from the thigh joint 102. The output axis D of the lower leg joint 104 is coaxial with the output axis C of the thigh joint 102, so that part of the mass of the lower leg joint 104 is placed on the swing leg rotation axis A, forming the upper mass portion together with the entire mass of the swing leg joint 105, part of the mass of the thigh joint 102, and part of the mass of the thigh 101. Part of it.

[0070] In the upper quality section When the leg swings around the rotation axis A, the entire mass of the leg joint 105, a portion of the mass of the thigh joint 102, a portion of the mass of the thigh 101, and a portion of the mass of the lower leg joint 104 are all located above the horizontal plane α where the leg rotation axis A is located.

[0071] Thus, by placing a portion of the mass of the lower leg joint 104 on the leg swing rotation axis A, it together with a portion of the mass of the thigh joint 102, a portion of the mass of the thigh 101, and the entire mass of the leg swing joint 2 to form the upper mass portion. A portion of it, which significantly increased the mass of the upper part. The quality and reduction of the upper quality part With lower mass part The difference further optimizes the leg swing torque of the leg component, enhancing the aforementioned effect of reducing leg swing torque and rotational inertia.

[0072] As an example, such as Figure 15 and Figure 16 As shown, the first support plate 1061 and the second support plate 1062 are integrally formed as the first connector 106, and the first connecting plate 1071 and the second connecting plate 1072 are integrally formed as the second connector 107. That is, the first connector 106 and the second connector 107 are both integrally formed components, which have high structural strength, are more stable and reliable, and are easy to disassemble and assemble.

[0073] Please see Figure 17 and Figure 18In one embodiment, a connector 1067 is provided on one end of the leg joint connecting part 1063 relative to the leg joint 2. The connector 1067 has a connector groove 1068. The connector 1067 can be formed by milling or integral casting to create a connector groove 1068 that is open at the top or open on both the top and bottom sides. One end of the first support plate 1061 relative to the second support plate 1062 is inserted into the connector groove 1068, thereby connecting the first support plate 1061 and the connector 1067 via a connector. As an example, a set screw can be provided on the connector 1067 to further tighten the connection between the first support plate 1061 and the connector 1067, ensuring a stable and reliable connection.

[0074] During disassembly, the entire leg assembly of the robot can be removed by pulling the first support plate 1061 of the first connector 106 out of the insertion slot 1068 of the insertion seat 1067 without disassembling other structures such as the swing leg joint 2, making the disassembly process more convenient and faster.

[0075] Please see Figure 4 In one embodiment, the bipedal robot of this application further includes: a fixed frame 3, the fixed frame 3 is arranged along a vertical plane perpendicular to the swing leg rotation axis A, the fixed frame 3 is constructed with a first through hole 301, the swing leg joint 2 is fixed on the fixed frame 3, and the swing leg joint connecting part 1063 passes through the first through hole 301 and is connected to the output end of the swing leg joint 2. This application utilizes a mounting bracket 3 to simultaneously mount the swing joints 2 of two leg components, resulting in a simple and stable structure. Simultaneously, the swing joints 2 are fixed to the mounting bracket 3, and the first connector 106 is directly connected to the output end of the swing joint 2. During disassembly, simply separating the swing joint connecting portion 1063 of the first connector 106 from the output end of the swing joint 2 allows for the removal of the entire leg component without disassembling the swing joint 2, making assembly and disassembly easier.

[0076] Please see Figure 19 In some embodiments, the bipedal robot of this application further includes: a first connector 106 and a second connector 107.

[0077] The first connector 106 includes a fixed shaft 1065 and a connecting seat 1066. The fixed shaft 1065 is fixedly connected to the output flange of the swing leg joint 2. The connecting seat 1066 is provided with a rotating leg joint mounting part 1064, which is located on the swing leg rotation shaft A. The rotating leg joint 105 is fixedly mounted on the rotating leg joint mounting part 1064.

[0078] The second connector 107 has a through hole 10662 on the connector 1066. One end of the second connector 107 passes through the through hole 10662 and is fixedly connected to the output flange of the leg joint 105, and the other end is fixedly connected to the thigh joint 102.

[0079] In this embodiment, the fixed shaft 1065 and the connecting seat 1066 are arranged perpendicularly to each other. After the rotating leg joint 105 is fixedly installed on the rotating leg joint mounting part 1064, the entire mass of the rotating leg joint 105 is on the swing leg rotation shaft A, forming the upper mass part. Part of it, during leg swing, is related to the lower mass. They swing in opposite directions together, achieving the aforementioned effect of reducing the swing torque and rotational inertia of the leg components.

[0080] Furthermore, such as Figure 20 As shown, in this example, the connector 1066 has a clearance arc surface 10661 on the side near the thigh 101. The clearance arc surface 10661 is constructed on the bottom side of the connector 1066. The clearance arc surface 10661 is concentrically arranged with the arc-shaped outer peripheral surface of the top of the thigh 101. During installation, the top of the thigh 101 is closer to the connector 1066, and the assembly of the leg assembly is more compact.

[0081] Please see Figure 8 and Figure 9 In some implementations, the upper mass portion The leg swings within a range of 0 to 30 degrees between the upper lever arm and the vertical direction. Thus, during the leg swing, even if the upper mass... Even when swaying to its extreme position, it ensures that all or part of the mass of the leg joint 105 remains above the horizontal plane α where the leg rotation axis A is located, guaranteeing that the mass of the leg assembly can form the upper mass portion within this swing range. and lower mass part This ensures that the goals and effects of reducing the leg swing torque and decreasing the moment of inertia of the leg components are achieved. At the same time, it avoids the problem of overload and failure caused by excessive swing range requiring excessive output torque from the leg swing joint 2.

[0082] In some implementations, the upper mass portion On the upper lever arm The specific value of the angle α with the vertical direction can be: 0 degrees, 5 degrees to 10 degrees, 15 degrees, 20 degrees to 25 degrees, 30 degrees, etc.

[0083] In some implementations, the upper mass portion The leg swings within a range of 0 to 15 degrees between the upper lever arm and the vertical direction. Thus, during the leg swing, even if the upper mass... Even when swaying to its extreme position, it ensures that all or part of the mass of the leg joint 105, part of the mass of the thigh joint 102, part of the mass of the thigh 101, and part of the mass of the lower leg joint 104 are maintained above the horizontal plane α where the leg rotation axis A is located. This guarantees that the mass of the leg components can form a sufficiently large upper mass portion within this swing range. and lower mass part This ensures that the goal of reducing the swing torque of the leg components and lowering the moment of inertia is better achieved. At the same time, it also avoids the problem of overload and failure caused by excessive swing range and excessive output torque of the leg joint 2, thus ensuring the stability of the robot's walking.

[0084] In some implementations, the upper mass portion On the upper lever arm The specific value of the angle α with the vertical direction can be: 0 degrees, 2 degrees to 5 degrees, 7.5 degrees, 8 degrees to 12 degrees, 15 degrees, etc.

[0085] Please see Figures 21-25 In some embodiments, the two leg components of the bipedal robot of this application are divided into a left leg component and a right leg component. The swing leg joint 2 is divided into a left swing leg joint 201 and a right swing leg joint 202. The swing leg rotation axis A is divided into a left swing leg rotation axis G and a left swing leg rotation axis H.

[0086] Among them, the upper left mass part of the left leg assembly is bounded by the horizontal plane α where the left swing leg rotation axis G is located. Left upper lever arm The mass part in the lower left corner and the lower left lever arm .

[0087] The upper right mass portion of the right leg assembly, bounded by the horizontal plane α where the right swing leg rotation axis H is located. upper right lever arm The mass part in the lower right corner and the lower right lever arm .

[0088] During walking, the left and right leg components are initially positioned perpendicular to the ground in the vertical direction. From this initial state, the left leg component, driven by the left swing joint 201, swings left and right relative to the vertical direction about the left swing rotation axis G. The right leg component, driven by the right swing joint 202, swings left and right relative to the vertical direction about the left swing rotation axis H. The upper left mass component... With the lower left mass part Synchronous reverse oscillation. Upper right mass component. With the lower right mass part Synchronous reverse swing. In this way, the swing arm and moment of inertia of both the left and right leg components are optimized, achieving the aforementioned effect of reducing the swing torque and moment of inertia of the leg components.

[0089] It should be noted that the mass part in the upper left corner With the lower left mass part upper right mass section With the lower right mass part The description is based on dividing the two leg components into a left leg component and a right leg component, aiming to enable those skilled in the art to more clearly understand the different engagement postures of the two leg components. Among them, the upper left mass portion... With the lower left mass part That is, the upper mass portion of the leg assembly located on the left side as defined in this embodiment. and lower mass part Similarly, the upper right mass portion With the lower right mass part That is, the upper mass portion of the leg assembly located on the right side as defined in this embodiment. and lower mass part .

[0090] Please see Figure 21 and Figure 22 Within the range of the included angle α, the upper left mass portion This includes: the entire mass of the left leg joint 1051. Alternatively, the entire mass of the left leg joint 1051, a portion of the mass of the left thigh 1011, and at least a portion of the mass of the left thigh joint 1021. Alternatively, the entire mass of the left leg joint 1051, a portion of the mass of the left thigh 1011, at least a portion of the mass of the left thigh joint 1021, and at least a portion of the mass of the left lower leg joint 1041.

[0091] The lower left mass portion This includes the total mass of the left thigh 1011, left calf 1031, left foot 1081, left thigh joint 1021, left calf joint 1041, and left foot joint 1091. Alternatively, it can be a portion of the mass of the left thigh 1011 and left thigh joint 1021, and the total mass of the left calf 1031, left foot 1081, left calf joint 1041, and left foot joint 1091. Or, it can be a portion of the mass of the left thigh 1011, left thigh joint 1021, and left calf joint 1041, and the total mass of the left calf 1031, left foot 1081, and left foot joint 1091.

[0092] Please see Figure 21 and Figure 22 Within the range of the included angle α, the upper right mass portion Includes: the entire mass of the right leg joint 1052. Alternatively, the entire mass of the right leg joint 1052, a portion of the mass of the right thigh 1012, and at least a portion of the mass of the right thigh joint 1022. Alternatively, the entire mass of the right leg joint 1052, a portion of the mass of the right thigh 1012, at least a portion of the mass of the right thigh joint 1022, and at least a portion of the mass of the right lower leg joint 1042.

[0093] The lower right mass portion This includes the total mass of the right thigh (1012), right calf (1032), right foot (1082), right thigh joint (1022), right calf joint (1042), and right foot joint (1092). Alternatively, it can be a partial mass of the right thigh (1012) and right thigh joint (1022), and the total mass of the right calf (1032), right foot (1082), right calf joint (1042), and right foot joint (1092). Or, it can be a partial mass of the right thigh (1012), right thigh joint (1022), and right calf joint (1042), and the total mass of the right calf (1032), right foot (1082), and right foot joint (1092).

[0094] Please see Figure 22 and Figure 23 In some implementations, when the bipedal robot walks, the lower left mass portion and the lower right mass part Swinging in opposite directions, such as opening to the sides of the robot or contracting towards the center, the upper left mass part and the upper right mass part Following the swinging process of their respective lower mass components, they swing in opposite directions, causing the left and right leg components to simultaneously open outward or contract inward. During the swinging process, both the left and right leg components can achieve the aforementioned purpose and effect of reducing the swinging torque and rotational inertia of the leg components.

[0095] Simultaneously, it enables the robot to walk with both legs spread or retracted, enriching its walking postures. Furthermore, because both the left and right leg components possess the aforementioned effect of reducing leg swing torque and rotational inertia, the leg swing process is easier to control, and it is easier to switch and adjust the leg's walking posture. Alternatively, during posture switching, the output torque requirements for the left and right leg joints 201 and 202 are lower, thus reducing energy consumption during posture switching.

[0096] Please see Figure 22 and Figure 24 In some implementations, when the bipedal robot walks, the lower left mass portion and the lower right mass part Swinging in the same direction, upper left mass part and the upper right mass part Swinging in the same direction, such as swinging to the left or right together, allows the left and right leg components to swing to one side simultaneously. Similarly, during the swinging process, both the left and right leg components can achieve the aforementioned purpose and effect of reducing the swinging torque and rotational inertia of the leg components.

[0097] Simultaneously, it enables the robot to walk with a slight tilt to the left or right, enriching its walking posture. Furthermore, because both the left and right leg components possess the aforementioned effect of reducing leg swing torque and rotational inertia, the leg swing process is easier to control, making it easier to switch and adjust the leg's walking posture. Alternatively, during posture switching, the output torque requirements for the left and right leg joints 201 and 202 are lower, thus reducing energy consumption during posture switching.

[0098] Please see Figure 22 and Figure 25 In one design, when the bipedal robot walks, the lower left mass portion... and the upper left mass part No oscillation, lower right mass and the upper right mass part It swings left and right relative to the vertical direction, meaning the left leg component remains stationary while the right leg component swings relative to it. Alternatively, it could be the lower right mass component. and the upper right mass part No oscillation, lower left mass and the upper left mass part The legs swing left and right relative to the vertical direction, meaning the right leg assembly remains stationary while the left leg assembly swings relative to it. This allows the left and right leg assemblies to swing independently, either with the left leg assembly swinging relative to the right leg assembly, or vice versa. Similarly, during the swinging process, both the left and right leg assemblies achieve the aforementioned purpose and effect of reducing the swinging torque and moment of inertia of the leg assemblies.

[0099] At the same time, it also enables the robot to switch between swinging postures with the left and right leg components moving separately, enriching the robot's walking postures and adapting to more application scenarios.

[0100] In addition, since both the left and right leg components can reduce the swing torque and rotational inertia of the leg components as mentioned above, the swing process is easier to control, that is, it is easier to switch and adjust the posture of the legs. Alternatively, during the posture switching process, the output torque requirements of the left swing joint 201 and the right swing joint 202 are lower, that is, the energy consumption of the posture switching process is reduced.

[0101] In some embodiments, a humanoid robot is provided, including the bipedal robot described above, as the lower limb.

[0102] In some implementations, a robot is provided, including the humanoid robot described above.

[0103] The above are merely preferred embodiments of this application. It should be noted that, for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of this application, and these improvements and substitutions should also be considered within the scope of protection of this application.

Claims

1. A leg structure for a bipedal robot, comprising two leg components, each leg component including a leg, the leg including a thigh and a thigh joint for driving rotation of the thigh, a lower leg and a lower leg joint for driving rotation of the lower leg, and a foot and a foot joint for driving rotation of the foot; characterized in that Also includes: A rotating leg joint for driving the rotation of the leg, which together with the leg constitutes a leg assembly; The swing joint for driving the swing of the leg assembly has a swing rotation axis in the horizontal direction. A first connecting member having a first support plate and a second support plate, wherein the first support plate is fixedly connected to the output end of the swing leg joint, and the second support plate is disposed at the end of the first support plate opposite to the swing leg rotation axis, such that the second support plate is located above the horizontal plane where the swing leg rotation axis is located; the swing leg joint is fixedly connected to the second support plate; and The second connector includes a first connecting plate and a second connecting plate perpendicular to each other. The first connecting plate is disposed at one end of the second connecting plate. A second through hole is formed on the second support plate, through which the first connecting plate passes and connects to the output end of the leg joint. A third through hole is formed on the second connecting plate, the axis of which is perpendicular to the leg rotation axis and located in the same plane. The thigh joint is fixed to one side of the second connecting plate, and the output end of the thigh joint extends through the third through hole to the other side of the second connecting plate opposite to the thigh joint. The thigh is fixed to the output end of the thigh joint. The leg assembly is divided into an upper mass portion with an upper mass point and a lower mass portion with a lower mass point, with the horizontal plane where the leg swing axis is located as the boundary. The upper mass portion includes the entire mass of the second support plate and at least part of the mass of the leg swing joint. The distance from the swing leg rotation axis to the upper mass point is the upper lever arm, and the distance from the swing leg rotation axis to the lower mass point is the lower lever arm. The length of the upper lever arm is greater than zero and less than or equal to the length of the lower lever arm. The upper mass portion and the lower mass portion swing synchronously in opposite directions around the swing leg rotation axis, and during the swinging process, at least part of the upper mass portion is located above the horizontal plane where the swing leg rotation axis is located.

2. The leg structure according to claim 1, characterized in that, The upper mass portion includes: The total mass of the leg joint, a portion of the mass of the thigh, and at least a portion of the mass of the thigh joint, or The total mass of the leg joint, a portion of the mass of the thigh, at least a portion of the mass of the thigh joint, and at least a portion of the mass of the lower leg joint.

3. The leg structure according to claim 2, characterized in that, The lower mass portion includes: The total mass of the thigh, the calf, the foot, the thigh joint, the calf joint, and the foot joint, or The partial mass of the thigh and the thigh joint, and the total mass of the lower leg, the foot, the lower leg joint, and the foot joint, or The partial mass of the thigh, thigh joint, and calf joint, and the total mass of the calf, foot, and foot joint.

4. The leg structure according to claim 3, characterized in that, The first support plate is provided with a swing leg joint connecting part; The output end of the swing joint is fixedly connected to the swing joint connecting part, and the swing joint is used to drive the first connecting member to rotate about the swing rotation axis. The second support plate has a rotating leg joint mounting part, and the rotating leg joint is fixedly mounted on the rotating leg joint mounting part; After the rotating leg joint is fixed on the rotating leg joint mounting part, the entire mass of the rotating leg joint rests on the swing leg rotation axis.

5. The leg structure according to claim 4, characterized in that, The rotating leg joint mounting part is provided with a rotating leg joint mounting surface, and the rotating leg joint mounting surface is located on the rotating leg rotation axis of the rotating leg joint in the axial direction. After the rotating leg joint is fixedly mounted on the rotating leg joint mounting part, the rotating leg joint is close to or higher than the rotating leg joint mounting surface, so that the entire mass of the rotating leg joint is located above the swing leg rotation axis and forms part of the upper mass portion; When the upper mass portion swings around the swing leg rotation axis, the entire mass of the swing leg joint is located above the horizontal plane where the swing leg rotation axis is located.

6. The leg structure according to claim 5, characterized in that, The first support plate and the second support plate are arranged perpendicularly to each other, the mounting surface of the rotating leg joint is arranged parallel to the horizontal plane where the swing leg rotation axis is located, and the rotating leg rotation axis and the swing leg rotation axis are arranged perpendicularly to each other.

7. The leg structure according to claim 6, characterized in that, The output axis of the thigh joint is set approximately perpendicular to the swing leg rotation axis and is located on the same plane. One end of the thigh is fixed to the output end of the thigh joint, so that part of the mass of the thigh joint and part of the mass of the thigh are located above the swing leg rotation axis, forming part of the upper mass portion together with the total mass of the swing leg joint. When the upper mass portion swings around the swing leg rotation axis, the entire mass of the swing leg joint, a portion of the mass of the thigh joint, and a portion of the mass of the thigh are all located above the horizontal plane where the swing leg rotation axis is located.

8. The leg structure according to claim 6, characterized in that, The lower leg joint is located on the opposite side of the thigh relative to the thigh joint. The output axis of the lower leg joint is coaxial with the output axis of the thigh joint, so that part of the mass of the lower leg joint is placed on the swing leg rotation axis, and together with the total mass of the swing leg joint, part of the mass of the thigh joint and part of the mass of the thigh, it forms part of the upper mass portion. When the upper mass portion swings around the leg rotation axis, the entire mass of the leg joint, a portion of the mass of the thigh joint, a portion of the mass of the thigh, and a portion of the mass of the lower leg joint are all located above the horizontal plane where the leg rotation axis is located.

9. The leg structure according to claim 7, characterized in that, The first support plate and the second support plate are integrally formed to form the first connecting member, and the first connecting plate and the second connecting plate are integrally formed to form the second connecting member.

10. The leg structure according to claim 4, characterized in that, A connector is provided on one end of the leg joint connecting part relative to the leg joint. The connector has a connector groove. One end of the first support plate relative to the second support plate is inserted into the connector groove, thereby connecting the first support plate and the connector by a connector.

11. The leg structure according to claim 10, characterized in that, Also includes: A fixed frame is arranged along a vertical plane perpendicular to the rotation axis of the swing leg. The fixed frame has a first through hole. The swing leg joint is fixed on the fixed frame. The connecting part of the swing leg joint passes through the first through hole and is connected to the output end of the swing leg joint.

12. The leg structure according to claim 3, characterized in that, The first connector includes a fixed shaft and a connecting seat; the fixed shaft is fixedly connected to the output flange of the swing leg joint, and the connecting seat is provided with a rotating leg joint mounting part, which is located on the swing leg rotation shaft, and the rotating leg joint is fixedly mounted on the rotating leg joint mounting part. The second connector has a through hole on the connector seat. One end of the second connector passes through the through hole and is fixedly connected to the output flange of the leg joint, and the other end is fixedly connected to the thigh joint.

13. The leg structure according to claim 12, characterized in that, The connector has a relief arc surface on the side near the thigh.

14. The leg structure according to claim 13, characterized in that, The upper mass portion swings within a range of 0 to 30 degrees between the upper lever arm and the vertical direction.

15. The leg structure according to claim 14, characterized in that, The upper mass portion swings within a range of 0 to 15 degrees between the upper lever arm and the vertical direction.

16. The leg structure according to claim 15, characterized in that, The two leg components are divided into a left leg component and a right leg component; The leg swing joint is divided into the left leg swing joint and the right leg swing joint; The leg swing rotation axis is divided into a left leg swing rotation axis and a right leg swing rotation axis; The left leg assembly consists of the upper left mass portion, the upper left lever arm, the lower left mass portion, and the lower left lever arm, with the horizontal plane where the left swing leg rotation axis is located as the boundary. The right leg assembly comprises the upper right mass portion, the upper right lever arm, the lower right mass portion, and the lower right lever arm, with the horizontal plane where the right swing leg rotation axis is located as the boundary. When walking, the left leg assembly and the right leg assembly are initially positioned perpendicular to the ground in the vertical direction; The left leg assembly is driven by the left swing leg joint and swings left and right relative to the vertical direction around the left swing leg rotation axis, wherein the upper left mass part and the lower left mass part swing in opposite directions synchronously. The right leg assembly is driven by the right swing leg joint and swings left and right relative to the vertical direction with the right swing leg rotation axis as the axis, wherein the upper right mass part and the lower right mass part swing in opposite directions synchronously.

17. The leg structure according to claim 16, characterized in that, When walking, the lower left mass portion and the lower right mass portion swing in opposite directions, and the upper left mass portion and the upper right mass portion swing in opposite directions, thereby causing the left leg assembly and the right leg assembly to simultaneously open outward or retract towards the center.

18. The leg structure according to claim 16, characterized in that, When walking, the lower left mass portion and the lower right mass portion swing in the same direction, and the upper left mass portion and the upper right mass portion swing in the same direction, thereby causing the left leg assembly and the right leg assembly to swing to one side simultaneously.

19. The leg structure according to claim 16, characterized in that, When walking, the lower left and upper left mass portions do not swing, while the lower right and upper right mass portions swing left and right relative to the vertical direction; or The lower right mass portion and the upper right mass portion do not swing, while the lower left mass portion and the upper left mass portion swing left and right relative to the vertical direction. This causes the left leg assembly to swing relative to the right leg assembly, or the right leg assembly to swing relative to the left leg assembly.

20. A bipedal robot, characterized in that, Includes the leg structure as described in any one of claims 1-19.

21. A humanoid robot, characterized in that, Includes the bipedal robot of claim 20, as the lower limb.

22. A robot, characterized in that, Including the humanoid robot as described in claim 21.

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