Lower limb components and humanoid robots

Abstract

A lower limb assembly and a humanoid robot. The lower limb assembly is used for a humanoid robot and includes a thigh shell, a calf shell, a sole structure, a first driving structure and a first transmission structure. The calf shell includes a shell and a first cover. The first cover is installed in a local area of ​​a surface of one side of the shell along a first direction. One end of the shell is rotatably connected to the thigh shell, and the sole structure is rotatably connected to an end of the shell away from the thigh shell. The first driving structure is accommodated in the shell and covered by the first cover. The first transmission structure is connected to the first driving structure and the sole structure. A first avoidance hole and a second avoidance hole are opened on the first cover. The first avoidance hole and the second avoidance hole are located at opposite ends of the first cover along the second direction. The second avoidance hole is located on the side of the first avoidance hole facing away from the sole structure. The first transmission structure is penetrated through the first avoidance hole. The present application reduces the weight of the lower limb assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a lower limb assembly and a humanoid robot. Background Art

[0002] At present, humanoid robots can highly imitate the appearance and behavior of humans and have attracted the attention of a large number of users. The lower limb assembly of humanoid robots can provide them with mobility and is an important component of humanoid robots. In the prior art, the lower limb assembly must be equipped with a separate transmission assembly to drive the lower leg shell and the sole structure to move, and a separate shell must be equipped to install parts such as motors, which makes the lower limb assembly have many parts and heavy weight. Summary of the invention

[0003] The purpose of the present invention is to provide a lower limb assembly and a humanoid robot to solve the problem of heavy weight of the lower limb assembly.

[0004] To achieve the purpose of the present invention, the present invention provides the following technical solutions:

[0005] In the first aspect, the present invention provides a lower limb assembly for a humanoid robot, comprising: a thigh shell; a calf shell, the calf shell comprising a shell and a first cover body, the first cover body being installed in a local area of ​​a side surface of the shell along a first direction, one end of the shell being rotatably connected to the thigh shell; a sole structure being rotatably connected to an end of the shell away from the thigh shell; a first drive structure being accommodated in the shell, the first drive structure being covered by the first cover body; a first transmission structure being connected to the first drive structure and the sole structure, a first avoidance hole and a second avoidance hole being provided on the first cover body, the first avoidance hole and the second avoidance hole being located at opposite ends of the first cover body along the second direction, the second avoidance hole being located on a side of the first avoidance hole facing away from the sole structure, the first transmission structure being penetrated through the first avoidance hole, and the first direction and the second direction intersecting.

[0006] The lower limb assembly of the embodiment of the present application is provided with a thigh shell, a calf shell, a sole structure, a first drive structure and a first transmission structure. The calf shell includes a shell and a first cover. The first cover is installed in a local area of ​​a side surface of the shell along a first direction. One end of the shell is rotatably connected to the thigh shell. The sole structure is rotatably connected to an end of the shell away from the thigh shell. The first drive structure is accommodated in the shell. The first drive structure is covered by the first cover. The first transmission structure is connected to the first drive structure and the sole structure. The first cover is provided with a first avoidance hole and a second avoidance hole. The first avoidance hole The first cover body and the second avoidance hole are located at two ends opposite to each other along the second direction, the second avoidance hole is located on the side of the first avoidance hole facing away from the sole structure, the first transmission structure is passed through the first avoidance hole, the first direction and the second direction intersect, the calf shell can both realize the transmission function and accommodate the first drive structure, avoiding the need to set up a separate transmission component to drive the calf shell and the sole structure to move, and to set up a separate shell to install parts such as motors, thereby reducing the parts of the lower limb assembly, reducing the space of the calf shell, reducing the weight of the lower limb assembly, and covering the first drive structure to avoid interference with the first drive structure and the first transmission structure.

[0007] In one embodiment, the calf shell also includes a second cover body, which is installed on a local area of ​​a side surface of the shell along the first direction, and the second cover body covers an end of the first drive structure away from the first cover body. The first cover body and the second cover body are opposite to each other, and the shell is provided with a mounting hole that passes through along the first direction, and the first drive structure extends from the mounting hole to two side surfaces of the shell opposite to each other in the first direction.

[0008] In this way, by setting the calf shell also including a second cover body, the second cover body is installed in a local area of ​​the side surface of the shell along the first direction, the second cover body covers the end of the first drive structure away from the first cover body, the first cover body and the second cover body are opposite to each other, and the shell is provided with a mounting hole that passes through along the first direction. The first drive structure extends from the mounting hole to the two side surfaces of the shell opposite to each other in the first direction, thereby improving the space utilization of the shell and covering the first drive structure.

[0009] In one embodiment, the shell includes a main shell and a connecting shell, one end of the main shell is rotatably connected to the sole structure, the connecting shell is connected to the middle of the end of the main shell away from the sole structure, the end of the connecting shell away from the main shell is rotatably connected to the thigh shell, and the size of the main shell in the first direction is larger than the size of the connecting shell in the first direction.

[0010] In this way, by dividing the shell into a main shell and a connecting shell, one end of the main shell is rotatably connected to the sole structure, the connecting shell is connected to the middle of the end of the main shell away from the sole structure, and the end of the connecting shell away from the main shell is rotatably connected to the thigh shell. The size of the main shell in the first direction is larger than the size of the connecting shell in the first direction, so that the connection between the main shell and the connecting shell is compact and the space occupied by the connecting shell is reduced.

[0011] In one embodiment, the main shell includes a first sub-shell and a second sub-shell, the first sub-shell and the second sub-shell are opposite and connected in the first direction, the mounting holes pass through the first sub-shell and the second sub-shell, the first sub-shell and the second sub-shell enclose a accommodating space, the accommodating space accommodates part of the first driving structure, the first cover body is smoothly connected to the first sub-shell, and the second cover body is smoothly connected to the second sub-shell.

[0012] In this way, by dividing the main shell into a first sub-shell and a second sub-shell, the first sub-shell and the second sub-shell are opposite and connected in a first direction, the mounting holes pass through the first sub-shell and the second sub-shell, the first sub-shell and the second sub-shell enclose a accommodating space, the accommodating space accommodates part of the first driving structure, the first cover body is smoothly connected to the first sub-shell, and the second cover body is smoothly connected to the second sub-shell. The smooth connection reduces the manufacturing difficulty and improves the aesthetics. The first sub-shell and the second sub-shell can be installed separately to form the main shell, thereby accommodating part of the first driving structure, which improves the convenience of installation between the main shell and the first driving structure.

[0013] In one embodiment, the mounting hole includes a first sub-mounting hole and a second sub-mounting hole, the first sub-mounting hole and the second sub-mounting hole are spaced apart in a second direction, and the first direction intersects with the second direction;

[0014] The first driving structure includes a first driving member and a second driving member, and the first transmission structure includes a first transmission member and a second transmission member. The first driving member is partially accommodated in the accommodating space and extends from the first sub-mounting hole, and the second driving member is partially accommodated in the accommodating space and extends from the second sub-mounting hole. The first transmission member is connected to an end of the first driving member facing away from the second sub-shell, and the second transmission member is connected to an end of the second driving member facing away from the first sub-shell. An end of the first transmission member away from the first driving member is rotatably connected to the sole structure, and an end of the second transmission member away from the second driving member is rotatably connected to the sole structure.

[0015] In this way, by dividing the mounting hole into a first sub-mounting hole and a second sub-mounting hole, the first sub-mounting hole and the second sub-mounting hole are spaced apart in the second direction, and the first direction intersects with the second direction, the first driving structure is divided into a first driving member and a second driving member, the first transmission structure includes a first transmission member and a second transmission member, the first driving member is partially accommodated in the accommodating space and extends from the first sub-mounting hole, so that the installation of the first driving member is compact, saving the installation space of the first driving member, the second driving member is partially accommodated in the accommodating space, and extends from the second sub-mounting hole, so that the installation of the second driving member is compact, saving the installation space of the second driving member, the first transmission member is connected to an end of the first driving member facing away from the second sub-shell, and the second transmission member is connected to an end of the second driving member facing away from the first sub-shell, avoiding mutual interference between the first transmission member and the second transmission member, an end of the first transmission member away from the first driving member is rotatably connected to the sole structure, and an end of the second transmission member away from the second driving member is rotatably connected to the sole structure, and the first transmission member and the second transmission member are both rotatably connected to the sole structure, thereby improving the stability of the rotation of the sole structure.

[0016] In one embodiment, the first sub-shell is provided with a first avoidance groove, the first avoidance groove is spaced apart from the first sub-mounting hole and the second sub-mounting hole, and the first avoidance groove accommodates part of the first transmission member.

[0017] In this way, by opening the first avoidance groove in the first sub-shell, the first avoidance groove is spaced apart from the first sub-mounting hole and the second sub-mounting hole, and the first avoidance groove accommodates part of the first transmission member, so that the first transmission member and the first sub-shell fit compactly, and part of the first transmission member is accommodated in the first avoidance groove, thereby avoiding interference between the first transmission member and the first sub-shell.

[0018] In one embodiment, the connecting shell is provided with a first hole, a second hole and a first rotating shaft hole which are spaced apart from each other, the second hole being arranged along the second direction on a side of the first hole away from the mounting hole, the line connecting the orthographic projection of the axis of the first hole in the first direction and the orthographic projection of the axis of the second hole in the first direction forms a rotating shaft, the rotating shaft passes through the orthographic projection of the axis of the first rotating shaft hole in the first direction, the first hole and the second hole are used to connect to the thigh shell, and the first rotating shaft hole is used to install the rotating shaft of the thigh shell.

[0019] In this way, by opening the first hole, the second hole and the first rotating shaft hole which are spaced apart on the connecting shell, the second hole is arranged along the second direction on the side of the first hole away from the mounting hole, the line connecting the orthographic projection of the axis of the first hole in the first direction and the orthographic projection of the axis of the second hole in the first direction forms the rotating shaft, the rotating shaft passes through the orthographic projection of the axis of the first rotating shaft hole in the first direction, the first hole and the second hole can be connected to the thigh shell through a connecting piece, and the first rotating shaft hole is connected to the rotating shaft of the thigh shell, which saves the energy of the thigh shell driving the connecting shell to rotate through the connecting pieces in the first hole and the second hole.

[0020] In one embodiment, the thigh shell includes a third sub-shell and a fourth sub-shell, the third sub-shell and the fourth sub-shell are opposite and connected in the first direction, the third sub-shell and the fourth sub-shell are both connected to the connecting shell, the third sub-shell and the fourth sub-shell are both provided with a second rotation axis hole, the second rotation axis hole corresponds to the first rotation axis hole, part of the third sub-shell and part of the fourth sub-shell have a spacing distance to form an installation space, and the installation space accommodates part of the connecting shell.

[0021] In this way, by dividing the thigh shell into a third sub-shell and a fourth sub-shell, the third sub-shell and the fourth sub-shell are opposite and connected in the first direction, the third sub-shell and the fourth sub-shell are both connected to the connecting shell, the third sub-shell and the fourth sub-shell are both provided with a second rotation axis hole, and the second rotation axis hole corresponds to the first rotation axis hole, thereby facilitating the connection between the thigh shell and the connecting shell, part of the third sub-shell and part of the fourth sub-shell have a spacing distance to form an installation space, and the installation space accommodates part of the connecting shell, thereby saving the installation space between the thigh shell and the connecting shell.

[0022] In one embodiment, the first transmission member includes a first transmission rod and a first crank, one end of the first crank is rotationally connected to the first driving member, one end of the first transmission rod is rotationally connected to an end of the first crank away from the first driving member, and the other end of the first transmission rod is rotationally connected to the sole structure.

[0023] In this way, by dividing the first transmission member into a first transmission rod and a first crank, one end of the first crank is rotatably connected to the first driving member, and one end of the first transmission rod is rotatably connected to an end of the first crank away from the first driving member, thereby avoiding mutual interference among the first crank, the first transmission rod and the first driving member, and the other end of the first transmission rod is rotatably connected to the sole structure, so as to facilitate the first driving member to drive the sole structure to move.

[0024] In one embodiment, the sole structure includes an ankle joint assembly, and the ankle joint assembly includes a first bracket and a second bracket that are spaced apart, the first bracket is rotatably connected to the first transmission rod, and the second bracket is rotatably connected between the first sub-shell and the second sub-shell.

[0025] In this way, by setting up the sole structure including the ankle joint assembly, the ankle joint assembly includes a first bracket and a second bracket arranged at intervals, the first bracket is rotatably connected to the first transmission rod, which facilitates the transmission of the ankle joint assembly by the first transmission rod, and the second bracket is rotatably connected between the first sub-shell and the second sub-shell, which facilitates the transmission of the first sub-shell and the second sub-shell to the second bracket and saves space.

[0026] In one embodiment, the lower limb assembly also includes a second drive structure and a second transmission structure, the second drive structure is rotatably connected to the second transmission structure, the second drive structure is installed on the thigh shell, the second transmission structure is arranged in the thigh shell, and the second transmission structure is rotatably connected to one end of the calf shell away from the sole structure.

[0027] In this way, by setting the lower limb component to also include a second drive structure and a second transmission structure, the second drive structure is rotatably connected to the second transmission structure, the second drive structure is installed on the thigh shell, the second transmission structure is arranged in the thigh shell, and the second transmission structure is rotatably connected to the end of the calf shell away from the sole structure. The calf shell can both realize the transmission function and accommodate the second drive structure, thereby reducing the space of the calf shell and improving the space utilization rate of the calf shell.

[0028] In a second aspect, the present application also provides a humanoid robot comprising a lower limb assembly as described in any one of the various embodiments of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 is a schematic structural diagram of a lower limb assembly of an embodiment;

[0031] Figure 2 is a schematic structural diagram of a calf shell of an embodiment;

[0032] Figure 3 is an exploded view of a calf housing of one embodiment;

[0033] Figure 4 is a first side view of a first subshell of an embodiment;

[0034] Figure 5 is a second side view of a first subshell of an embodiment;

[0035] Figure 6 yes Figure 1 Section along MM.

[0036] Description of reference numerals:

[0037] 10-lower limb assembly, 11-thigh shell, 111-third subshell, 112-fourth subshell, 113-second transmission structure, 114-installation space, 12-calf shell, 121-shell, 1211-main shell, 1212-first subshell, 1213-second subshell, 1214-accommodation space, 1215-connecting shell, 1216-first avoidance groove, 1217-first hole, 1218-second hole, 1219-first shaft hole, 122-first cover, 1221-first avoidance hole, 122 2-second avoidance hole, 123-second cover body, 124-mounting hole, 1241-first sub-mounting hole, 1242-second sub-mounting hole, 13-sole structure, 14-first driving structure, 141-first driving member, 142-second driving member, 15-first transmission structure, 151-first transmission member, 1511-first transmission rod, 1512-first crank, 152-second transmission member, 16-ankle joint assembly, 161-first bracket, 162-second bracket, X-first direction, Y-second direction. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0040] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the present invention includes any and all combinations of one or more of the related listed items.

[0041] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0042] The present application embodiment provides a lower limb assembly 10 for a humanoid robot, please refer to Figure 1 and Figure 2 , including a thigh shell 11, a calf shell 12, a sole structure 13, a first driving structure 14 and a first transmission structure 15.

[0043] Optionally, the shape of the orthographic projection of the thigh shell 11 in the first direction X can be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the thigh shell 11 in the first direction X can be, but is not limited to, a hexagon, an octagon, an irregular shape, etc.

[0044] The calf shell 12 includes a shell 121 and a first cover 122 . The first cover 122 is installed on a local area of ​​a side surface of the shell 121 along the first direction X. One end of the shell 121 is rotatably connected to the thigh shell 11 .

[0045] The shape of the orthographic projection of the calf shell 12 in the first direction X may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the calf shell 12 in the first direction X may be, but is not limited to, a hexagon, an octagon, an irregular shape, etc.

[0046] The sole structure 13 is rotatably connected to an end of the housing 121 away from the thigh housing 11. Optionally, the shape of the orthographic projection of the sole structure 13 in the second direction Y may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the sole structure 13 in the second direction Y may specifically be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0047] The first driving structure 14 is received in the housing 121 and is covered by the first cover 122. Optionally, the first driving structure 14 is indirectly connected to the sole structure 13.

[0048] The first transmission structure 15 is connected to the first driving structure 14 and the sole structure 13, the first cover 122 is provided with a first avoidance hole 1221 and a second avoidance hole 1222, the first avoidance hole 1221 and the second avoidance hole 1222 are located at two opposite ends of the first cover 122 along the second direction Y, the second avoidance hole 1222 is located on the side of the first avoidance hole 1221 facing away from the sole structure 13, the first transmission member 151 is penetrated through the first avoidance hole 1221, and the first direction X intersects with the second direction Y. Optionally, one end of the first transmission structure 15 is rotationally connected to the first driving structure 14, and the other end is rotationally connected to the sole structure 13.

[0049] Optionally, the first avoidance hole 1221 may be a polygonal hole, a circular hole, an elliptical hole, an irregular hole, etc. Optionally, the first avoidance hole 1221 may be, but not limited to, a hexagonal hole, an octagonal hole, an irregular hole, etc. Optionally, the second avoidance hole 1222 may be, but not limited to, a hexagonal hole, an octagonal hole, an irregular hole, etc. Optionally, the second avoidance hole 1222 may be, but not limited to, a hexagonal hole, an octagonal hole, an irregular hole, etc.

[0050] In this way, by opening the first avoidance hole 1221 and the second avoidance hole 1222 on the first cover body 122, the first avoidance hole 1221 and the second avoidance hole 1222 are located at the two ends of the first cover body 122 opposite to each other along the second direction Y, and the second avoidance hole 1222 is located on the side of the first avoidance hole 1221 facing away from the sole structure 13, and the first transmission member 151 is passed through the first avoidance hole 1221 to avoid interference between the two ends of the first transmission member 151 along the second direction Y and the first cover body 122, and to make the first transmission member 151 and the first cover body 122 fit compactly.

[0051] The calf shell 12 includes a shell 121 and a first cover 122, the first cover 122 is installed in a local area of ​​a side surface of the shell 121 along the first direction X, one end of the shell 121 is rotatably connected to the thigh shell 11, the sole structure 13 is rotatably connected to the end of the shell 121 away from the thigh shell 11, the first drive structure 14 is accommodated in the shell 121, the first drive structure 14 is covered by the first cover 122, the first transmission structure 15 is connected to the first drive structure 14 and the sole structure 13, the first avoidance hole 1221 and the second avoidance hole 1222 are provided on the first cover 122, and the first avoidance hole 1221 and the second avoidance hole 1222 are located along the first cover 122 The second two ends of the second direction Y are opposite to each other, the second avoidance hole 1222 is located on the side of the first avoidance hole 1221 facing away from the sole structure 13, the first transmission member 151 is penetrated by the first avoidance hole 1221, the first direction X intersects with the second direction Y, the calf shell 12 can realize the transmission function and accommodate the first drive structure 14, avoiding the need to set up a separate transmission component to drive the calf shell 12 and the sole structure 13 to move, and setting up a separate shell 121 to install parts such as motors, thereby reducing the parts of the lower limb assembly 10, reducing the space of the calf shell 12, reducing the weight of the lower limb assembly 10, and covering the first drive structure 14 to avoid interference with the first drive structure 14 and the first transmission structure 15.

[0052] In one embodiment, please refer to Figure 1 , Figure 2 and Figure 6The calf shell 12 also includes a second cover body 123, which is installed on a local area of ​​a side surface of the shell 121 along the first direction X. The second cover body 123 covers an end of the first drive structure 14 away from the first cover body 122. The first cover body 122 and the second cover body 123 are opposite to each other. The shell 121 is provided with a mounting hole 124 that passes through along the first direction X. The first drive structure 14 extends from the mounting hole 124 to the two side surfaces of the shell 121 opposite to each other in the first direction X.

[0053] Optionally, the first cover 122 and the second cover 123 are both disposed on a side close to the thigh shell 11. Optionally, the first cover 122 and the second cover 123 are symmetrical structures.

[0054] Optionally, the shell 121 , the first cover 122 and the second cover 123 are an integrated structure, which improves the rigidity of the calf shell 12 .

[0055] Optionally, the shape of the orthographic projection of the shell 121 in the first direction X may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the shell 121 in the first direction X may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the first cover 122 in the first direction X may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the first cover 122 in the first direction X may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the second cover 123 in the first direction X may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the second cover 123 in the first direction X may be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0056] In this way, by setting the calf shell 12 also including a second cover body 123, the second cover body 123 is installed in a local area of ​​a side surface of the shell 121 along the first direction X, the second cover body 123 covers the end of the first drive structure 14 away from the first cover body 122, the first cover body 122 and the second cover body 123 are opposite to each other, and the shell 121 is provided with a mounting hole 124 that passes through along the first direction X. The first drive structure 14 extends from the mounting hole 124 to the two side surfaces of the shell 121 opposite to each other in the first direction X, thereby improving the space utilization rate of the shell 121, and the first cover body 122 and the second cover body 123 cover the first drive structure 14, thereby avoiding interference of other parts with the first drive structure 14.

[0057] In one embodiment, please refer to Figure 1 and Figure 2The shell 121 includes a main shell 1211 and a connecting shell 1215. One end of the main shell 1211 is rotatably connected to the sole structure 13. The connecting shell 1215 is connected to the middle part of the end of the main shell 1211 away from the sole structure 13. The end of the connecting shell 1215 away from the main shell 1211 is rotatably connected to the thigh shell 11. The size of the main shell 1211 in the first direction X is larger than the size of the connecting shell 1215 in the first direction X.

[0058] Optionally, the main shell 1211 and the connecting shell 1215 are an integrated structure, which improves the rigidity of the shell 121. Optionally, the size of the thigh shell 11 in the first direction X is greater than the size of the connecting shell 1215 in the first direction X.

[0059] Optionally, the shape of the orthographic projection of the main shell 1211 in the first direction X may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the main shell 1211 in the first direction X may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the connecting shell 1215 in the first direction X may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the connecting shell 1215 in the first direction X may be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0060] In this way, by dividing the shell 121 into a main shell 1211 and a connecting shell 1215, one end of the main shell 1211 is rotatably connected to the sole structure 13, the connecting shell 1215 is connected to the middle of the end of the main shell 1211 away from the sole structure 13, and the end of the connecting shell 1215 away from the main shell 1211 is rotatably connected to the thigh shell 11, and the size of the main shell 1211 in the first direction X is larger than the size of the connecting shell 1215 in the first direction X, so that the connection between the main shell 1211 and the connecting shell 1215 is compact, and the space occupied by the connecting shell 1215 is reduced.

[0061] In one embodiment, please refer to Figure 1 and Figure 2 The main shell 1211 includes a first sub-shell 1212 and a second sub-shell 1213, the first sub-shell 1212 and the second sub-shell 1213 are opposite and connected in the first direction X, the mounting holes 124 penetrate the first sub-shell 1212 and the second sub-shell 1213, the first sub-shell 1212 and the second sub-shell 1213 enclose a receiving space 1214, the receiving space 1214 accommodates part of the first driving structure 14, the first cover body 122 is smoothly connected to the first sub-shell 1212, and the second cover body 123 is smoothly connected to the second sub-shell 1213.

[0062] Optionally, the first sub-shell 1212 and the second sub-shell 1213 are an integrated structure, which improves the rigidity of the main shell 1211. Optionally, the shape of the orthographic projection of the first sub-shell 1212 in the first direction X can be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the first sub-shell 1212 in the first direction X can be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the second sub-shell 1213 in the first direction X can be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the second sub-shell 1213 in the first direction X can be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0063] Optionally, the first sub-shell 1212 and the second sub-shell 1213 are symmetrical structures.

[0064] In this way, by dividing the main shell 1211 into a first sub-shell 1212 and a second sub-shell 1213, the first sub-shell 1212 and the second sub-shell 1213 are opposite and connected in the first direction X, the mounting holes 124 both pass through the first sub-shell 1212 and the second sub-shell 1213, the first sub-shell 1212 and the second sub-shell 1213 enclose a receiving space 1214, the receiving space 1214 receives part of the first driving structure 14, the first cover body 122 is smoothly connected to the first sub-shell 1212, the second cover body 123 is smoothly connected to the second sub-shell 1213, the smooth connection reduces the manufacturing difficulty and improves the aesthetics, the first sub-shell 1212 and the second sub-shell 1213 can be installed separately to form the main shell 1211, thereby receiving part of the first driving structure 14, and improving the convenience of installation between the main shell 1211 and the first driving structure 14.

[0065] In one embodiment, please refer to Figure 1 , Figure 2 and Figure 4 The mounting hole 124 includes a first sub-mounting hole 1241 and a second sub-mounting hole 1242, the first sub-mounting hole 1241 and the second sub-mounting hole 1242 are spaced apart in the second direction Y, and the first direction X intersects the second direction Y;

[0066] The first driving structure 14 includes a first driving member 141 and a second driving member 142, and the first transmission structure 15 includes a first transmission member 151 and a second transmission member 152. The first driving member 141 is partially accommodated in the accommodating space 1214 and extends from the first sub-mounting hole 1241. The second driving member 142 is partially accommodated in the accommodating space 1214 and extends from the second sub-mounting hole 1242. The first transmission member 151 is connected to an end of the first driving member 141 facing away from the second sub-shell 1213, and the second transmission member 152 is connected to an end of the second driving member 142 facing away from the first sub-shell 1212. An end of the first transmission member 151 away from the first driving member 141 is rotatably connected to the sole structure 13, and an end of the second transmission member 152 away from the second driving member 142 is rotatably connected to the sole structure 13.

[0067] Optionally, the first driving member 141 and the second driving member 142 have the same size and structure. Optionally, the first transmission member 151 and the second transmission member 152 have the same size and structure.

[0068] Optionally, the first driving member 141 includes a first stator, which is received in the receiving space 1214 and is an integral structure with the first sub-shell 1212. Optionally, the second driving member 142 includes a second stator, which is received in the receiving space 1214 and is an integral structure with the second sub-shell 1213.

[0069] Optional, please combine Figure 5 The first driving member 141 extends from the first sub-mounting hole 1241 to two opposite sides of the housing 121 in the first direction X. Optionally, the second driving member 142 extends from the second sub-mounting hole 1242 to two opposite sides of the housing 121 in the first direction X.

[0070] Optionally, the first sub-mounting hole 1241 may be a polygonal hole, a circular hole, an elliptical hole, an irregular hole, etc. Optionally, the first sub-mounting hole 1241 may be, but not limited to, a hexagonal hole, an octagonal hole, an irregular hole, etc. Optionally, the second sub-mounting hole 1242 may be, but not limited to, a hexagonal hole, an octagonal hole, an irregular hole, etc. Optionally, the second sub-mounting hole 1242 may be, but not limited to, a hexagonal hole, an octagonal hole, an irregular hole, etc.

[0071] In this way, by dividing the mounting hole 124 into the first sub-mounting hole 1241 and the second sub-mounting hole 1242, the first sub-mounting hole 1241 and the second sub-mounting hole 1242 are spaced apart in the second direction Y, the first driving structure 14 is divided into the first driving member 141 and the second driving member 142, the first transmission structure 15 includes the first transmission member 151 and the second transmission member 152, the first driving member 141 is partially accommodated in the accommodating space 1214, and extends from the first sub-mounting hole 1241, so that the installation of the first driving member 141 is compact, saving the installation space 114 of the first driving member 141, the second driving member 142 is partially accommodated in the accommodating space 1214, and extends from the second sub-mounting hole 1242, so that The installation of the second driving member 142 is compact, and the installation space 114 of the second driving member 142 is saved. The first transmission member 151 is connected to the end of the first driving member 141 facing away from the second sub-shell 1213, and the second transmission member 152 is connected to the end of the second driving member 142 facing away from the first sub-shell 1212, so as to avoid interference between the first transmission member 151 and the second transmission member 152. The end of the first transmission member 151 away from the first driving member 141 is rotatably connected to the sole structure 13, and the end of the second transmission member 152 away from the second driving member 142 is rotatably connected to the sole structure 13. Both the first transmission member 151 and the second transmission member 152 are rotatably connected to the sole structure 13, thereby improving the rotation stability of the sole structure 13.

[0072] In one embodiment, please refer to Figure 1 and Figure 2 The first sub-shell 1212 defines a first avoidance groove 1216 , and the first avoidance groove 1216 is spaced apart from the first sub-mounting hole 1241 and the second sub-mounting hole 1242 . The first avoidance groove 1216 accommodates a portion of the first transmission member 151 .

[0073] Optionally, the first avoidance groove 1216 may be a polygonal groove, a circular groove, an elliptical groove, an irregular groove, etc. Optionally, the first avoidance groove 1216 may be, but is not limited to, a hexagonal groove, an octagonal groove, an irregular groove, etc.

[0074] In this way, by opening the first avoidance groove 1216 in the first sub-shell 1212, the first avoidance groove 1216 and the first sub-mounting hole 1241 and the second sub-mounting hole 1242 are all spaced apart, and the first avoidance groove 1216 accommodates part of the first transmission member 151, so that the first transmission member 151 and the first sub-shell 1212 fit compactly, and part of the first transmission member 151 is accommodated in the first avoidance groove 1216, avoiding the first transmission member 151 and the first sub-shell 1212 from interfering with each other.

[0075] In one embodiment, please refer to Figure 1 and Figure 2The connecting shell 1215 is provided with a first hole 1217, a second hole 1218 and a first rotating shaft hole 1219 which are arranged at intervals. The second hole 1218 is arranged on the side of the first hole 1217 away from the mounting hole 124 along the second direction Y. The line connecting the orthographic projection of the axis of the first hole 1217 in the first direction X and the orthographic projection of the axis of the second hole 1218 in the first direction X forms a rotating shaft. The rotating shaft passes through the orthographic projection of the axis of the first rotating shaft hole 1219 in the first direction X. The first hole 1217 and the second hole 1218 are used to connect with the thigh shell 11, and the first rotating shaft hole 1219 is used to install the rotating shaft of the thigh shell 11.

[0076] Optionally, the first hole 1217 may be a polygonal hole, a circular hole, an elliptical hole, an irregular hole, etc. Optionally, the first hole 1217 may be, but not limited to, a hexagonal hole, an octagonal hole, an irregular hole, etc. Optionally, the second hole 1218 may be, but not limited to, a hexagonal hole, an octagonal hole, an irregular hole, etc. Optionally, the first shaft hole 1219 may be, but not limited to, a hexagonal hole, an octagonal hole, an irregular hole, etc. Optionally, the first shaft hole 1219 may be, but not limited to, a hexagonal hole, an octagonal hole, an irregular hole, etc.

[0077] In this way, by opening the first hole 1217, the second hole 1218 and the first rotating shaft hole 1219 which are spaced apart on the connecting shell 1215, the second hole 1218 is arranged along the second direction Y on the side of the first hole 1217 away from the mounting hole 124, the line connecting the orthographic projection of the axis of the first hole 1217 in the first direction X and the orthographic projection of the axis of the second hole 1218 in the first direction X forms a rotating shaft, and the rotating shaft passes through the orthographic projection of the axis of the first rotating shaft hole 1219 in the first direction X, the first hole 1217 and the second hole 1218 can both be connected to the thigh shell 11 through a connecting piece, and the first rotating shaft hole 1219 is connected to the rotating shaft of the thigh shell 11, thereby saving the energy of the thigh shell 11 driving the connecting shell 1215 to rotate through the connecting pieces in the first hole 1217 and the second hole 1218.

[0078] In one embodiment, please refer to Figure 1 and Figure 2 The thigh shell 11 includes a third sub-shell 111 and a fourth sub-shell 112, which are opposite to and connected to each other in the first direction X, and are both connected to a connecting shell 1215. The third sub-shell 111 and the fourth sub-shell 112 are both provided with a second rotation axis hole, and the second rotation axis hole corresponds to the first rotation axis hole 1219. Part of the third sub-shell 111 and part of the fourth sub-shell 112 are spaced apart to form an installation space 114, and the installation space 114 accommodates part of the connecting shell 1215.

[0079] Optionally, the shape of the orthographic projection of the third sub-shell 111 in the first direction X may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the third sub-shell 111 in the first direction X may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the fourth sub-shell 112 in the first direction X may be, but not limited to, a hexagon, an octagon, an irregular shape, etc. Optionally, the shape of the orthographic projection of the fourth sub-shell 112 in the first direction X may be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0080] In this way, by dividing the thigh shell 11 into the third sub-shell 111 and the fourth sub-shell 112, the third sub-shell 111 and the fourth sub-shell 112 are opposite and connected in the first direction X, the third sub-shell 111 and the fourth sub-shell 112 are both connected to the connecting shell 1215, and the third sub-shell 111 and the fourth sub-shell 112 are both provided with a second pivot hole, and the second pivot hole corresponds to the first pivot hole 1219, which facilitates the connection between the thigh shell 11 and the connecting shell 1215. Part of the third sub-shell 111 and part of the fourth sub-shell 112 have a spacing distance to form an installation space 114, and the installation space 114 accommodates part of the connecting shell 1215, thereby saving the installation space 114 between the thigh shell 11 and the connecting shell 1215.

[0081] In one embodiment, please refer to Figure 1 , Figure 2 and Figure 3 The first transmission member 151 includes a first transmission rod 1511 and a first crank 1512, one end of the first crank 1512 is rotationally connected to the first driving member 141, one end of the first transmission rod 1511 is rotationally connected to an end of the first crank 1512 away from the first driving member 141, and the other end of the first transmission rod 1511 is rotationally connected to the sole structure 13.

[0082] Optionally, the shape of the orthographic projection of the first transmission rod 1511 in the first direction X may be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the first transmission rod 1511 in the first direction X may specifically be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0083] Optionally, the second transmission member 152 includes a second transmission rod and a second crank, one end of the second crank is rotatably connected to the second driving member 142, one end of the second transmission rod is rotatably connected to an end of the second crank away from the second driving member 142, and the other end of the second transmission rod is rotatably connected to the sole structure 13. Optionally, the shape of the orthographic projection of the second transmission rod in the first direction X can be a polygon, a circle, an ellipse, an irregular shape, etc. Optionally, the shape of the orthographic projection of the second transmission rod in the first direction X can specifically be, but not limited to, a hexagon, an octagon, an irregular shape, etc.

[0084] In this way, by dividing the first transmission member 151 into the first transmission rod 1511 and the first crank 1512, one end of the first crank 1512 is rotatably connected to the first driving member 141, and one end of the first transmission rod 1511 is rotatably connected to an end of the first crank 1512 away from the first driving member 141, thereby avoiding mutual interference among the first crank 1512, the first transmission rod 1511 and the first driving member 141, and the other end of the first transmission rod 1511 is rotatably connected to the sole structure 13, thereby facilitating the first driving member 141 to drive the sole structure 13 to move.

[0085] In one embodiment, please refer to Figure 1 and Figure 2 The sole structure 13 includes an ankle joint assembly 16, which includes a first bracket 161 and a second bracket 162 that are spaced apart. The first bracket 161 is rotatably connected to the first transmission rod 1511, and the second bracket 162 is rotatably connected between the first sub-shell 1212 and the second sub-shell 1213.

[0086] Optionally, the first bracket 161 is also rotatably connected to the second transmission rod.

[0087] In this way, by setting the sole structure 13 to include an ankle joint assembly 16, the ankle joint assembly 16 includes a first bracket 161 and a second bracket 162 that are spaced apart, the first bracket 161 is rotatably connected to the first transmission rod 1511, which facilitates the transmission of the ankle joint assembly 16 by the first transmission rod 1511, and the second bracket 162 is rotatably connected between the first sub-shell 1212 and the second sub-shell 1213, which facilitates the transmission of the first sub-shell 1212 and the second sub-shell 1213 to the second bracket 162 and saves space.

[0088] In one embodiment, please refer to Figure 1 and Figure 2 The lower limb assembly 10 also includes a second drive structure and a second transmission structure 113, the second drive structure is rotatably connected to the second transmission structure 113, the second drive structure is installed on the thigh shell 11, the second transmission structure 113 is arranged in the thigh shell 11, and the second transmission structure 113 is rotatably connected to one end of the calf shell 12 away from the sole structure 13.

[0089] Optionally, the second transmission structure 113 includes a first connecting rod, which is accommodated in the thigh shell 11, and one end of the first connecting rod away from the connecting shell 1215 is connected to the second driving structure, and a first connecting hole is provided on the first connecting rod. The lower limb assembly 10 also includes a first mounting member, which is inserted through the first connecting hole and the first hole 1217. Optionally, the second transmission structure 113 includes a second connecting rod, which is accommodated in the thigh shell 11, and one end of the second connecting rod away from the connecting shell 1215 is connected to the second driving structure, and a second connecting rod is provided on the second connecting rod. The lower limb assembly 10 also includes a second mounting member, which is inserted through the second connecting hole and the second hole 1218.

[0090] In this way, by setting the lower limb component 10 also including a second drive structure and a second transmission structure 113, the second drive structure is rotatably connected to the second transmission structure 113, the second drive structure is installed on the thigh shell 11, the second transmission structure 113 is arranged in the thigh shell 11, and the second transmission structure 113 is rotatably connected to the end of the calf shell 12 away from the sole structure 13. The calf shell 12 can both realize the transmission function and accommodate the second drive structure, thereby reducing the space of the calf shell 12 and improving the space utilization rate of the calf shell 12.

[0091] The embodiment of the present application also provides a humanoid robot, comprising the lower limb assembly 10 as described above.

[0092] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship of the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0093] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A lower limb assembly for a humanoid robot, characterized in that: include: Thigh shell; A calf shell, the calf shell comprising a shell and a first cover, the first cover being mounted on a local area of ​​a side surface of the shell along a first direction, one end of the shell being rotatably connected to the thigh shell, and the shell being provided with a mounting hole penetrating along the first direction; A sole structure, rotatably connected to an end of the shell away from the thigh shell; A first driving structure is accommodated in the housing, and the first driving structure is covered by the first cover; The housing comprises a main shell, the main shell encloses a receiving space, the receiving space accommodates part of the first driving structure, and the mounting hole is connected to the receiving space; a first transmission structure connected to the first driving structure and the sole structure; a first avoidance hole and a second avoidance hole are formed on the first cover and the main shell; the first avoidance hole and the second avoidance hole are located at two opposite ends of the first cover along a second direction; the second avoidance hole is located on a side of the first avoidance hole that is away from the sole structure; the first transmission structure is passed through the first avoidance hole; and the first direction and the second direction intersect; The shell further comprises a connecting shell, the connecting shell is provided with a first hole, a second hole and a first rotating shaft hole which are arranged at intervals, the second hole is arranged along the second direction on a side of the first hole away from the mounting hole, the line connecting the orthographic projection of the axis of the first hole in the first direction and the orthographic projection of the axis of the second hole in the first direction forms a rotating shaft, the rotating shaft passes through the orthographic projection of the axis of the first rotating shaft hole in the first direction, the first hole and the second hole are used to connect with the thigh shell, and the first rotating shaft hole is used to install the rotating shaft of the thigh shell; The mounting hole comprises a first sub-mounting hole and a second sub-mounting hole, and the first sub-mounting hole and the second sub-mounting hole are arranged at intervals in the second direction; The first driving structure includes a first driving member and a second driving member, the first transmission structure includes a first transmission member and a second transmission member, the first driving member is partially accommodated in the accommodation space and extends from the first sub-mounting hole, the second driving member is partially accommodated in the accommodation space and extends from the second sub-mounting hole, the first transmission member is connected to one end of the first driving member, the second transmission member is connected to one end of the second driving member, the first transmission member and the second transmission member are arranged opposite to each other on both sides of the first direction of the main shell, the end of the first transmission member away from the first driving member is rotatably connected to the sole structure, and the end of the second transmission member away from the second driving member is rotatably connected to the sole structure; The main shell includes a first sub-shell, the first sub-shell is provided with a first avoidance groove, the first avoidance groove is spaced apart from the first sub-mounting hole and the second sub-mounting hole, and the first avoidance groove accommodates part of the first transmission member.

2. The lower limb assembly according to claim 1, characterized in that: The calf shell also includes a second cover body, which is installed on a local area of ​​the side surface of the shell along the first direction, and the second cover body covers the end of the first drive structure away from the first cover body. The first cover body and the second cover body are opposite to each other, and the first drive structure extends from the mounting hole to the two side surfaces of the shell opposite to each other in the first direction.

3. The lower limb assembly according to claim 2, characterized in that: One end of the main shell is rotatably connected to the sole structure, the connecting shell is connected to the middle of the end of the main shell away from the sole structure, the end of the connecting shell away from the main shell is rotatably connected to the thigh shell, and the size of the main shell in the first direction is larger than the size of the connecting shell in the first direction.

4. The lower limb assembly according to claim 3, characterized in that: The main shell also includes a second sub-shell, the first sub-shell and the second sub-shell are opposite and connected in the first direction, the mounting holes pass through the first sub-shell and the second sub-shell, the first sub-shell and the second sub-shell enclose the accommodating space, the first cover body is smoothly connected to the first sub-shell, and the second cover body is smoothly connected to the second sub-shell.

5. The lower limb assembly according to claim 4, characterized in that: The thigh shell includes a third sub-shell and a fourth sub-shell, the third sub-shell and the fourth sub-shell are opposite and connected in the first direction, the third sub-shell and the fourth sub-shell are both connected to the connecting shell, the third sub-shell and the fourth sub-shell are both provided with a second rotation axis hole, the second rotation axis hole corresponds to the first rotation axis hole, part of the third sub-shell and part of the fourth sub-shell have a spacing distance to form an installation space, and the installation space accommodates part of the connecting shell.

6. The lower limb assembly according to claim 4, characterized in that: The first transmission member includes a first transmission rod and a first crank, one end of the first crank is rotationally connected to the first driving member, one end of the first transmission rod is rotationally connected to an end of the first crank away from the first driving member, and the other end of the first transmission rod is rotationally connected to the sole structure.

7. The lower limb assembly according to claim 6, characterized in that: The sole structure includes an ankle joint assembly, and the ankle joint assembly includes a first bracket and a second bracket that are spaced apart, the first bracket is rotatably connected to the first transmission rod, and the second bracket is rotatably connected between the first sub-shell and the second sub-shell.

8. The lower limb assembly according to claim 1, characterized in that: The lower limb assembly also includes a second drive structure and a second transmission structure, the second drive structure is rotatably connected to the second transmission structure, the second drive structure is installed on the thigh shell, the second transmission structure is arranged in the thigh shell, and the second transmission structure is rotatably connected to one end of the calf shell away from the sole structure.

9. A humanoid robot, characterized in that: Comprising a lower limb assembly as described in any one of claims 1 to 8.

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