Lower limb system of humanoid robot and humanoid robot

Abstract

The application discloses a lower limb system of a humanoid robot and the humanoid robot. The lower limb system of the humanoid robot comprises a hip mechanism, a left thigh mechanism, a right thigh mechanism, a left shank mechanism and a right shank mechanism, the hip mechanism being capable of being used for supporting an upper body trunk of the humanoid robot; the left thigh mechanism comprises a thigh main body, an upper connecting frame, a lower connecting frame, a first linear actuator, a second linear actuator, a first double-crank mechanism and a second double-crank mechanism; the upper end of the thigh main body is rotationally connected with the hip mechanism through the upper connecting frame, the lower end is rotationally connected with the left shank mechanism through the lower connecting frame, the first linear actuator and the second linear actuator are capable of being respectively elongated or shortened along the length direction of the thigh main body, so that the left thigh mechanism is capable of being rotated relative to the hip mechanism and the left shank mechanism respectively; the structure of the right thigh mechanism is the same as that of the left thigh mechanism. The lower limb system provided by the application can improve the load capacity of the humanoid robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and more particularly, to a lower limb system of a humanoid robot and the humanoid robot. BACKGROUND

[0002] In order for a humanoid robot to truly create social value, it needs to be able to truly participate in social production activities, such as replacing humans to complete some repetitive, boring, and laborious work. The heavy load carrying scene is a mechanical repetition, boring, and laborious work. However, the existing robots can only perform walking and performance functions, and do not have a load carrying function. The implementation of the load carrying function is related to the structural design of the lower limb system of the robot.

[0003] In view of this, there is an urgent need to design a lower limb system that can improve the load carrying capacity of a robot. SUMMARY

[0004] An object of the present application is to provide a new technical solution for a lower limb system of a humanoid robot and the humanoid robot.

[0005] According to a first aspect of the present application, a lower limb system of a humanoid robot is provided, comprising:

[0006] A hip mechanism, a left thigh mechanism, a right thigh mechanism, a left shank mechanism, and a right shank mechanism, the hip mechanism being configured to support an upper body trunk of the humanoid robot;

[0007] The left thigh mechanism comprises a thigh main body, an upper connecting frame, a lower connecting frame, a first linear actuator, a second linear actuator, a first double-crank mechanism, and a second double-crank mechanism;

[0008] The upper end of the thigh main body is rotatably connected to the hip mechanism through the upper connecting frame, the upper end of the first linear actuator is hingedly connected to the upper end of the thigh main body and the upper connecting frame through the first double-crank mechanism, and the lower end of the first linear actuator is hingedly connected to the lower end of the thigh main body;

[0009] The lower end of the thigh main body is rotatably connected to the left shank mechanism through the lower connecting frame, the second linear actuator is hingedly connected to the lower end of the thigh main body and the lower connecting frame through the second double-crank mechanism, and the upper end of the second linear actuator is hingedly connected to the upper end of the thigh main body;

[0010] The first linear actuator and the second linear actuator are configured to respectively elongate or shorten along the length direction of the thigh main body, so that the left thigh mechanism is configured to rotate relative to the hip mechanism and the left shank mechanism, respectively, and the rotation axes of the left thigh mechanism extend in the left-right direction;

[0011] The lower end of the thigh body is provided with a locking structure, and the lower connecting frame or the left lower leg mechanism is provided with a matching part, when the left thigh mechanism and the left lower leg mechanism rotate to a set angle, the locking structure can be locked with the matching part to limit the rotation of the left lower leg mechanism;

[0012] The structure of the right thigh mechanism is the same as that of the left thigh mechanism, and the upper end and the lower end of the right thigh mechanism are connected with the hip mechanism and the right lower leg mechanism respectively.

[0013] Optionally, the left thigh mechanism further comprises a ninth connecting rod shaft and a tenth connecting rod shaft, and the first linear actuator and the second linear actuator are both electric push rods;

[0014] The first double crank mechanism comprises a first connecting rod shaft, a second connecting rod shaft, a third connecting rod shaft, a fourth connecting rod shaft, a first connecting rod and a second connecting rod, and the second double crank mechanism comprises a fifth connecting rod shaft, a sixth connecting rod shaft, a seventh connecting rod shaft, an eighth connecting rod shaft, a third connecting rod and a fourth connecting rod;

[0015] The first connecting rod shaft and the second connecting rod shaft are respectively assembled on the upper connecting frame, the third connecting rod shaft is assembled on the upper end of the thigh body, and the fourth connecting rod shaft is connected with the first connecting rod shaft through the first connecting rod and connected with the third connecting rod shaft through the second connecting rod;

[0016] The upper end of the first linear actuator is hinged on the fourth connecting rod shaft, and the lower end is hinged on the lower end of the thigh body through the ninth connecting rod shaft, and the upper end of the thigh body is rotationally connected with the upper connecting frame through the second connecting rod shaft;

[0017] The sum of the distance between the first connecting rod shaft and the second connecting rod shaft and the distance between the second connecting rod shaft and the third connecting rod shaft is less than the sum of the distance between the first connecting rod shaft and the fourth connecting rod shaft and the distance between the fourth connecting rod shaft and the third connecting rod shaft;

[0018] The fifth connecting rod shaft and the sixth connecting rod shaft are respectively assembled on the lower connecting frame, the seventh connecting rod shaft is assembled on the lower end of the thigh body, and the eighth connecting rod shaft is connected with the fifth connecting rod shaft through the third connecting rod and connected with the seventh connecting rod shaft through the fourth connecting rod;

[0019] The lower end of the second linear actuator is hinged on the eighth connecting rod shaft, and the upper end is hinged on the upper end of the thigh body through the tenth connecting rod shaft, and the lower end of the thigh body is rotationally connected with the lower connecting frame through the sixth connecting rod shaft;

[0020] The sum of the distance between the fifth link shaft and the sixth link shaft and the distance between the sixth link shaft and the seventh link shaft is less than the sum of the distance between the fifth link shaft and the eighth link shaft and the distance between the eighth link shaft and the seventh link shaft.

[0021] Optionally, the locking structure comprises an arc-shaped extension connected to the lower end of the thigh body and a convex point part on the arc-shaped extension, the center of the arc-shaped extension coincides with the rotation center of the sixth link shaft.

[0022] The matching part comprises a concave groove on the lower connecting frame or the left lower leg mechanism and a concave point part in the concave groove, the concave groove matches the shape of the arc-shaped extension, and the concave point part matches the shape of the convex point part.

[0023] When the left thigh mechanism and the left lower leg mechanism are 180°, the arc-shaped extension is inserted into the concave groove, and the convex point part falls into the concave point part, so that the thigh body and the left lower leg mechanism are locked.

[0024] Optionally, when the included angle between the left thigh mechanism and the left lower leg mechanism is 170°-180°, at least a part of the arc-shaped extension is located in the concave groove.

[0025] Optionally, the third link and the first link are Y-shaped links, and the second link and the fourth link are U-shaped links.

[0026] Optionally, the U-shaped link comprises a hinge part and a link part connected to both ends of the hinge part,

[0027] The hinge part of the second link is rotationally connected to the third link shaft, and the two link parts of the second link are respectively rotationally connected to the fourth link shaft and are respectively located on both sides of the first linear actuator.

[0028] The hinge part of the fourth link is rotationally connected to the seventh link shaft, and the two link parts of the fourth link are respectively rotationally connected to the eighth link shaft and are respectively located on both sides of the second linear actuator.

[0029] Among them, the two link parts of the second link bend towards the direction of the first linear actuator, and the two link parts of the fourth link bend towards the direction of the second linear actuator.

[0030] Optionally, the hip mechanism comprises a bearing platform, a first rotary actuator, a second rotary actuator, a third rotary actuator and a fourth rotary actuator, and the rotary shafts of the first and third rotary actuators extend in the front-rear direction, and the rotary shafts of the second and fourth rotary actuators extend in the vertical direction.

[0031] The output end of the first rotary actuator is connected with the fixed end of the second rotary actuator, the fixed end of the first rotary actuator and the fixed end of the second rotary actuator are respectively fixed to the left side of the bearing platform in the front-rear direction, and the output end of the second rotary actuator is connected with the upper connecting frame.

[0032] The output end of the third rotary actuator is connected with the fixed end of the fourth rotary actuator, the fixed end of the third rotary actuator and the fixed end of the fourth rotary actuator are respectively fixed to the right side of the bearing platform in the front-rear direction, and the output end of the fourth rotary actuator is connected with the right thigh mechanism.

[0033] Optionally, the hip mechanism further comprises a fifth rotary actuator, and the bearing platform is a concave structure with a reverse buckle, and the rotary shaft of the fifth rotary actuator extends in the vertical direction.

[0034] The first, second, third and fourth rotary actuators are respectively fixedly connected to the four corners of the concave structure, and the fixed end of the fifth rotary actuator is connected to the central region of the top surface of the concave structure, so that the output end thereof can be used to connect the upper body of the humanoid robot.

[0035] Optionally, the rear side of the concave structure is provided with a bearing area lower than the top surface thereof, and the bearing area is used to bear or assemble external equipment.

[0036] Optionally, the hip mechanism further comprises a first torque sensor and a second torque sensor, and the first rotary actuator and the second rotary actuator are connected through the first torque sensor, and the third rotary actuator and the fourth rotary actuator are connected through the second torque sensor.

[0037] Optionally, the lower limb system further comprises a left foot assembly and a right foot assembly, and the left lower leg mechanism comprises a lower leg body, a third linear actuator and a fourth linear actuator.

[0038] The upper end of the lower leg body is connected with the lower connecting frame, and the lower end is hingedly connected with the left foot assembly, and the third linear actuator and the fourth linear actuator are arranged side by side in the left-right direction, and the upper ends thereof are respectively hingedly connected with the upper end of the lower leg body, and the lower ends thereof are respectively hingedly connected with the left foot assembly.

[0039] The third linear actuator and the fourth linear actuator are capable of being respectively elongated or shortened along the length direction of the shank body, so that the shank mechanism is capable of being respectively rotated relative to the thigh mechanism and the foot assembly;

[0040] The right shank mechanism is identical to the left shank mechanism, and the upper end of the right shank mechanism is connected with the lower end of the right thigh mechanism, and the lower end is connected with the right foot assembly.

[0041] Optionally, the left foot assembly comprises an ankle structure and a foot plate, and the ankle structure is fixed on the foot plate.

[0042] The lower end of the shank body is hinged with the ankle structure through a cross hinge, so that the left foot assembly is capable of being rotated leftward or rightward, or upward or downward relative to the shank body.

[0043] The right foot assembly is identical in structure to the left foot assembly.

[0044] Optionally, the left foot assembly further comprises a six-dimensional force sensor, and the ankle structure is connected with the foot plate through the six-dimensional force sensor.

[0045] According to a second aspect of the present application, a humanoid robot is provided, comprising the lower limb system of the first aspect.

[0046] According to an embodiment of the present application, the main structure of the robot lower limb system is formed through the hip mechanism, the left thigh mechanism, the right thigh mechanism, the left shank mechanism and the right shank mechanism, and the connection relationship between each part. Among them, on the one hand, through the design of the first linear actuator and the second linear actuator combined with the first double crank structure and the second double crank mechanism, the left thigh mechanism can imitate the action of the hip joint and the knee joint, and realize the action of lifting the leg of the lower limb system. On the other hand, the thrust of the first linear actuator and the second linear actuator is large, which can improve the load capacity of the whole leg structure. The right thigh mechanism is identical in structure to the left thigh mechanism, so that the action realization ability and the load capacity of the whole lower limb system are improved.

[0047] Other features of the present application and its advantages will become apparent from the following detailed description of exemplary embodiments thereof, with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0049] Figure 1 is a structure schematic view of a lower limb system of a humanoid robot provided by the present application.

[0050] Figure 2is a front view of a lower limb system of a humanoid robot provided in the present application.

[0051] Figure 3 is a back view of the Figure 2 .

[0052] Figure 4 is a side view of the Figure 2 .

[0053] Figure 5 is a structure schematic view of a left thigh mechanism provided in the present application.

[0054] Figure 6 is a front view of a left thigh mechanism provided in the present application.

[0055] Figure 7 is a back view of the Figure 6 .

[0056] Figure 8 is a side view of the Figure 6 .

[0057] Figure 9 is a partial parts assembly view of a left thigh mechanism provided in the present application.

[0058] Figure 10 is a side view of the Figure 9 .

[0059] Figure 11 is a structure schematic view of a Y-shaped link provided in the present application.

[0060] Figure 12 is a structure schematic view of a U-shaped link provided in the present application.

[0061] Figure 13 is a structure schematic view of a hip mechanism provided in the present application.

[0062] Figure 14 is a front view of a hip structure provided in the present application.

[0063] Figure 15 is a side view of the Figure 14 .

[0064] Figure 16 is a top view of the Figure 14 .

[0065] Figure 17 is an assembly view of a left shank mechanism and a left foot assembly provided in the present application.

[0066] Figure 18 is a front view of a left shank mechanism and a left foot assembly provided in the present application.

[0067] Figure 19 is a back view of Figure 18 .

[0068] Figure 20 is a side view of Figure 18 .

[0069] Figure 21 is one of the structural schematic diagrams of the connection between the left lower leg mechanism and the left foot assembly.

[0070] Figure 22 is another structural schematic diagram of the connection between the left lower leg mechanism and the left foot assembly.

[0071] Figure 23 is a schematic diagram of the motion principle of the left thigh mechanism provided by the present application.

[0072] Figure 24 is a schematic diagram of the arc-shaped extension end and the concave groove in the cooperating state provided by the present application.

[0073] Figure 25 is a schematic diagram of the arc-shaped extension end and the concave groove in the locking state provided by the present application.

[0074] Figure 26 is a schematic diagram of the torque of the double-crank mechanism provided by the present application.

[0075] Figure 27 is a schematic diagram of the torque of another double-crank mechanism provided by the present application.

[0076] Figure 28 is a schematic diagram of the joint motion angle range of the double-crank mechanism provided by the present application.

[0077] Figure 29 is a schematic diagram of the joint motion angle range of another double-crank mechanism provided by the present application.

[0078] Explanation of reference signs:

[0079] 100, hip mechanism; 101, first rotary actuator; 102, second rotary actuator; 103, third rotary actuator; 104, fourth rotary actuator; 105, fifth rotary actuator; 106, bearing platform; 107, bearing area; 108, first torque sensor; 109, second torque sensor;

[0080] 200, left thigh mechanism; 201, thigh main body; 2011, arc-shaped protruding end; 2012, convex point part; 202, upper connecting frame; 203, first linear actuator; 204, second linear actuator; 205, first double-crank mechanism; 251, first connecting rod shaft; 252, second connecting rod shaft; 253, third connecting rod shaft; 254, fourth connecting rod shaft; 255, first connecting rod; 256, second connecting rod; 2561, hinged part; 2562, connecting rod part; 206, second double-crank mechanism; 261, fifth connecting rod shaft; 262, sixth connecting rod shaft; 263, seventh connecting rod shaft; 264, eighth connecting rod shaft; 265, third connecting rod; 266, fourth connecting rod; 207, ninth connecting rod shaft; 208, tenth connecting rod shaft; 209, lower connecting frame; 2091, concave groove; 2092, concave point part;

[0081] 300, right thigh mechanism;

[0082] 400, left lower leg mechanism; 401, lower leg main body; 402, third linear actuator; 403, fourth linear actuator; 404, eleventh connecting rod shaft; 405, twelfth connecting rod shaft; 406, thirteenth connecting rod shaft;

[0083] 500, right lower leg mechanism;

[0084] 600, left foot assembly; 601, ankle structure; 602, foot bottom plate; 603, cross hinge; 604, six-dimensional force sensor. DETAILED DESCRIPTION

[0085] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments are not limiting to the scope of the present application unless specifically stated otherwise.

[0086] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application or its application or uses.

[0087] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0088] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0089] It should be noted that like numbers and letters refer to like items throughout the drawings, and once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0090] As Figures 1 to 10 shown, according to the first aspect of the present application, a lower limb system of a humanoid robot is provided, comprising: a hip mechanism 100, a left thigh mechanism 200, a right thigh mechanism 300, a left lower leg mechanism 400 and a right lower leg mechanism 500, the hip mechanism 100 being capable of supporting the upper body trunk of the humanoid robot; the left thigh mechanism 200 comprising a thigh body 201, an upper connecting frame 202, a lower connecting frame 209, a first linear actuator 203, a second linear actuator 204, a first double-crank mechanism 205 and a second double-crank mechanism 206.

[0091] Further, as Figures 1 to 8 shown, the upper end of the thigh body 201 is rotatably connected to the hip mechanism 100 through the upper connecting frame 202, the upper end of the first linear actuator 203 is hingedly connected to the upper end of the thigh body 201 and the upper connecting frame 202 through the first double-crank mechanism 205, and the lower end of the first linear actuator 203 is hingedly connected to the lower end of the thigh body 201; the lower end of the thigh body 201 is rotatably connected to the left lower leg mechanism 400 through the lower connecting frame 209, and the second linear actuator 204 is hingedly connected to the lower end of the thigh body 201 and the lower connecting frame 209 through the second double-crank mechanism 206, and the upper end of the second linear actuator 204 is hingedly connected to the upper end of the thigh body 201; the first linear actuator 203 and the second linear actuator 204 are capable of being elongated or shortened along the length direction of the thigh body 201, so that the left thigh mechanism 200 is capable of rotating relative to the hip mechanism 100 and the left lower leg mechanism 400, and the rotation axes of the left thigh mechanism 200 extend in the left-right direction.

[0092] In the above structure, the upper end of the thigh body 201 in the left thigh mechanism 200 is rotatably connected to the hip mechanism 100 through the upper connecting frame 202, forming the hip joint of the entire leg, so that the left thigh mechanism 200 is capable of realizing the pitching rotation action relative to the hip mechanism 100. The lower end of the thigh body 201 is rotatably connected to the left lower leg mechanism 400 through the lower connecting frame 209, forming the knee joint of the entire leg, so that the thigh mechanism is capable of realizing the pitching rotation action relative to the left lower leg mechanism 400, and in combination with the hip joint, the left leg is capable of performing the leg lifting action, so that the entire left thigh structure forms a bionic configuration, facilitating the realization of further bionic functions. The lower connecting frame 209 and the left lower leg mechanism 400 can be a split structure, facilitating assembly and connection, or can be an integral structure, so as to improve the rigidity and stability of the lower limb system.

[0093] Further, the first linear actuator 203 and the second linear actuator 204 are driving members for driving the hip joint and the knee joint to realize the pitching motion, and can simulate the human muscle to realize the motion of the hip joint and the knee joint through the stretching of the two linear actuators. The upper end of the first linear actuator 203 is hingedly connected to the upper end of the thigh body 201 and the upper connecting frame 202 through the first double-crank mechanism 205, the lower end is hingedly connected to the lower end of the thigh body 201, the upper end of the second linear actuator 204 is hingedly connected to the upper end of the thigh body 201, the lower end is hingedly connected to the lower end of the thigh body 201 and the lower connecting frame 209 through the second crank mechanism, and the first linear actuator 203 is designed to be close to the rear side of the thigh body 201, and the second linear actuator 204 is designed to be close to the front side of the thigh body 201, so that when the two linear actuators are stretched or shortened, the left thigh mechanism 200 can rotate relative to the hip mechanism 100 and the left lower leg mechanism 400, and the bionic performance of the overall structure is further improved.

[0094] In the above structure, the first linear actuator 203 and the second linear actuator 204 can be implemented by using an electric push rod or a linear cylinder, which has a larger thrust than the rotary motor used in the prior art, and can improve the load capacity of the left thigh mechanism 200.

[0095] Further, the lower end of the thigh body 201 is provided with a locking structure, and the lower connecting frame 209 or the left lower leg mechanism 400 is provided with a matching part, when the left thigh mechanism 200 (i.e. the thigh body 201) and the left lower leg mechanism 400 are rotated to a set angle, the locking structure can be locked with the matching part to limit the rotation of the left lower leg mechanism 400 relative to the thigh body 201.

[0096] In the above structure, when the left thigh mechanism 200 and the left lower leg mechanism 400 are at a set angle, the locking of the locking structure and the matching part makes the left thigh mechanism 200 and the left lower leg mechanism 400 at this action when the lower limb needs to maintain a specific action, without the motor of the first linear actuator 203 and the second linear actuator 204 always outputting driving force, on the one hand, limiting the relative motion of the left lower leg mechanism 400 relative to the left thigh mechanism 200, reducing the risk of the robot falling down in a specific action, on the other hand, reducing the energy consumption. The matching part can be provided on the lower connecting frame, or can be provided on the left lower leg mechanism 400, and can be designed according to the connection mode of the left lower leg mechanism 400 and the left thigh mechanism 200.

[0097] For example, in one embodiment, if the humanoid robot needs to keep standing, the included angle between the left thigh mechanism 200 and the left lower leg mechanism 400 needs to be kept at 180°, through the mutual locking of the locking structure and the matching part, so that the real straight knee action of the human body can be simulated, that is, the straight standing action is supported by the skeleton, the muscle output is reduced, and the energy consumption is reduced. In actual application, the locking structure on the thigh body 201 is provided with two, which are respectively located at the left and right sides of the left lower leg mechanism 400 after locking with the matching part, so as to improve the reliability of locking.

[0098] In addition, in the present application, the right thigh mechanism 300 adopts the same structure and connection relationship as the left thigh mechanism 200, that is, the right thigh mechanism also includes an upper connecting frame, a lower connecting frame, and two linear actuators and two double-crank mechanisms, and the upper connecting frame and the lower connecting frame of the right thigh mechanism 300 are connected with the hip mechanism 100 and the right lower leg mechanism 500 respectively. At the same time, the right thigh mechanism 300 and the right lower leg mechanism 500 can also be locked at a set angle through a locking structure and a matching part to achieve the effect of reducing energy consumption. Since it also adopts the same two linear actuators and double-crank mechanisms as the left thigh mechanism 200 to realize the pitching action of the hip joint and the knee joint, the motion implementation ability and the load capacity of the entire lower limb system formed are improved. When the lower limb system is applied to a humanoid robot, the practicability of the entire robot can be improved.

[0099] It should be noted that in the present application, the left-right direction (reference X direction in the drawing), the front-rear direction (reference Y direction in the drawing) or the vertical direction (reference Z direction in the drawing) are all based on the direction of the humanoid robot itself. That is, when the lower limb system is applied to a humanoid robot, the left thigh mechanism 200 is the left thigh of the humanoid robot, and the right thigh mechanism 300 is the right thigh of the robot.

[0100] Optionally, as shown in Figures 5 to 8 The left thigh mechanism 200 further includes a ninth connecting rod shaft 207 and a tenth connecting rod shaft 208, and the first linear actuator 203 and the second linear actuator 204 are both electric push rods; the first double-crank mechanism 205 includes a first connecting rod shaft 251, a second connecting rod shaft 252, a third connecting rod shaft 253, a fourth connecting rod shaft 254, a first connecting rod 255 and a second connecting rod 256, and the second double-crank mechanism 206 includes a fifth connecting rod shaft 261, a sixth connecting rod shaft 262, a seventh connecting rod shaft 263, an eighth connecting rod shaft 264, a third connecting rod 265 and a fourth connecting rod 266.

[0101] The first linear actuator 203 and the second linear actuator 204 are both electric push rods, which can improve the rotation accuracy of the left thigh mechanism 200 and facilitate the control of the rotation angles of the hip joint and the knee joint. In actual application, a limiting structure can be arranged on the hip mechanism or the left thigh mechanism, so that the rotation angle of the hip joint is within the range of 100° to -10°, and the bionics performance of the left thigh mechanism 200 is further improved. Since the right thigh mechanism 300 has the same structure as the left thigh mechanism 200, the rotation angles of the hip joint and the knee joint of the right thigh mechanism 300 can also be controlled within the range of 100° to -10°, and the motion accuracy of the whole lower limb system is improved.

[0102] Further, as shown in Figure 9 and Figure 10 , the first connecting rod shaft 251 and the second connecting rod shaft 252 are respectively arranged on the upper connecting frame 202, the third connecting rod shaft 253 is arranged on the upper end of the thigh main body 201, the fourth connecting rod shaft 254 is connected with the first connecting rod shaft 251 through the first connecting rod 255 and connected with the third connecting rod shaft 253 through the second connecting rod 256, the upper end of the first linear actuator 203 is hingedly connected to the fourth connecting rod shaft 254, the lower end is hingedly connected to the lower end of the thigh main body 201 through the ninth connecting rod shaft 207, and the upper end of the thigh main body 201 is rotationally connected with the upper connecting frame 202 through the second connecting rod shaft 252. The second connecting rod shaft 252 serves as the rotation shaft of the hip joint, and the fourth connecting rod shaft 254 serves as the hinged shaft of the first linear actuator 203.

[0103] In the above structure, as shown in Figure 23 , the sum of the distance between the first connecting rod shaft 251 and the second connecting rod shaft 252 and the distance between the second connecting rod shaft 252 and the third connecting rod shaft 253 is less than the sum of the distance between the first connecting rod shaft 251 and the fourth connecting rod shaft 254 and the distance between the fourth connecting rod shaft 254 and the third connecting rod shaft 253 (i.e. b+c

[0104] Further, as shown in Figure 9 and Figure 10As shown, the fifth connecting rod shaft 261 and the sixth connecting rod shaft 262 are respectively assembled on the lower connecting frame 209, the seventh connecting rod shaft 263 is assembled on the lower end of the thigh body 201, the eighth connecting rod shaft 264 is connected with the fifth connecting rod shaft 261 through the third connecting rod 265 and connected with the seventh connecting rod shaft 263 through the fourth connecting rod 266; the lower end of the second linear actuator 204 is hinged on the eighth connecting rod shaft 264, the upper end is hinged on the upper end of the thigh body 201 through the tenth connecting rod shaft 208, and the lower end of the thigh body 201 is rotationally connected with the lower connecting frame 209 through the sixth connecting rod shaft 262. Among them, the sixth connecting rod shaft 262 serves as the rotation shaft of the knee joint, and the fourth connecting rod shaft 254 serves as the hinge shaft of the second linear actuator 204.

[0105] In the above structure, with reference to Figure 23 , the sum of the distance between the fifth connecting rod shaft 261 and the sixth connecting rod shaft 262 and the distance between the sixth connecting rod shaft 262 and the seventh connecting rod shaft 263 is less than the sum of the distance between the fifth connecting rod shaft 261 and the eighth connecting rod shaft 264 and the distance between the eighth connecting rod shaft 264 and the seventh connecting rod shaft 263 (i.e. f+g < e+f). This size relationship can also enable the knee joint to achieve more movement angles in a limited space compared to a parallel four-bar linkage mechanism or a lever mechanism, and the transmission is more gentle, and the overall structure is relatively coordinated and compact.

[0106] Through the structural design of the hip joint and the knee joint, the left thigh mechanism 200 can achieve a large-angle range of motion and joint coordination, as well as motion stability. The right thigh mechanism 300 has the same structure as the left thigh mechanism 200. When the lower limb system formed by the left thigh mechanism 200 and the right thigh mechanism 300 is applied to a humanoid robot, the joint angles of the lower limb system are basically consistent with those of a human, facilitating the realization of the self-recovery function after falling and meeting the heavy load carrying function.

[0107] As shown in Figure 26 , the output torque of the first linear actuator 203 and the second linear actuator 204 is provided in the process of walking at a constant speed, and the output torque of the first linear actuator 203 and the second linear actuator 204 changes with time in the process of joint movement of the ordinary double-crank mechanism (such as a parallel quadrilateral four-bar linkage mechanism).

[0108] In Figure 27 , the output torque of the first linear actuator 203 and the second linear actuator 204 is provided in the process of walking at a constant speed, and the output torque of the first linear actuator 203 and the second linear actuator 204 changes with time in the process of joint movement of the ordinary double-crank mechanism (such as a parallel quadrilateral four-bar linkage mechanism).

[0109] Furthermore, such as Figure 28 As shown, this diagram illustrates the range of input angles of the driving links (referring to the two links connecting the linear actuator, i.e., the first link 255 and the second link 256; or the third link 265 and the fourth link 266) and output angles of the driven links (referring to the two links connecting the second link shaft 252 and the two links connecting the sixth link shaft 262) during joint movement in a conventional double-crank mechanism of the lower limb system during uniform walking. It can be seen that the input angle curve of the driving links (…) Figure 28 Curve 1) and the curve of the output angle of the driven link (in the curve) Figure 28 The fact that curve 2) in the figure coincides with the output efficiency of 1:1 indicates that the output efficiency is 1:1.

[0110] And such Figure 29 As shown, this embodiment illustrates the range of input angles of the driving link (referring to the two links connecting the linear actuator, i.e., the first link 255 and the second link 256; or the third link 265 and the fourth link 266) and the output angle of the driven link when the lower limb system uses the double-crank mechanism (i.e., b+c < d+a; f+g < e+f) for walking. It can be seen that, compared to a conventional double-crank mechanism, the output angle of the driven link changes over time. Figure 29 Curve 4) is greater than the input angle of the drive link ( Figure 29 The curve 3 in the figure shows that its output efficiency is greater than 1:1, which indicates that it is highly efficient.

[0111] In summary, when the double crank mechanism described in this embodiment (i.e., when b+c < d+a; f+g < e+f) is used for power transmission of joint rotation, it can not only ensure the stability and reliability of the lower limb system's walking, but also improve transmission efficiency, making the structure at the joint more compact and the proportions more harmonious.

[0112] Optionally, the locking structure includes an arc-shaped protruding end 2011 connected to the lower end of the thigh body 201 and a protruding part 2012 located on the arc-shaped protruding end 2011, the center of the arc-shaped protruding end 2011 coinciding with the rotation center of the sixth link shaft 262; the mating part includes a concave groove 2091 provided on the lower connecting frame 209 or the left calf mechanism 400 and a concave part 2092 located in the concave groove 2091, the shape of the concave groove 2091 matching the arc-shaped protruding end 2011, and the shape of the concave part 2092 matching the shape of the protruding part 2012; when the left thigh mechanism 200 and the left calf mechanism 400 are at 180°, the arc-shaped protruding end 2011 is inserted into the concave groove 2091, and the protruding part 2012 falls into the concave part 2092, thereby locking the thigh body 201 and the left calf mechanism 400.

[0113] Specifically, in the embodiment, the arc-shaped extension end 2011 connected to the lower end of the thigh body 201 can be inserted when the left thigh mechanism 200 and the left lower leg mechanism 400 are at 180°, so that the convex point part 2012 and the concave point part 2092 are matched, and then the activity between the left thigh mechanism 200 and the left lower leg mechanism 400 is locked, and the energy consumption is reduced. The convex point part 2012 is made of a specific material, so that the convex point part 2012 enters or exits the concave point part 2092 under the driving of the first linear actuator 203 and the second linear actuator 204, the locking mode and the matching form of the locking structure are simplified, and the cost is low.

[0114] In the above structure, the material of the convex point part 2012 can be selected from PEEK (Polyetheretherketone), PPS (Polyphenylene Sulfide), POM (Polyoxymethylene), and other materials with high wear resistance, certain rigidity and deformation ability, and the shapes of the convex point part 2012 and the concave point part 2092 can be designed to have a certain arc shape, so as to facilitate the mutual locking and disengagement of the two. In addition, the center of the arc-shaped extension end 2011 coincides with the rotation center of the sixth connecting rod shaft 262, so that the entire arc-shaped extension end 2011 can be smoothly inserted or exited from the concave groove when the left thigh mechanism 200 and the left lower leg mechanism 400 are rotated to a set angle, thereby playing a certain guiding role and improving the stability of the lower limb system movement.

[0115] Optionally, when the included angle between the left thigh mechanism 200 and the left lower leg mechanism 400 is 170°-180°, at least a part of the arc-shaped extension end 2011 is located in the concave groove 2091.

[0116] Specifically, in the embodiment, when the left thigh mechanism 200 and the left lower leg mechanism 400 are rotated to the last 10°, at least a part of the arc-shaped extension end 2011 is located in the concave groove 2091, so that the convex point part 2012 and the concave point part 2092 can be smoothly matched and locked when they are rotated to 180°, and at the same time, this structure is similar to the real knee joint structure of the human body, and the bionic tibial platform and the distal end of the medial femoral condyle are combined and matched, so as to realize the straightening of the knee and reduce the muscle effort. That is, when a part of the arc-shaped extension end 2011 is located in the concave groove 2091, the two are in a matching state, and when most of the arc-shaped extension end 2011 is located in the concave groove 2091, the convex point part 2012 and the concave point part 2092 are matched and locked, and the two are in a locked state.

[0117] Optionally, the third connecting rod 265 and the first connecting rod 255 are Y-shaped connecting rods, as shown inFigure 11 As shown, the second connecting rod 256 and the fourth connecting rod 266 are both U-shaped connecting rods, which can further improve the compactness and transmission efficiency of the lower limb system. Figure 12 As shown, the compactness and transmission efficiency of the lower limb system can be further improved.

[0118] Optionally, the U-shaped connecting rod comprises a hinged part 2561 and connecting rod parts 2562 connected to both ends of the hinged part 2561, the hinged part 2561 of the second connecting rod 256 is rotationally connected to the third connecting rod shaft 253, and the two connecting rod parts 2562 of the second connecting rod 256 are respectively rotationally connected to the fourth connecting rod shaft 254 and are respectively located on both sides of the first linear actuator 203; the hinged part 2561 of the fourth connecting rod 266 is rotationally connected to the seventh connecting rod shaft 263, and the two connecting rod parts 2562 of the fourth connecting rod 266 are respectively rotationally connected to the eighth connecting rod shaft 264 and are respectively located on both sides of the second linear actuator 204; wherein the two connecting rod parts 2562 of the second connecting rod 256 are curved towards the direction of the first linear actuator 203, and the two connecting rod parts 2562 of the fourth connecting rod 266 are curved towards the direction of the second linear actuator 204.

[0119] Specifically, in the embodiment, the curved shape of the two connecting rod parts 2562 of the U-shaped connecting rod is designed such that the transmission efficiency between the driving connecting rod and the driven connecting rod is further increased when the hip joint and the knee joint rotate, and the same U-shaped connecting rod avoids the linear actuator between the two connecting rod parts 2562, which can further improve the compactness of the joint and save the arrangement space of the joint.

[0120] Optionally, as shown in Figures 1 to 4 , and Figures 13 to 16 As shown, the hip mechanism 100 comprises a bearing platform 106, a first rotary actuator 101, a second rotary actuator 102, a third rotary actuator 103 and a fourth rotary actuator 104, and the rotary shafts of the first rotary actuator 101 and the third rotary actuator 103 extend in the front-rear direction, and the rotary shafts of the second rotary actuator 102 and the fourth rotary actuator 104 extend in the vertical direction. Each rotary actuator can be implemented by a rotary motor.

[0121] Further, the output end of the first rotary actuator 101 is connected with the fixed end of the second rotary actuator 102, the fixed end of the first rotary actuator 101 and the fixed end of the second rotary actuator 102 are respectively fixed to the left side of the bearing platform 106 along the front-rear direction, the output end of the second rotary actuator 102 is connected with the upper connecting frame 202; the output end of the third rotary actuator 103 is connected with the fixed end of the fourth rotary actuator 104, the fixed end of the third rotary actuator 103 and the fixed end of the fourth rotary actuator 104 are respectively fixed to the right side of the bearing platform 106 along the front-rear direction, the output end of the fourth rotary actuator 104 is connected with the right thigh mechanism 300.

[0122] In the above structure, the rotary shaft of the first actuator extends along the front-rear direction, the rotary shaft of the second rotary actuator 102 extends along the vertical direction, so that when the left thigh mechanism 200 is connected to the output end of the second rotary actuator 102, the first rotary actuator 101 can drive the left thigh mechanism 200 to realize the roll action (left-right swing action) through the second rotary actuator 102, and the second rotary actuator 102 can drive the left thigh mechanism 200 to realize the yaw action (leg turning action) through the rotation of the output end, further improving the bionic performance of the left thigh mechanism 200.

[0123] In addition, the rotary shaft of the third actuator extends along the front-rear direction, the rotary shaft of the fourth rotary actuator 104 extends along the vertical direction, so that when the right thigh mechanism 300 is connected to the output end of the fourth rotary actuator 104, the third rotary actuator 103 can drive the left thigh mechanism 200 to realize the roll action (left-right swing action) through the fourth rotary actuator 104, and the fourth rotary actuator 104 can drive the right thigh mechanism 300 to realize the yaw action (leg turning action) through the rotation of the output end, further improving the bionic performance of the right thigh mechanism 300.

[0124] In the above structure, the left thigh mechanism 200 and the right thigh mechanism 300 are respectively arranged on the left side and the right side of the bearing platform 106 to form the structure assembly of the lower limb system. The four rotary actuators are all assembled on the bearing platform 106 to improve the integration of the lower limb system, facilitate the connection and assembly of the lower limb system with the upper body of the humanoid robot or external equipment through the bearing platform 106, simplify the assembly difficulty, and improve the bearing capacity.

[0125] Optionally, as Figure 13 and Figure 16As shown, the hip mechanism 100 further comprises a fifth rotary actuator 105, the carrying platform 106 is a concave structure with a reversed buckle, the rotation axis of the fifth rotary actuator 105 extends in the vertical direction; the first rotary actuator 101, the second rotary actuator 102, the third rotary actuator 103 and the fourth rotary actuator 104 are respectively fixedly connected to the four corners of the concave structure, and the fixed end of the fifth rotary actuator 105 is connected to the center area of the top surface of the concave structure, so that the output end thereof can be used to connect the upper body of different humanoid robots.

[0126] Specifically, in the embodiment, the output end of the fifth rotary actuator 105 can be used to connect the upper body of the humanoid robot, so that the yaw action (turning waist action) can be realized, the integration and assembly modularization of the robot are improved, and the assembly difficulty is simplified. The carrying platform 106 is designed as a concave structure with a reversed buckle, which facilitates the assembly of the four rotary actuators and enables the fifth rotary actuator 105 to be assembled in the center area of the top surface to realize the assembly of the waist structure. The inner side of the concave structure can also be provided with various control modules or circuit structures, etc., to improve the protection performance and hiding ability of the power module.

[0127] Further, as shown in Figure 13 and Figure 14 , the four corners of the concave structure can extend downward to assemble the four rotary actuators, which simplifies the assembly difficulty.

[0128] Optionally, as shown in Figure 13 and Figure 16 , the rear side of the concave structure is provided with a carrying area 107 lower than the top surface thereof, and the carrying area 107 is used to carry or assemble external devices. The provision of the carrying area 107 enables the external devices or other parts of the humanoid robot to be assembled or loaded thereon, thereby realizing the carrying of various small loads.

[0129] Optionally, as shown in Figure 13 and Figure 16 , the hip mechanism 100 further comprises a first torque sensor 108 and a second torque sensor 109, and the first rotary actuator 101 and the second rotary actuator 102 are connected through the first torque sensor 108, and the third rotary actuator 103 and the fourth rotary actuator 104 are connected through the second torque sensor 109.

[0130] Specifically, in the embodiment, the first torque sensor 108 and the second torque sensor 109 can be used to detect the torque between the two rotary motors connected to each other, so as to control the angle range of the roll action of the left thigh mechanism 200 and the right thigh mechanism 300. In actual application, a limiting mechanism can be arranged on the left thigh mechanism or the hip mechanism, so that the roll angle range of the left thigh mechanism 200 and the right thigh mechanism 300 is usually designed as 45°- -45°, and the yaw angle range is usually designed as 90°- -90°, further improving the bionic performance of the lower limb system.

[0131] Optionally, as shown in Figures 1 to 4 , and Figures 17 to 20 The lower limb system further comprises a left foot assembly 600 and a right foot assembly. The left lower leg mechanism 400 comprises a lower leg body 401, a third linear actuator 402, and a fourth linear actuator 403. The upper end of the lower leg body 401 is connected to the lower connecting frame 209, and the lower end is hingedly connected to the left foot assembly 600. The third linear actuator 402 and the fourth linear actuator 403 are arranged side by side along the left-right direction, and the upper ends thereof are respectively hingedly connected to the upper end of the lower leg body 401, and the lower ends thereof are respectively hingedly connected to the left foot assembly 600. The third linear actuator 402 and the fourth linear actuator 403 can respectively extend or shorten along the length direction of the lower leg body 401, so that the lower leg mechanism can rotate relative to the thigh mechanism and the foot assembly, respectively.

[0132] Specifically, in the embodiment, the rotation between the left lower leg mechanism 400 and the left foot assembly 600 is realized by the extension and contraction of the third linear actuator 402 and the fourth linear actuator 403. The upper end of the lower leg body 401 is connected to the lower connecting frame 209 in the left thigh mechanism 200, and the lower connecting frame 209 is rotationally connected to the thigh body 201, so that the left lower leg mechanism 400 can realize the action of the knee joint relative to the left thigh mechanism 200. The lower end of the lower leg body 401 and the lower ends of the third linear actuator 402 and the fourth linear actuator 403 are rotationally connected to the left foot assembly 600, so as to realize the action of the ankle joint, that is, to enable the left lower leg mechanism 400 to realize the pitch action and the roll action relative to the left foot assembly 600, further improving the bionic performance at the ankle joint.

[0133] In the above structure, the upper ends of the third linear actuator and the fourth actuator can be hingedly connected to the upper end of the lower leg body 401 through the thirteenth connecting shaft 406, the lower ends thereof can be hingedly connected to the left foot assembly 600 through the eleventh connecting shaft 404, and the lower end of the lower leg body 401 can be hingedly connected to the left foot assembly 600 through the twelfth connecting shaft 405, so that when the two linear actuators are extended or shortened, the movement of the ankle joint between the left foot assembly 600 and the left lower leg mechanism 400 is realized.

[0134] Further, the right lower leg mechanism 500 is the same as the left lower leg mechanism 400, and the upper end of the right lower leg mechanism 500 is connected with the lower end of the right thigh mechanism 300, and the lower end is connected with the right foot assembly. That is, the right lower leg mechanism 500 also includes a lower leg body 401 and two linear actuators, and the connection relationship with the right foot assembly is the same as that of the left lower leg mechanism 400 and the left foot assembly 600, so as to realize the movement of the right ankle joint and improve the foot movement function of the whole lower limb system.

[0135] In the above structure, the third linear actuator 402 and the fourth linear actuator 403 can be realized by electric push rods or linear cylinders, so as to improve the load capacity and action accuracy of the two lower leg mechanisms.

[0136] Alternatively, as shown in Figures 17 to 22 , the left foot assembly 600 includes an ankle structure 601 and a foot plate 602, and the ankle structure 601 is fixed to the foot plate 602; the lower end of the lower leg body 401 is hinged to the ankle structure 601 through a cross hinge 603, so that the left foot assembly 600 can rotate left and right or up and down relative to the lower leg body 401; the right foot assembly has the same structure as the left foot assembly 600.

[0137] Specifically, in the embodiment, referring to Figure 21 and Figure 22 , the lower end of the lower leg body 401 is hinged to the ankle structure 601 through the cross hinge 603, and the lower end of the third linear actuator 402 and the lower end of the fourth linear actuator 403 are respectively hinged to the ankle structure 601 through the eleventh connecting rod shaft 404, so that the movement at the ankle joint is formed during the extension and retraction of the two linear actuators. In actual application, a limiting structure can be arranged on the lower leg body or the ankle structure, so that the pitch motion (up and down rotation) angle range of the ankle joint is 56° to -42°, and the roll motion (left and right rotation) angle range is 18° to -18°, which is closer to the rotation angle range of the human ankle joint.

[0138] In the above structure, the left lower leg mechanism 400 and the right lower leg mechanism 500 have the advantages of high load, high stiffness, high integration, easy maintenance, etc.

[0139] Alternatively, referring to Figure 21 and Figure 22 , the left foot assembly 600 further includes a six-dimensional force sensor 604, and the ankle structure 601 is connected to the foot plate 602 through the six-dimensional force sensor 604. Among them, the six-dimensional force sensor 604 can detect the rotation torque of the left lower leg mechanism 400 relative to the left foot assembly 600 in each direction, so as to more accurately control the rotation angle range between the two.

[0140] According to the second aspect of the present application, referring to Figures 1 to 4, provide a humanoid robot comprising the lower limb system of the first aspect. Wherein, based on the design of the hip joint and the knee joint of the left thigh mechanism 200 and the right thigh mechanism 300, and based on the structural design of the ankle joint in the left lower leg mechanism 400 and the right lower leg mechanism 500 in some embodiments, it is basically consistent with the joint angle of the lower limb system of the human, so that the humanoid robot can realize the function of falling down and recovering and complete the task of carrying heavy load with the same posture as the human. In practical application, the lower limb system provided by the present application can realize the load of more than 80kg and realize the action of walking and squatting, etc., and improve the practicability of the humanoid robot.

[0141] The focus of the above embodiments is the difference between the embodiments, and the different optimization features between the embodiments can be combined to form a better embodiment as long as they are not contradictory. Considering the brevity of the writing, it will not be repeated here.

[0142] Although some specific embodiments of the present application have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A lower limb system of a humanoid robot, characterized by, The hip mechanism, the left thigh mechanism, the right thigh mechanism, the left lower leg mechanism and the right lower leg mechanism, the hip mechanism can be used to support the upper body of the humanoid robot trunk; The left thigh mechanism includes a thigh body, an upper connecting frame, a lower connecting frame, a first linear actuator, a second linear actuator, a first double crank mechanism and a second double crank mechanism; The upper end of the thigh body is rotatably connected with the hip mechanism through the upper connecting frame, the upper end of the first linear actuator is hingedly connected with the upper end of the thigh body and the upper connecting frame through the first double crank mechanism, and the lower end is hingedly connected with the lower end of the thigh body; The lower end of the thigh body is rotatably connected with the left lower leg mechanism through the lower connecting frame, and the second linear actuator is hingedly connected with the lower end of the thigh body and the lower connecting frame through the second double crank mechanism, and the upper end is hingedly connected with the upper end of the thigh body; the first linear actuator and the second linear actuator can be respectively elongated or shortened along the length direction of the thigh body, so that the left thigh mechanism can be rotated relative to the hip mechanism and the left lower leg mechanism, and the rotation axes extend in the left-right direction; The lower end of the thigh body is provided with a locking structure, and the lower connecting frame or the left lower leg mechanism is provided with a matching part, when the left thigh mechanism and the left lower leg mechanism are rotated to a set angle, the locking structure can be locked with the matching part to limit the rotation of the left lower leg mechanism; The structure of the right thigh mechanism is the same as that of the left thigh mechanism, and the upper end and the lower end of the right thigh mechanism are connected with the hip mechanism and the right lower leg mechanism respectively; The left thigh mechanism further comprises a ninth connecting rod shaft and a tenth connecting rod shaft, and the first linear actuator and the second linear actuator are both electric push rods; The first double crank mechanism comprises a first connecting rod shaft, a second connecting rod shaft, a third connecting rod shaft, a fourth connecting rod shaft, a first connecting rod and a second connecting rod, and the second double crank mechanism comprises a fifth connecting rod shaft, a sixth connecting rod shaft, a seventh connecting rod shaft, an eighth connecting rod shaft, a third connecting rod and a fourth connecting rod; The first connecting rod shaft and the second connecting rod shaft are respectively assembled on the upper connecting frame, the third connecting rod shaft is assembled on the upper end of the thigh body, and the fourth connecting rod shaft is connected with the first connecting rod shaft through the first connecting rod and connected with the third connecting rod shaft through the second connecting rod; The upper end of the first linear actuator is hingedly connected to the fourth connecting rod shaft, and the lower end is hingedly connected to the lower end of the thigh body through the ninth connecting rod shaft, and the upper end of the thigh body is rotatably connected with the upper connecting frame through the second connecting rod shaft; The sum of the distance between the first connecting rod shaft and the second connecting rod shaft and the distance between the second connecting rod shaft and the third connecting rod shaft is less than the sum of the distance between the first connecting rod shaft and the fourth connecting rod shaft and the distance between the fourth connecting rod shaft and the third connecting rod shaft. ​ The fifth connecting rod shaft and the sixth connecting rod shaft are respectively assembled on the lower connecting frame, the seventh connecting rod shaft is assembled on the lower end of the thigh body, and the eighth connecting rod shaft is connected with the fifth connecting rod shaft through the third connecting rod and connected with the seventh connecting rod shaft through the fourth connecting rod; The lower end of the second linear actuator is hinged on the eighth connecting rod shaft, and the upper end is hinged on the upper end of the thigh body through the tenth connecting rod shaft, and the lower end of the thigh body is rotationally connected with the lower connecting frame through the sixth connecting rod shaft; The distance between the fifth connecting rod shaft and the sixth connecting rod shaft and the distance between the sixth connecting rod shaft and the seventh connecting rod shaft are smaller than the distance between the fifth connecting rod shaft and the eighth connecting rod shaft and the distance between the eighth connecting rod shaft and the seventh connecting rod shaft.

2. The lower leg system of the humanoid robot according to claim 1, characterized by, The locking structure comprises an arc-shaped extension end connected to the lower end of the thigh body and a convex point part located on the arc-shaped extension end, and the center of the arc-shaped extension end is coincident with the rotation center of the sixth connecting rod shaft; The matching part comprises a concave groove provided on the lower connecting frame or the left lower leg mechanism and a concave point part located in the concave groove, the concave groove is matched with the shape of the arc-shaped extension end, and the concave point part is matched with the shape of the convex point part; When the left thigh mechanism and the left lower leg mechanism are 180°, the arc-shaped extension end is inserted into the concave groove, the convex point part falls into the concave point part, so that the thigh body and the left lower leg mechanism are locked.

3. The lower leg system of the humanoid robot according to claim 2, wherein When the included angle between the left thigh mechanism and the left lower leg mechanism is 170°-180°, at least a part of the arc-shaped extension end is located in the concave groove.

4. The lower leg system of the humanoid robot according to claim 1, wherein The third connecting rod and the first connecting rod are Y-shaped connecting rods, and the second connecting rod and the fourth connecting rod are U-shaped connecting rods.

5. The lower leg system of the humanoid robot according to claim 4, wherein The U-shaped connecting rod comprises a hinged part and connecting rod parts connected to both ends of the hinged part, The hinged part of the second connecting rod is rotationally connected to the third connecting rod shaft, and the two connecting rod parts of the second connecting rod are respectively rotationally connected to the fourth connecting rod shaft and respectively located on both sides of the first linear actuator; The hinged part of the fourth connecting rod is rotationally connected to the seventh connecting rod shaft, and the two connecting rod parts of the fourth connecting rod are respectively rotationally connected to the eighth connecting rod shaft and respectively located on both sides of the second linear actuator; Wherein, the two connecting rod parts of the second connecting rod are bent towards the first linear actuator, and the two connecting rod parts of the fourth connecting rod are bent towards the second linear actuator.

6. The lower leg system of the humanoid robot according to any one of claims 1 to 5, characterized in that, The hip mechanism comprises a bearing platform, a first rotary actuator, a second rotary actuator, a third rotary actuator and a fourth rotary actuator, and the rotary shafts of the first rotary actuator and the third rotary actuator extend in the front-back direction, and the rotary shafts of the second rotary actuator and the fourth rotary actuator extend in the vertical direction; The output end of the first rotary actuator is connected with the fixed end of the second rotary actuator, the fixed end of the first rotary actuator and the fixed end of the second rotary actuator are respectively fixed to the left side of the bearing platform along the front-rear direction, and the output end of the second rotary actuator is connected with the upper connecting frame. The output end of the third rotary actuator is connected with the fixed end of the fourth rotary actuator, the fixed end of the third rotary actuator and the fixed end of the fourth rotary actuator are respectively fixed to the right side of the bearing platform along the front-rear direction, and the output end of the fourth rotary actuator is connected with the right thigh mechanism.

7. The lower leg system of the humanoid robot according to claim 6, wherein The hip mechanism further comprises a fifth rotary actuator, and the bearing platform is a concave structure with a reverse buckle, and the rotary shaft of the fifth rotary actuator extends along the vertical direction. The first rotary actuator, the second rotary actuator, the third rotary actuator and the fourth rotary actuator are respectively fixedly connected to four corners of the concave structure, and the fixed end of the fifth rotary actuator is connected to the central region of the top surface of the concave structure, so that the output end thereof can be used to connect the upper body of the humanoid robot.

8. The lower leg system of the humanoid robot according to claim 7, wherein The rear side of the concave structure is provided with a bearing area lower than the top surface thereof, and the bearing area is used to bear or assemble external equipment.

9. The lower leg system of the humanoid robot according to claim 6, wherein The hip mechanism further comprises a first torque sensor and a second torque sensor, the first rotary actuator and the second rotary actuator are connected through the first torque sensor, and the third rotary actuator and the fourth rotary actuator are connected through the second torque sensor.

10. The lower leg system of the humanoid robot according to any one of claims 1 to 5, characterized in that, Further comprising a left foot assembly and a right foot assembly, and the left lower leg mechanism comprises a lower leg body, a third linear actuator and a fourth linear actuator. The upper end of the lower leg body is connected with the lower connecting frame, and the lower end thereof is hingedly connected with the left foot assembly, the third linear actuator and the fourth linear actuator are arranged side by side along the left-right direction, the upper ends of the third linear actuator and the fourth linear actuator are respectively hingedly connected with the upper end of the lower leg body, and the lower ends thereof are respectively hingedly connected with the left foot assembly. The third linear actuator and the fourth linear actuator can respectively extend or shorten along the length direction of the lower leg body, so that the lower leg mechanism can rotate relative to the thigh mechanism and the foot assembly respectively. The right lower leg mechanism is the same as the left lower leg mechanism, and the upper end of the right lower leg mechanism is connected with the lower end of the right thigh mechanism, and the lower end thereof is connected with the right foot assembly.

11. The lower leg system of the humanoid robot according to claim 10, wherein The left foot assembly comprises an ankle structure and a foot plate, and the ankle structure is fixed to the foot plate. The lower end of the lower leg body is hingedly connected with the ankle structure through a cross hinge, so that the left foot assembly can rotate relative to the lower leg body along the left-right direction or the up-down direction. The right foot assembly has the same structure as the left foot assembly.

12. The lower leg system of the humanoid robot according to claim 11, wherein The left foot assembly further comprises a six-dimensional force sensor, and the ankle structure is connected to the foot plate through the six-dimensional force sensor.

13. A humanoid robot, characterized by The lower limb system of any one of claims 1-12. The lower limb system of any one of claims 1-12.

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