Biped robot with anti-motion joint legs, humanoid robot and robot

Abstract

The invention relates to the technical field of robots, and discloses a biped robot with reverse motion joint legs, a humanoid robot and a robot. The shank is only provided with an upper connecting end, an extending section and a lower connecting end; a sole; and a joint module. Wherein the thigh is hinged to the upper connecting end, no driving element is arranged on the extending section, the joint module is fixedly connected with the lower connecting end, and an output flange of the joint module is fixedly connected with the sole. The biped robot with the anti-motion joint legs is provided with the foot soles, the foot soles are directly driven by the joint modules, so that the requirements of various walking postures of the robot are met, light weight and miniaturization of the robot are considered, the robot can still keep the motion ability after being provided with the foot soles, and the requirements of current teaching experiments and engineering tests are met.

Description

Technical Field

[0001] The present application relates to the field of robotics, and more particularly to a bipedal robot with anti-kinematic jointed legs, a humanoid robot and a robot. Background Art

[0002] In the application of bipedal robots, the mainstream leg and foot structures include humanoid type, anti-kinematic joint type, etc. Among them, the difference between the anti-kinematic joint type and the conventional kinematic joint type is that the knee is recurved, which increases the effective leg swing length, increases the stride and provides forward elasticity, allowing fast running.

[0003] Existing anti-joint leg biped robots usually have point-shaped feet, which have a large supporting load, are not convenient for maintaining static balance, and cannot meet more walking posture requirements. If we refer to the configuration of humanoid robot legs with soles, in order to improve the center of gravity, the foot joint module is set at the knee joint, and the sole is driven by a crank rocker mechanism, which will lead to numerous, bloated and heavy structural parts of the robot's lower limbs. Due to its structural characteristics, the anti-joint biped robot needs to maintain continuous stepping and adjust the center of gravity in real time to maintain the balance of the robot. It can be seen that if the lower limbs are too heavy, the movement ability of the anti-joint biped robot will be greatly reduced. Therefore, the existing robots cannot meet the needs of teaching experiments and engineering tests. Summary of the invention

[0004] The present application provides a bipedal robot, a humanoid robot and a robot with anti-motion joint legs, which has a foot-leg configuration of an anti-joint leg robot to meet the needs of teaching experiments and engineering tests, while taking into account the lightweight and miniaturized design of the robot.

[0005] In one embodiment, a biped robot having counter-kinematic joint legs is provided, comprising: a thigh, a calf;

[0006] The lower leg is only constructed with an upper connecting end, an extension section, a lower connecting end, a sole, and a joint module;

[0007] Among them, the thigh is hinged to the upper connecting end, no driving element is arranged on the extension section, the joint module is fixedly connected to the lower connecting end, and the output flange of the joint module is fixedly connected to the sole of the foot.

[0008] In one embodiment, the biped robot with counter-kinematic jointed legs further comprises:

[0009] A fixing frame, the fixing frame is structured with a first fixing portion and a second fixing portion, the first fixing portion is substantially circular, and the first fixing portion is fixedly connected to a fixing plate at one end of the joint module away from its output flange;

[0010] A hollow annular bracket is constructed on one side of the lower connecting end, and a fixing position is constructed on the other side of the lower connecting end;

[0011] The bracket is fixedly connected to a fixing plate on one side of the output flange through a fastener, the output flange extends to the middle of the bracket, and the second fixing portion is fixed to the fixing position through a fastener.

[0012] In one embodiment, the biped robot with counter-kinematic jointed legs further comprises:

[0013] A support member, the support member is substantially cylindrical and is fixedly connected to the first fixing portion;

[0014] The first connecting frame has a cylindrical connecting flange on it, the connecting flange is detachably fixedly connected to the output flange, the first connecting frame is detachably fixedly connected to one side of the sole, the other side of the sole is rotatably fixedly connected to the support member, and the rotation axis of the sole is coaxial with the rotation axis of the output flange.

[0015] In one embodiment, the biped robot with counter-kinematic jointed legs further comprises:

[0016] A second connecting frame is arranged on the other side of the sole relative to the first connecting frame, and a second set of shaft segments in a hollow annular shape is constructed on the second connecting frame; and

[0017] A first set of shaft segments is disposed on one side of the bracket adjacent to the first connecting frame; and

[0018] A first bearing, a second bearing;

[0019] The outer ring of the first bearing abuts against the first sleeve shaft section, the inner ring of the first bearing abuts against the connecting flange, the outer ring of the second bearing abuts against the second sleeve shaft section, and the inner ring of the second bearing abuts against the support member.

[0020] In one embodiment, the biped robot with counter-kinematic jointed legs further comprises:

[0021] A first pressing ring, the first pressing ring is fixedly connected to a side of the first sleeve shaft section away from the joint module by a fastener;

[0022] Among them, a first flange is constructed on the side of the first sleeve shaft section adjacent to the joint module, a first shoulder is constructed on the side of the connecting flange away from the joint module, the outer ring of the first bearing abuts against the first flange and the first pressure ring respectively, and the inner ring of the first bearing abuts against the first shoulder.

[0023] In one embodiment, the biped robot with counter-kinematic jointed legs further comprises:

[0024] A second pressing ring, the second pressing ring is fixedly connected to a side of the second sleeve shaft segment away from the joint module by a fastener; and

[0025] A retaining ring is sleeved on the supporting member;

[0026] Among them, a second flange is constructed on the side of the second sleeve shaft section adjacent to the joint module, and a second shoulder is constructed on the side of the support member away from the joint module. The outer ring of the second bearing abuts against the second flange and the second pressure ring respectively, and the inner ring of the second bearing abuts against the retaining ring and the second shoulder respectively, and the other side of the retaining ring abuts against the first fixing part.

[0027] In one embodiment, a substantially circular positioning hole is configured on the first fixing portion, the positioning hole is substantially concentric with the extension of the first fixing portion, and a substantially cylindrical positioning column is configured on one side of the support member;

[0028] The positioning column extends into the positioning hole, and the outer wall of the positioning column abuts against the inner wall of the positioning hole.

[0029] In one embodiment, a substantially circular stop ring is configured on one side of the first fixing portion adjacent to the joint module, the stop ring is substantially concentric with the outer shell of the joint module, and the outer shell of the joint module is embedded in the stop ring;

[0030] The end face of the shell of the joint module adjacent to the first fixing part abuts against the end face of one side of the first fixing part adjacent to the joint module; the side edge of the shell of the joint module abuts against the inner ring of the stop ring.

[0031] In one embodiment, the sole of the foot includes: a frame and an elastic member, wherein the elastic member is detachably fixedly connected to the frame;

[0032] The projection of the contact surface of the elastic member in the moving direction of the robot is roughly in the shape of an arc, and the elastic member is symmetrically arranged along a vertical plane in the moving direction of the robot.

[0033] In one embodiment, an end of the extension section away from the upper connecting end is configured with an outwardly convex plug-in block, and a side of the lower connecting end away from the sole is configured with an inwardly concave slot, and the plug-in block is embedded in the slot and relatively fixed.

[0034] In one solution, the extension section is divided into an upper splicing section and a lower splicing section, and the upper splicing section is detachably fixedly connected to the lower splicing section.

[0035] In one embodiment, the bipedal robot with counter-kinematic jointed legs further includes: a shank cover;

[0036] A part of the calf cover plate is detachably fixedly connected to the upper splicing section, and another part of the calf cover plate is detachably fixedly connected to the lower splicing section.

[0037] In one embodiment, a robot is provided, comprising the biped robot with anti-kinematic joint legs of the aforementioned embodiment.

[0038] Beneficial effects of this application:

[0039] The present application sets a joint module at the ankle position as a transfer medium between the calf and the sole of the foot, and directly drives the sole of the foot through the joint module, thereby supporting various walking posture requirements of the anti-joint biped robot, and taking into account the lightweight and miniaturization of the robot, so that the anti-motion joint biped robot can still maintain its movement ability after the sole of the foot is set, meeting the current teaching experiments and engineering testing needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0041] Figure 1 is a schematic diagram of a counter-movement joint leg in one embodiment of the present application;

[0042] Figure 2 It is a schematic diagram of the assembly of the counter-motion joint leg in one embodiment of the present application;

[0043] Figure 3 is a schematic diagram of a joint module in one embodiment of the present application;

[0044] Figure 4 is an exploded view of a counter-motion joint leg in one embodiment of the present application;

[0045] Figure 5 is a partial cross-sectional view of a counter-motion joint leg in one embodiment of the present application;

[0046] Figure 6 is a schematic diagram of the assembly of the sole of a foot in one embodiment of the present application;

[0047] Figure 7 It is a schematic diagram of the assembly of the calf in one embodiment of the present application;

[0048] Figure 8 It is a partial assembly diagram of the calf in one embodiment of the present application;

[0049] Reference numerals in the figures:

[0050] 1. Thigh;

[0051] 2. calf; 201. upper connecting end; 202. extension section; 2021. plug-in block; 2022. upper splicing section; 2023. lower splicing section; 203. lower connecting end; 2031. bracket; 20311. first set of shaft sections; 2032. fixing position; 2033. slot; 204. calf cover;

[0052] 3. sole; 301. second connecting frame; 3011. second set of shaft segments; 302. frame; 303. elastic member;

[0053] 4. Joint module; 401. Output flange;

[0054] 5. Fixing frame; 501. First fixing part; 5011. Positioning hole; 5012. Stop ring; 502. Second fixing part;

[0055] 6. Support member; 601. Positioning column;

[0056] 7. First connecting frame; 701. Connecting flange;

[0057] 8. First bearing;

[0058] 9. Second bearing;

[0059] 10. First pressure ring;

[0060] 11. Second pressure ring;

[0061] 12. Retaining ring. DETAILED DESCRIPTION

[0062] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0063] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application 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 should not be understood as a limitation on the present application.

[0064] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0065] In this application, the concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in certain non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in certain non-functional details.

[0066] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0067] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0068] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0069] In order to solve the problems existing in the anti-motion joint robot proposed in the background technology, the present application makes improvements and innovations and proposes the following embodiments.

[0070] In one embodiment, see Figure 1 and Figure 2 , a biped robot with counter-movement joint legs is provided, comprising: a thigh 1, a calf 2, a sole 3 and a joint module 4;

[0071] The calf 2 is only constructed with an upper connecting end 201, an extension section 202, and a lower connecting end 203, and no driving element is arranged on the extension section 202, thereby saving the transmission connection mechanism between the driving element and the sole 3, simplifying the structure of the calf 2, and facilitating the lightweight design of the robot.

[0072] Among them, the thigh 1 is hinged to the upper connecting end 201; the joint module 4 is fixedly connected to the lower connecting end 203, and when the calf 2 swings, it will drive the joint module 4 to move; and the output flange 401 of the joint module 4 is fixedly connected to the sole 3, so that the joint module 4 can directly drive the sole 3. Therefore, the bipedal robot with anti-motion joint legs provided in this embodiment uses the driving element joint module 4 as a medium to connect the calf 2 and the sole 3, and combines the anti-joint leg robot with the leg configuration with the sole 3, so as to support the various walking posture requirements of the anti-joint bipedal robot and meet the current teaching experiments and engineering testing needs.

[0073] Moreover, the robot is lightweight and miniaturized, and the joint module 4 is fixed at the end of the calf 2. Apart from this, there is no other driving structure. The robot's lower limb structure remains light and compact. After the feet are set, the robot can still maintain its high mobility, which meets the lightweight and miniaturized design requirements of robot products.

[0074] In one embodiment, see Figure 3 and Figure 4 , the biped robot with counter-movement joint legs also includes a fixing frame 5;

[0075] The fixing frame 5 is constructed with a first fixing portion 501 and a second fixing portion 502. The first fixing portion 501 is substantially circular and is fixedly connected to a fixing plate at one end of the joint module 4 away from the output flange 401 thereof.

[0076] A hollow ring-shaped bracket 2031 is constructed on one side of the lower connecting end 203, and a fixing position 2032 is constructed on the other side of the lower connecting end 203. During assembly, the bracket 2031 is fixedly connected to the fixing plate on one side of the output flange 401 by fasteners, and the second fixing portion 502 is fixed to the fixing position 2032 by fasteners, that is, the assembly fixing positions 2032 corresponding to the lower connecting end 203 are arranged on both sides of the joint module 4, ensuring that the assembled joint module 4 is structurally stable and load-balanced during use. At the same time, the output flange 401 extends to the middle of the bracket 2031 and is fixed to the sole 3.

[0077] In one embodiment, see Figures 3 to 5 , the biped robot with counter-motion joint legs further includes a support member 6, the support member 6 is substantially cylindrical, and the support member 6 is fixedly connected to the first fixing portion 501;

[0078] The first connecting frame 7 has a cylindrical connecting flange 701 on it, the connecting flange 701 is detachably fixedly connected to the output flange 401, the first connecting frame 7 is detachably fixedly connected to one side of the sole 3, the other side of the sole 3 is rotatably fixedly connected to the support member 6, and the rotation axis of the sole 3 is coaxial with the rotation axis of the output flange 401.

[0079] Therefore, the first connecting frame 7 serves as a transition structure between the joint module 4 and the sole 3, and can transmit the torque provided by the output flange 401 of the joint module 4 to the sole 3, so that the sole 3 swings around the rotation axis of the output flange 401 of the joint module 4. At the same time, through the relative arrangement of the support member 6 and the first connecting frame 7, a set of corresponding support structures can be formed at the connection positions on both sides of the sole 3 and the joint module 4, thereby ensuring that the load transmitted to the sole 3 is relatively uniform, thereby improving the strength and reliability of the ankle structure.

[0080] In one embodiment, see Figure 4 and Figure 5 , the biped robot with counter-movement joint legs also includes a first bearing 8 and a second bearing 9;

[0081] A first sleeve shaft section 20311 is arranged on one side of the bracket 2031 adjacent to the first connecting frame 7 ; a second connecting frame 301 is arranged on the other side of the sole 3 relative to the first connecting frame 7 , wherein a second sleeve shaft section 3011 in a hollow ring shape is constructed on the second connecting frame 301 .

[0082] In this embodiment, the outer ring of the first bearing 8 abuts against the first sleeve shaft section 20311, the inner ring of the first bearing 8 abuts against the connecting flange 701, the outer ring of the second bearing 9 abuts against the second sleeve shaft section 3011, and the inner ring of the second bearing 9 abuts against the support member 6. By embedding the first bearing 8 and the second bearing 9, the rotation of the joint module 4 driving the sole 3 to work can be smoother, and the load capacity of the sole 3 can be further improved, and the stability of the ankle structure can be improved.

[0083] In one embodiment, see Figure 4 and Figure 5 , the biped robot with counter-movement joint legs also includes a first pressure ring 10;

[0084] In this embodiment, the first pressure ring 10 is fixedly connected to the side of the first sleeve shaft section 20311 away from the joint module 4 by fasteners; wherein, the first sleeve shaft section 20311 is configured with a first flange on the side adjacent to the joint module 4, and the connecting flange 701 is configured with a first clamping shoulder on the side away from the joint module 4, and the outer ring of the first bearing 8 abuts against the first flange and the first pressure ring 10 respectively, and the inner ring of the first bearing 8 abuts against the first clamping shoulder. Therefore, by providing the first pressure ring 10, the first bearing 8 can be conveniently installed and disassembled, thereby improving the maintenance and replacement efficiency of the first bearing 8.

[0085] In one embodiment, see Figure 4 and Figure 5 , the biped robot with counter-movement joint legs also includes a second pressure ring 11 and a retaining ring 12;

[0086] In this embodiment, the second pressure ring 11 is fixedly connected to the side of the second sleeve shaft section 3011 away from the joint module 4 by fasteners, and the retaining ring 12 is sleeved on the support member 6; wherein, the second sleeve shaft section 3011 is configured with a second flange on the side adjacent to the joint module 4, and the support member 6 is configured with a second shoulder on the side away from the joint module 4, the outer ring of the second bearing 9 abuts against the second flange and the second pressure ring 11 respectively, the inner ring of the second bearing 9 abuts against the retaining ring 12 and the second shoulder respectively, and the other side of the retaining ring 12 abuts against the first fixing portion 501. Similarly, by assembling the second pressure ring 11 and the retaining ring 12, the second bearing 9 can be conveniently disassembled and assembled, providing convenience for the maintenance of the second bearing 9.

[0087] In one embodiment, see Figure 4 and Figure 5 A substantially circular positioning hole 5011 is configured on the first fixing portion 501, and the positioning hole 5011 is substantially concentric with the extension of the first fixing portion 501, and a substantially cylindrical positioning column 601 is configured on one side of the support member 6;

[0088] In this embodiment, corresponding holes for fastener assembly and fixing are opened on the first fixing portion 501 and the supporting member 6; during assembly, the positioning column 601 is extended into the positioning hole 5011, so that the outer wall of the positioning column 601 is abutted against the inner wall of the positioning hole 5011 and the positioning hole 5011 is locked with the fastener to quickly realize the corresponding assembly of the positioning hole 5011 and the positioning column 601.

[0089] In one embodiment, see Figure 2 and Figure 5 A substantially circular stop ring 5012 is configured on one side of the first fixing portion 501 adjacent to the joint module 4. The stop ring 5012 is substantially concentric with the outer shell of the joint module 4, and the outer shell of the joint module 4 is embedded in the stop ring 5012;

[0090] In this embodiment, an assembly hole is provided on the first fixing part 501, and an assembly fixing position corresponding to the assembly hole is constructed in the joint module 4; during assembly, the end face of the outer shell of the joint module 4 adjacent to the first fixing part 501 is abutted against the end face of the first fixing part 501 adjacent to the side of the joint module 4, and the side edge of the outer shell of the joint module 4 is abutted against the inner ring of the stop ring 5012, and then the fasteners are screwed in through the assembly holes and the assembly fixing positions to complete the assembly of the joint module 4 and the fixing frame 5.

[0091] In one embodiment, see Figure 6 The sole 3 includes a frame 302 and an elastic member 303, and the elastic member 303 is detachably fixedly connected to the frame 302;

[0092] In this embodiment, in order to improve the grounding stability of the sole 3, the projection of the contact surface of the elastic member 303 in the robot's traveling direction is roughly arc-shaped, and the elastic member 303 is symmetrically arranged along a vertical plane in the robot's traveling direction.

[0093] In one embodiment, see Figure 7 The end of the extension section 202 away from the upper connection end 201 is configured with a convex plug block 2021, and the side of the lower connection end 203 away from the sole 3 is configured with a concave slot 2033, and the plug block 2021 is inserted into the slot 2033 and relatively fixed. Through the matching connection of the plug block 2021 and the slot 2033, the extension section 202 of the calf and the lower connection end 203 are decomposed into two parts that can be assembled and connected, which is convenient for the maintenance and repair of the local structural section of the calf 2.

[0094] In one embodiment, see Figure 4 and Figure 8 The extension section 202 is divided into an upper splicing section 2022 and a lower splicing section 2023, and the upper splicing section 2022 and the lower splicing section 2023 are detachably fixedly connected. ( Figure 1-3 and Figure 5-7 The upper splicing section 2022 and the lower splicing section 2023 structures are not shown), thereby realizing the split assembly of the extension section 202, which is convenient for targeted inspection and maintenance during production and use.

[0095] In one embodiment, see Figure 8 , the biped robot with counter-movement joint legs also includes a shank cover 204;

[0096] In this embodiment, a portion of the calf cover plate 204 is detachably fixedly connected to the upper splicing section 2022, and another portion of the calf cover plate 204 is detachably fixedly connected to the lower splicing section 2023. During production and use, by disassembling and assembling the calf cover plate 204, the wiring harness, electrical components and other components inside the calf 2 can be maintained and repaired, and the wiring harness, electrical components and other components arranged in the calf 2 can be protected.

[0097] In one embodiment, a robot is provided, comprising the biped robot with anti-kinematic joint legs of the aforementioned embodiment.

[0098] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A biped robot having inverse kinematic joint legs, characterized in that: include: A thigh; a calf, wherein the calf is only constructed with an upper connecting end, an extension section, and a lower connecting end; a sole; and joint modules; Among them, the thigh is hinged to the upper connecting end, no driving element is arranged on the extension section, the joint module is fixedly connected to the lower connecting end, and the output flange of the joint module is fixedly connected to the sole of the foot.

2. The biped robot with anti-kinematic joint legs according to claim 1, characterized in that: Also includes: A fixing frame, the fixing frame is structured with a first fixing portion and a second fixing portion, the first fixing portion is substantially circular, and the first fixing portion is fixedly connected to a fixing plate at one end of the joint module away from the output flange thereof; A hollow annular bracket is configured on one side of the lower connecting end, and a fixing position is configured on the other side of the lower connecting end; Wherein, the bracket is fixedly connected to the fixing plate on one side of the output flange through a fastener, the output flange extends to the middle of the bracket, and the second fixing portion is fixed to the fixing position through a fastener.

3. The biped robot with anti-kinematic joint legs according to claim 2, characterized in that: Also includes: A support member, the support member is substantially cylindrical and is fixedly connected to the first fixing portion; A first connecting frame, a cylindrical connecting flange is constructed on the first connecting frame, the connecting flange is detachably fixedly connected to the output flange, the first connecting frame is detachably fixedly connected to one side of the sole, the other side of the sole is rotatably fixedly connected to the support member, and the rotation axis of the sole is coaxial with the rotation axis of the output flange.

4. The biped robot with anti-kinematic joint legs according to claim 3, characterized in that: Also includes: A second connecting frame is provided on the other side of the sole relative to the first connecting frame, and a second sleeve shaft section in a hollow annular shape is constructed on the second connecting frame; and A first set of shaft segments is disposed on one side of the bracket adjacent to the first connecting frame; and A first bearing, a second bearing; The outer ring of the first bearing abuts against the first sleeve shaft section, the inner ring of the first bearing abuts against the connecting flange, the outer ring of the second bearing abuts against the second sleeve shaft section, and the inner ring of the second bearing abuts against the support member.

5. The biped robot with anti-kinematic joint legs according to claim 4, characterized in that: Also includes: A first pressing ring, wherein the first pressing ring is fixedly connected to a side of the first sleeve shaft section away from the joint module via a fastener; Among them, a first flange is constructed on the side of the first sleeve shaft section adjacent to the joint module, a first shoulder is constructed on the side of the connecting flange away from the joint module, the outer ring of the first bearing abuts against the first flange and the first pressure ring respectively, and the inner ring of the first bearing abuts against the first shoulder.

6. The biped robot with anti-kinematic joint legs according to claim 4, characterized in that: Also includes: A second pressing ring, wherein the second pressing ring is fixedly connected to a side of the second sleeve shaft section facing away from the joint module via a fastener; and A retaining ring, the retaining ring is sleeved on the supporting member; Among them, a second flange is constructed on the side of the second sleeve shaft section adjacent to the joint module, and a second shoulder is constructed on the side of the support member away from the joint module. The outer ring of the second bearing abuts against the second flange and the second pressure ring respectively, and the inner ring of the second bearing abuts against the retaining ring and the second shoulder respectively, and the other side of the retaining ring abuts against the first fixing portion.

7. The biped robot with anti-kinematic joint legs according to claim 3, characterized in that: A substantially circular positioning hole is configured on the first fixing portion, the positioning hole is substantially concentric with the extension of the first fixing portion, and a substantially cylindrical positioning column is configured on one side of the support member; Wherein, the positioning column extends into the positioning hole, and the outer wall of the positioning column abuts against the inner wall of the positioning hole.

8. The biped robot with anti-kinematic joint legs according to claim 2, characterized in that: A substantially circular stop ring is configured on one side of the first fixing portion adjacent to the joint module, the stop ring is substantially concentric with the outer shell of the joint module, and the outer shell of the joint module is embedded in the stop ring; Among them, the end face of the shell of the joint module adjacent to the first fixing part abuts against the end face of one side of the first fixing part adjacent to the joint module; the side edge of the shell of the joint module abuts against the inner ring of the stop ring.

9. The biped robot with anti-kinematic joint legs according to claim 1, characterized in that: The sole of the foot comprises: skeleton; and An elastic member, the elastic member being detachably fixedly connected to the frame; The projection of the contact surface of the elastic member in the moving direction of the robot is roughly in the shape of an arc, and the elastic member is symmetrically arranged along a vertical plane in the moving direction of the robot.

10. The biped robot with anti-kinematic joint legs according to claim 1, characterized in that: The end of the extension section away from the upper connecting end is configured with an outwardly convex plug-in block, and the side of the lower connecting end away from the sole is configured with an inwardly concave slot, and the plug-in block is embedded in the slot and relatively fixed.

11. The biped robot with anti-kinematic joint legs according to claim 1, characterized in that: The extension section is divided into an upper splicing section and a lower splicing section, and the upper splicing section is detachably fixedly connected to the lower splicing section.

12. The biped robot with anti-kinematic joint legs according to claim 11, characterized in that: Also includes: calf cover; A portion of the calf cover plate is detachably fixedly connected to the upper splicing section, and another portion of the calf cover plate is detachably fixedly connected to the lower splicing section.

13. A robot, characterized in that A biped robot with anti-kinematic joint legs comprising any one of claims 1-12.

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