A humanoid robot leg structure

Abstract

The present application relates to a kind of humanoid robot leg structure, including thigh, knee joint, shank, ankle joint and shank;Thigh includes first joint module motor and second joint module motor;Knee joint includes first pull rod, second pull rod and connecting seat, and first joint module motor is connected with connecting seat by first pull rod;Shank includes shank pull rod and third joint module motor;Second joint module motor is connected with foot by second pull rod and shank pull rod;Third joint module motor is connected with foot by shank pull rod;Foot includes front support and rear support connected by foot support pivot.Compared with prior art, the present application has second joint module motor and third joint module motor respectively located in thigh and shank, without symmetrical arrangement, can be arranged larger volume and torque module motor, enhance the motion ability of humanoid robot;Foot includes front support and rear support, can adapt to different terrain and other advantages.

Description

Technical Field

[0001] The present invention relates to a robot, in particular to a leg structure of a humanoid robot. Background Art

[0002] With the rapid development of robotics, humanoid robots have broad application prospects in areas such as service, medical rehabilitation, and human-robot interaction. Designed to mimic human walking and manipulation, joint design is crucial, particularly the ankle joint, which determines the robot's performance in walking, balance, and adapting to complex terrain.

[0003] Currently, most single-legged, six-degree-of-freedom humanoid robot leg structure designs primarily place two drive modules one above the other at the top of the calf in the ankle joint design, achieving two-degree-of-freedom control of the ankle joint through a connecting rod; or they are placed on the ankle joint through a direct connection. However, the current common leg structure scheme concentrates both drive modules below the knee joint, which places high demands on the calf structure space and the volume of the drive modules, limiting the expression of the leg appearance design. In addition, the narrow space below the knee joint in the existing scheme cannot accommodate large-volume, high-torque joint drive modules, limiting the driving capacity of the ankle joint, thereby limiting the overall humanoid robot's movement ability and the completeness of its posture movements, and also increasing the leg dynamics burden during the humanoid robot's walking movements.

[0004] After searching, application publication number CN116573077A discloses a bipedal robot lower limb structure with a passively compliant shank. Specifically, the structure includes a pelvis and left and right legs disposed on either side of the pelvis. The left and right legs have identical structures, each including a hip joint mechanism, a thigh mechanism, a knee joint mechanism, a shank mechanism, an ankle joint mechanism, and a foot. The hip joint mechanism is rotatably connected to the upper end of the thigh mechanism, driving the thigh mechanism to perform yaw, roll, and pitch movements. The lower end of the thigh mechanism is rotatably connected to the upper end of the shank mechanism via a knee joint mechanism, driving the shank mechanism to perform pitch movements. The lower end of the shank mechanism is connected to the foot via an ankle joint mechanism, driving the foot to perform pitch and roll movements. However, this prior art foot has poor adaptability in complex environments.

[0005] In summary, how to design a humanoid robot leg structure with strong movement ability and strong adaptability to complex environments is a technical problem that needs to be solved. Summary of the Invention

[0006] The purpose of the present invention is to overcome the defects of the above-mentioned prior art such as poor movement ability or poor adaptability in complex environments and to provide a humanoid robot leg structure with improved ankle joint control ability and in accordance with the principles of dynamic control, aiming to reduce movement inertia and improve overall performance.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] According to one aspect of the present invention, there is provided a humanoid robot leg structure comprising a thigh, a knee joint, a calf, an ankle joint, and a foot connected in sequence;

[0009] The thigh portion includes a motor mounting block, a connecting plate, a first joint module motor, and a second joint module motor, wherein the first joint module motor is mounted between the motor mounting block and the connecting plate, and the second joint module motor is mounted on the connecting plate; the axes of the first joint module motor and the second joint module motor are parallel;

[0010] The knee joint comprises a first pull rod, a second pull rod and a connecting seat, and the first joint module motor is connected to the connecting seat via the first pull rod;

[0011] The calf portion includes a calf plate, a first calf pull rod, a second calf pull rod and a third joint module motor, wherein the third joint module motor is mounted on the calf plate; the second joint module motor is connected to one side of the foot via the second pull rod and the second calf pull rod; the third joint module motor is connected to the other side of the foot via the first calf pull rod; the axes of the third joint module motor and the second joint module motor are not perpendicular to each other;

[0012] The foot portion includes a foot support shaft and a front support and a rear support connected via the foot support shaft. The rear support is connected to the calf plate via an ankle joint.

[0013] As a preferred technical solution, the thigh part also includes a first cam, a positioning pin and a second cam, and the positioning pin is installed between the motor mounting block and the connecting plate; the first joint module is connected to the first cam, one end of the first pull rod is connected to the first cam, and the other end is connected to the connecting seat; the second joint module motor is connected to the second cam, one end of the second pull rod is connected to the second cam through a ball joint, and the other end is connected to one side of the foot.

[0014] As a preferred technical solution, the knee joint also includes a first connecting rod, an auxiliary connecting rod, a first knee joint pivot, a first pin, a second knee joint pivot and a third knee joint pivot; the first knee joint pivot is connected to one end of the first connecting rod and the connecting seat, the first pin is connected to the other end of the first connecting rod and one end of the auxiliary connecting rod, and the third knee joint pivot is installed at the other end of the auxiliary connecting rod; the second knee joint pivot is installed in the connecting seat, and the two ends are respectively installed on the motor mounting plate and the connecting plate; the first pull rod is connected to the first pin.

[0015] As a preferred technical solution, the knee joint further includes a fourth cam, the fourth cam is fixed to the end face of the second knee joint shaft, and one end of the second pull rod is connected to the fourth cam.

[0016] As a preferred technical solution, the calf part also includes an ankle joint shaft, a third cam, a transition block, a second connecting rod, a first pull rod ball joint and a second pull rod ball joint; the calf plate is connected to the ankle joint through the ankle joint shaft; the third cam is installed at the output end of the third joint module motor, and the third cam is provided with an extension shaft, and a rotating pair is formed between the extension shaft and the transition block; the first calf pull rod is connected to the third cam through the first pull rod ball joint; one end of the second connecting rod is connected to the fourth cam through a ball joint, and the other end is connected to the connecting block; the second calf pull rod is connected to the transition block through the second pull rod ball joint.

[0017] As a preferred technical solution, the ankle joint includes a copper sleeve and a cross shaft; a first through hole and a second through hole perpendicular to each other are provided in the cross shaft, and the copper sleeve passes through the first through hole to form a rotating pair with the cross shaft; the calf also includes an ankle joint rotating shaft, and the ankle joint rotating shaft passes through the second through hole to form a rotating pair with the cross shaft.

[0018] As a preferred technical solution, the foot also includes two flange shafts, and the two ends of the two flange shafts are respectively provided with an extended first mounting shaft and a second mounting shaft, the first mounting shafts of the two flange shafts are installed on both sides of the rear support, and the second mounting shafts of the two flange shafts are respectively connected to the first calf pull rod and the second calf pull rod.

[0019] As an optimal technical solution, the foot also includes a second pin, a double-sided torsion spring and a buffer block; the second pin passes through the ankle joint to form a rotating pair with the ankle joint; a buffer block is installed in the middle of the foot support shaft, and double-sided torsion springs are installed at both ends.

[0020] As a preferred technical solution, pads are installed on the sides of the front support and the rear support close to the ground.

[0021] As a preferred technical solution, the calf plate is provided with weight-reducing holes and oblique supports.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1) The first joint module motor of the present invention is located in the thigh to drive the knee joint; the second joint module motor and the third joint module motor are located in the thigh and calf, respectively, to drive the ankle joint. They do not need to be arranged symmetrically. While reducing the inertia of the leg, the requirements for the external dimensions of the module motors are reduced, and module motors with larger volume and torque can be arranged, thereby enhancing the movement ability of the humanoid robot. The foot includes a front support and a rear support connected by a foot support shaft, which can adapt to different terrains.

[0024] 2) The second joint module motor and the third joint module motor of the application drive the foot to move through a transmission chain, when the first pull rod spherical hinge and the second pull rod spherical hinge are at the same height, the pitch movement is realized, when the first pull rod spherical hinge and the second pull rod spherical hinge are not at the same height, the foot rotates around the second pin shaft, the roll movement is realized, and the decoupling control of the ankle joint is realized;

[0025] 3) The elastic force of the double-side torsion spring keeps the fit state of the front support and the rear support, so that the bottom surface of the foot can adapt to the change of different terrains, in addition, the foot bottom mounting block can effectively reduce the impact of the ground on the robot foot, provide damping and buffering effect, and enhance the adaptability of the robot in complex environment;

[0026] 4) The calf plate is provided with a weight reduction hole, which is helpful to improve the flexibility and endurance of the robot, and the design of the inclined support ensures the structural strength of the calf plate. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a front view of the leg structure of the humanoid robot of the application;

[0028] Figure 2 It is a schematic diagram of the overall structure of the leg structure of the humanoid robot of the application;

[0029] Figure 3 It is a schematic diagram of the knee joint, calf, ankle joint and foot structure of the application;

[0030] Figure 4 It is an exploded view of the thigh and knee joint structure of the application;

[0031] Figure 5 It is an exploded view of the ankle joint structure of the application;

[0032] Figure 6 It is an exploded view of the foot structure of the application;

[0033] The symbols in the figure are shown as follows:

[0034] 100. Thigh, 101. Connecting assembly, 102. First joint module motor, 103. First cam, 104. Motor mounting block, 105. Positioning pin, 107. Second cam, 108. Second joint module motor, 109. Connecting plate, 200. Knee joint, 201. First pull rod, 202. Cover plate, 203. Centripetal spherical bearing, 204. First retaining spring, 205. Auxiliary connecting rod, 206. First connecting rod, 207. Connecting seat, 208. First knee joint shaft, 209. First pin, 210. Second knee joint shaft, 211. Third knee joint shaft, 212. First bearing, 213. Second retaining spring, 214. Second bearing, 215. Gasket, 216. Third retaining spring, 217 , fourth cam, 218, second pull rod, 219, anti-interference groove, 300, calf, 301, third joint module motor, 302, calf plate, 303, ankle joint shaft, 3041, first calf pull rod, 3042, second calf pull rod, 305, third cam, 306, transition block, 307, second connecting rod, 3081, first pull rod ball joint, 3082, second pull rod ball joint, 400, ankle joint, 401, copper sleeve, 402, cross shaft, 403, third bearing, 500, foot, 501, second pin shaft, 502, buffer block, 503, double-sided torsion spring, 504, front support, 505, foot support shaft, 506, pad, 507, rear support, 508, flange shaft, 509, set screw. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0036] like Figure 1 As shown, the present invention provides a humanoid robot leg structure, including a thigh 100, a knee joint 200, a calf 300, an ankle joint 400 and a foot 500.

[0037] like Figure 2 and Figure 3 As shown, the thigh part 100 includes a connecting assembly 101, a first joint module motor 102, a first cam 103, a motor mounting block 104, a positioning pin 105, a second cam 107, a second joint module motor 108 and a connecting plate 109. The connecting assembly 101 is used to connect to the hip joint of the humanoid robot.

[0038] The connecting plate 109 and the motor mounting block 104 are respectively installed on both sides of the connecting assembly 101, positioned by pin holes and the protruding shaft of the connecting assembly 101, and connected by bolts and threaded holes. The connecting plate 109 is connected with the motor mounting block 104 through the connecting assembly 101. The bottom hole axes of the motor mounting block 104 and the connecting plate 109 coincide, and the first bearing 212 is installed in the hole, fixed by the second circlip 213, and constitutes a rotating pair with the knee joint 200. The connecting plate 109 is provided with an anti-interference groove 219 to prevent interference with the knee joint 200 when the leg is bent.

[0039] The first joint module motor 102 and the second joint module motor 108 respectively control the movement of the knee joint 200 and the ankle joint 400. The first joint module motor 102 is installed on the motor mounting block 104 by a bolt, and the output end is connected with the first cam 103 through a flat head screw. The bolt on the end surface of the first cam 103 is connected with the upper end of the first pull rod 201. The hole positions at both ends of the first pull rod 201 are installed with the centripetal joint bearing 203, which is fixed by the first circlip 204. The first circlip 204 is an earless circlip. The inner ring of the centripetal joint bearing 203 cooperates with the second knee joint rotating shaft 210 to realize the pitching movement of the knee joint 200, and ensures the stability of the spatial movement in the transmission process.

[0040] The axes of the second joint module motor 108 and the first joint module motor 102 are non-planar and perpendicular. The second joint module motor 108 is installed in the middle of the thigh, passes through the motor mounting block 104 and is fixed on the connecting plate 109 by a bolt. The output end is connected with the second pull rod 218 through the second cam 107, and then the movement of the ankle joint 400 is realized.

[0041] As shown in Figure 3 and Figure 4 , the knee joint 200 includes the first pull rod 201, the cover plate 202, the centripetal joint bearing 203, the first circlip 204, the auxiliary connecting rod 205, the first connecting rod 206, the connecting seat 207, the first knee joint rotating shaft 208, the first pin shaft 209, the second knee joint rotating shaft 210, the third knee joint rotating shaft 211, the first bearing 212, the second circlip 213, the second bearing 214, the gasket 215, the third circlip 216, the fourth cam 217 and the second pull rod 218.

[0042] The double rocker structure of the knee joint 200 adopts the auxiliary connecting rod 205 and the first connecting rod 206. One end of the first pull rod 201 is connected with the first cam 103 through a ball hinge and a bolt, and the other end is sequentially connected with the first connecting rod 206 and the auxiliary connecting rod 205 through the first pin shaft 209 and fixed by a nut, realizing the stable pitching movement of the knee joint 200, while maintaining the lightness and flexibility during movement.

[0043] There are mounting holes on both sides of the second pull rod 218, and the middle section is arc-shaped. There are three mounting holes on the fourth cam 217. The upper end of the second pull rod 218 is connected to the second cam 107 through a ball joint, and the lower end is connected to the front mounting hole of the fourth cam 217. The hole in the middle of the fourth cam 217 is connected to the second bearing 214 and the third retaining spring 216. A gasket 215 is installed on the outer side of the inner ring of the bearing and is fixed to the threaded hole on the end face of the second knee joint shaft 210 by screws. As a result, the axis of the inner hole of the fourth cam 217 coincides with the axis of the second knee joint shaft 210, and the rear hole of the fourth cam 217 is connected to one end of the second connecting rod 307 through a ball joint. The axes of the upper and lower end holes of the second connecting rod 307 are eccentric and perpendicular, and the hole at the lower end is connected to the transition block 306 through a ball joint.

[0044] The first knee joint shaft 208 connects the single head end of the first connecting rod 206 and the connecting seat 207, and is penetrated from the connecting seat 207 by the fixing screw 509 and positioned in the groove of the first knee joint shaft 208. There is a threaded hole in the groove in the middle of the connecting seat 207, and the second knee joint shaft 210 is fixed in the groove by screws.

[0045] The two ends of the second knee joint shaft 210 cooperate with the thigh 100 through the first bearing 212, and are respectively installed in the holes below the connecting plate 109 and the motor mounting block 104. They are driven by the first joint module motor 102 to drive the second knee joint shaft 210 to rotate around the thigh 100.

[0046] The third knee joint shaft 211 passes through the other end of the auxiliary connecting rod 205 and is fixed with screws through the cover plate 202 outside the motor mounting block 104.

[0047] like Figure 3 As shown, the calf section 300 is connected to the thigh section 100 via the knee joint 200. The calf section 300 includes a third joint module motor 301, a calf plate 302, an ankle joint shaft 303, a calf tie rod, a third cam 305, a transition block 306, a second connecting rod 307, and a tie rod ball joint. The calf tie rod includes a first calf tie rod 3041 and a second calf tie rod 3042; the tie rod ball joint includes a first tie rod ball joint 3081 and a second tie rod ball joint 3082.

[0048] The third joint module motor 301 is installed on the calf plate 302 to control the pitch movement of the ankle joint 400. The threaded hole on the upper side of the calf plate 302 is fixed to the connecting plate 109 by screws, and there is a mounting hole on the lower side. The third joint module motor 301 is fixed in the calf plate 302 by screws. The third cam 305 is installed at the output end of the third joint module motor 301 by screws and is located on the rear side of the calf 300. The outer side of the third cam 305 is provided with an extension shaft, which is connected to the raised hole position of the transition block 306 to form a rotating pair. The left side of the third cam 305 is connected to the upper end hole of the first calf pull rod 3041 by a bolt and a ball joint, and the lower right side hole of the transition block 306 is connected to the upper end hole of the second calf pull rod 3042 by a bolt and a ball joint. When the first and second tie-rod ball joints 3081 and 3082 are at the same height, the foot 500 can achieve pitch motion. When the first and second tie-rod ball joints 3081 and 3082 are at different heights, the foot 500 rotates about the second pin 501, achieving roll motion. The control system uses sensors to provide feedback on the actual position of the foot sole, adjusting the motor movement in real time. The rotation angle of each motor automatically adjusts based on the desired foot sole posture, enabling precise movement for bipedal walking and posture control. This decoupled ankle joint 400 design allows the robot to flexibly perform movements such as squatting, walking, and single-leg support, enhancing its ability to navigate complex terrain. The calf plate 302 is made of lightweight, high-strength materials, such as magnesium-aluminum alloy. A hole is cut in the middle of the calf plate 302 to reduce weight, achieving a lightweight design. A diagonal support design ensures structural strength, further enhancing the robot's flexibility and endurance. A fork with threaded holes on the underside is used to secure the cross shaft 402.

[0049] like Figure 5 As shown, the ankle joint 400 adopts a cross-axis 402 structure, including a copper sleeve 401, a cross-axis 402 and a third bearing 403. There are two mutually perpendicular through-holes in the cross-axis 402, which are connected to the second knee joint shaft 210 through the third bearing 403 to form a revolute pair with a certain angle limit. The copper sleeve 401 and the through-hole of the cross-axis 402 constitute a revolute pair. The second pin 501 passes through the cross-axis 402 and the copper sleeve 401 and is installed on the oblique hole above the back support 507 through a set screw 509 to form a revolute pair of the ankle joint 400. The second joint module motor 108 and the third joint module motor 301 drive the foot 500 to perform pitch and roll motions through a transmission chain, thereby realizing decoupling control of the ankle joint 400.

[0050] like Figure 6As shown, the foot 500 includes a second pin 501, a buffer block 502, a bilateral torsion spring 503, a front support 504, a foot support shaft 505, a pad 506, a rear support 507, a flange shaft 508 and a set screw 509. The foot support shaft 505 is installed on the front side of the rear support 507 via the set screw 509. The front support 504 and the rear support 507 are connected via the foot support shaft 505 to form an adjustable support structure. The flange shaft 508 is installed in the circular contour groove on the rear side of the rear support 507, with extended mounting shafts at both ends. One end of the extended shaft is installed in the slot hole at the rear of the rear support 507, and the other end of the extended shaft is threaded. The first calf pull rod 3041 and the second calf pull rod 3042 are respectively connected to the flange shafts 508 on both sides via ball joints and nuts. A buffer block 502 is connected to the center of the foot support shaft 505, and two torsion springs 503 are connected to each end. When not subjected to external forces, the elastic force of the two torsion springs 503 maintains the inclined protrusions of the front support 504 and the rear support 507 in contact, keeping their bottom surfaces aligned. The two supports can rotate a certain angle via the connected foot support shaft 505, allowing the bottom surface of the foot 500 to adapt to different terrain changes. Furthermore, pads 506 are installed on the ground side of the front support 504 and the rear support 507. These pads 506 can be made of rubber and effectively reduce the impact of the ground on the robot foot 500, providing shock absorption and enhancing the robot's adaptability in complex environments. The second joint module motor 108 and the third joint module motor 301 are controlled to drive the rotation of the foot 500 in space via a transmission chain. The desired position of the foot sole is reflected in the rotational position of each motor, thereby controlling the movement of the legs, enabling the robot's legs to perform actions such as squatting and walking.

[0051] The present invention controls the pitch motion of the knee joint 200 through the first joint module motor 102, and the second joint module motor 108 and the third joint module motor 301 respectively control the pitch and roll motions of the foot 500 through a transmission chain; the coordinated control of the first joint module motor 102, the second joint module motor 108 and the third joint module motor 301 achieves precise control of the pitch motion of the knee joint 200, the roll motion of the ankle joint 400 and the pitch motion of the foot 500. When the present invention is applied to a humanoid robot, the two legs are symmetrically arranged, and the robot using the leg structure of the present invention can achieve high-degree-of-freedom movement, especially the stability and flexibility in complex terrain are significantly improved. The decoupling design of the ankle joint 400 avoids the influence of motion coupling on posture control, making the control system simpler and more efficient, and suitable for application in a variety of scenarios, including service industries, medical rehabilitation and complex terrain tasks.

[0052] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A humanoid robot leg structure, characterized in that: It includes a thigh part (100), a knee joint (200), a calf part (300), an ankle joint (400) and a foot part (500) connected in sequence; The thigh portion (100) comprises a motor mounting block (104), a connecting plate (109), a first joint module motor (102) and a second joint module motor (108); the first joint module motor (102) is mounted between the motor mounting block (104) and the connecting plate (109), and the second joint module motor (108) is mounted on the connecting plate (109); the axes of the first joint module motor (102) and the second joint module motor (108) are parallel; The knee joint (200) comprises a first pull rod (201), a second pull rod (218) and a connecting seat (207), and the first joint module motor (102) is connected to the connecting seat (207) via the first pull rod (201); The knee joint (200) further includes a fourth cam (217), and one end of the second pull rod (218) is connected to the fourth cam (217); The calf portion (300) includes a calf plate (302), a first calf pull rod (3041), a second calf pull rod (3042) and a third joint module motor (301), wherein the third joint module motor (301) is mounted on the calf plate (302); the second joint module motor (108) is connected to one side of the foot (500) via the second pull rod (218) and the second calf pull rod (3042); the third joint module motor (301) is connected to the other side of the foot (500) via the first calf pull rod (3041); the axes of the third joint module motor (301) and the second joint module motor (108) are not perpendicular to each other; The calf portion (300) further includes an ankle joint shaft (303), a third cam (305), a transition block (306), a second connecting rod (307), a first pull rod ball joint (3081) and a second pull rod ball joint (3082); the calf plate (302) is connected to the ankle joint (400) via the ankle joint shaft (303); the third cam (305) is mounted on the output end of the third joint module motor (301), and the third cam (305) is provided with an extension shaft, and a rotation pair is formed between the extension shaft and the transition block (306); the first calf pull rod (3041) is connected to the third cam (305) via the first pull rod ball joint (3081); one end of the second connecting rod (307) is connected to the fourth cam (217) via a ball joint, and the other end is connected to the connecting block; the second calf pull rod (3042) is connected to the transition block (306) via the second pull rod ball joint (3082); The foot (500) includes a foot support shaft (505) and a front support (504) and a rear support (507) connected via the foot support shaft (505); the rear support (507) is connected to the calf plate (302) via the ankle joint (400).

2. The humanoid robot leg structure according to claim 1, characterized in that: The thigh part (100) further includes a first cam (103), a positioning pin (105) and a second cam (107), wherein the positioning pin (105) is installed between the motor mounting block (104) and the connecting plate (109); the first joint module is connected to the first cam (103), one end of the first pull rod (201) is connected to the first cam (103), and the other end is connected to the connecting seat (207); the second joint module motor (108) is connected to the second cam (107), one end of the second pull rod (218) is connected to the second cam (107) through a ball joint, and the other end is connected to one side of the foot (500).

3. The humanoid robot leg structure according to claim 1, characterized in that: The knee joint (200) further includes a first connecting rod (206), an auxiliary connecting rod (205), a first knee joint rotating shaft (208), a first pin (209), a second knee joint rotating shaft (210) and a third knee joint rotating shaft (211); the first knee joint rotating shaft (208) is connected to one end of the first connecting rod (206) and the connecting seat (207), the first pin (209) is connected to the other end of the first connecting rod (206) and one end of the auxiliary connecting rod (205), and the third knee joint rotating shaft (211) is installed on the other end of the auxiliary connecting rod (205); the second knee joint rotating shaft (210) is installed in the connecting seat (207), and the two ends are respectively installed on the motor mounting plate and the connecting plate (109); the first pull rod (201) is connected to the first pin (209).

4. The humanoid robot leg structure according to claim 3, characterized in that: The fourth cam (217) is fixed to the end surface of the second knee joint rotating shaft (210).

5. The humanoid robot leg structure according to claim 1, characterized in that: The ankle joint (400) comprises a copper sleeve (401) and a cross shaft (402); a first through hole and a second through hole perpendicular to each other are provided in the cross shaft (402); the copper sleeve (401) passes through the first through hole to form a rotation pair with the cross shaft (402); the calf (300) further comprises an ankle joint rotation shaft (303); the ankle joint rotation shaft (303) passes through the second through hole to form a rotation pair with the cross shaft (402).

6. The humanoid robot leg structure according to claim 1, characterized in that: The foot (500) further includes two flange shafts (508), and the two ends of the two flange shafts (508) are respectively provided with an extended first mounting shaft and a second mounting shaft, the first mounting shafts of the two flange shafts (508) are installed on both sides of the rear support (507), and the second mounting shafts of the two flange shafts (508) are respectively connected to the first calf pull rod (3041) and the second calf pull rod (3042).

7. The humanoid robot leg structure according to claim 1, characterized in that: The foot (500) further comprises a second pin (501), a double-sided torsion spring (503) and a buffer block (502); the second pin (501) passes through the ankle joint (400) and forms a rotation pair with the ankle joint (400); the buffer block (502) is installed in the middle of the foot support shaft (505), and the double-sided torsion springs (503) are sleeved at both ends.

8. The humanoid robot leg structure according to claim 1, characterized in that: A pad (506) is installed on one side of the front support (504) and the rear support (507) close to the ground.

9. The humanoid robot leg structure according to claim 1, characterized in that: The calf plate (302) is provided with a weight-reducing hole and an oblique support.

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