Lower limb assembly and humanoid robot

Abstract

The invention provides a lower limb assembly and a humanoid robot, the lower limb assembly comprises a machine body, a first turnover side-sway motor, a second turnover side-sway motor, a thigh pitching motor, a thigh connecting piece and a shank pitching motor, and the first turnover side-sway motor is fixedly connected with the machine body; the second turnover side-sway motor is rotatably connected with the first turnover side-sway motor; the thigh pitching motor is rotatably connected with the second turnover side-sway motor; the thigh connecting piece is fixedly connected with the thigh pitching motor, an avoiding part is arranged on the thigh connecting piece, and the avoiding part is used for preventing the thigh connecting piece from interfering with the second turnover side-sway motor; and the shank pitching motor is fixedly connected with the thigh connecting piece. The maneuverability of the robot is improved, and the motion space of the legs of the robot is increased.

Description

Technical Field

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

[0002] A humanoid robot, also known as a humanoid robot or a bipedal robot, is a robot designed to imitate human appearance and behavior. The lower limb assembly is an important part of a humanoid robot, which enables the robot to achieve thigh pitch, thigh side swing, thigh rotation and other movements.

[0003] In the related technical solutions, the lower limb assembly of the humanoid robot can achieve thigh pitch, thigh side swing, thigh rotation and other movements through the cooperation of the motor and the transmission parts.

[0004] However, due to the limitations of the specific layout structure of the motor, the humanoid robots in the related art have problems such as poor maneuverability and small leg movement space. Summary of the invention

[0005] In order to overcome the above-mentioned defects under the related art, the purpose of the present application is to provide a lower limb assembly and a humanoid robot, which is conducive to improving the maneuverability of the robot and increasing the movement space of the robot's legs.

[0006] In one aspect, the present application provides a lower limb assembly, comprising:

[0007] body;

[0008] a first epicyclic side-swing motor, wherein the first epicyclic side-swing motor is fixedly connected to the fuselage;

[0009] a second epicyclic side-swing motor, the second epicyclic side-swing motor being rotatably connected to the first epicyclic side-swing motor;

[0010] A thigh pitch motor, the thigh pitch motor being rotatably connected to the second epicyclic side swing motor;

[0011] A thigh connecting member, wherein the thigh connecting member is rotatably connected to the thigh pitch motor, and an avoidance portion is provided on the thigh connecting member, wherein the avoidance portion is used to avoid interference between the thigh connecting member and the second epicyclic side swing motor;

[0012] A calf pitch motor is fixedly connected to the thigh connecting piece.

[0013] In a possible implementation, the thigh connector includes a first connecting plate, a second connecting plate and a third connecting plate, and the second connecting plate and the third connecting plate are arranged on both sides of the first connecting plate opposite to each other;

[0014] The thigh pitch motor is arranged on a side of the second connecting plate away from the third connecting plate, and the calf pitch motor is arranged between the second connecting plate and the third connecting plate.

[0015] In a possible implementation, the thigh pitch motor and the calf pitch motor are coaxially arranged.

[0016] In a possible implementation, the avoidance portion includes a first avoidance portion and a second avoidance portion;

[0017] The second connecting plate includes a first side wall and a second side wall opposite to each other, the first side wall is arranged close to the second epicyclic side swing motor, the first side wall includes a first inclined surface and a second inclined surface, the first end of the first inclined surface is connected to the first side wall, the second end of the first inclined surface faces the second side wall, the first end of the second inclined surface is connected to the first side wall, the second end of the second inclined surface faces the second side wall and is connected to the first inclined surface, and the first inclined surface and the second inclined surface jointly form the first avoidance portion;

[0018] The third connecting plate includes a third side wall and a fourth side wall relative to each other, the third side wall is arranged close to the second rotary side swing motor, the third side wall includes a third inclined surface and a fourth inclined surface, the first end of the third inclined surface is connected to the third side wall, the second end of the third inclined surface faces the fourth side wall, the first end of the fourth inclined surface is connected to the third side wall, the second end of the fourth inclined surface faces the fourth side wall and is connected to the third inclined surface, and the third inclined surface and the fourth inclined surface together form the second avoidance portion.

[0019] In a possible implementation, the first epicyclic side-swing motor is arranged to be inclined relative to the fuselage.

[0020] In a possible implementation, an angle between the rotation axis of the first epicyclic side-swing motor and the fuselage is 40°-50°.

[0021] In a possible implementation, the rotation axis of the first epicyclic roll motor, the rotation axis of the second epicyclic roll motor, and the rotation axis of the thigh pitch motor intersect.

[0022] In a possible implementation, it also includes a first connecting member and a second connecting member, the first connecting member is rotatably connected to the first epicyclic side swing motor, the first connecting member is fixedly connected to the second epicyclic side swing motor, the second connecting member is rotatably connected to the second epicyclic side swing motor, and the second connecting member is fixedly connected to the thigh pitch motor.

[0023] In a possible implementation, it also includes a thigh component, a calf component, a foot end and an ankle joint motor, the thigh component is rotatably connected to the thigh pitch motor, the calf component is rotatably connected to the thigh component, the calf pitch motor is rotatably connected to the calf component via a first transmission member, the foot end is rotatably connected to the calf component, the ankle joint motor is arranged on the calf component, and the ankle joint motor is rotatably connected to the foot end via a second transmission member.

[0024] On the other hand, the present application provides a humanoid robot comprising any of the lower limb components described above.

[0025] The present application provides a lower limb assembly and a humanoid robot, wherein the lower limb assembly includes: a fuselage, a first rotary side-swing motor, a second rotary side-swing motor, a thigh pitch motor, a thigh connector and a calf pitch motor, wherein the first rotary side-swing motor is fixedly connected to the fuselage; the second rotary side-swing motor is rotatably connected to the first rotary side-swing motor; the thigh pitch motor is rotatably connected to the second rotary side-swing motor; the thigh connector is rotatably connected to the thigh pitch motor, and a avoidance portion is provided on the thigh connector, the avoidance portion is used to avoid interference between the thigh connector and the second rotary side-swing motor; the calf pitch motor is fixedly connected to the thigh connector. The present application reduces the moment of inertia of the thigh pitch motor and improves the maneuverability of the robot by connecting both the calf pitch motor and the thigh pitch motor to the thigh connector; and avoids interference between the thigh connector and the second rotary side-swing motor by providing a avoidance portion on the thigh connector, thereby facilitating improvement of the movement space of the robot's legs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the following is a brief introduction to the drawings required for use in the embodiments or the related technical descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 A side view of a lower limb assembly provided in an embodiment of the present application when a single leg is raised;

[0028] Figure 2 A side view of a lower limb assembly provided in an embodiment of the present application when the lower limb assembly is in a single leg rear lift;

[0029] Figure 3 A side view of a lower limb assembly provided in an embodiment of the present application when in a single-leg side swing;

[0030] Figure 4 A simplified structural diagram of a lower limb assembly provided in an embodiment of the present application when in single-leg rotation;

[0031] Figure 5 A simplified structural diagram of a lower limb assembly provided in another embodiment of the present application when in single-leg rotation;

[0032] Figure 6 An exploded view of a lower limb assembly provided for one embodiment of the present application;

[0033] Figure 7 A mathematical analysis diagram of the spatial topological configuration of a lower limb component provided in one embodiment of the present application;

[0034] Figure 8 A simplified structural diagram of a humanoid robot in one state provided by an embodiment of the present application;

[0035] Fig. 9 This is a simplified structural diagram of a humanoid robot in another state provided by one embodiment of the present application.

[0036] Reference numerals:

[0037] 100-fuselage;

[0038] 200-first cycle side swing motor;

[0039] 300-second rotation side swing motor;

[0040] 400-thigh pitch motor;

[0041] 500-thigh connector; 501-avoidance portion; 5011-first avoidance portion; 510-first connecting plate; 520-second connecting plate; 5211-first inclined surface; 5212-second inclined surface; 522-second side wall; 530-third connecting plate;

[0042] 600-calf pitch motor; 610-first transmission member;

[0043] 710-first connecting member; 720-second connecting member;

[0044] 800 - Thigh assembly;

[0045] 900-calf assembly;

[0046] 1000 - end of foot;

[0047] 1100-ankle joint motor; 1110-second transmission member;

[0048] X-first direction; Y-second direction; Z-third direction. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0050] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0051] As described in the background technology, the lower limb assembly of the humanoid robot in the related art can achieve thigh pitch, thigh side swing, thigh rotation and other movements through the cooperation of the motor and the transmission member. Specifically, according to different execution functions, the motor can be divided into a side swing motor, a pitch motor, a rotation motor, etc.

[0052] In order to make the humanoid robot have a larger leg movement space, a humanoid robot in the related art has a side swing motor and a revolving motor connected in series below the thigh pitch motor, and a calf pitch motor is arranged below the side swing motor and the revolving motor. However, the above solution increases the rotational inertia of the thigh pitch motor, making the maneuverability of the humanoid robot poor.

[0053] In order to make the humanoid robot more maneuverable, another humanoid robot in the related art first connects the side swing motor and the epicyclic motor to the body, and then connects the thigh pitch motor in series below the side swing motor and the epicyclic motor. However, the above solution limits the leg movement space of the humanoid robot, making it impossible to perform high leg raising, deep squatting and other actions, resulting in a small leg movement space for the humanoid robot.

[0054] In view of this, the embodiments of the present application aim to provide a lower limb assembly and a humanoid robot, by connecting the calf pitch motor and the thigh pitch motor to the thigh connecting part, thereby reducing the rotational inertia of the thigh pitch motor and improving the maneuverability of the robot, that is, being able to better balance the walking speed and walking stability; by providing an avoidance portion on the thigh connecting part, interference between the thigh connecting part and the second rotary side swing motor is avoided, which is beneficial to improving the movement space of the robot's legs.

[0055] The contents of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings so that those skilled in the art can understand the contents of the present application in more detail. It should be noted that in the description of the present embodiment, the first direction X, the second direction Y, and the third direction Z are three different directions in a three-dimensional space. For example, the first direction X, the second direction Y, and the third direction Z may be perpendicular to each other.

[0056] Please refer to Figure 1-Figure 7, this embodiment provides a lower limb assembly, including:

[0057] Body 100. It is understandable that the drawings of this embodiment only show a partial structure of the body 100, and the body 100 may also include a head component, a neck component, a torso component, an upper limb component, and the like.

[0058] The first epicyclic sway motor 200 is fixedly connected to the fuselage 100. The first epicyclic sway motor 200 may include components such as a rotor and a stator. For example, the stator of the first epicyclic sway motor 200 may be fixedly connected to the fuselage 100 by fasteners such as bolts and screws.

[0059] The second epicyclic side-swing motor 300 is rotatably connected to the first epicyclic side-swing motor 200. The second epicyclic side-swing motor 300 may also include components such as a rotor and a stator. For example, the stator of the second epicyclic side-swing motor 300 may be fixedly connected to the rotor of the first epicyclic side-swing motor 200 by fasteners such as bolts and screws, so that it can rotate relative to the first epicyclic side-swing motor 200.

[0060] The thigh pitch motor 400 is rotatably connected to the second epicyclic yaw motor 300. The thigh pitch motor 400 may also include components such as a rotor and a stator. For example, the stator of the thigh pitch motor 400 may be fixedly connected to the rotor of the second epicyclic yaw motor 300 by fasteners such as bolts and screws, so that it can rotate relative to the second epicyclic yaw motor 300.

[0061] The thigh connector 500 is rotatably connected to the thigh pitch motor 400. The thigh connector 500 is provided with an avoidance portion 501, and the avoidance portion 501 is used to avoid interference between the thigh connector 500 and the second rotary side swing motor 300. Exemplarily, the thigh connector 500 can be welded from a metal profile, and the thigh connector 500 can be fixedly connected to the rotor of the thigh pitch motor 400 by fasteners such as bolts and screws, so that it can rotate relative to the thigh pitch motor 400. The avoidance portion 501 can be a structure such as a groove set on the thigh connector 500. When the humanoid robot performs a thigh pitch (including thigh lifting and thigh lifting), the presence of the avoidance portion 501 can allow the thigh connector 500 to be lifted upward at a higher angle, thereby increasing the movement space of the robot's legs.

[0062] The calf pitch motor 600 is fixedly connected to the thigh connector 500. The calf pitch motor 600 may also include components such as a rotor and a stator. For example, the stator of the calf pitch motor 600 may be fixedly connected to the thigh connector 500 by fasteners such as bolts and screws. The rotor of the calf pitch motor 600 may be rotatably connected to the calf assembly 900 by a first transmission member, thereby driving the calf assembly 900 to perform corresponding actions. The calf pitch motor 600 is also arranged on the thigh connector 500, so that the calf pitch motor 600 is close to the thigh pitch motor 400, thereby reducing the rotational inertia of the thigh pitch motor 400, improving the maneuverability of the robot, and that is, better taking into account walking speed and walking stability.

[0063] Optionally, the lower limb assembly of this embodiment further includes a first connecting member 710 and a second connecting member 720, wherein the first connecting member 710 is rotatably connected to the first epicyclic side-swing motor 200, and the first connecting member 710 is fixedly connected to the second epicyclic side-swing motor 300. That is, the rotor of the first epicyclic side-swing motor 200 is fixedly connected to the first connecting member 710 by fasteners such as bolts and screws, thereby driving the first connecting member 710 to rotate relative to the first epicyclic side-swing motor 200; the first connecting member 710 is connected to the stator of the second epicyclic side-swing motor 300 by fasteners such as bolts and screws, and when the first epicyclic side-swing motor 200 drives the first connecting member 710 to rotate, the first connecting member 710 can synchronously drive the second epicyclic side-swing motor 300 to rotate. The second connecting member 720 is rotatably connected to the second epicyclic side-swing motor 300, and the second connecting member 720 is fixedly connected to the thigh pitch motor 400. That is, the rotor of the second rotary side swing motor 300 is fixedly connected to the second connecting member 720 by fasteners such as bolts and screws, thereby driving the second connecting member 720 to rotate relative to the second rotary side swing motor 300; the second connecting member 720 is connected to the stator of the thigh pitch motor 400 by fasteners such as bolts and screws. When the second rotary side swing motor 300 drives the second connecting member 720 to rotate, the second connecting member 720 can synchronously drive the thigh pitch motor 400 to rotate.

[0064] Please refer to Figure 3-Figure 5 The lower limb assembly of this embodiment can realize single-leg rotation (such as Figure 4 and Figure 5 ), single-leg side swing and other exercises (such as Figure 3 as shown).

[0065] Further, the lower limb assembly of the present embodiment further includes a thigh assembly 800, a calf assembly 900, a foot end 1000 and an ankle joint motor 1100, and the thigh assembly 800 is rotatably connected to the thigh pitch motor 400. Exemplarily, the rotor of the thigh pitch motor 400 can be fixedly connected to the thigh assembly 800 by fasteners such as bolts and screws, so that the thigh assembly 800 can be driven to rotate relative to the thigh pitch motor 400. The calf assembly 900 is rotatably connected to the thigh assembly 800. Exemplarily, the calf assembly 900 can be rotatably connected to the thigh assembly 800 by parts such as pins, so that the calf assembly 900 can rotate relative to the thigh assembly 800. The calf pitch motor 600 is rotatably connected to the calf assembly 900 through a first transmission member 610. Exemplarily, the first transmission member 610 can include, for example, a plurality of connecting rods, and the calf pitch motor 600 can drive the connecting rods to move, thereby driving the calf assembly 900 to move. The foot end 1000 is rotatably connected to the calf assembly 900. Exemplarily, the foot end 1000 can be rotatably connected to the calf component 900 through parts such as a pin, so that the foot end 1000 can rotate relative to the calf component 900. The ankle joint motor 1100 is disposed on the calf component 900, and the ankle joint motor 1100 is rotatably connected to the foot end 1000 through the second transmission member 1110. Exemplarily, the second transmission member 1110 can include, for example, a plurality of connecting rods, and the ankle joint motor 1100 can drive the connecting rods to move, thereby driving the foot end 1000 to move.

[0066] Please refer to Figure 1 and Figure 2 The lower limb assembly of this embodiment can realize single leg lifting (such as Figure 1 ) and single-leg raises (as Figure 2 When performing a single leg rear lift exercise, the presence of the avoidance portion 501 can allow the thigh connector 500 to have a larger rear lift angle.

[0067] It can be seen from the above description that in this embodiment, by connecting the calf pitch motor 600 and the thigh pitch motor 400 to the thigh connector 500, the center of gravity of the lower limb assembly can be moved upward, so that the center of gravity is concentrated at the hip joint, thereby reducing the moment of inertia of the thigh pitch motor 400 and improving the maneuverability of the robot, that is, it can better balance the walking speed and walking stability. By providing an avoidance portion 501 on the thigh connector 500, the thigh connector 500 is prevented from interfering with the second rotary side swing motor 300, which is conducive to improving the movement space of the robot's legs.

[0068] Please continue to refer to Figure 4In this embodiment, the thigh connecting member 500 includes a first connecting plate 510, a second connecting plate 520 and a third connecting plate 530, and the second connecting plate 520 and the third connecting plate 530 are relatively arranged on both sides of the first connecting plate 510. For example, the second connecting plate 520 and the third connecting plate 530 can be vertically arranged on both sides of the first connecting plate 510, respectively.

[0069] The thigh pitch motor 400 is arranged on the side of the second connecting plate 520 away from the third connecting plate 530, that is, the thigh pitch motor 400 is arranged on the outside of the thigh connecting member 500. The calf pitch motor 600 is arranged between the third connecting plate 530 and the second connecting plate 520.

[0070] In this embodiment, the thigh pitch motor 400 is arranged on the side of the second connecting plate 520 away from the third connecting plate 530, and the calf pitch motor 600 is arranged between the second connecting plate 520 and the third connecting plate 530, so that the calf pitch motor 600 is arranged close to the thigh pitch motor 400, which is beneficial to reducing the rotational inertia of the thigh pitch motor 400 and improving the maneuverability of the robot.

[0071] Optionally, the thigh pitch motor 400 of this embodiment can be coaxially arranged with the calf pitch motor 600. In this way, the rotation axis of the thigh pitch motor 400 completely coincides with the rotation axis of the calf pitch motor 600, which can further reduce the moment of inertia of the thigh pitch motor 400 and improve the maneuverability of the robot.

[0072] Please continue to refer to Figure 4 The avoidance portion 501 of this embodiment includes a first avoidance portion 5011 and a second avoidance portion. The first avoidance portion 5011 is arranged on the second connecting plate 520, and the second avoidance portion is arranged on the third connecting plate.

[0073] Specifically, the second connecting plate 520 includes a first side wall and a second side wall 522 opposite to each other, the first side wall is arranged close to the second rotary side swing motor 300, the first side wall includes a first inclined surface 5211 and a second inclined surface 5212, the first end of the first inclined surface 5211 is connected to the first side wall, the second end of the first inclined surface 5211 faces the second side wall 522, the first end of the second inclined surface 5212 is connected to the first side wall, the second end of the second inclined surface 5212 faces the second side wall 522 and is connected to the first inclined surface 5211, and the first inclined surface 5211 and the second inclined surface 5212 jointly form a first avoidance portion 5011. In this embodiment, the first inclined surface 5211 and the second inclined surface 5212 are used to form the first avoidance portion 5011, so as to facilitate processing. In other possible embodiments, the first avoidance portion 5011 may also be a circular arc groove, a square groove or the like formed on the first side wall.

[0074] Similarly, the third connecting plate 530 includes a third side wall and a fourth side wall relative to each other, the third side wall is arranged close to the second rotary side swing motor 300, the third side wall includes a third inclined surface and a fourth inclined surface, the first end of the third inclined surface is connected to the third side wall, the second end of the third inclined surface faces the fourth side wall, the first end of the fourth inclined surface is connected to the third side wall, the second end of the fourth inclined surface faces the fourth side wall and is connected to the third inclined surface, and the third inclined surface and the fourth inclined surface together form a second avoidance portion. In this embodiment, the third inclined surface and the fourth inclined surface are used to form the second avoidance portion, so as to facilitate processing. In other possible implementations, the second avoidance portion may also be a circular arc groove, a square groove or the like formed on the third side wall.

[0075] Please continue to refer to Figure 2 By providing the avoidance portion 501, when the lower limb assembly performs a single leg rearward movement, the avoidance portion 501 can accommodate part of the second epicyclic side swing motor 300. Compared with the solution without the avoidance portion, this embodiment can further increase the rearward angle of the lower limb assembly, thereby facilitating the improvement of the movement space of the robot leg. In this embodiment, the rearward angle of the lower limb assembly can reach -90°.

[0076] Furthermore, in order to increase the lifting angle of the lower limb assembly, the first rotary side swing motor 200 is tilted relative to the fuselage 100 in this embodiment. Through the above structure, there is more space above the thigh pitch motor 400, so that the lower limb assembly can obtain a larger lifting angle. In this embodiment, the lifting angle of the lower limb assembly can reach 150°; that is, the lower limb assembly of this embodiment can achieve a pitch range of -90°-150°, which significantly expands the angle range of the lower limb assembly to lift forward and backward, meeting greater movement requirements while improving the robot's ability to operate under complex working conditions.

[0077] Please continue to refer to Figure 7 In the figure, A1 can move on circle a, representing the rotational movement of the first rotary side-swing motor 200, and the initial position is A. The rotation trajectory of the first rotary side-swing motor 200 is circle a. OC is the rotation axis of the first rotary side-swing motor 200. OC is on the plane formed by the second direction Y and the third direction Z, and A1B rotates around OC. E1 can move freely on circle b, representing the rotational movement of the second rotary side-swing motor 300, and the initial position is E. The rotation trajectory of the second rotary side-swing motor 300 is circle b. DG is the rotation axis of the second rotary side-swing motor 300. When A1 is at the initial position A, DG is parallel to the plane formed by the first direction X and the third direction Z, DG rotates around OC together with A1B, and E1F rotates around DG. J1 can move on circle c, representing the rotational movement of the thigh pitch motor 400, and the initial position is J. The rotation trajectory of the thigh pitch motor 400 is circle c. Figure 7 Point B, point F and point C in FIG. 5 are geometric auxiliary points used to assist in explaining the rotational motion of the corresponding motors.

[0078] Combination Figure 7 It can be seen that if the circle a is located on the plane formed by the first direction X and the third direction Z, the function of the first epicyclic side-swing motor 200 is the same as that of the thigh pitch motor 400, and it is impossible to perform the movement in the epicyclic and side-swing directions. If the circle a is located on the plane formed by the first direction X and the second direction Y, the first epicyclic side-swing motor 200 only has the epicyclic function, and the motor position will interfere with the thigh pitch motor 400. Therefore, in this embodiment, the angle between the rotation axis of the first epicyclic side-swing motor 200 and the fuselage 100 is set to 40°-50°. Thus, on the one hand, the first epicyclic side-swing motor 200 has the functions of epicyclic and side-swing, while the lower limb assembly has a larger lifting angle, which is conducive to improving the movement space of the legs of the humanoid robot; on the other hand, it is conducive to making the output power design of the first epicyclic side-swing motor 200 and the second epicyclic side-swing motor 300 consistent. Since the motor power and its weight have a positive correlation, this is conducive to realizing the lightweight design of the lower limb assembly and the humanoid robot.

[0079] Preferably, in this embodiment, the plane where the first epicyclic side-swing motor 200, i.e., circle a, is located, and the plane composed of the first direction X and the second direction Y, and the plane composed of the first direction X and the third direction Z are 45° to each other. The direction of the rotation axis OC of the first epicyclic side-swing motor 200 is 45° to the plane composed of the second direction Y and the third direction Z. The plane where the second epicyclic side-swing motor 300, i.e., circle b, is located, and the plane composed of the first direction X and the second direction Y, and the plane composed of the second direction Y and the third direction Z are 45° to each other, and the direction of the rotation axis DG of the second epicyclic side-swing motor 300 is 45° to the plane composed of the xz first direction X and the third direction Z. The angle α between the rotation axis OC of the first epicyclic side-swing motor 200 and the rotation axis DG of the second epicyclic side-swing motor 300 is 60°.

[0080] Please continue to refer to Figure 7 The eccentricity and misalignment of the lower limb assembly during turnover and lateral swing are mainly determined by the length of the CG. The smaller the length of the CG, the smaller the eccentricity and misalignment of the lower limb assembly during turnover and lateral swing. Therefore, in some embodiments, point C can be set to coincide with point G. In this case, the rotation axis of the first lateral swing motor 200, the rotation axis of the second lateral swing motor 300, and the rotation axis of the thigh pitch motor 400 intersect, that is, the three straight lines intersect to form an intersection, thereby eliminating the eccentricity and misalignment of the lower limb assembly during turnover and lateral swing (such as Figure 3-Figure 5As shown in FIG. 1 ), the lifting or deviation problem of the foot end 1000 during the rotation and side-swing motion is effectively avoided, thereby greatly simplifying the complexity of the robot control system and improving the accuracy and stability of the motion.

[0081] In summary, the lower limb assembly of this embodiment can improve the maneuverability of the humanoid robot, increase the movement space of the legs of the humanoid robot, and eliminate the situation of different planes and axes when the lower limb assembly rotates and swings sideways.

[0082] Please continue to refer to Figure 8-Figure 9 , this embodiment also provides a humanoid robot, including the above-mentioned lower limb assembly.

[0083] It can be understood that the humanoid robot of this embodiment has high mobility (such as Fig. 9 as shown) and more legroom (as shown Figure 8 as shown).

[0084] 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.

[0085] 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 directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0086] It should be noted that in the description of this application, the terms "first" and "second" are only used to facilitate the description of different components, and cannot be understood as indicating or implying a sequential relationship, 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.

[0087] The various embodiments or implementation methods in the present application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0088] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A lower limb assembly, characterized in that: include: body; a first epicyclic side-swing motor, wherein the first epicyclic side-swing motor is fixedly connected to the fuselage; a second epicyclic side-swing motor, the second epicyclic side-swing motor being rotatably connected to the first epicyclic side-swing motor; A thigh pitch motor, the thigh pitch motor being rotatably connected to the second epicyclic side swing motor; A thigh connecting member, wherein the thigh connecting member is rotatably connected to the thigh pitch motor, and an avoidance portion is provided on the thigh connecting member, wherein the avoidance portion is used to avoid interference between the thigh connecting member and the second epicyclic side swing motor; A calf pitch motor is fixedly connected to the thigh connecting piece.

2. The lower limb assembly according to claim 1, characterized in that: The thigh connecting member comprises a first connecting plate, a second connecting plate and a third connecting plate, wherein the second connecting plate and the third connecting plate are arranged on both sides of the first connecting plate opposite to each other; The thigh pitch motor is arranged on a side of the second connecting plate away from the third connecting plate, and the calf pitch motor is arranged between the second connecting plate and the third connecting plate.

3. The lower limb assembly according to claim 2, characterized in that: The thigh pitch motor is coaxially arranged with the calf pitch motor.

4. The lower limb assembly according to claim 2, characterized in that: The avoidance portion includes a first avoidance portion and a second avoidance portion; The second connecting plate includes a first side wall and a second side wall opposite to each other, the first side wall is arranged close to the second epicyclic side swing motor, the first side wall includes a first inclined surface and a second inclined surface, the first end of the first inclined surface is connected to the first side wall, the second end of the first inclined surface faces the second side wall, the first end of the second inclined surface is connected to the first side wall, the second end of the second inclined surface faces the second side wall and is connected to the first inclined surface, and the first inclined surface and the second inclined surface jointly form the first avoidance portion; The third connecting plate includes a third side wall and a fourth side wall relative to each other, the third side wall is arranged close to the second rotary side swing motor, the third side wall includes a third inclined surface and a fourth inclined surface, the first end of the third inclined surface is connected to the third side wall, the second end of the third inclined surface faces the fourth side wall, the first end of the fourth inclined surface is connected to the third side wall, the second end of the fourth inclined surface faces the fourth side wall and is connected to the third inclined surface, and the third inclined surface and the fourth inclined surface together form the second avoidance portion.

5. The lower limb assembly according to any one of claims 1 to 4, characterized in that: The first epicyclic side-swing motor is arranged to be inclined with respect to the fuselage.

6. The lower limb assembly according to claim 5, characterized in that: The angle between the rotation axis of the first epicyclic side-swing motor and the fuselage is 40°-50°.

7. The lower limb assembly according to claim 5, characterized in that: The rotation axis of the first epicyclic roll motor, the rotation axis of the second epicyclic roll motor and the rotation axis of the thigh pitch motor intersect.

8. The lower limb assembly according to claim 1, characterized in that: It also includes a first connecting member and a second connecting member, the first connecting member is rotatably connected to the first epicyclic side swing motor, the first connecting member is fixedly connected to the second epicyclic side swing motor, the second connecting member is rotatably connected to the second epicyclic side swing motor, and the second connecting member is fixedly connected to the thigh pitch motor.

9. The lower limb assembly according to claim 8, characterized in that: It also includes a thigh component, a calf component, a foot end and an ankle joint motor, the thigh component is rotatably connected to the thigh pitch motor, the calf component is rotatably connected to the thigh component, the calf pitch motor is rotatably connected to the calf component through a first transmission member, the foot end is rotatably connected to the calf component, the ankle joint motor is arranged on the calf component, and the ankle joint motor is rotatably connected to the foot end through a second transmission member.

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

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