Lower limb components and humanoid robots

Abstract

The present application provides a lower limb component and a humanoid robot. The lower limb component includes: a fuselage, a first turning and swinging motor, a second turning and swinging motor, a thigh pitching motor, a thigh connecting member, and a calf pitching motor. The first turning and swinging motor is fixedly connected to the fuselage; the second turning and swinging motor is rotatably connected to the first turning and swinging motor; the thigh pitching motor is rotatably connected to the second turning and swinging motor; the thigh connecting member is fixedly connected to the thigh pitching motor, and an avoidance portion is provided on the thigh connecting member for avoiding interference between the thigh connecting member and the second turning and swinging motor; the calf pitching motor is fixedly connected to the thigh connecting member. This application is beneficial to improving the mobility of the robot and increasing the movement space of the robot's legs.

Description

Technical Field

[0001] This application relates to the technical field of humanoid robots, and particularly to a lower limb component and a humanoid robot. Background Art

[0002] A humanoid robot, also known as an anthropomorphic robot or a bipedal robot, is a robot designed to imitate the appearance and behavior of humans. Among them, the lower limb component is an important part of the humanoid robot, which can enable the robot to perform movements such as thigh pitching, thigh side swing, and thigh rotation.

[0003] In the solutions of related technologies, the lower limb component of a humanoid robot can enable the robot to perform movements such as thigh pitching, thigh side swing, and thigh rotation through the cooperation of a motor and a transmission member.

[0004] However, limited by the specific layout structure of the motor, the humanoid robots in related technologies have problems such as poor mobility and small movement space of the legs. Summary of the Invention

[0005] In order to overcome the above defects in related technologies, the purpose of this application is to provide a lower limb component and a humanoid robot, which is beneficial to improving the mobility of the robot and increasing the movement space of the robot's legs.

[0006] On the one hand, this application provides a lower limb component, including:

[0007] A fuselage;

[0008] A first rotation and side swing motor, which is fixedly connected to the fuselage;

[0009] A second rotation and side swing motor, which is rotatably connected to the first rotation and side swing motor;

[0010] A thigh pitching motor, which is rotatably connected to the second rotation and side swing motor;

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

[0012] A calf pitching motor, which is fixedly connected to the thigh connecting member.

[0013] In a possible implementation manner, the thigh connecting member 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 oppositely arranged on both sides of the first connecting plate;

[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 further includes a thigh component, a calf component, a foot end, and an ankle joint motor. The thigh component is rotatably connected to the thigh pitching motor. The calf component is rotatably connected to the thigh component. The calf pitching 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 disposed on the calf component, and the ankle joint motor is rotatably connected to the foot end through a second transmission member.

[0024] On the other hand, the present application provides a humanoid robot, including the lower limb component as described in any one of the above.

[0025] The present application provides a lower limb component and a humanoid robot. The lower limb component includes: a fuselage, a first slewing side-sway motor, a second slewing side-sway motor, a thigh pitching motor, a thigh connecting member, and a calf pitching motor. The first slewing side-sway motor is fixedly connected to the fuselage; the second slewing side-sway motor is rotatably connected to the first slewing side-sway motor; the thigh pitching motor is rotatably connected to the second slewing side-sway motor; the thigh connecting member is rotatably connected to the thigh pitching motor, and an avoidance portion is provided on the thigh connecting member for avoiding interference between the thigh connecting member and the second slewing side-sway motor; the calf pitching motor is fixedly connected to the thigh connecting member. By connecting both the calf pitching motor and the thigh pitching motor to the thigh connecting member, the rotational inertia of the thigh pitching motor is reduced, thereby improving the mobility of the robot; by providing an avoidance portion on the thigh connecting member to avoid interference between the thigh connecting member and the second slewing side-sway motor, the movement space of the robot's leg is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 It is a side view of the lower limb component provided by an embodiment of the present application when a single leg is lifted.

[0028] Figure 2 It is a side view of the lower limb component provided by an embodiment of the present application when a single leg is lifted backward.

[0029] Figure 3 It is a side view of the lower limb component provided by an embodiment of the present application when a single leg is swayed.

[0030] Figure 4 It is a structural schematic diagram of the lower limb component provided by an embodiment of the present application when a single leg is slewing.

[0031] Figure 5 Schematic diagram of the lower limb assembly provided by another embodiment of the present application when making a single-leg turnover;

[0032] Figure 6 Exploded view of the lower limb assembly provided by an embodiment of the present application;

[0033] Figure 7 Mathematical analysis diagram of the spatial topological configuration of the lower limb assembly provided by an embodiment of the present application;

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

[0035] Figure 9 Schematic diagram of the humanoid robot in another state provided by an embodiment of the present application.

[0036] Reference numerals:

[0037] 100 - fuselage;

[0038] 200 - first turnover side-swing motor;

[0039] 300 - second turnover side-swing motor;

[0040] 400 - thigh pitch motor;

[0041] 500 - thigh connecting member; 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 - foot end;

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

[0048] X - first direction; Y - second direction; Z - third direction. Detailed implementation manners

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will describe the technical solutions in the embodiments of this application clearly and completely in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of the embodiments.

[0050] Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application. Without conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0051] As described in the background art, in the solution of the related art, the lower limb components of the humanoid robot can cooperate with motors and transmission components to enable the robot to perform movements such as thigh pitching, thigh side swing, and thigh turnover. Specifically, according to different execution functions, the motors can be divided into side swing motors, pitching motors, turnover motors, etc.

[0052] In order to enable the humanoid robot to have a larger leg movement space, in a humanoid robot of the related art, the side swing motor and the turnover motor are sequentially connected in series below the thigh pitching motor, and the calf pitching motor is arranged below the side swing motor and the turnover motor. However, the above solution increases the moment of inertia of the thigh pitching motor, resulting in poor mobility of the humanoid robot.

[0053] In order to enable the humanoid robot to have higher mobility, in another humanoid robot of the related art, the side swing motor and the turnover motor are first connected to the fuselage, and then the thigh pitching motor is connected in series below the side swing motor and the turnover motor. However, the above solution limits the leg movement space of the humanoid robot and cannot perform actions such as high knee lift and deep squat, resulting in a smaller leg movement space of the humanoid robot.

[0054] In view of this, the embodiments of this application aim to provide a lower limb component and a humanoid robot. By connecting both the calf pitching motor and the thigh pitching motor to the thigh connecting piece, the moment of inertia of the thigh pitching motor is reduced, improving the mobility 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 piece, interference between the thigh connecting piece and the second turnover side swing motor is avoided, thereby facilitating the improvement of the leg movement space of the robot.

[0055] The following will describe the content of the embodiments of this application in detail in conjunction with the accompanying drawings, so that those skilled in the art can understand the content of this application in more detail. It should be noted that in the description of this 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 can be perpendicular to each other in pairs.

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

[0057] The fuselage 100. It can be understood that only a part of the structure of the fuselage 100 is shown in the drawings of this embodiment, and the fuselage 100 may also include a head component, a neck component, a torso component, an upper limb component, etc.

[0058] The first turning and swinging motor 200, and the first turning and swinging motor 200 is fixedly connected to the fuselage 100. The first turning and swinging motor 200 may include components such as a rotor and a stator. Exemplarily, the stator of the first turning and swinging motor 200 can be fixedly connected to the fuselage 100 through fasteners such as bolts and screws.

[0059] The second turning and swinging motor 300, and the second turning and swinging motor 300 is rotatably connected to the first turning and swinging motor 200. The second turning and swinging motor 300 may also include components such as a rotor and a stator. Exemplarily, the stator of the second turning and swinging motor 300 can be fixedly connected to the rotor of the first turning and swinging motor 200 through fasteners such as bolts and screws, so as to be rotatable relative to the first turning and swinging motor 200.

[0060] The thigh pitching motor 400, and the thigh pitching motor 400 is rotatably connected to the second turning and swinging motor 300. The thigh pitching motor 400 may also include components such as a rotor and a stator. Exemplarily, the stator of the thigh pitching motor 400 can be fixedly connected to the rotor of the second turning and swinging motor 300 through fasteners such as bolts and screws, so as to be rotatable relative to the second turning and swinging motor 300.

[0061] The thigh connecting piece 500, and the thigh connecting piece 500 is rotatably connected to the thigh pitching motor 400. An avoidance portion 501 is provided on the thigh connecting piece 500, and the avoidance portion 501 is used to prevent the thigh connecting piece 500 from interfering with the second turning and swinging motor 300. Exemplarily, the thigh connecting piece 500 can be welded by metal profiles, and the thigh connecting piece 500 can be fixedly connected to the rotor of the thigh pitching motor 400 through fasteners such as bolts and screws, so as to be rotatable relative to the thigh pitching motor 400. The avoidance portion 501 can be a structure such as a groove provided on the thigh connecting piece 500. When the humanoid robot makes thigh pitching (including thigh lifting and thigh backward lifting) movements, the presence of the avoidance portion 501 can allow the thigh connecting piece 500 to lift to a higher angle, thereby increasing the movement space of the robot's leg.

[0062] The calf pitching motor 600 is fixedly connected to the thigh connecting member 500. The calf pitching motor 600 may also include components such as a rotor and a stator. Exemplarily, the stator of the calf pitching motor 600 may be fixedly connected to the thigh connecting member 500 through fasteners such as bolts and screws. The rotor of the calf pitching motor 600 may be rotatably connected to the calf assembly 900 through a first transmission member, thereby driving the calf assembly 900 to perform corresponding actions. The calf pitching motor 600 is also arranged on the thigh connecting member 500, so that the calf pitching motor 600 is close to the thigh pitching motor 400, thereby reducing the moment of inertia of the thigh pitching motor 400 and improving the mobility of the robot, that is, being able to better balance the 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. The first connecting member 710 is rotatably connected to the first swing motor 200 for turnover, and the first connecting member 710 is fixedly connected to the second swing motor 300 for turnover. That is, the rotor of the first swing motor 200 for turnover is fixedly connected to the first connecting member 710 through fasteners such as bolts and screws, so as to drive the first connecting member 710 to rotate relative to the first swing motor 200 for turnover; the stator of the second swing motor 300 for turnover is connected to the first connecting member 710 through fasteners such as bolts and screws. When the first swing motor 200 for turnover drives the first connecting member 710 to rotate, the first connecting member 710 can synchronously drive the second swing motor 300 for turnover to rotate. The second connecting member 720 is rotatably connected to the second swing motor 300 for turnover, and the second connecting member 720 is fixedly connected to the thigh pitching motor 400. That is, the rotor of the second swing motor 300 for turnover is fixedly connected to the second connecting member 720 through fasteners such as bolts and screws, so as to drive the second connecting member 720 to rotate relative to the second swing motor 300 for turnover; the stator of the thigh pitching motor 400 is connected to the second connecting member 720 through fasteners such as bolts and screws. When the second swing motor 300 for turnover drives the second connecting member 720 to rotate, the second connecting member 720 can synchronously drive the thigh pitching motor 400 to rotate.

[0064] Please refer to Figures 3-5 , the lower limb assembly of this embodiment can, through the combined action of the first swing motor 200 for turnover and the second swing motor 300 for turnover, achieve movements such as single-leg turnover (as shown in Figure 4 and Figure 5 ), single-leg side swing, etc. (as shown in Figure 3 ).

[0065] Further, the lower limb assembly of this embodiment further includes a thigh assembly 800, a calf assembly 900, a foot end 1000, and an ankle joint motor 1100. The thigh assembly 800 is rotatably connected to the thigh pitching motor 400. Exemplarily, the rotor of the thigh pitching motor 400 can be fixedly connected to the thigh assembly 800 through fasteners such as bolts and screws, so as to drive the thigh assembly 800 to rotate relative to the thigh pitching 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 through parts such as a pin shaft, so that the calf assembly 900 can rotate relative to the thigh assembly 800. The calf pitching motor 600 is rotatably connected to the calf assembly 900 through a first transmission member 610. Exemplarily, the first transmission member 610 can include multiple connecting rods, and the calf pitching 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 assembly 900 through parts such as a pin shaft, so that the foot end 1000 can rotate relative to the calf assembly 900. The ankle joint motor 1100 is disposed on the calf assembly 900, and the ankle joint motor 1100 is rotatably connected to the foot end 1000 through a second transmission member 1110. Exemplarily, the second transmission member 1110 can include multiple 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, through the combined action of the thigh pitching motor 400 and the calf pitching motor 600, achieve movements such as single-leg lifting (as shown in Figure 1 ) and single-leg backward lifting (as shown in Figure 2 ). When performing the single-leg backward lifting movement, the presence of the avoidance portion 501 allows the thigh connecting member 500 to have a greater backward lifting angle.

[0067] From the above description, it can be seen that in this embodiment, by connecting both the calf pitching motor 600 and the thigh pitching motor 400 to the thigh connecting member 500, the center of gravity of the lower limb assembly can be raised, concentrating the center of gravity at the hip joint, thereby reducing the moment of inertia of the thigh pitching motor 400 and improving the mobility of the robot, that is, being able to better balance the walking speed and walking stability. By providing the avoidance portion 501 on the thigh connecting member 500, interference between the thigh connecting member 500 and the second turning side-swing motor 300 is avoided, which is beneficial to increasing the movement space of the robot's leg.

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

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

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

[0071] Optionally, the thigh pitching motor 400 and the calf pitching motor 600 of this embodiment can be coaxially arranged. By adopting the above method, the rotation axes of the thigh pitching motor 400 and the calf pitching motor 600 completely coincide, which can further reduce the moment of inertia of the thigh pitching motor 400 and improve the mobility 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 an opposite first side wall and a second side wall 522. The first side wall is close to the second turnover 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. The first inclined surface 5211 and the second inclined surface 5212 together form the first avoidance portion 5011. In this embodiment, the first avoidance portion 5011 is formed by the first inclined surface 5211 and the second inclined surface 5212 together, which is convenient for processing. In other possible embodiments, the first avoidance portion 5011 can also be a structure such as an arc-shaped groove or a square groove formed on the first side wall.

[0074] Similarly, the third connecting plate 530 includes opposite third sidewalls and fourth sidewalls. The third sidewall is disposed close to the second turnover side-swing motor 300. The third sidewall includes a third inclined surface and a fourth inclined surface. The first end of the third inclined surface is connected to the third sidewall, the second end of the third inclined surface faces the fourth sidewall, the first end of the fourth inclined surface is connected to the third sidewall, the second end of the fourth inclined surface faces the fourth sidewall and is connected to the third inclined surface. The third inclined surface and the fourth inclined surface together form a second avoidance portion. In this embodiment, the second avoidance portion is formed by the third inclined surface and the fourth inclined surface together, which is convenient for processing. In other possible embodiments, the second avoidance portion may also be a structure such as an arc-shaped groove or a square groove formed on the third sidewall.

[0075] Please continue to refer to Figure 2 , by providing the avoidance portion 501, when the lower limb assembly performs a single-leg backward lifting movement, the avoidance portion 501 can accommodate part of the second turnover side-swing motor 300. Compared with the solution without the avoidance portion, the backward lifting angle of the lower limb assembly in this embodiment can be further increased, which is beneficial to increasing the movement space of the robot leg. In this embodiment, the backward lifting angle of the lower limb assembly can reach -90°.

[0076] Furthermore, in order to increase the upward lifting angle of the lower limb assembly, in this embodiment, the first turnover side-swing motor 200 is inclined with respect to the fuselage 100. With the above structure, a larger space can be provided above the thigh pitching motor 400, so that the lower limb assembly can obtain a larger upward lifting angle. In this embodiment, the upward lifting angle of the lower limb assembly can reach 150°; that is, the lower limb assembly in this embodiment can achieve a pitching range of -90° - 150°, significantly expanding the angle range of the front and backward lifting of the lower limb assembly. While meeting greater motion requirements, the operation ability of the robot under complex working conditions is improved.

[0077] Please continue to refer to Figure 7 , A1 in the figure can move on the circle a, representing the rotational movement of the first turnover side-swing motor 200, and the initial position is A. The rotational trajectory of the first turnover side-swing motor 200 is the circle a. OC is the rotational axis of the first turnover side-swing motor 200. OC is in the plane formed by the second direction Y and the third direction Z, and A1B rotates around OC. E1 can move freely on the circle b, representing the rotational movement of the second turnover side-swing motor 300, and the initial position is E. The rotational trajectory of the second turnover side-swing motor 300 is the circle b. DG is the rotational axis of the second turnover 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, and DG and A1B rotate around OC together, and E1F rotates around DG. J1 can move on the circle c, representing the rotational movement of the thigh pitching motor 400, and the initial position is J. The rotational trajectory of the thigh pitching motor 400 is the circle c.Figure 7 Points B, F, and C are geometric auxiliary points for assisting in explaining the rotational movements of the corresponding motors.

[0078] Combined with Figure 7 it can be known that if circle a lies on the plane formed by the first direction X and the third direction Z, the function of the first slewing and swaying motor 200 is the same as that of the thigh pitching motor 400, and the slewing and swaying movements cannot be performed. If circle a lies on the plane formed by the first direction X and the second direction Y, the first slewing and swaying motor 200 only has the slewing function, and the motor position will interfere with the thigh pitching motor 400. Therefore, in this embodiment, the included angle between the rotation axis of the first slewing and swaying motor 200 and the fuselage 100 is set to 40° - 50°. Thus, on the one hand, while the first slewing and swaying motor 200 has the slewing and swaying functions, the lower limb assembly has a larger lifting angle, which is beneficial to improving the movement space of the legs of the humanoid robot; on the other hand, it is beneficial to keep the design of the output powers of the first slewing and swaying motor 200 and the second slewing and swaying motor 300 consistent. Since there is a positive correlation between the motor power and its weight, 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 slewing and swaying motor 200, i.e., circle a, is located forms a 45° angle with the plane formed by the first direction X and the second direction Y and the plane formed by the first direction X and the third direction Z. The direction of the rotation axis OC of the first slewing and swaying motor 200 forms a 45° angle with the plane formed by the second direction Y and the third direction Z. The plane where the second slewing and swaying motor 300, i.e., circle b, is located forms a 45° angle with the plane formed by the first direction X and the second direction Y and the plane formed by the second direction Y and the third direction Z. The direction of the rotation axis DG of the second slewing and swaying motor 300 forms a 45° angle with the plane formed by the first direction X and the third direction Z. The included angle α between the rotation axis OC of the first slewing and swaying motor 200 and the rotation axis DG of the second slewing and swaying motor 300 is 60°.

[0080] Please continue to refer to Figure 7 , the off-plane and off-axis situations during the slewing and swaying of the lower limb assembly are mainly determined by the length of CG. The smaller the length of CG, the smaller the off-plane and off-axis situations during the slewing and swaying of the lower limb assembly. Therefore, in some embodiments, it can be set that point C coincides with point G. In this case, the rotation axes of the first slewing and swaying motor 200, the second slewing and swaying motor 300, and the thigh pitching motor 400 intersect, that is, the three straight lines intersect to form a point, thereby eliminating the off-plane and off-axis problems during the slewing and swaying of the lower limb assembly (as Figures 3-5As 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 Figures 8-9 , 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 Figure 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] In the embodiments or implementation manners of the present application, a progressive description is adopted. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0088] In the description of the present application, the description with reference to terms such as "one implementation manner", "some implementation manners", "illustrative implementation manner", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the implementation manner or example are included in at least one implementation manner or example of the present application. In the present application, the illustrative expression of the above terms does not necessarily refer to the same implementation manner or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more implementation manners or examples.

[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 them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and 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 and is arranged to be inclined relative to the fuselage; a plane where the rotation trajectory of the first epicyclic side-swing motor is located is 45 degrees to a first plane composed of the first direction and the second direction, and a second plane composed of the first direction and the third direction; a direction of a rotation axis of the first epicyclic side-swing motor is 45 degrees to a third plane composed of the second direction and the third direction; the first direction, the second direction, and the third direction are perpendicular to each other; a second epicyclic side-swing motor, wherein the second epicyclic side-swing motor is rotatably connected to the first epicyclic side-swing motor; a plane where the rotation trajectory of the second epicyclic side-swing motor lies is 45 degrees to a plane formed by the first plane and the third plane, and a direction of a rotation axis of the second epicyclic side-swing motor is 45 degrees to the second plane; The axis of the first epicyclic side-swing motor and the axis of the second epicyclic side-swing motor are in different planes; the angle between the rotation axis of the first epicyclic side-swing motor and the rotation axis of the second epicyclic side-swing motor is 60°; 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 pitching 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 when the humanoid robot performs thigh pitching; A calf pitch motor, the calf pitch motor is fixedly connected to the thigh connecting piece; The first epicyclic side swing motor and the second epicyclic side swing motor are located above the thigh pitch motor and the calf pitch motor.

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 angle between the rotation axis of the first epicyclic side-swing motor and the fuselage is 40°-50°.

6. The lower limb assembly according to any one of claims 1 to 4, 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.

7. 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.

8. The lower limb assembly according to claim 7, 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.

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

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