Lower limb structure and humanoid robot

Abstract

According to the lower limb structure and the humanoid robot, the lower limb structure comprises a yaw driving part, a pitching driving part, a thigh assembly and a shank assembly, the pitching driving part is connected with the yaw driving part, the yaw driving part is used for driving the pitching driving part to rotate around a yaw shaft, and the thigh assembly comprises a thigh shell and a driving mechanism; the thigh shell comprises a first shell and a second shell, the first shell and the second shell are connected in the first direction, one end of the second shell is connected with the pitching driving piece, the pitching driving piece is used for driving the thigh assembly to rotate around the pitching axis, and the driving mechanism is installed in the end, close to the pitching driving piece, of the thigh shell. The connecting face of the first shell and the second shell is a plane, the yaw axis coincides with the connecting face, the pitch axis intersects and is perpendicular to the yaw axis, the shank assembly is rotationally connected with the end, away from the yaw driving piece, of the thigh shell and connected with the driving mechanism, and the static stability and the dynamic stability of the humanoid robot are improved.

Description

Technical Field

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

[0002] At present, humanoid robots have good mobility when facing complex terrains, so the research and development of humanoid robots has received more and more attention in recent years. Humanoid robots move by imitating human lower limbs, so it is particularly important to improve the stability of humanoid robots in static and dynamic conditions. In the prior art, the arrangement of multiple motors used to achieve humanoid movement of lower limbs is unreasonable, resulting in poor static stability and dynamic stability of humanoid robots. Summary of the invention

[0003] The purpose of the present invention is to provide a lower limb structure and a humanoid robot to solve the problems in the prior art of unreasonable arrangement of multiple motors used to realize humanoid movement of the lower limbs and poor static stability and dynamic stability of the humanoid robot.

[0004] To achieve the purpose of the present invention, the present invention provides the following technical solutions: In a first aspect, the present invention provides a lower limb structure for a humanoid robot, comprising: a yaw drive member; a pitch drive member, wherein the stator of the pitch drive member is connected to the rotor of the yaw drive member, and the yaw drive member is used to drive the pitch drive member to rotate around a yaw axis; a thigh assembly, comprising a thigh shell and a drive mechanism, wherein the thigh shell comprises a first shell and a second shell, the first shell and the second shell are connected in a first direction, one end of the second shell is connected to the rotor of the pitch drive member, and the pitch drive member is used to drive the thigh assembly to rotate around the pitch axis; the drive mechanism is accommodated in the thigh shell and installed at one end of the first shell close to the pitch drive member, the connecting surface of the first shell and the second shell is a plane, the yaw axis coincides with the connecting surface, the pitch axis intersects and is perpendicular to the yaw axis, and the first direction is parallel to the pitch axis; a calf assembly, which is rotatably connected to one end of the thigh shell away from the yaw drive member, the calf assembly is connected to the drive mechanism, and the drive mechanism is used to drive the calf assembly to rotate relative to the thigh shell. By arranging that the driving mechanism and the pitch driving component are both installed on the same end of the thigh shell and are respectively located on both sides of the yaw axis, the yaw axis passes through the connecting surface between the first shell and the second shell, and the yaw axis also intersects with and is perpendicular to the pitch axis, so that the distance between the center of gravity of the lower limb structure and the yaw axis is small or is located on the yaw axis, so that the humanoid robot is not prone to shaking and tipping over in both the upright state and the moving state, thereby improving the static stability and dynamic stability of the humanoid robot.

[0005] In one embodiment, the length direction of the thigh component is the second direction, the first shell includes a first shell and a second shell connected in the second direction, the driving mechanism is installed on the first shell, and the end of the second shell away from the first shell is rotatably connected to the calf component; the second shell includes a third shell and a fourth shell connected in the second direction, the third shell is connected to the rotor of the pitch drive member, the end of the fourth shell away from the third shell is rotatably connected to the calf component, the third shell is connected to the first shell, the fourth shell is connected to the second shell, and at least part of the second shell and the fourth shell are symmetrical relative to the connecting plane. By setting at least part of the second shell and the fourth shell symmetrical relative to the connecting plane, the center of gravity of the thigh shell is closer to the yaw axis, so that the thigh shell is not easy to cause the shaking and tipping of the humanoid robot when rotating around the yaw axis and the pitch axis, the static stability and dynamic stability of the humanoid robot are improved, and the contouring degree of the thigh shell is improved.

[0006] In one embodiment, the outer peripheral surface of the thigh shell is a smoothly connected curved surface; in the orthographic projection in the third direction, at least a portion of the first surface and the second surface of the thigh shell opposite to each other in the first direction are concave arc surfaces, and the third direction is perpendicular to both the second direction and the pitch axis; in the orthographic projection in the first direction, the thigh shell has a third surface and a fourth surface opposite to each other in the third direction, a portion of the third surface located between the second shell and the fourth shell is a concave arc surface toward one side of the fourth surface, and the fourth surface is a arc surface protruding toward the side away from the third surface, and the third surface is the rear surface of the humanoid robot. By setting the outer peripheral surface of the thigh shell as a smoothly connected curved surface, in the orthographic projection in the third direction, the first surface and the second surface of the thigh shell opposite to each other in the first direction at least partially are concave arc surfaces, and in the orthographic projection in the first direction, the thigh shell has a third surface and a fourth surface opposite to each other in the third direction, the portion of the third surface located between the second shell and the fourth shell is a concave arc surface toward the fourth surface, and the fourth surface is a arc surface protruding toward the side away from the third surface, and the third surface is the rear surface of the humanoid robot, which makes the structure of the thigh shell more compact, so that the center of gravity of the thigh shell is closer to the yaw axis, thereby improving the static stability and dynamic stability of the humanoid robot and at the same time improving the contouring degree of the thigh shell.

[0007] In one embodiment, the thigh shell is provided with a first opening, the first opening is connected to the external space on one side of the thigh shell away from the pitch drive member in the second direction, the first opening is also connected to the external space on both sides of the thigh shell in the third direction, and the calf assembly extends into the first opening; the second shell is provided with a first groove, the fourth shell is provided with a second groove, the first groove and the second groove are connected to form the first opening, and the first groove and the second groove are symmetrical relative to the connecting surface. A first opening is provided in the thigh shell, the first opening is connected to the external space on one side of the thigh shell away from the pitch drive member in the second direction, and the first opening is also connected to the external space on both sides of the thigh shell in the third direction. The calf assembly extends into the first opening, so that the calf assembly can rotate in two opposite directions relative to the thigh shell, so that the calf assembly has multiple degrees of freedom, thereby enhancing the movement ability of the entire lower limb structure. At the same time, a first groove is provided in the second shell, and a second groove is provided in the fourth shell. The first groove and the second groove are connected to form a first opening, and the first groove and the second groove are symmetrical relative to the connecting surface, so that the connection between the calf assembly and the drive mechanism is closer to the yaw axis, so that the load at various parts of the lower limb structure is more uniform, the risk of damage to the lower limb structure is reduced, and the static stability and dynamic stability of the humanoid robot are improved.

[0008] In one embodiment, the first opening includes a first top wall and a second top wall spaced apart in the third direction, the first top wall and the second top wall spaced apart in the second direction, and the first top wall and the second top wall are both used to limit the rotation angle of the calf component. By setting the first opening to penetrate two surfaces of the thigh shell that are opposite to each other in the third direction, and the first top wall and the second top wall spaced apart in the second direction, and the first top wall and the second top wall are both used to limit the rotation angle of the calf component, the thigh component can be limited by the thigh shell itself without setting an additional structure, thereby improving the integration of the thigh component and reducing the manufacturing cost.

[0009] In one embodiment, the thigh shell is further provided with a second opening connected to the first opening, the second opening is located on the side of the first opening close to the pitch drive member, the second opening is connected to the external space on both sides of the thigh shell in the third direction, and the second opening is used to accommodate at least part of the drive mechanism; the second shell is further provided with a third slot, the fourth shell is further provided with a fourth slot, the third slot and the fourth slot are connected to form the second opening, and the third slot and the fourth slot are symmetrical relative to the connecting surface. By setting the thigh shell to further provide a second opening connected to the first opening, the second opening is located on the side of the first opening close to the pitch drive member, the second opening is connected to the external space on both sides of the thigh shell in the third direction, the second opening is used to accommodate at least part of the drive mechanism, the second shell is further provided with a third slot, the fourth shell is further provided with a fourth slot, the third slot and the fourth slot are connected to form the second opening, and the third slot and the fourth slot are symmetrical relative to the connecting surface, so that when the space in the thigh shell is small, the drive mechanism can achieve a larger range of motion by extending into the second opening, thereby enabling the calf assembly to have a larger rotation angle, and at the same time, it is beneficial to reduce the volume and weight of the thigh shell.

[0010] In one embodiment, the second opening includes a third top wall and a fourth top wall spaced apart in the third direction, the third top wall and the fourth top wall spaced apart in the second direction, and the third top wall and the fourth top wall are used to limit the movement of the driving mechanism. By setting the second opening to include a third top wall and a fourth top wall spaced apart in the third direction, the third top wall and the fourth top wall spaced apart in the second direction, and the third top wall and the fourth top wall are used to limit the movement of the driving mechanism, the thigh component only needs to limit the driving mechanism through the thigh shell itself, without setting an additional structure, thereby improving the integration of the thigh component and reducing the manufacturing cost.

[0011] In one embodiment, the driving mechanism includes a knee joint driving member, a crank, a first connecting rod and a second connecting rod, the stator of the knee joint driving member is connected to the first housing, the crank is connected to the rotor of the knee joint driving member, one end of the first connecting rod is rotatably connected to the crank, the other end of the first connecting rod is rotatably connected to the calf assembly, one end of the second connecting rod is rotatably connected to the crank, and the other end of the second connecting rod is rotatably connected to the calf assembly; the connecting surface passes through the center line of the first connecting rod in the first direction and the center line of the second connecting rod in the first direction; at least a portion of the first connecting rod and at least a portion of the second connecting rod are used to be accommodated in the second opening, the third top wall is used to limit the movement of the first connecting rod, and the fourth top wall is used to limit the movement of the second connecting rod. The driving mechanism includes a knee joint driving member, a crank, a first connecting rod and a second connecting rod. The stator of the knee joint driving member is connected to the first shell, the crank is connected to the rotor of the knee joint driving member, one end of the first connecting rod is rotatably connected to the crank, the other end of the first connecting rod is rotatably connected to the calf assembly, one end of the second connecting rod is rotatably connected to the crank, the other end of the second connecting rod is rotatably connected to the calf assembly, at least a portion of the first connecting rod and at least a portion of the second connecting rod are used to be accommodated in the second opening, the third top wall is used to limit the movement of the first connecting rod, and the fourth top wall is used to limit the movement of the second connecting rod, so that the knee joint driving member can be arranged at the same end as the pitch driving member, and is transmission-connected to the calf assembly through the crank, the first connecting rod and the second connecting rod, so that the internal space of the thigh shell is fully utilized, and the required layout space is small, which is beneficial to reducing the volume of the thigh shell, and at the same time, a connecting surface is arranged to pass through the center line of the first connecting rod in the first direction and the center line of the second connecting rod in the first direction, so that the force points of the calf assembly and the first connecting rod and the second connecting rod are located on the connecting surface, and the calf assembly is not easy to shake and deviate when rotating, thereby improving the dynamic stability of the lower limb structure.

[0012] In one embodiment, the thigh shell encloses an installation space, and the drive mechanism is accommodated in the installation space; the first shell includes a shell body and a first cover body, the shell body is connected to the second shell in the first direction, the surface of the shell body facing away from the second shell is provided with a first installation opening, the first installation opening connects the installation space and the external space, the first installation opening is used for the knee joint drive component to extend into the installation space, and the first cover body is connected to the shell body and closes the first installation opening. By setting the thigh shell to enclose an installation space, the drive mechanism is accommodated in the installation space, the first shell includes a shell body and a first cover body, the shell body is connected to the second shell in the first direction, the surface of the shell body facing away from the second shell is provided with a first installation opening, the first installation opening connects the installation space and the external space, the first installation opening is used for the knee joint drive component to extend into the installation space, the first cover body is connected to the shell body and closes the first installation opening, the difficulty of assembling the knee joint drive component is reduced.

[0013] In one embodiment, the first shell further includes a first end plate, the first end plate is connected to one end of the shell body close to the second shell, and the outer peripheral surface of the first end plate is connected to the shell body, the knee joint driver is located on the side of the first end plate facing away from the second shell, and the crank, the first connecting rod and the second connecting rod are all located on the side of the first end plate facing the second shell. By setting the first shell to also include a first end plate, the first end plate is connected to one end of the shell body close to the second shell, and the outer peripheral surface of the first end plate is connected to the shell body, the knee joint driver is located on the side of the first end plate facing away from the second shell, and the crank, the first connecting rod and the second connecting rod are all located on the side of the first end plate facing the second shell, the connection between the knee joint driver and the thigh shell is more stable and less prone to loosening and vibration.

[0014] In one embodiment, the thigh component further includes a rotating shaft, the rotating shaft is accommodated in the thigh shell, the rotating shaft connects the first shell and the second shell in the first direction, the rotating shaft is rotatably connected to the calf component, the driving mechanism is used to drive the calf component to rotate around the knee joint axis relative to the thigh shell, the rotating shaft is rotationally symmetrical relative to the knee joint axis, the knee joint axis is parallel to the pitch axis, the humanoid robot is in an upright state, the yaw axis extends along the up and down direction of the humanoid robot, and intersects and is perpendicular to the knee joint axis. By setting a rotating shaft, the rotating shaft is accommodated in the thigh shell, the rotating shaft connects the first shell and the second shell in the first direction, the rotating shaft is rotatably connected to the calf component, the driving mechanism is used to drive the calf component to rotate around the knee joint axis relative to the thigh shell, the rotating shaft is rotationally symmetrical relative to the knee joint axis, the knee joint axis is parallel to the pitch axis, the humanoid robot is in an upright state, the yaw axis extends along the up and down direction of the humanoid robot, and intersects and is perpendicular to the knee joint axis, so that the connection between the calf component and the thigh shell is more stable, and the force between the rotating shaft and the calf component is uniform, and it is not easy to wear.

[0015] In one embodiment, the lower limb structure further comprises a connecting shell, one end of which is connected to the rotor of the yaw drive, and the other end of which is connected to the stator of the pitch drive; the second shell has a mounting groove at one end close to the pitch drive, the rotor of the pitch drive is connected to the bottom wall of the mounting groove, and the connecting shell is connected in a cooperative manner with the mounting groove. By setting the lower limb structure to further comprise a connecting shell, one end of which is connected to the rotor of the yaw drive, and the other end of which is connected to the stator of the pitch drive, the continuous transmission of power from the yaw drive to the pitch drive is ensured, and the power generated by the yaw drive during operation can be directly transmitted to the pitch drive through the connecting shell, thereby reducing the loss in the power transmission process; at the same time, the second shell has a mounting groove at one end close to the pitch drive, the rotor of the pitch drive is connected to the bottom wall of the mounting groove, and the connecting shell is connected in a cooperative manner with the mounting groove, so that the connection between the pitch drive and the thigh shell is more stable, the structural strength of the lower limb structure is improved, and the structure of the lower limb structure is more compact.

[0016] In the second aspect, the present invention further provides a humanoid robot, comprising a roll drive and a lower limb structure described in any one of the embodiments of the first aspect, wherein the rotor of the roll drive is connected to the stator of the yaw drive, and the roll drive is used to drive the lower limb structure to rotate around a roll axis, wherein the roll axis intersects and is perpendicular to the yaw axis, and when the humanoid robot is in an upright state, the roll axis is also perpendicular to the pitch axis. The humanoid robot provided by the present invention adopts a roll drive and a lower limb structure in an embodiment of the present invention, wherein the rotor of the roll drive is connected to the stator of the yaw drive, and the roll drive is used to drive the lower limb structure to rotate around the roll axis, so that the lower limb structure has three degrees of freedom, and realizes the humanoid movement of the lower limb structure, and at the same time, the roll axis is arranged to intersect and be perpendicular to the yaw axis, and when the humanoid robot is in an upright state, the roll axis is also perpendicular to the pitch axis, so that the lower limb structure is not easy to shake or tip over when it is stationary or moving, thereby improving the static stability and dynamic stability of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a structural diagram of a humanoid robot of an embodiment; Figure 2 is a structural diagram of a lower limb structure of an embodiment; Figure 3 is a structural diagram of a lower limb structure of another embodiment; Figure 4 is a front view of a lower limb structure of an embodiment; Figure 5 is a side view of a lower limb structure of an embodiment; Figure 6 is an exploded view of a lower limb structure of an embodiment; Figure 7 It is an exploded view of the lower limb structure of another embodiment.

[0019] Description of reference numerals: 1000 - lower limb structures; 100-thigh component; 10-thigh shell, 11-first shell, 111-first shell, 112-second shell, 113-first surface, 114-fifth surface, 115-sixth surface, 116-first groove, 117-third groove, 118-shell body, 1181-first installation port, 1182-positioning slide groove, 12-second shell, 121-third shell, 122-fourth shell, 123-second surface, 124-second groove, 125-fourth groove, 126-installation Mounting groove, 127-fourth limiting block, 13-connecting surface, 14-third surface, 15-fourth surface, 16-first opening, 161-first top wall, 162-second top wall, 17-second opening, 171-third top wall, 172-fourth top wall, 18-installation space, 19-first cover body, 191-installation bracket, 192-first end plate, 193-first through hole, 194-first limiting block, 195-annular side plate, 196-positioning bracket; 20-driving mechanism, 21-knee joint driving member, 22-crank, 23-first connecting rod, 24-second connecting rod; 30-Wire harness; 40-rotating shaft, 41-first section, 42-second section, 43-latch; 50-connecting column, 51-first column, 52-second column; 200-yaw driving member, 201-second limit block, 202-second calibration part; 300-pitch drive member; 400 - calf assembly, 401 - calf shell, 402 - third shell, 403 - fourth shell, 404 - first connecting plate, 405 - second connecting plate; 500-foot assembly; 600-Mounting parts; 700-controller; 800-connecting shell, 801-second mounting port, 802-second cover, 803-third limiting block, 804-first marking portion, 805-limiting groove; 2000-Roll drive parts; 3000- Hip joint shell; L1-roll axis, L2-yaw axis, L3-pitch axis, L4-knee joint axis; X-first direction, Y-third direction, Z-second direction. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0022] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the present invention includes any and all combinations of one or more of the related listed items.

[0023] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0024] Please refer to Figure 1 The present invention provides a humanoid robot, including a roll drive component 2000 and a lower limb structure 1000 in an embodiment of the present invention. The rotor of the roll drive component 2000 is connected to the stator of the yaw drive component 200. The roll drive component 2000 is used to drive the lower limb structure 1000 to rotate around a roll axis L1. The roll axis L1 intersects and is perpendicular to the yaw axis L2. When the humanoid robot is in an upright state, the roll axis L1 is also perpendicular to the pitch axis L3.

[0025] Optionally, there are two lower limb structures 1000 in the embodiment of the present invention, and there are also two rolling drive components 2000. The two lower limb structures 1000 are arranged in a mirror-symmetrical manner in the left and right directions of the humanoid robot. One of the lower limb structures 1000 is the left leg of the humanoid robot, and the other lower limb structure 1000 is the right leg of the humanoid robot. The two rolling drive components 2000 are arranged in a one-to-one correspondence with the two lower limb structures 1000.

[0026] Optionally, the humanoid robot further includes a hip joint housing 3000, a roll drive member 2000 is installed in the hip joint housing 3000, and a rotor of the roll drive member 2000 extends out of the hip joint housing 3000 to be connected with a stator of the yaw drive member 200. Specifically, two roll drive members 2000 are arranged at intervals in the left and right directions of the hip joint housing 3000, and two lower limb structures 1000 are arranged in a mirror-symmetrical manner in the left and right directions of the hip joint housing 3000.

[0027] Optionally, the humanoid robot also includes a torso structure, a head and neck structure and two upper limb structures, one end of the torso structure is rotatably connected to the hip joint housing 3000, the lower limb structure 1000 in the embodiment of the present invention is arranged at the end of the hip joint housing 3000 facing away from the torso structure, the head and neck structure is installed at the end of the torso structure facing away from the hip joint housing 3000, and the two upper limb structures are respectively connected to the two ends of the torso structure in the left and right directions.

[0028] The humanoid robot provided by the present invention adopts a roll drive component 2000 and a lower limb structure 1000 in an embodiment of the present invention. The rotor of the roll drive component 2000 is connected to the stator of the yaw drive component 200. The roll drive component 2000 is used to drive the lower limb structure 1000 to rotate around the roll axis L1, so that the lower limb structure 1000 has three degrees of freedom, thereby realizing the humanoid movement of the lower limb structure 1000. At the same time, the roll axis L1 is arranged to intersect and be perpendicular to the yaw axis L2. When the humanoid robot is in an upright state, the roll axis L1 is also perpendicular to the pitch axis L3, so that the lower limb structure 1000 is not prone to shaking or tipping over both when stationary and in motion, thereby improving the static stability and dynamic stability of the humanoid robot.

[0029] Please refer to Figures 1 to 3The present invention also provides a lower limb structure 1000 for a humanoid robot, comprising a yaw driver 200, a pitch driver 300, a thigh assembly 100 and a shank assembly 400, wherein the stator of the pitch driver 300 is connected to the rotor of the yaw driver 200, and the yaw driver 200 is used to drive the pitch driver 300 to rotate around the yaw axis L2. The thigh assembly 100 comprises a thigh housing 10 and a driving mechanism 20, wherein the thigh housing 10 comprises a first housing 11 and a second housing 12, wherein the first housing 11 and the second housing 12 are connected in a first direction X, and one end of the second housing 12 is connected to the rotor of the pitch driver 300, and the pitch driver 300 is used to drive the thigh assembly 100 to rotate around the pitch axis L3. The driving mechanism 20 is housed in the thigh shell 10 and installed at one end of the first shell 11 close to the pitch driving member 300. The connecting surface 13 between the first shell 11 and the second shell 12 is a plane. The yaw axis L2 coincides with the connecting surface 13. The pitch axis L3 intersects and is perpendicular to the yaw axis L2. The first direction X is parallel to the pitch axis L3. The calf assembly 400 is rotatably connected to one end of the thigh shell 10 away from the yaw driving member 200. The calf assembly 400 is connected to the driving mechanism 20. The driving mechanism 20 is used to drive the calf assembly 400 to rotate relative to the thigh shell 10.

[0030] The yaw drive member 200 drives the pitch drive member 300 to rotate around the yaw axis L2, thereby driving the thigh assembly 100 and the shank assembly 400 to rotate around the yaw axis L2. The pitch drive member 300 drives the thigh assembly 100 to rotate around the pitch axis L3, thereby driving the shank assembly 400 to rotate around the yaw axis L2. The two first shells 11 of the two lower limb structures 1000 are arranged opposite to each other, that is, both are located on the inner side of the humanoid robot, and the two second shells 12 are arranged opposite to each other, that is, both are located on the outer side of the humanoid robot.

[0031] Optionally, the lower limb structure 1000 further includes a foot sole assembly 500, which is connected to one end of the calf assembly 400 away from the thigh assembly 100. Optionally, the foot sole assembly 500 can rotate relative to the calf assembly 400 around two intersecting and perpendicular axes, and when the humanoid robot is in an upright state, the intersection of the two axes is located on the yaw axis L2, so as to improve the stability of the lower limb structure 1000.

[0032] Optionally, the lower limb structure 1000 further includes a mounting member 600 , which is sleeved on the stator of the yaw drive member 200 and is screwed and fixed to the rotor of the aforementioned roll drive member 2000 , so as to achieve rapid installation and disassembly of the lower limb structure 1000 and the roll drive member 2000 .

[0033] Optionally, the calf assembly 400 includes a calf shell 401, the calf shell 401 includes a third shell 402 and a fourth shell 403, the third shell 402 and the fourth shell 403 are connected in the first direction X, and the connection surface 13 of the third shell 402 and the fourth shell 403 is the same plane as the connection surface 13 of the first shell 11 and the second shell 12, the driving mechanism 20 is connected between the third shell 402 and the fourth shell 403, and at least part of the driving mechanism for driving the sole member to rotate is also installed between the third shell 402 and the fourth shell 403. Specifically, the calf assembly 400 also includes a first connecting plate 404 and a second connecting plate 405, the first connecting plate 404 is connected to the third shell 402, the second connecting plate 405 is connected to the fourth shell 403, the first connecting plate 404 is connected to the second connecting plate 405, the driving mechanism 20 is connected between the first connecting plate 404 and the second connecting plate 405, and the first connecting plate 404 and the second connecting plate 405 are symmetrical with respect to the connection surface 13. Optionally, the third housing 402 and the fourth housing 403 have the same size at the same position in a direction perpendicular to the connection surface 13. Optionally, the first connection plate 404 and the third housing 402 are an integrated structure, and the second connection plate 405 and the fourth housing 403 are an integrated structure.

[0034] Optionally, a plurality of reinforcing ribs are provided in the thigh shell 10, and the first shell 11 and the second shell 12 are both provided with reinforcing ribs to strengthen the structural strength of the thigh shell 10. Optionally, the thigh assembly 100 further includes a plurality of wire harnesses 30, and the plurality of wire harnesses 30 are all accommodated in the thigh shell 10, and at least one wire harness 30 is installed on each of the first shell 11 and the second shell 12, and the wire harness 30 is used to fix the wires inside the thigh shell 10. Optionally, the inner surface of the thigh shell 10 and the inner surface of the calf shell 401 are both provided with wiring openings and / or wiring grooves for the wires to pass through.

[0035] Optionally, the lower limb structure 1000 also includes a controller 700, which is housed in the thigh shell 10 and installed at one end of the second shell 12 close to the pitch drive member 300. The controller 700 is electrically connected to the drive mechanism 20, the pitch drive member 300, the yaw drive member 200 and at least one of the drive mechanisms in the calf assembly 400 through a wire.

[0036] By arranging that the driving mechanism 20 and the pitch driving component 300 are both installed on the same end of the thigh shell 10 and are respectively located on both sides of the yaw axis L2, the yaw axis L2 passes through the connecting surface 13 between the first shell 11 and the second shell 12, and the yaw axis L2 also intersects and is perpendicular to the pitch axis L3, so that the distance between the center of gravity of the lower limb structure 1000 and the yaw axis L2 is small or is located on the yaw axis L2, so that the humanoid robot is not prone to shaking and tipping over in both the upright state and the moving state, thereby improving the static stability and dynamic stability of the humanoid robot.

[0037] Please refer to Figure 4 The length direction of the thigh component 100 is the second direction Z, the first shell 11 includes a first shell 111 and a second shell 112 connected in the second direction Z, the driving mechanism 20 is installed on the first shell 111, and the end of the second shell 112 away from the first shell 111 is rotatably connected to the calf component 400; the second shell 12 includes a third shell 121 and a fourth shell 122 connected in the second direction Z, the third shell 121 is connected to the rotor of the pitch driving member 300, and the end of the fourth shell 122 away from the third shell 121 is rotatably connected to the calf component 400, the third shell 121 is connected to the first shell 111, the fourth shell 122 is connected to the second shell 112, and at least parts of the second shell 112 and the fourth shell 122 are symmetrical relative to the connecting surface 13.

[0038] In the orthographic projection on the third direction Y, the second shell 112 and the fourth shell 122 have the same size in the first direction X at the same position. Since a plurality of screw holes are provided on the second shell 112, the second shell 112 and the fourth shell 122 are only consistent in size as a whole, that is, they are symmetrical with respect to the connecting surface 13 as a whole. Optionally, the first shell 111 and the second shell 112 are an integrated structure, and the third shell 121 and the fourth shell 122 are an integrated structure.

[0039] By setting the second shell 112 and the fourth shell 122 in the orthographic projection on the third direction Y, at least part of the relative connection surface 13 is symmetrical, so that the center of gravity of the thigh shell 10 is closer to the yaw axis L2, so that the thigh shell 10 is not likely to cause the humanoid robot to shake or tip over when rotating around the yaw axis L2 and the pitch axis L3, thereby improving the static stability and dynamic stability of the humanoid robot and improving the contouring degree of the thigh shell 10.

[0040] Please refer to Figure 4 and Figure 5, the outer peripheral surface of the thigh shell 10 is a smoothly connected curved surface; in the orthographic projection on the third direction Y, at least part of the first surface 113 and the second surface 123 of the thigh shell 10 opposite to each other in the first direction X are concave arc surfaces, and the third direction Y is perpendicular to the second direction Z and the pitch axis L3; in the orthographic projection on the first direction X, the thigh shell 10 has a third surface 14 and a fourth surface 15 opposite to each other in the third direction Y, the part of the third surface 14 located at the second shell 112 and the fourth shell 122 is a concave arc surface toward the side of the fourth surface 15, the fourth surface 15 is a arc surface protruding toward the side away from the third surface 14, and the third surface 14 is the rear surface of the humanoid robot.

[0041] Among them, the first surface 113 is located on the first shell 11, the second surface 123 is located on the second shell 12, and half of the third surface 14 and the fourth surface 15 are located on the first shell 11, and the other half are located on the second shell 12. Optionally, the first shell 11 also includes a fifth surface 114 and a sixth surface 115, the fifth surface 114 is connected to an end of the first surface 113 close to the pitch driving member 300, and is smoothly connected to the first surface 113, the sixth surface 115 is connected to an end of the first surface 113 away from the fifth surface 114 and is smoothly connected to the first surface 113, the fifth surface 114 and the sixth surface 115 are both smoothly connected to the third surface 14 and the fourth surface 15, and the fifth surface 114 and the sixth surface 115 are both arc surfaces protruding to the side away from the second shell 12, so as to constitute a partial humanoid appearance surface of the thigh shell 10. Optionally, the structure of the second shell 12 is similar to that of the first shell 11, and can be used as a reference, and will not be repeated. Optionally, one end of the third surface 14 close to the pitch driving member 300 and one end close to the calf assembly 400 are both protruding arc surfaces.

[0042] By setting the outer peripheral surface of the thigh shell 10 as a smoothly connected curved surface; in the orthographic projection on the third direction Y, at least part of the first surface 113 and the second surface 123 of the thigh shell 10 opposite to each other in the first direction X are concave arc surfaces; in the orthographic projection on the first direction X, the thigh shell 10 has a third surface 14 and a fourth surface 15 opposite to each other in the third direction Y, the part of the third surface 14 located at the second shell 112 and the fourth shell 122 is a concave arc surface toward the fourth surface 15, the fourth surface 15 is a arc surface protruding toward the side away from the third surface 14, and the third surface 14 is the rear side surface of the humanoid robot, which makes the structure of the thigh shell 10 more compact, so that the center of gravity of the thigh shell 10 is closer to the yaw axis L2, thereby improving the static stability and dynamic stability of the humanoid robot and improving the contouring degree of the thigh shell 10.

[0043] Please refer to Figures 2 to 4The thigh shell 10 is provided with a first opening 16, and the first opening 16 is connected to the external space on one side of the thigh shell 10 away from the pitch driving member 300 in the second direction Z. The first opening 16 is also connected to the external space on both sides of the thigh shell 10 in the third direction Y, and the calf assembly 400 extends into the first opening 16; the second shell 112 is provided with a first groove 116, and the fourth shell 122 is provided with a second groove 124. The first groove 116 and the second groove 124 are connected to form the first opening 16, and the first groove 116 and the second groove 124 are symmetrical relative to the connecting surface 13.

[0044] Specifically, the first opening 16 is an opening on the thigh shell 10 that is opened along the direction of the calf assembly 400 close to the pitch actuator 300, and the first connecting plate 404 and the second connecting plate 405 extend into the first opening 16 to be connected to the drive mechanism 20. Optionally, there is a gap between the two side walls of the first opening 16 that are opposite to each other in the first direction X and the calf assembly 400.

[0045] When the driving mechanism 20 drives the calf assembly 400 to rotate relative to the thigh shell 10 , a portion of the first connecting plate 404 and the second connecting plate 405 may extend out of the thigh shell 10 from the first opening 16 to expand the rotation range of the calf assembly 400 .

[0046] In a specific embodiment, the two side walls of the first opening 16 opposite to each other in the first direction X extend along the length direction of the thigh shell 10 and are parallel to each other. The width of the first opening 16 in the first direction X is D1. The sum of the widths of the first connecting plate 404 and the second connecting plate 405 for penetrating the first opening 16 in the first direction X is D2, which satisfies 1<D1 / D2≤2, so that the first opening 16 will not interfere with the first connecting plate 404 and the second connecting plate 405 in motion while reducing the opening width of the first opening 16 as much as possible. When D1 / D2<1, the first connecting plate 404 and the second connecting plate 405 will interfere with the side wall of the first opening 16 in the first direction X. When 2<D1 / D2, the gap between the side wall of the first opening 16 and the first connecting plate 404 and the second connecting plate 405 is too large, which may easily cause foreign debris to enter the first opening 16 and damage the internal structure of the thigh shell 10.

[0047] By setting a first opening 16 on the thigh shell 10, the first opening 16 is connected to the external space on one side of the thigh shell 10 away from the pitch drive member 300 in the second direction Z. The first opening 16 also connects the external space on both sides of the thigh shell 10 in the third direction Y. The calf assembly 400 extends into the first opening 16, so that the calf assembly 400 can rotate in two opposite directions relative to the thigh shell 10, so that the calf assembly 400 has multiple degrees of freedom, thereby enhancing the movement ability of the entire lower limb structure 1000. At the same time, the second shell 112 is provided with a first groove 116, and the fourth shell 122 is provided with a second groove 124. The first groove 116 and the second groove 124 are connected to form the first opening 16. The first groove 116 and the second groove 124 are symmetrical relative to the connecting surface 13, so that the connection between the calf assembly 400 and the drive mechanism 20 is closer to the yaw axis L2, so that the load at various parts of the lower limb structure 1000 is more uniform, the risk of damage to the lower limb structure 1000 is reduced, and the static stability and dynamic stability of the humanoid robot are improved.

[0048] Please refer to Figure 2 and Figure 3 The first opening 16 includes a first top wall 161 and a second top wall 162 spaced apart in the third direction Y, and the first top wall 161 and the second top wall 162 are spaced apart in the second direction Z. The first top wall 161 and the second top wall 162 are both used to limit the rotation angle of the calf assembly 400.

[0049] Optionally, when the humanoid robot is in an upright state, the first top wall 161 is located in front of the humanoid robot, and the second top wall 162 is located behind the humanoid robot. Optionally, the first top wall 161 and the second top wall 162 are both used to abut against the first connecting plate 404 and the second connecting plate 405 to limit the rotation of the calf assembly 400.

[0050] Optionally, the first top wall 161 and the second top wall 162 both extend along the first direction X. The first top wall 161 is located on the side of the second top wall 162 facing the calf assembly 400 , that is, the maximum rotation angle of the calf assembly 400 toward the first top wall 161 is smaller than the maximum rotation angle of the calf assembly 400 toward the second top wall 162 .

[0051] By setting the first opening 16 through the two opposite surfaces of the thigh shell 10 in the third direction Y, and the first top wall 161 and the second top wall 162 are spaced apart in the second direction Z, the first top wall 161 and the second top wall 162 are both used to limit the rotation angle of the calf component 400, so that the thigh component 100 can limit the calf component 400 only by the thigh shell 10 itself, without setting up additional structures, thereby improving the integration of the thigh component 100 and reducing the manufacturing cost.

[0052] Please refer to Figure 2 and Figure 3 The thigh shell 10 is also provided with a second opening 17 connected with the first opening 16. The second opening 17 is located on the side of the first opening 16 close to the pitch driving member 300. The second opening 17 is connected to the external space on both sides of the thigh shell 10 in the third direction Y. The second opening 17 is used to accommodate at least part of the driving mechanism 20; the second shell 112 is also provided with a third groove 117, and the fourth shell 122 is also provided with a fourth groove 125. The third groove 117 and the fourth groove 125 are connected to form the second opening 17, and the third groove 117 and the fourth groove 125 are symmetrical relative to the connecting surface 13.

[0053] Optionally, the driving mechanism 20 is connected to the calf assembly 400 through a first link 23 and a second link 24, and the knee joint driving member 21 of the driving mechanism 20 drives the first link 23 and the second link 24 to move simultaneously, so as to drive the calf assembly 400 to rotate relative to the thigh shell 10. When the moving distance of the first link 23 and the second link 24 is large, there is a risk of collision with the inner wall surface of the thigh shell 10, resulting in the movement range of the first link 23 and the second link 24 being limited, resulting in the rotation angle of the calf assembly 400 being limited.

[0054] Optionally, when the first connecting rod 23 and the second connecting rod 24 drive the calf assembly 400 to rotate relative to the thigh shell 10 , a portion of the first connecting rod 23 and the second connecting rod 24 may extend out of the thigh shell 10 from the second opening 17 to expand the rotation range of the calf assembly 400 .

[0055] In a specific embodiment, the two side walls of the second opening 17 opposite to each other in the first direction X extend along the length direction of the thigh shell 10 and are parallel to each other. The width of the second opening 17 in the first direction X is D3. The width of the first connecting rod 23 and the second connecting rod 24 for penetrating the second opening 17 in the first direction X is D4, which satisfies: 1<D3 / D4≤2, so that the second opening 17 will not interfere with the movement of the first connecting rod 23 and the second connecting rod 24 while reducing the opening width of the second opening 17 as much as possible. When D3 / D4<1, the first connecting rod 23 and the second connecting rod 24 will interfere with the side wall of the second opening 17 in the first direction X. When 2<D3 / D4, the width of the second opening 17 in the first direction X is too large, which may easily cause foreign debris to enter the second opening 17 and damage the internal structure of the thigh shell 10.

[0056] By setting up the thigh shell 10, a second opening 17 connected with the first opening 16 is also opened. The second opening 17 is located on the side of the first opening 16 close to the pitch drive member 300. The second opening 17 is connected to the external space on both sides of the thigh shell 10 in the third direction Y. The second opening 17 is used to accommodate at least part of the drive mechanism 20; the second shell 112 is also provided with a third groove 117, and the fourth shell 122 is also provided with a fourth groove 125. The third groove 117 and the fourth groove 125 are connected to form the second opening 17. The third groove 117 and the fourth groove 125 are symmetrical relative to the connecting surface 13, so that when the space in the thigh shell 10 is small, the drive mechanism 20 can achieve a larger range of motion by extending into the second opening 17, thereby allowing the calf assembly 400 to have a larger rotation angle, and at the same time it is beneficial to reduce the volume and weight of the thigh shell 10.

[0057] Please refer to Figure 2 and Figure 3 The second opening 17 includes a third top wall 171 and a fourth top wall 172 spaced apart in the third direction Y. The third top wall 171 and the fourth top wall 172 are spaced apart in the second direction Z. The third top wall 171 and the fourth top wall 172 are both used to limit the movement of the driving mechanism 20.

[0058] Optionally, the third top wall 171 is disposed on the same side as the first top wall 161 in the third direction Y, and the fourth top wall 172 is disposed on the same side as the second top wall 162 in the third direction Y. Optionally, both the third top wall 171 and the fourth top wall 172 extend along the first direction X. The third top wall 171 and the fourth top wall 172 are used to abut against the first connecting rod 23 and the second connecting rod 24, respectively, to limit the movement of the first connecting rod 23 and the second connecting rod 24.

[0059] Optionally, the third top wall 171 is located on a side of the fourth top wall 172 close to the calf assembly 400 in the second direction Z. Optionally, the distance between the third top wall 171 and the first top wall 161 in the second direction Z is D5, and the distance between the fourth top wall 172 and the second top wall 162 in the second direction Z is D6, satisfying: 0.5<D5 / D6≤1.5, without limitation, so that when the first connecting rod 23 and the second connecting rod 24 drive the calf assembly 400 to rotate relative to the thigh shell 10, the movable range of the first connecting rod 23 and the second connecting rod 24 in the second opening 17 corresponds to the movable range of the first connecting plate 404 and the second connecting plate 405 in the first opening 16, thereby improving the coordination between the calf assembly 400 and the thigh assembly 100 when the calf assembly 400 rotates.

[0060] By setting the second opening 17 including the third top wall 171 and the fourth top wall 172 spaced apart in the third direction Y, the third top wall 171 and the fourth top wall 172 are spaced apart in the second direction Z, and the third top wall 171 and the fourth top wall 172 are both used to limit the movement of the driving mechanism 20, so that the thigh component 100 can limit the driving mechanism 20 only by the thigh shell 10 itself, without setting up additional structures, thereby improving the integration of the thigh component 100 and reducing the manufacturing cost.

[0061] Please refer to Figure 6 and Figure 7 The driving mechanism 20 includes a knee joint driving member 21, a crank 22, a first connecting rod 23 and a second connecting rod 24. The stator of the knee joint driving member 21 is connected to the first housing 11, the crank 22 is connected to the rotor of the knee joint driving member 21, one end of the first connecting rod 23 is rotatably connected to the crank 22, the other end of the first connecting rod 23 is rotatably connected to the calf assembly 400, one end of the second connecting rod 24 is rotatably connected to the crank 22, the other end of the second connecting rod 24 is rotatably connected to the calf assembly 400, at least a portion of the first connecting rod 23 and at least a portion of the second connecting rod 24 are used to be accommodated in the second opening 17, the third top wall 171 is used to limit the movement of the first connecting rod 23, and the fourth top wall 172 is used to limit the movement of the second connecting rod 24; the connecting surface 13 passes through the center line of the first connecting rod 23 in the first direction X and the center line of the second connecting rod 24 in the first direction X.

[0062] Optionally, the first connecting rod 23 and the second connecting rod 24 are both rotatably connected to the aforementioned first connecting plate 404. Optionally, the first connecting rod 23 is rotatably connected to the crank 22 and the first connecting plate 404 via a bearing. Optionally, in the orthographic projection on the first direction X and in the orthographic projection on the third direction Y, the projection shape of the first connecting rod 23 and the projection shape of the second connecting rod 24 are both axisymmetric figures.

[0063] The driving mechanism 20 includes a knee joint driving member 21, a crank 22, a first connecting rod 23 and a second connecting rod 24, the stator of the knee joint driving member 21 is connected to the first housing 11, the crank 22 is connected to the rotor of the knee joint driving member 21, one end of the first connecting rod 23 is rotatably connected to the crank 22, the other end of the first connecting rod 23 is rotatably connected to the calf assembly 400, one end of the second connecting rod 24 is rotatably connected to the crank 22, the other end of the second connecting rod 24 is rotatably connected to the calf assembly 400, at least a portion of the first connecting rod 23 and at least a portion of the second connecting rod 24 are used to be accommodated in the second opening 17, the third top wall 171 is used to limit the movement of the first connecting rod 23, and the fourth top wall 172 is used to limit the movement of the first connecting rod 23. The movement of the second connecting rod 24 allows the knee joint driving component 21 to be arranged at the same end as the pitch driving component 300, and is connected to the calf assembly 400 through the crank 22, the first connecting rod 23 and the second connecting rod 24, thereby fully utilizing the internal space of the thigh shell 10 and requiring a smaller layout space, which is beneficial to reducing the volume of the thigh shell 10. At the same time, a connecting surface 13 is provided through the center line of the first connecting rod 23 in the first direction X and the center line of the second connecting rod 24 in the first direction X, so that the force points of the calf assembly 400 and the first connecting rod 23 and the second connecting rod 24 are located on the connecting surface 13. The calf assembly 400 is not prone to shaking and deflection when rotating, thereby improving the dynamic stability of the lower limb structure 1000.

[0064] Please refer to Figure 6 and Figure 7 The thigh shell 10 encloses an installation space 18, and the drive mechanism 20 is accommodated in the installation space 18; the first shell 11 includes a shell body 118 and a first cover 19, the shell body 118 is connected to the second shell 12 in the first direction X, and the surface of the shell body 118 facing away from the second shell 12 is provided with a first installation opening 1181, the first installation opening 1181 connects the installation space 18 and the external space, the first installation opening 1181 is used for the knee joint drive member 21 to extend into the installation space 18, and the first cover 19 is connected to the shell body 118 and closes the first installation opening 1181. Optionally, the shape of the part of the shell body 118 used to install the knee joint drive member 21 and the shape of the first cover 19 are both adapted to the shape of the knee joint drive member 21, so as to improve the humanization of the lower limb structure 1000.

[0065] Optionally, in the orthographic projection on the first direction X, the contour shape of the first mounting opening 1181 is circular, and may also be non-circular such as rectangular and triangular, etc., without limitation. Optionally, the first housing 11 further includes a mounting bracket 191, the mounting bracket 191 is connected between the first cover 19 and the knee joint driving member 21, and the first cover 19 is connected and fixed to the shell body 118 through the mounting bracket 191. Optionally, the mounting bracket 191 and the shell body 118 may be detachably connected by means of snap connection, screw connection, and riveting, etc., without limitation.

[0066] Optionally, the first shell 11 further includes a positioning bracket 196, and a positioning slot 1182 is provided on the inner wall of the shell body 118. The positioning bracket 196 is first connected and fixed to the first cover body 19, and the positioning bracket 196 and the first cover body 19 are then simultaneously connected and fixed to the shell body 118 to close the first installation opening 1181. During this process, the positioning bracket 196 extends into the positioning slot 1182 and slides to the bottom along the extension direction of the positioning slot 1182, so as to facilitate positioning when installing the first cover body 19 without aligning multiple screw holes or rivet holes. Optionally, the positioning bracket 196 and the first cover body 19 can be an integrated structure, or can be detachably connected by means of snap connection, screw connection, and riveting, without limitation.

[0067] The thigh shell 10 is provided to enclose an installation space 18, and the driving mechanism 20 is accommodated in the installation space 18. The first shell 11 includes a shell body 118 and a first cover body 19. The shell body 118 is connected to the second shell 12 in the first direction X. A first installation opening 1181 is provided on the surface of the shell body 118 facing away from the second shell 12. The first installation opening 1181 connects the installation space 18 and the external space. The first installation opening 1181 is used for the knee joint driving component 21 to extend into the installation space 18. The first cover body 19 is connected to the shell body 118 and closes the first installation opening 1181, thereby reducing the difficulty of assembling the knee joint driving component 21.

[0068] Please refer to Figure 6 and Figure 7 The first shell 11 also includes a first end plate 192, which is connected to one end of the shell body 118 close to the second shell 12, and the outer peripheral surface of the first end plate 192 is connected to the shell body 118, the knee joint driving component 21 is located on the side of the first end plate 192 facing away from the second shell 12, and the crank 22, the first connecting rod 23 and the second connecting rod 24 are all located on the side of the first end plate 192 facing the second shell 12.

[0069] Optionally, the first end plate 192 is provided with a first through hole 193, and the rotor of the knee joint driver 21 is connected and fixed to the crank 22 through the first through hole 193. Optionally, a first stopper 194 is provided on the surface of the first end plate 192 facing the crank 22, and the first stopper 194 is used to abut against the crank 22 to limit the crank 22. Optionally, the thigh shell 10 further includes an annular side plate 195, which is connected to the surface of the first end plate 192 facing away from the second shell 12, and the annular end plate is sleeved on the stator of the knee joint driver 21 to limit the knee joint driver 21 in the radial direction of the through hole.

[0070] By setting the first shell 11 also including a first end plate 192, the first end plate 192 is connected to one end of the shell body 118 close to the second shell 12, and the outer peripheral surface of the first end plate 192 is connected to the shell body 118, the knee joint driving component 21 is located on the side of the first end plate 192 facing away from the second shell 12, the crank 22, the first connecting rod 23 and the second connecting rod 24 are all located on the side of the first end plate 192 facing the second shell 12, so that the connection between the knee joint driving component 21 and the thigh shell 10 is more stable and not prone to loosening and vibration.

[0071] Please refer to Figure 6 and Figure 7 The thigh component 100 also includes a rotating shaft 40, which is accommodated in the thigh shell 10. The rotating shaft 40 connects the first shell 11 and the second shell 12 in the first direction X. The rotating shaft 40 is rotatably connected to the calf component 400. The driving mechanism 20 is used to drive the calf component 400 to rotate around the knee joint axis L4 relative to the thigh shell 10. The rotating shaft 40 is rotationally symmetrical with respect to the knee joint axis L4. The knee joint axis L4 is parallel to the pitch axis L3. When the humanoid robot is in an upright state, the yaw axis L2 extends along the up and down direction of the humanoid robot, and intersects with and is perpendicular to the knee joint axis L4.

[0072] Specifically, the projection shape of the rotating shaft 40 in the first direction X is a circle, and the knee joint axis L4 passes through the center of the circle. Optionally, the rotating shaft 40 is accommodated in the thigh shell 10, and the rotating shaft 40 includes a first section 41 and a second section 42. The first section 41 is connected to the first shell 11, and the second section 42 is connected to the second shell 12. When the first shell 11 and the second shell 12 are connected in the first direction X, the first section 41 and the second section 42 are also connected in the first direction X and are connected and fixed by the latch 43 to form the rotating shaft 40. Optionally, the rotating shaft 40 is penetrated by the aforementioned first connecting plate 404 and the second connecting plate 405 in the first direction X, and the rotating shaft 40 is provided with a sleeve on the outer cover to prevent wear.

[0073] Optionally, the thigh component 100 further includes a connecting column 50, which is received in the thigh shell 10 and is located on a side of the rotating shaft 40 away from the calf component 400, and the connecting column 50 connects the first shell 11 and the second shell 12 in the first direction X. Optionally, the connecting column 50 includes a first column 51 and a second column 52, the first column 51 is connected to the first shell 11, and the second column 52 is connected to the second shell 12, and the first column 51 and the second column 52 can be detachably connected by screwing, clamping and riveting, etc., without limitation, so that the connection between the first shell 11 and the second shell 12 at one end close to the calf component 400 is more stable.

[0074] By setting a rotating shaft 40, the rotating shaft 40 is accommodated in the thigh shell 10, the rotating shaft 40 connects the first shell 11 and the second shell 12 in the first direction X, the rotating shaft 40 is rotatably connected to the calf assembly 400, and the driving mechanism 20 is used to drive the calf assembly 400 to rotate around the knee joint axis L4 relative to the thigh shell 10. The rotating shaft 40 is rotationally symmetrical with respect to the knee joint axis L4, the knee joint axis L4 is parallel to the pitch axis L3, and the humanoid robot is in an upright state, the yaw axis L2 extends along the up and down direction of the humanoid robot, and intersects with and is perpendicular to the knee joint axis L4, so that the connection between the calf assembly 400 and the thigh shell 10 is more stable, and the force between the rotating shaft 40 and the calf assembly 400 is uniform, and it is not easy to wear.

[0075] Please refer to Figure 6 and Figure 7 The lower limb structure 1000 also includes a connecting shell 800, one end of the connecting shell 800 is connected to the rotor of the yaw drive component 200, and the other end of the connecting shell 800 is connected to the stator of the pitch drive component 300; the second outer shell 12 has a mounting groove 126 at one end close to the pitch drive component 300, the rotor of the pitch drive component 300 is connected to the bottom wall of the mounting groove 126, and the connecting shell 800 is matched with the mounting groove 126.

[0076] Optionally, the surface of the connecting shell 800 facing away from the first shell 11 is provided with a second mounting opening 801, and the second mounting opening 801 is used to mount the pitch driving member 300. The lower limb structure 1000 further includes a second cover 802, which is connected to the connecting shell 800 and closes the second mounting opening 801. Optionally, the aforementioned mounting bracket 191 and positioning bracket 196 are also provided between the pitch driving member 300 and the second cover 802. Optionally, the shape of the connecting shell 800 and the shape of the second cover 802 are both adapted to the shape of the pitch driving member 300, so as to make the lower limb structure 1000 more human-like.

[0077] Optionally, a second limit block 201 is provided on the stator of the yaw drive member 200, and a third limit block 803 is provided on the connection shell 800. The second limit block 201 is used to abut against the third limit block 803 to limit the rotation angle of the connection shell 800 relative to the stator of the yaw drive. Optionally, a first calibration portion 804 is provided on the connection shell 800, and a second calibration portion 202 is provided on the second limit block 201. When the first calibration portion 804 and the second calibration portion 202 are aligned, the yaw drive member 200 is in an initial state, and the initial state is used as the zero point for the connection shell 800 to rotate relative to the stator of the yaw drive member 200.

[0078] Optionally, the outer peripheral surface of the end of the connecting shell 800 connected to the pitch driving member 300 and the side wall surface of the installation groove 126 are both arc surfaces and have a gap. Optionally, the bottom wall surface of the installation groove 126 is provided with a fourth limit block 127, and the surface of the connecting shell 800 facing the bottom wall surface of the installation groove 126 is provided with a limit groove 805 extending in the annular direction, and the fourth limit block 127 is used to abut against the two side walls of the limit groove 805 in the annular direction to limit the relative rotation angle of the connecting shell 800 and the thigh shell 10.

[0079] By setting the lower limb structure 1000 to also include a connecting shell 800, one end of the connecting shell 800 is connected to the rotor of the yaw drive component 200, and the other end of the connecting shell 800 is connected to the stator of the pitch drive component 300, thereby ensuring the continuous transmission of power from the yaw drive component 200 to the pitch drive component 300. The power generated by the yaw drive component 200 when working can be directly transmitted to the pitch drive component 300 through the connecting shell 800, thereby reducing the loss in the power transmission process. At the same time, a second shell 12 is provided with a mounting groove 126 at one end close to the pitch drive component 300, and the rotor of the pitch drive component 300 is connected to the bottom wall of the mounting groove 126. The connecting shell 800 is cooperatively connected to the mounting groove 126, thereby making the connection between the pitch drive component 300 and the thigh shell 10 more stable, thereby improving the structural strength of the lower limb structure 1000 and making the structure of the lower limb structure 1000 more compact.

[0080] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0081] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A lower limb structure (1000), characterized in that: For humanoid robots, including: A yaw drive member (200); A pitch driving member (300), wherein a stator of the pitch driving member (300) is connected to a rotor of the yaw driving member (200), and the yaw driving member (200) is used to drive the pitch driving member (300) to rotate around a yaw axis (L2); A thigh assembly (100) comprises a thigh shell (10) and a driving mechanism (20), wherein the thigh shell (10) comprises a first shell (11) and a second shell (12), wherein the first shell (11) and the second shell (12) are connected in a first direction (X), and one end of the second shell (12) is connected to a rotor of a pitch driving member (300), wherein the pitch driving member (300) is used to drive the thigh assembly (100) to rotate around a pitch axis (L3); the driving mechanism (20) is accommodated in the thigh shell (10) and is installed at one end of the first shell (11) close to the pitch driving member (300), the connecting surface (13) of the first shell (11) and the second shell (12) is a plane, the yaw axis (L2) coincides with the connecting surface (13), the pitch axis (L3) intersects and is perpendicular to the yaw axis (L2), and the first direction (X) is parallel to the pitch axis (L3); The calf assembly (400) is rotatably connected to one end of the thigh shell (10) away from the yaw drive member (200), and the calf assembly (400) is connected to the drive mechanism (20), and the drive mechanism (20) is used to drive the calf assembly (400) to rotate relative to the thigh shell (10).

2. The lower limb structure (1000) according to claim 1, characterized in that: The length direction of the thigh component (100) is a second direction (Z), the first shell (11) comprises a first shell (111) and a second shell (112) connected in the second direction (Z), the driving mechanism (20) is mounted on the first shell (111), and one end of the second shell (112) away from the first shell (111) is rotatably connected to the calf component (400); The second shell (12) includes a third shell (121) and a fourth shell (122) connected in the second direction (Z), the third shell (121) is connected to the rotor of the pitch drive member (300), and one end of the fourth shell (122) away from the third shell (121) is rotationally connected to the calf assembly (400), the third shell (121) is connected to the first shell (111), the fourth shell (122) is connected to the second shell (112), and at least parts of the second shell (112) and the fourth shell (122) are symmetrical relative to the connecting surface (13).

3. The lower limb structure (1000) according to claim 2, characterized in that: The outer peripheral surface of the thigh shell (10) is a smoothly connected curved surface; In the orthographic projection in the third direction (Y), at least a portion of the first surface (113) and the second surface (123) of the thigh shell (10) opposite to each other in the first direction (X) are concave arc surfaces, and the third direction (Y) is perpendicular to the second direction (Z) and the pitch axis (L3); In the orthographic projection in the first direction (X), the thigh shell (10) has a third surface (14) and a fourth surface (15) which are opposite to each other in the third direction (Y); the portion of the third surface (14) located between the second shell (112) and the fourth shell (122) is a curved surface which is concave toward the side of the fourth surface (15); the fourth surface (15) is a curved surface which is protruding toward the side away from the third surface (14); and the third surface (14) is the rear surface of the humanoid robot.

4. The lower limb structure (1000) according to claim 3, characterized in that: The thigh shell (10) is provided with a first opening (16), the first opening (16) being connected to an external space on one side of the thigh shell (10) away from the pitch driving member (300) in the second direction (Z), the first opening (16) also being connected to external spaces on both sides of the thigh shell (10) in the third direction (Y), and the calf assembly (400) extending into the first opening (16); The second shell (112) is provided with a first groove (116), and the fourth shell (122) is provided with a second groove (124); the first groove (116) and the second groove (124) are connected to form the first opening (16); and the first groove (116) and the second groove (124) are symmetrical relative to the connecting surface (13).

5. The lower limb structure (1000) according to claim 4, characterized in that: The first opening (16) includes a first top wall (161) and a second top wall (162) spaced apart in the third direction (Y), the first top wall (161) and the second top wall (162) spaced apart in the second direction (Z), and the first top wall (161) and the second top wall (162) are both used to limit the rotation angle of the calf assembly (400).

6. The lower limb structure (1000) according to claim 4, characterized in that: The thigh shell (10) is further provided with a second opening (17) connected to the first opening (16); the second opening (17) is located on a side of the first opening (16) close to the pitch driving member (300); the second opening (17) is connected to the external space on both sides of the thigh shell (10) in the third direction (Y); the second opening (17) is used to accommodate at least part of the driving mechanism (20); The second shell (112) is further provided with a third groove (117), and the fourth shell (122) is further provided with a fourth groove (125); the third groove (117) and the fourth groove (125) are connected to form the second opening (17); the third groove (117) and the fourth groove (125) are symmetrical with respect to the connecting surface (13).

7. The lower limb structure (1000) according to claim 6, characterized in that: The second opening (17) comprises a third top wall (171) and a fourth top wall (172) which are spaced apart in the third direction (Y); the third top wall (171) and the fourth top wall (172) are spaced apart in the second direction (Z); and the third top wall (171) and the fourth top wall (172) are both used to limit the movement of the driving mechanism (20).

8. The lower limb structure (1000) according to claim 7, characterized in that: The driving mechanism (20) comprises a knee joint driving member (21), a crank (22), a first connecting rod (23) and a second connecting rod (24); the stator of the knee joint driving member (21) is connected to the first housing (11); the crank (22) is connected to the rotor of the knee joint driving member (21); one end of the first connecting rod (23) is rotationally connected to the crank (22); the other end of the first connecting rod (23) is rotationally connected to the calf assembly (400); one end of the second connecting rod (24) is rotationally connected to the crank (22); the other end of the second connecting rod (24) is rotationally connected to the calf assembly (400); at least a portion of the first connecting rod (23) and at least a portion of the second connecting rod (24) are used to be accommodated in the second opening (17); the third top wall (171) is used to limit the movement of the first connecting rod (23); and the fourth top wall (172) is used to limit the movement of the second connecting rod (24); The connecting surface (13) passes through a center line of the first connecting rod (23) in the first direction (X) and a center line of the second connecting rod (24) in the first direction (X).

9. The lower limb structure (1000) according to claim 8, characterized in that: The thigh shell (10) encloses an installation space (18), and the drive mechanism (20) is accommodated in the installation space (18); The first shell (11) includes a shell body (118) and a first cover body (19); the shell body (118) is connected to the second shell (12) in the first direction (X); a first mounting opening (1181) is provided on the surface of the shell body (118) facing away from the second shell (12); the first mounting opening (1181) connects the mounting space (18) and the external space; the first mounting opening (1181) is used for the knee joint driving component (21) to extend into the mounting space (18); the first cover body (19) is connected to the shell body (118) and closes the first mounting opening (1181).

10. The lower limb structure (1000) according to claim 9, characterized in that: The first shell (11) also includes a first end plate (192), which is connected to one end of the shell body (118) close to the second shell (12), and the outer peripheral surface of the first end plate (192) is connected to the shell body (118), the knee joint driving component (21) is located on the side of the first end plate (192) facing away from the second shell (12), and the crank (22), the first connecting rod (23) and the second connecting rod (24) are all located on the side of the first end plate (192) facing the second shell (12).

11. The lower limb structure (1000) according to claim 1, characterized in that: The thigh component (100) also includes a rotating shaft (40), which is accommodated in the thigh shell (10), and the rotating shaft (40) connects the first shell (11) and the second shell (12) in the first direction (X). The rotating shaft (40) is rotatably connected to the calf component (400), and the driving mechanism (20) is used to drive the calf component (400) to rotate around the knee joint axis (L4) relative to the thigh shell (10). The rotating shaft (40) is rotationally symmetrical with respect to the knee joint axis (L4), and the knee joint axis (L4) is parallel to the pitch axis (L3). When the humanoid robot is in an upright state, the yaw axis (L2) extends along the up and down direction of the humanoid robot, and intersects with and is perpendicular to the knee joint axis (L4).

12. The lower limb structure (1000) according to claim 1, characterized in that: The lower limb structure (1000) further comprises a connecting shell (800), one end of the connecting shell (800) being connected to the rotor of the yaw drive component (200), and the other end of the connecting shell (800) being connected to the stator of the pitch drive component (300); The second housing (12) has a mounting groove (126) at one end close to the pitch driving member (300), the rotor of the pitch driving member (300) is connected to the bottom wall of the mounting groove (126), and the connecting shell (800) is connected in a matching manner to the mounting groove (126).

13. A humanoid robot, characterized in that: It comprises a roll drive component and a lower limb structure (1000) as described in any one of claims 1 to 12, wherein the rotor of the roll drive component is connected to the stator of the yaw drive component (200), and the roll drive component is used to drive the lower limb structure (1000) to rotate around a roll axis (L1), wherein the roll axis (L1) intersects and is perpendicular to the yaw axis (L2), and when the humanoid robot is in an upright state, the roll axis (L1) is also perpendicular to the pitch axis (L3).

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