Lower limb structure and humanoid robot

Abstract

A lower limb structure and a humanoid robot. The lower limb structure includes a yaw drive, a pitch drive, a thigh assembly, and a calf assembly. The pitch drive is connected to the yaw drive, and the yaw drive is used to drive the pitch drive to rotate around the yaw axis. The thigh assembly includes a thigh housing and a drive mechanism. The thigh housing includes a first housing and a second housing. The first housing and the second housing are connected in a first direction. One end of the second housing is connected to the pitch drive, and the pitch drive is used to drive the thigh assembly to rotate around the pitch axis. The drive mechanism is installed inside one end of the thigh housing close to the pitch drive. The connection surface between the first housing and the second housing is a plane, the yaw axis coincides with the connection surface, and the pitch axis intersects and is perpendicular to the yaw axis. The calf assembly is rotatably connected to one end of the thigh housing away from the yaw drive and is connected to the drive mechanism, improving the static stability and dynamic stability of the humanoid robot.

Description

Technical Field

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

[0002] Currently, due to the good mobility of humanoid robots when facing complex terrains, the research and development of humanoid robots have received more and more attention in recent years. When a humanoid robot moves by imitating the human lower limbs, it is particularly important to improve the static and dynamic stability of the humanoid robot. In the prior art, the arrangement of multiple motors used to achieve humanoid movement of the lower limbs is unreasonable, resulting in poor static and dynamic stability of the humanoid robot. Summary of the Invention

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

[0004] To achieve the purpose of the present invention, the following technical solutions are provided:

[0005] In a first aspect, the present invention provides a lower limb structure for a humanoid robot, including: a yaw drive; a pitch drive, the stator of the pitch drive is connected to the rotor of the yaw drive, and the yaw drive is used to drive the pitch drive to rotate around the yaw axis; a thigh assembly, including a thigh housing and a drive mechanism, the thigh housing includes a first housing and a second housing, the first housing and the second housing are connected in a first direction, one end of the second housing is connected to the rotor of the pitch drive, and the pitch drive is used to drive the thigh assembly to rotate around the pitch axis; the drive mechanism is received in the thigh housing and installed at one end of the first housing close to the pitch drive, the connection surface between the first housing and the second housing is a plane, the yaw axis coincides with the connection 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, rotatably connected to one end of the thigh housing away from the yaw drive, 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 housing. By arranging the drive mechanism and the pitch drive both at the same end of the thigh housing and on both sides of the yaw axis respectively, the yaw axis passes through the connection surface between the first housing and the second housing, and the yaw axis also intersects and is perpendicular to the pitch axis, the distance between the center of gravity of the lower limb structure and the yaw axis is small or located on the yaw axis, so that the humanoid robot is not prone to shaking and tipping in both the upright state and the moving state, improving the static and dynamic stability of the humanoid robot.

[0006] In one implementation, the length direction of the thigh component is the second direction. The first housing includes a first shell and a second shell connected in the second direction. The drive mechanism is installed in the first shell. One end of the second shell away from the first shell is rotatably connected to the calf component. The second housing 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. One 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, and the fourth shell is connected to the second shell. At least part of the second shell and the fourth shell is symmetric with respect to the connection surface. By setting at least part of the second shell and the fourth shell to be symmetric with respect to the connection surface, the center of gravity of the thigh housing is closer to the yaw axis, so that the thigh housing is not likely to cause the shaking and tipping of the humanoid robot when rotating around the yaw axis and the pitch axis, improving the static stability and dynamic stability of the humanoid robot, and at the same time improving the profiling degree of the thigh housing.

[0007] In one implementation, the outer peripheral surface of the thigh housing is a smoothly connected curved surface. In the orthographic projection in the third direction, at least part of the first surface and the second surface of the thigh housing facing away from each other in the first direction is a concave arc surface. The third direction is perpendicular to both the second direction and the pitch axis. In the orthographic projection in the first direction, the thigh housing has a third surface and a fourth surface facing away from each other in the third direction. The part of the third surface located in the second shell and the fourth shell is a concave arc surface towards the fourth surface, and the fourth surface is an arc surface protruding away from the third surface. The third surface is the rear surface of the humanoid robot. By setting the outer peripheral surface of the thigh housing to be a smoothly connected curved surface, in the orthographic projection in the third direction, at least part of the first surface and the second surface of the thigh housing facing away from each other in the first direction is a concave arc surface. In the orthographic projection in the first direction, the thigh housing has a third surface and a fourth surface facing away from each other in the third direction. The part of the third surface located in the second shell and the fourth shell is a concave arc surface towards the fourth surface, and the fourth surface is an arc surface protruding away from the third surface. The third surface is the rear surface of the humanoid robot, making the structure of the thigh housing more compact, so that the center of gravity of the thigh housing is closer to the yaw axis, improving the static stability and dynamic stability of the humanoid robot, and at the same time improving the profiling degree of the thigh housing.

[0008] In one implementation, the thigh housing is provided with a first opening that communicates with the external space on the side of the thigh housing away from the pitch drive member in the second direction, and the first opening also communicates with the external spaces on both sides of the thigh housing in the third direction. The calf assembly extends into the first opening. The second housing is provided with a first groove, and the fourth housing is provided with a second groove. The first groove and the second groove communicate with each other to form the first opening, and the first groove and the second groove are symmetric with respect to the connection surface. By providing the thigh housing with the first opening, the first opening communicates with the external space on the side of the thigh housing away from the pitch drive member in the second direction, and the first opening also communicates with the external spaces on both sides of the thigh housing in the third direction. The calf assembly extends into the first opening, enabling the calf assembly to rotate relative to the thigh housing in two opposite directions, 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, by providing the second housing with the first groove and the fourth housing with the second groove, the first groove and the second groove communicate with each other to form the first opening, and the first groove and the second groove are symmetric with respect to the connection surface, making the connection between the calf assembly and the drive mechanism closer to the yaw axis, so that the loads at various parts of the lower limb structure are more uniform, reducing the risk of damage to the lower limb structure, and improving the static and dynamic stability of the humanoid robot.

[0009] In one implementation, the first opening includes a first top wall and a second top wall that are spaced apart in the third direction. The first top wall and the second top wall are spaced apart in the second direction. Both the first top wall and the second top wall are used to limit the rotation angle of the calf assembly. By providing the first opening to penetrate through two opposite surfaces of the thigh housing in the third direction, and the first top wall and the second top wall are spaced apart in the second direction, and both the first top wall and the second top wall are used to limit the rotation angle of the calf assembly, the thigh assembly can limit the calf assembly only through the thigh housing itself without the need to provide additional structures, improving the integration degree of the thigh assembly and reducing the manufacturing cost.

[0010] In one embodiment, the thigh housing is further provided with a second opening communicating with the first opening. The second opening is located on a side of the first opening close to the pitching drive member. The second opening communicates with the external spaces on both sides of the thigh housing in the third direction. The second opening is used to accommodate at least a part of the drive mechanism. The second housing is further provided with a third groove, and the fourth housing is further provided with a fourth groove. The third groove and the fourth groove communicate with each other to form the second opening. The third groove and the fourth groove are symmetric with respect to the connection surface. By providing that the thigh housing is further provided with a second opening communicating with the first opening, the second opening is located on a side of the first opening close to the pitching drive member, the second opening communicates with the external spaces on both sides of the thigh housing in the third direction, the second opening is used to accommodate at least a part of the drive mechanism, the second housing is further provided with a third groove, the fourth housing is further provided with a fourth groove, the third groove and the fourth groove communicate with each other to form the second opening, and the third groove and the fourth groove are symmetric with respect to the connection surface, when the space inside the thigh housing is small, the drive mechanism can achieve a larger movement range by extending into the second opening, so that the calf assembly has a larger rotation angle, and at the same time, it is beneficial to reduce the volume and weight of the thigh housing.

[0011] 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 are spaced apart in the second direction. Both the third top wall and the fourth top wall are used to limit the movement of the drive mechanism. By providing that 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 are spaced apart in the second direction, and both the third top wall and the fourth top wall are used to limit the movement of the drive mechanism, the thigh assembly can realize the limitation of the drive mechanism only through the thigh housing itself without setting additional structures, which improves the integration degree of the thigh assembly and reduces the manufacturing cost.

[0012] In one embodiment, the drive mechanism includes a knee joint drive member, a crank, a first link, and a second link. The stator of the knee joint drive member is connected to the first housing. The crank is connected to the rotor of the knee joint drive member. One end of the first link is rotatably connected to the crank, and the other end of the first link is rotatably connected to the calf assembly. One end of the second link is rotatably connected to the crank, and the other end of the second link is rotatably connected to the calf assembly. The connection surface passes through the center line of the first link in the first direction and the center line of the second link in the first direction. At least a part of the first link and at least a part of the second link are configured to be received in the second opening. The third top wall is configured to limit the movement of the first link, and the fourth top wall is configured to limit the movement of the second link. By providing a drive mechanism including a knee joint drive member, a crank, a first link, and a second link, with the stator of the knee joint drive member connected to the first housing, the crank connected to the rotor of the knee joint drive member, one end of the first link rotatably connected to the crank, the other end of the first link rotatably connected to the calf assembly, one end of the second link rotatably connected to the crank, the other end of the second link rotatably connected to the calf assembly, at least a part of the first link and at least a part of the second link being configured to be received in the second opening, the third top wall configured to limit the movement of the first link, and the fourth top wall configured to limit the movement of the second link, the knee joint drive member and the pitch drive member can be arranged at the same end and are drivingly connected to the calf assembly through the crank, the first link, and the second link, making full use of the internal space of the thigh housing and requiring a relatively small layout space, which is beneficial to reducing the volume of the thigh housing. At the same time, by providing a connection surface passing through the center line of the first link in the first direction and the center line of the second link in the first direction, the force application points of the calf assembly on the first link and the second link are located on the connection surface, and the calf assembly is not prone to shaking and offset during rotation, improving the dynamic stability of the lower limb structure.

[0013] In one embodiment, an installation space is enclosed by the thigh outer shell, and the driving mechanism is housed in the installation space; the first outer shell includes a shell body and a first cover body. The shell body is connected to the second outer shell in the first direction. A first installation opening is formed on the surface of the shell body facing away from the second outer shell. The first installation opening communicates the installation space with the external space. The first installation opening is for the knee joint driving member to extend into the installation space. The first cover body is connected to the shell body and closes the first installation opening. By providing that an installation space is enclosed by the thigh outer shell, the driving mechanism is housed in the installation space, the first outer shell includes a shell body and a first cover body, the shell body is connected to the second outer shell in the first direction, a first installation opening is formed on the surface of the shell body facing away from the second outer shell, the first installation opening communicates the installation space with the external space, the first installation opening is for the knee joint driving member to extend into the installation space, and the first cover body is connected to the shell body and closes the first installation opening, the assembly difficulty of the knee joint driving member is reduced.

[0014] In one embodiment, the first outer shell further includes a first end plate. The first end plate is connected to one end of the shell body close to the second outer shell, and the outer peripheral surface of the first end plate is connected to the shell body. The knee joint driving member is located on the side of the first end plate facing away from the second outer 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 outer shell. By providing that the first outer shell further includes a first end plate, the first end plate is connected to one end of the shell body close to the second outer shell, the outer peripheral surface of the first end plate is connected to the shell body, the knee joint driving member is located on the side of the first end plate facing away from the second outer 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 outer shell, the connection between the knee joint driving member and the thigh outer shell is made more stable, and loosening and vibration are not likely to occur.

[0015] In one embodiment, the thigh assembly further includes a rotating shaft, which is received in the thigh housing. The rotating shaft connects the first housing and the second housing in the first direction. The rotating shaft is rotatably connected to the calf assembly. The driving mechanism is configured to drive the calf assembly to rotate relative to the thigh housing about the knee joint axis. The rotating shaft is rotationally symmetric with respect to the knee joint axis. The knee joint axis is parallel to the pitch axis. When the humanoid robot is in an upright state, the yaw axis extends along the vertical direction of the humanoid robot, intersects and is perpendicular to the knee joint axis. By providing the rotating shaft, which is received in the thigh housing, connects the first housing and the second housing in the first direction, is rotatably connected to the calf assembly, and the driving mechanism is configured to drive the calf assembly to rotate relative to the thigh housing about the knee joint axis, and the rotating shaft is rotationally symmetric with respect to the knee joint axis, and the knee joint axis is parallel to the pitch axis, and when the humanoid robot is in an upright state, the yaw axis extends along the vertical direction of the humanoid robot, intersects and is perpendicular to the knee joint axis, the connection between the calf assembly and the thigh housing is made more stable, and the force between the rotating shaft and the calf assembly is evenly distributed, making it less likely to wear out.

[0016] In one embodiment, the lower limb structure further includes a connecting shell. One end of the connecting shell is connected to the rotor of the yaw driving member, and the other end of the connecting shell is connected to the stator of the pitch driving member. One end of the second housing near the pitch driving member has a mounting groove, and the rotor of the pitch driving member is connected to the bottom wall surface of the mounting groove. The connecting shell is connected to the mounting groove in a matching manner. By providing that the lower limb structure further includes a connecting shell, one end of which is connected to the rotor of the yaw driving member and the other end is connected to the stator of the pitch driving member, the continuous transmission of power from the yaw driving member to the pitch driving member is ensured. The power generated when the yaw driving member works can be directly transmitted to the pitch driving member through the connecting shell, reducing the loss during the power transmission process. At the same time, by providing that one end of the second housing near the pitch driving member has a mounting groove, the rotor of the pitch driving member is connected to the bottom wall surface of the mounting groove, and the connecting shell is connected to the mounting groove in a matching manner, the connection between the pitch driving member and the thigh housing is made more stable, the structural strength of the lower limb structure is improved, and at the same time, the structure of the lower limb structure is made more compact.

[0017] In a second aspect, the present invention further provides a humanoid robot, including a roll driving member and the lower limb structure according to any one of the embodiments of the first aspect. The rotor of the roll driving member is connected to the stator of the yaw driving member. The roll driving member is configured to drive the lower limb structure to rotate about a roll axis, which intersects and is perpendicular to the yaw axis. 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, by adopting the roll driving member and the lower limb structure in the embodiments of the present invention, with the rotor of the roll driving member connected to the stator of the yaw driving member and the roll driving member configured to drive the lower limb structure to rotate about the roll axis, enables the lower limb structure to have three degrees of freedom, realizes the humanoid movement of the lower limb structure. At the same time, by setting the roll axis 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, it makes the lower limb structure not prone to shaking and tipping during both static and dynamic states, improving the static stability and dynamic stability of the humanoid robot. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 It is a structural diagram of a humanoid robot according to an embodiment;

[0020] Figure 2 It is a structural diagram of a lower limb structure according to an embodiment;

[0021] Figure 3 It is a structural diagram of a lower limb structure according to another embodiment;

[0022] Figure 4 It is a front view of a lower limb structure according to an embodiment;

[0023] Figure 5 It is a side view of a lower limb structure according to an embodiment;

[0024] Figure 6 It is an exploded view of a lower limb structure according to an embodiment;

[0025] Figure 7 It is an exploded view of a lower limb structure according to another embodiment.

[0026] Description of the Reference Numerals:

[0027] 1000 - Lower limb structure;

[0028] 100 - Thigh assembly;

[0029] 10 - Thigh housing, 11 - First housing, 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 mounting opening, 1182 - Positioning sliding groove, 12 - Second housing, 121 - Third shell, 122 - Fourth shell, 123 - Second surface, 124 - Second groove, 125 - Fourth groove, 126 - Mounting groove, 127 - Fourth limiting block, 13 - Connection 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 - Mounting space, 19 - First cover, 191 - Mounting bracket, 192 - First end plate, 193 - First through hole, 194 - First limiting block, 195 - Annular side plate, 196 - Positioning bracket;

[0030] 20 - Driving mechanism, 21 - Knee joint driving part, 22 - Crank, 23 - First connecting rod, 24 - Second connecting rod;

[0031] 30 - Cable harness part;

[0032] 40 - Rotating shaft, 41 - First section, 42 - Second section, 43 - Plug pin;

[0033] 50 - Connecting column, 51 - First column, 52 - Second column;

[0034] 200 - Yaw driving part, 201 - Second limiting block, 202 - Second calibration part;

[0035] 300 - Pitch driving part;

[0036] 400 - Calf assembly, 401 - Calf housing, 402 - Third housing, 403 - Fourth housing, 404 - First connecting plate, 405 - Second connecting plate;

[0037] 500 - Foot sole assembly;

[0038] 600 - Mounting part;

[0039] 700 - Controller;

[0040] 800 - Connecting shell, 801 - Second mounting opening, 802 - Second cover, 803 - Third limiting block, 804 - First calibration part, 805 - Limiting groove;

[0041] 2000 - Roll driving part;

[0042] 3000 - Hip joint housing;

[0043] L1 - Roll axis, L2 - Yaw axis, L3 - Pitch axis, L4 - Knee joint axis;

[0044] X - First direction, Y - Third direction, Z - Second direction. Detailed implementation

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0046] It should be noted that when a component is referred to as "fixed to" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0047] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the present invention in the specification 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.

[0048] The following will describe in detail some embodiments of the present invention with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0049] Please refer to Figure 1 , the present invention provides a humanoid robot, including a roll drive 2000 and the lower limb structure 1000 in the embodiment of the present invention. The rotor of the roll drive 2000 is connected to the stator of the yaw drive 200. The roll drive 2000 is used to drive the lower limb structure 1000 to rotate around the 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.

[0050] Optionally, there are two lower limb structures 1000 in the embodiment of the present invention, and there are also two roll drives 2000. The two lower limb structures 1000 are symmetrically arranged in the left - right direction 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 roll drives 2000 are arranged in one - to - one correspondence with the two lower limb structures 1000.

[0051] Optionally, the humanoid robot further includes a hip joint housing 3000. The roll drive 2000 is installed inside the hip joint housing 3000, and the rotor of the roll drive 2000 extends out of the hip joint housing 3000 to be connected to the stator of the yaw drive 200. Specifically, the two roll drives 2000 are spaced apart in the left-right direction of the hip joint housing 3000, and the two lower limb structures 1000 are symmetrically arranged in the left-right direction of the hip joint housing 3000 in a mirror image manner.

[0052] Optionally, the humanoid robot further 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. In the embodiment of the present invention, the lower limb structure 1000 is arranged at one end of the hip joint housing 3000 facing away from the torso structure. The head and neck structure is installed at one end of the torso structure facing away from the hip joint housing 3000, and the two upper limb structures are respectively connected to both ends of the torso structure in the left-right direction.

[0053] In the humanoid robot provided by the present invention, by adopting the roll drive 2000 and the lower limb structure 1000 in the embodiment of the present invention, the rotor of the roll drive 2000 is connected to the stator of the yaw drive 200. The roll drive 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, realizing the humanoid movement of the lower limb structure 1000. At the same time, 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, so that the lower limb structure 1000 is not prone to shaking and tipping during both static and dynamic states, improving the static stability and dynamic stability of the humanoid robot.

[0054] Please refer to Figures 1 to 3, the present invention further provides a lower limb structure 1000 for a humanoid robot, which includes a yaw drive member 200, a pitch drive member 300, a thigh assembly 100, and a calf assembly 400. The stator of the pitch drive member 300 is connected to the rotor of the yaw drive member 200, and the yaw drive member 200 is used to drive the pitch drive member 300 to rotate around the yaw axis L2. The thigh assembly 100 includes a thigh housing 10 and a drive mechanism 20. The thigh housing 10 includes a first housing 11 and a second housing 12. The first housing 11 and the second housing 12 are connected in the first direction X. One end of the second housing 12 is connected to the rotor of the pitch drive member 300, and the pitch drive member 300 is used to drive the thigh assembly 100 to rotate around the pitch axis L3. The drive mechanism 20 is housed in the thigh housing 10 and is installed at one end of the first housing 11 close to the pitch drive member 300. The connection surface 13 between the first housing 11 and the second housing 12 is a plane. The yaw axis L2 coincides with the connection 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 housing 10 away from the yaw drive member 200. 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 housing 10.

[0055] Among them, the yaw drive member 200 drives the pitch drive member 300 to rotate around the yaw axis L2, and further drives the thigh assembly 100 and the calf 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, and further drives the calf assembly 400 to rotate around the yaw axis L2. Among them, the two first housings 11 of the two lower limb structures 1000 are arranged oppositely, that is, both are located inside the humanoid robot, and the two second housings 12 are arranged away from each other, that is, both are located outside the humanoid robot.

[0056] Optionally, the lower limb structure 1000 further includes a foot assembly 500, and the foot assembly 500 is connected to one end of the calf assembly 400 away from the thigh assembly 100. Optionally, the foot member can rotate relative to the calf assembly 400 around two intersecting and perpendicular axes. When the humanoid robot is in an upright state, the intersection point of the two axes is located on the yaw axis L2 to improve the stability of the lower limb structure 1000.

[0057] Optionally, the lower limb structure 1000 further includes a mounting member 600. The mounting member 600 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 to achieve quick installation and disassembly of the lower limb structure 1000 and the roll drive member 2000.

[0058] Optionally, the calf assembly 400 includes a calf housing 401, which includes a third housing 402 and a fourth housing 403. The third housing 402 and the fourth housing 403 are connected in the first direction X, and the connection surface 13 of the third housing 402 and the fourth housing 403 is the same plane as the connection surface 13 of the first housing 11 and the second housing 12. The drive mechanism 20 is connected between the third housing 402 and the fourth housing 403, and at least part of the drive mechanism for driving the foot member to rotate is also installed between the third housing 402 and the fourth housing 403. Specifically, the calf assembly 400 further includes a first connecting plate 404 and a second connecting plate 405. The first connecting plate 404 is connected to the third housing 402, the second connecting plate 405 is connected to the fourth housing 403, the first connecting plate 404 is connected to the second connecting plate 405, the drive 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 symmetric with respect to the connection surface 13. Optionally, the third housing 402 and the fourth housing 403 have equal dimensions in the direction perpendicular to the connection surface 13 at the same position. Optionally, the first connecting plate 404 and the third housing 402 are of an integral structure, and the second connecting plate 405 and the fourth housing 403 are of an integral structure.

[0059] Optionally, a plurality of reinforcing ribs are provided inside the thigh housing 10, and both the first housing 11 and the second housing 12 are provided with reinforcing ribs to enhance the structural strength of the thigh housing 10. Optionally, the thigh assembly 100 further includes a plurality of wire harness members 30. The plurality of wire harness members 30 are all received inside the thigh housing 10, and at least one wire harness member 30 is installed on both the first housing 11 and the second housing 12. The wire harness member 30 is used to fix the wires inside the thigh housing 10. Optionally, wire passing openings and / or wire grooves for wires to pass through are provided on the inner surfaces of the thigh housing 10 and the calf housing 401.

[0060] Optionally, the lower limb structure 1000 further includes a controller 700. The controller 700 is received inside the thigh housing 10 and is installed at one end of the second housing 12 close to the pitch drive member 300. The controller 700 is electrically connected to at least one of the drive mechanism 20, the pitch drive member 300, the yaw drive member 200, and the drive mechanism in the calf assembly 400 through wires.

[0061] By arranging that both the driving mechanism 20 and the pitching driving member 300 are installed at the same end of the thigh housing 10 and are respectively located on both sides of the yaw axis L2, the yaw axis L2 passes through the connection surface 13 between the first housing 11 and the second housing 12, and the yaw axis L2 also intersects and is perpendicular to the pitching axis L3, the distance between the center of gravity of the lower limb structure 1000 and the yaw axis L2 is made smaller or 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, improving the static stability and dynamic stability of the humanoid robot.

[0062] Please refer to Figure 4 , the length direction of the thigh assembly 100 is the second direction Z. The first housing 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. One end of the second shell 112 away from the first shell 111 is rotatably connected to the calf assembly 400; the second housing 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 pitching driving member 300. One end of the fourth shell 122 away from the third shell 121 is rotatably connected to the calf assembly 400. The third shell 121 is connected to the first shell 111, and the fourth shell 122 is connected to the second shell 112, and at least part of the second shell 112 and the fourth shell 122 is symmetric with respect to the connection surface 13.

[0063] Wherein, in the orthographic projection in the third direction Y, the dimensions of the second shell 112 and the fourth shell 122 in the first direction X at the same position are equal. Since a plurality of screw holes are provided on the second shell 112, the second shell 112 and the fourth shell 122 are only dimensionally consistent as a whole, that is, they are symmetric with respect to the connection surface 13 as a whole. Optionally, the first shell 111 and the second shell 112 are of an integral structure, and the third shell 121 and the fourth shell 122 are of an integral structure.

[0064] By arranging that at least part of the second shell 112 and the fourth shell 122 is symmetric with respect to the connection surface 13 in the orthographic projection in the third direction Y, the center of gravity of the thigh housing 10 is made closer to the yaw axis L2, so that the thigh housing 10 is not prone to causing the shaking and tipping over of the humanoid robot when rotating around the yaw axis L2 and the pitching axis L3, improving the static stability and dynamic stability of the humanoid robot, and at the same time improving the profiling degree of the thigh housing 10.

[0065] Please refer to Figure 4 and Figure 5, the outer peripheral surface of the thigh housing 10 is a smoothly connected curved surface; in the positive projection in the third direction Y, at least part of the first surface 113 and the second surface 123 of the thigh housing 10 facing away from each other in the first direction X are concave arc surfaces, and the third direction Y is perpendicular to both the second direction Z and the pitch axis L3; in the positive projection in the first direction X, the thigh housing 10 has a third surface 14 and a fourth surface 15 facing away from each other in the third direction Y. The part of the third surface 14 located at the second housing 112 and the fourth housing 122 is an arc surface concave toward the fourth surface 15, and the fourth surface 15 is an arc surface protruding away from the third surface 14. The third surface 14 is the rear surface of the humanoid robot.

[0066] Among them, the first surface 113 is located at the first housing 11, the second surface 123 is located at the second housing 12, and each of the third surface 14 and the fourth surface 15 has half located at the first housing 11 and the other half located at the second housing 12. Optionally, the first housing 11 further includes a fifth surface 114 and a sixth surface 115. The fifth surface 114 is connected to one 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 the other end of the first surface 113 away from the fifth surface 114 and is smoothly connected to the first surface 113. Both the fifth surface 114 and the sixth surface 115 are smoothly connected to the third surface 14 and the fourth surface 15. Both the fifth surface 114 and the sixth surface 115 are arc surfaces protruding away from the second housing 12 to form part of the humanoid appearance surface of the thigh housing 10. Optionally, the structure of the second housing 12 is similar to that of the first housing 11, which can be referred to and will not be elaborated here. Optionally, both ends of the third surface 14 close to the pitch driving member 300 and close to the calf assembly 400 are protruding arc surfaces.

[0067] By setting the outer peripheral surface of the thigh housing 10 as a smoothly connected curved surface; in the positive projection in the third direction Y, at least part of the first surface 113 and the second surface 123 of the thigh housing 10 facing away from each other in the first direction X are concave arc surfaces; in the positive projection in the first direction X, the thigh housing 10 has a third surface 14 and a fourth surface 15 facing away from each other in the third direction Y. The part of the third surface 14 located at the second housing 112 and the fourth housing 122 is an arc surface concave toward the fourth surface 15, and the fourth surface 15 is an arc surface protruding away from the third surface 14. The third surface 14 is the rear surface of the humanoid robot, making the structure of the thigh housing 10 more compact, so that the center of gravity of the thigh housing 10 is closer to the yaw axis L2, improving the static stability and dynamic stability of the humanoid robot, and at the same time improving the degree of imitation of the thigh housing 10.

[0068] Please refer to Figures 2 to 4, the thigh housing 10 is provided with a first opening 16. The first opening 16 communicates with the external space on the side of the thigh housing 10 away from the pitching drive member 300 in the second direction Z, and the first opening 16 also communicates with the external spaces on both sides of the thigh housing 10 in the third direction Y. The calf assembly 400 extends into the first opening 16. The second housing 112 is provided with a first groove 116, and the fourth housing 122 is provided with a second groove 124. The first groove 116 and the second groove 124 communicate with each other to form the first opening 16, and the first groove 116 and the second groove 124 are symmetric with respect to the connecting surface 13.

[0069] Specifically, the first opening 16 is an opening formed on the thigh housing 10 along the direction in which the calf assembly 400 approaches the pitching drive member 300. The aforementioned first connecting plate 404 and second connecting plate 405 extend into the first opening 16 to be connected to the drive mechanism 20. Optionally, there are gaps between the two side wall surfaces of the first opening 16 opposite to each other in the first direction X and the calf assembly 400.

[0070] Wherein, during the process of the drive mechanism 20 driving the calf assembly 400 to rotate relative to the thigh housing 10, a part of the aforementioned first connecting plate 404 and second connecting plate 405 can extend out of the thigh housing 10 from the first opening 16 to expand the rotation range of the calf assembly 400.

[0071] In a specific embodiment, the two side wall surfaces of the first opening 16 opposite to each other in the first direction X both extend along the length direction of the thigh housing 10 and are parallel to each other. The width of the first opening 16 in the first direction X is D1, and the sum of the widths of the parts of the first connecting plate 404 and second connecting plate 405 for passing through the first opening 16 in the first direction X is D2, satisfying 1 < D1 / D2 ≤ 2, so as to prevent the first opening 16 from interfering with the first connecting plate 404 and the second connecting plate 405 while minimizing 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 walls of the first opening 16 in the first direction X. When 2 < D1 / D2, the gap between the side walls of the first opening 16 and the first connecting plate 404 and the second connecting plate 405 is too large, which is likely to cause external debris to enter the first opening 16 and damage the internal structure of the thigh housing 10.

[0072] By providing that the thigh housing 10 is provided with a first opening 16, the first opening 16 communicates with the external space on the side of the thigh housing 10 away from the pitch driving member 300 in the second direction Z, and the first opening 16 also communicates with the external spaces on both sides of the thigh housing 10 in the third direction Y. The calf assembly 400 extends into the first opening 16, so that the calf assembly 400 can rotate relative to the thigh housing 10 in two opposite directions, enabling the calf assembly 400 to have multiple degrees of freedom, thereby enhancing the movement ability of the entire lower limb structure 1000. At the same time, the second housing 112 is provided with a first groove 116, and the fourth housing 122 is provided with a second groove 124. The first groove 116 and the second groove 124 communicate to form the first opening 16. The first groove 116 and the second groove 124 are symmetric with respect to the connecting surface 13, so that the connection between the calf assembly 400 and the driving mechanism 20 is closer to the yaw axis L2, making the loads at various parts of the lower limb structure 1000 more uniform, reducing the risk of damage to the lower limb structure 1000, and improving the static stability and dynamic stability of the humanoid robot.

[0073] Please refer to Figure 2 and Figure 3 The first opening 16 includes a first top wall 161 and a second top wall 162 that are spaced apart in the third direction Y. The first top wall 161 and the second top wall 162 are spaced apart in the second direction Z. Both the first top wall 161 and the second top wall 162 are used to limit the rotation angle of the calf assembly 400.

[0074] 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, both the first top wall 161 and the second top wall 162 are used to abut against the aforementioned first connecting plate 404 and the second connecting plate 405 to limit the rotation of the calf assembly 400.

[0075] Optionally, both the first top wall 161 and the second top wall 162 extend along the first direction X. Among them, 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 towards the first top wall 161 side is less than the maximum rotation angle of the calf assembly 400 towards the second top wall 162 side.

[0076] By providing that the first opening 16 penetrates through two opposite surfaces of the thigh housing 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, and both the first top wall 161 and the second top wall 162 are used to limit the rotation angle of the calf assembly 400, the thigh assembly 100 can limit the calf assembly 400 only through the thigh housing 10 itself without the need to provide additional structures, improving the integration of the thigh assembly 100 and reducing the manufacturing cost.

[0077] Please refer toFigure 2 and Figure 3 Moreover, the thigh housing 10 is further provided with a second opening 17 communicating with the first opening 16. The second opening 17 is located on a side of the first opening 16 close to the pitching driving member 300. The second opening 17 communicates with the external spaces on both sides of the thigh housing 10 in the third direction Y. The second opening 17 is used for accommodating at least part of the driving mechanism 20. The second housing 112 is further provided with a third groove 117, and the fourth housing 122 is further provided with a fourth groove 125. The third groove 117 and the fourth groove 125 communicate with each other to form the second opening 17. The third groove 117 is symmetric with respect to the relative connection surface 13 of the fourth groove 125.

[0078] Optionally, the driving mechanism 20 is drivingly connected to the calf assembly 400 through a first connecting rod 23 and a second connecting rod 24. The knee joint driving member 21 of the driving mechanism 20 drives the first connecting rod 23 and the second connecting rod 24 to move simultaneously, so as to drive the calf assembly 400 to rotate relative to the thigh housing 10. When the moving distances of the first connecting rod 23 and the second connecting rod 24 are relatively large, there is a risk of collision with the inner wall surface of the thigh housing 10, resulting in limited moving ranges of the first connecting rod 23 and the second connecting rod 24 and thus limited rotation angles of the calf assembly 400.

[0079] Optionally, during the process of the first connecting rod 23 and the second connecting rod 24 driving the calf assembly 400 to rotate relative to the thigh housing 10, a part of each of the first connecting rod 23 and the second connecting rod 24 can extend out of the thigh housing 10 from the second opening 17, so as to enlarge the rotation range of the calf assembly 400.

[0080] In a specific embodiment, the two side wall surfaces of the second opening 17 opposite to each other in the first direction X both extend along the length direction of the thigh housing 10 and are parallel to each other. The width of the second opening 17 in the first direction X is D3, and the width of the parts of the first connecting rod 23 and the second connecting rod 24 for passing through the second opening 17 in the first direction X is D4, satisfying 1 < D3 / D4 ≤ 2, so that while the second opening 17 does not interfere with the movement of the first connecting rod 23 and the second connecting rod 24, the opening width of the second opening 17 can be reduced as much as possible. When D3 / D4 < 1, the first connecting rod 23 and the second connecting rod 24 will interfere with the side walls 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 easily causes external sundries to enter the second opening 17 and damage the internal structure of the thigh housing 10.

[0081] By providing that the thigh housing 10 is further provided with a second opening 17 communicating 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 communicates with the external spaces on both sides of the thigh housing 10 in the third direction Y, and the second opening 17 is used to accommodate at least a part of the driving mechanism 20; the second housing 112 is further provided with a third groove 117, and the fourth housing 122 is further provided with a fourth groove 125. The third groove 117 and the fourth groove 125 communicate to form the second opening 17. The third groove 117 is symmetric with respect to the relative connection surface 13 of the fourth groove 125, so that when the space in the thigh housing 10 is small, the driving mechanism 20 can achieve a larger movement range by extending into the second opening 17, thereby enabling the calf assembly 400 to have a larger rotation angle, and at the same time being beneficial to reducing the volume and weight of the thigh housing 10.

[0082] 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. Both the third top wall 171 and the fourth top wall 172 are used to limit the movement of the driving mechanism 20.

[0083] Optionally, the third top wall 171 and the aforementioned first top wall 161 are arranged on the same side in the third direction Y, and the fourth top wall 172 and the aforementioned second top wall 162 are arranged on the same side 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 respectively used to abut against the aforementioned first link 23 and the second link 24 to limit the movement of the first link 23 and the second link 24.

[0084] Optionally, the third top wall 171 is located on the 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 link 23 and the second link 24 drive the calf assembly 400 to rotate relative to the thigh housing 10, the movement ranges of the first link 23 and the second link 24 in the second opening 17 correspond to the movement ranges of the first connecting plate 404 and the second connecting plate 405 in the first opening 16, improving the coordination between the calf assembly 400 and the thigh assembly 100 when the calf assembly 400 rotates.

[0085] By setting the second opening 17 to include a third top wall 171 and a fourth top wall 172 that are spaced apart in the third direction Y, and the third top wall 171 and the fourth top wall 172 are spaced apart in the second direction Z. Both the third top wall 171 and the fourth top wall 172 are used to limit the movement of the drive mechanism 20, so that the thigh assembly 100 can achieve the limit of the drive mechanism 20 only through the thigh housing 10 itself, without the need to set additional structures, improving the integration of the thigh assembly 100 and reducing the manufacturing cost.

[0086] Please refer to Figure 6 and Figure 7 , the drive mechanism 20 includes a knee joint drive member 21, a crank 22, a first connecting rod 23, and a second connecting rod 24. The stator of the knee joint drive member 21 is connected to the first housing 11, the crank 22 is connected to the rotor of the knee joint drive 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, and the other end of the second connecting rod 24 is rotatably connected to the calf assembly 400. At least part of the first connecting rod 23 and at least part of the second connecting rod 24 are used to be received 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.

[0087] Optionally, both the first connecting rod 23 and the second connecting rod 24 are 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 through bearings. Optionally, in the orthographic projection in the first direction X and in the orthographic projection in the third direction Y, the projection shapes of the first connecting rod 23 and the second connecting rod 24 are both axisymmetric figures.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] Optionally, the first housing 11 further includes a positioning bracket 196. A positioning chute 1182 is formed on the inner wall surface of the housing main body 118. The positioning bracket 196 is first fixedly connected to the first cover 19. Then, the positioning bracket 196 and the first cover 19 are simultaneously fixedly connected to the housing main body 118 to close the first installation opening 1181. During this process, the positioning bracket 196 extends into the positioning chute 1182 and slides to the bottom along the extending direction of the positioning chute 1182, so as to facilitate positioning when installing the first cover 19, without the need to align multiple screw holes or riveting holes. Optionally, the positioning bracket 196 and the first cover 19 can be of an integral structure, or can be detachably connected by means of clamping, screwing, riveting, etc., without limitation.

[0092] By providing that the thigh housing 10 encloses an installation space 18, the driving mechanism 20 is received in the installation space 18. The first housing 11 includes a housing main body 118 and a first cover 19. The housing main body 118 is connected to the second housing 12 in the first direction X. A first installation opening 1181 is formed on the surface of the housing main body 118 facing away from the second housing 12. The first installation opening 1181 communicates the installation space 18 and the external space. The first installation opening 1181 is for the knee joint driving member 21 to extend into the installation space 18. The first cover 19 is connected to the housing main body 118 and closes the first installation opening 1181, reducing the assembly difficulty of the knee joint driving member 21.

[0093] Please refer to Figure 6 and Figure 7 , the first housing 11 further includes a first end plate 192. The first end plate 192 is connected to one end of the housing main body 118 close to the second housing 12, and the outer peripheral surface of the first end plate 192 is connected to the housing main body 118. The knee joint driving member 21 is located on the side of the first end plate 192 facing away from the second housing 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 housing 12.

[0094] Optionally, the first end plate 192 is provided with a first through hole 193. The rotor of the knee joint driving member 21 is fixedly connected to the crank 22 through the first through hole 193. Optionally, a first limiting block 194 is provided on the surface of the first end plate 192 facing the crank 22. The first limiting block 194 is used to abut against the crank 22 to limit the crank 22. Optionally, the thigh housing 10 further includes an annular side plate 195. The annular side plate 195 is connected to the surface of the first end plate 192 facing away from the second housing 12. The annular end plate is sleeved on the stator of the knee joint driving member 21 to limit the knee joint driving member 21 in the radial direction of the through hole.

[0095] By setting that the first housing 11 further includes a first end plate 192, the first end plate 192 is connected to one end of the housing main body 118 close to the second housing 12, and the outer peripheral surface of the first end plate 192 is connected to the housing main body 118. The knee joint driving member 21 is located on the side of the first end plate 192 facing away from the second housing 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 housing 12, making the connection between the knee joint driving member 21 and the thigh housing 10 more stable and not prone to loosening and vibration.

[0096] Please refer to Figure 6 and Figure 7 , the thigh assembly 100 further includes a rotating shaft 40. The rotating shaft 40 is received in the thigh housing 10. The rotating shaft 40 connects the first housing 11 and the second housing 12 in the first direction X. The rotating shaft 40 is rotatably connected to the calf assembly 400. The driving mechanism 20 is used to drive the calf assembly 400 to rotate relative to the thigh housing 10 around the knee joint axis L4. The rotating shaft 40 is rotationally symmetric 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 and is perpendicular to the knee joint axis L4.

[0097] Specifically, the projection shape of the rotating shaft 40 in the first direction X is circular, and the knee joint axis L4 passes through the center of the circle. Optionally, the rotating shaft 40 is received in the thigh housing 10. The rotating shaft 40 includes a first section 41 and a second section 42. The first section 41 is connected to the first housing 11, and the second section 42 is connected to the second housing 12. When the first housing 11 and the second housing 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 a pin 43 to form the rotating shaft 40. Optionally, the rotating shaft 40 passes through the aforementioned first connecting plate 404 and second connecting plate 405 in the first direction X, and a bushing is sleeved outside the rotating shaft 40 to prevent wear.

[0098] Optionally, the thigh assembly 100 further includes a connecting column 50. The connecting column 50 is received in the thigh housing 10 and is located on the side of the rotating shaft 40 away from the calf assembly 400. The connecting column 50 connects the first housing 11 and the second housing 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 housing 11, and the second column 52 is connected to the second housing 12. The first column 51 and the second column 52 can be detachably connected by means such as screwing, clamping, and riveting, without limitation, so that the connection between the first housing 11 and the second housing 12 at the end close to the calf assembly 400 is more stable.

[0099] By providing a rotating shaft 40, which is received within the thigh housing 10, the rotating shaft 40 connects the first housing 11 and the second housing 12 in the first direction X. The rotating shaft 40 is rotatably connected to the calf assembly 400. The drive mechanism 20 is used to drive the calf assembly 400 to rotate relative to the thigh housing 10 about the knee joint axis L4. The rotating shaft 40 is rotationally symmetric 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 and is perpendicular to the knee joint axis L4, making the connection between the calf assembly 400 and the thigh housing 10 more stable, and the force between the rotating shaft 40 and the calf assembly 400 is evenly distributed, and wear is not likely to occur.

[0100] Please refer to Figure 6 and Figure 7 , the lower limb structure 1000 further includes a connecting shell 800. One end of the connecting shell 800 is connected to the rotor of the yaw drive member 200, and the other end of the connecting shell 800 is connected to the stator of the pitch drive member 300. One end of the second housing 12 close to the pitch drive member 300 has a mounting groove 126, and the rotor of the pitch drive member 300 is connected to the bottom wall surface of the mounting groove 126. The connecting shell 800 is connected to the mounting groove 126 in a mating manner.

[0101] Optionally, a second mounting opening 801 is formed on the surface of the connecting shell 800 facing away from the first housing 11. The second mounting opening 801 is used for mounting the pitch drive member 300. The lower limb structure 1000 further includes a second cover 802, and the second cover 802 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 drive 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 drive member 300, so as to make the lower limb structure 1000 more anthropomorphic.

[0102] Optionally, a second limiting block 201 is provided on the stator of the yaw drive member 200, and a third limiting block 803 is provided on the connecting shell 800. The second limiting block 201 is used to abut against the third limiting block 803 to limit the rotation angle of the connecting shell 800 relative to the stator of the yaw drive. Optionally, a first calibration portion 804 is provided on the connecting shell 800, and a second calibration portion 202 is provided on the second limiting 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 rotation of the connecting shell 800 relative to the stator of the yaw drive member 200.

[0103] Optionally, the outer peripheral surface of the end of the connection housing 800 connected to the pitch driving member 300 and the side wall surface of the mounting groove 126 are both arc surfaces and have a gap. Optionally, a fourth limiting block 127 is provided on the bottom wall surface of the mounting groove 126, and a limiting groove 805 extending in the circumferential direction is formed on the surface of the connection housing 800 facing the bottom wall surface of the mounting groove 126. The fourth limiting block 127 is used to abut against the two side walls of the limiting groove 805 in the circumferential direction to limit the relative rotation angle between the connection housing 800 and the thigh housing 10.

[0104] By providing that the lower limb structure 1000 further includes a connection housing 800, one end of the connection housing 800 is connected to the rotor of the yaw driving member 200, and the other end of the connection housing 800 is connected to the stator of the pitch driving member 300, the continuous transmission of power from the yaw driving member 200 to the pitch driving member 300 is ensured. When the yaw driving member 200 works, the power generated can be directly transmitted to the pitch driving member 300 through the connection housing 800, reducing the loss during the power transmission process. At the same time, it is provided that one end of the second housing 12 close to the pitch driving member 300 has a mounting groove 126, the rotor of the pitch driving member 300 is connected to the bottom wall surface of the mounting groove 126, and the connection housing 800 is cooperatively connected with the mounting groove 126, making the connection between the pitch driving member 300 and the thigh housing 10 more stable, improving the structural strength of the lower limb structure 1000, and at the same time making the structure of the lower limb structure 1000 more compact.

[0105] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0106] The above-disclosed is only a preferred embodiment of the present invention, and of course, it cannot be used to limit the scope of rights of the present invention. Those of ordinary skill in the art can understand the whole or part of the process of implementing the above embodiments, and the 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); A calf assembly (400), wherein the thigh shell (10) is provided with a first opening (16), the calf assembly (400) extends into the first opening (16), and is rotatably connected to an end of the thigh shell (10) away from the yaw drive member (200), 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); 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 length direction of the thigh component (100) is the second direction (Z), and the second opening (17) includes a third top wall (171) and a fourth top wall (172) spaced apart in the third direction (Y), and 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), and the third direction (Y) is perpendicular to the second direction (Z) and the pitch axis (L3).

2. The lower limb structure (1000) according to claim 1, characterized in that: The first housing (11) comprises a first housing (111) and a second housing (112) connected in the second direction (Z), the driving mechanism (20) is mounted on the first housing (111), and one end of the second housing (112) away from the first housing (111) is rotatably connected to the calf assembly (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 curved surfaces; 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 2, characterized in that: The first opening (16) is 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), and the first opening (16) is also connected to external spaces on both sides of the thigh shell (10) in the third direction (Y); 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 2, characterized in that: 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 1, 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).

8. The lower limb structure (1000) according to claim 7, 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).

9. The lower limb structure (1000) according to claim 8, 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).

10. 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).

11. 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).

12. 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 11, 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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