Leg assembly and humanoid robot

Abstract

The leg assembly is used for the humanoid robot, the leg assembly comprises a thigh shell, a first driving piece, a shank piece and a first connecting rod, and one end, in the first direction, of the thigh shell is used for being connected with a crotch assembly; at least part of the first driving piece is contained in the thigh shell; the shank part is rotationally connected with one end, far away from the crotch assembly, of the thigh shell in the first direction; the first connecting rod comprises a first end and a second end which are opposite, the first end is connected with the first driving piece, the second end is connected with the shank piece, and the first end is located on the outer side of the second end in the second direction; the first direction is the up-down direction of the humanoid robot, and the second direction is the left-right direction of the humanoid robot. According to the leg assembly, the size of the humanoid robot in the left-right direction can be reduced, the gravity center is not prone to shifting, and the humanoid effect is good.

Description

Technical Field

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

[0002] Humanoid robots can imitate the appearance and movement of the human body and have broad development prospects. Similar to the human body, the structure of humanoid robots includes leg components, hip components and torso components, and the hip components are connected to the leg components and torso components respectively.

[0003] At present, most leg assemblies place the driving parts for driving the thigh and calf to rotate relative to each other at the thigh, which results in the humanoid robot being too large in left-right direction, the center of gravity being easily shifted, and the anthropomorphic effect being poor. Summary of the invention

[0004] The purpose of the present application is to provide a leg assembly and a humanoid robot to solve the problems of the leg assembly being too large in the left and right directions of the humanoid robot, the center of gravity being offset, and the anthropomorphic effect being poor.

[0005] To achieve the purpose of this application, this application provides the following technical solutions: In the first aspect, the present application provides a leg assembly for a humanoid robot, the humanoid robot also including a crotch assembly, the leg assembly including a thigh shell, a first driving member, a calf member and a first connecting rod, the thigh shell at one end in a first direction being used to connect with the crotch assembly; at least a portion of the first driving member is accommodated in the thigh shell; the calf member is rotatably connected to one end of the thigh shell away from the crotch assembly in the first direction; the first connecting rod includes a first end and a second end opposite to each other, the first end being connected to the first driving member, the second end being connected to the calf member, and the first end being located on the outside of the second end in the second direction; the first direction is the up and down direction of the humanoid robot, and the second direction is the left and right direction of the humanoid robot.

[0006] The leg assembly in the embodiment of the present application is connected to the first driving member and the calf member by setting a first connecting rod, and the first end of the first connecting rod connected to the first driving member is located on the outside of the second end connected to the calf member, and the connection positions of the first driving member and the second end with the calf member are both roughly located on the center line of the leg assembly, which can reduce the size of the leg assembly in the second direction, and the weight distribution of the leg assembly is more uniform, the center of gravity is not easy to shift, and the anthropomorphic effect is good.

[0007] In one embodiment, the first connecting rod is a bent rod and includes a first rod, a second rod and a third rod connected in sequence, the end of the first rod away from the second rod is the first end, the end of the third rod away from the second rod is the second end, the first rod and the second rod have a first angle A, and the second rod and the third rod have a second angle B.

[0008] By setting the first connecting rod as a bent rod, the sizes of the first angle A and the second angle B can be determined according to actual needs, thereby avoiding interference between the first connecting rod and the first driving member and the thigh shell.

[0009] In one implementation, the following conditions are also satisfied: 90°≤A<180°, and / or, 90°≤B<180°.

[0010] By setting the first angle A and the second angle B to satisfy: 90°≤A<180°, and / or, 90°≤B<180°, the sizes of the first angle A and the second angle B are determined according to actual needs, and the connection between the first connecting rod, the first driving member and the calf member is facilitated while avoiding interference between the first connecting rod and the first driving member and the thigh shell.

[0011] In one embodiment, a surface of the second rod facing away from the first driving member is provided with reinforcing ribs, and the reinforcing ribs also extend to the first rod and / or the third rod.

[0012] By arranging reinforcing ribs on the surface of the second rod facing away from the first driving member, the structural strength of the second rod can be enhanced, thereby improving the connection stability between the second rod and the first rod and the third rod. The second rod is not easy to bend and has a long service life.

[0013] In one embodiment, the leg assembly also includes a crank and a second connecting rod, the crank is fixedly connected to the rotor of the first driving member, and the first end is rotatably connected to the crank; the second connecting rod includes a third end and a fourth end opposite to each other, the third end is rotatably connected to the crank, and the fourth end is connected to the calf member, and the connection positions of the first end and the fourth end with the crank are symmetrical relative to the axis center of the rotor of the first driving member.

[0014] By setting the leg assembly to also include a second connecting rod and a crank, the first driving member transmits power to the calf member through the crank, the first connecting rod and the second connecting rod to drive the calf member to rotate around the fourth axis. This transmission method is not only simple and compact in structure, but also can effectively convert the power of the first driving member into rotation of the calf member with low power loss.

[0015] In one embodiment, in the orthographic projection in the second direction, the first link and the second link are parallel and extend in a straight line, and in the third direction, the first link and the second link are spaced apart, and the third direction is the front-rear direction of the humanoid robot.

[0016] By arranging the first connecting rod and the second connecting rod to be parallel and spaced apart, mutual interference is avoided, while optimizing the overall layout, and also helping to achieve weight balance of the leg assembly, thereby improving the stability of the humanoid robot and the smoothness of walking.

[0017] In one embodiment, the calf member includes a first connecting portion and a second connecting portion, the first connecting portion is rotationally connected to the first connecting rod, and the second connecting portion is rotationally connected to the second connecting rod; the first connecting rod is closer to the front side of the humanoid robot in the third direction than the second connecting rod, and the first connecting portion is closer to the first driving member in the first direction than the second connecting portion.

[0018] By providing a first connecting part rotatably connected to the first connecting rod and a second connecting part rotatably connected to the second connecting rod, the first connecting rod is closer to the front side of the humanoid robot in the third direction than the second connecting rod, the first connecting part is closer to the first driving member in the first direction, and the rotation mode of the calf member relative to the thigh shell is set to imitate the rotation mode of the calf of the human body relative to the thigh toward the rear, thereby achieving a good anthropomorphic effect.

[0019] In one embodiment, the thigh shell includes a first shell, the first shell includes a first cylinder and a second cylinder, the first cylinder is connected to the outer periphery of the second cylinder, the first cylinder is used to be connected and fixed to the crotch assembly, and the second cylinder is connected and fixed to the stator of the first drive member.

[0020] By setting the first shell, the first cylinder is used to be rotatably connected to the crotch assembly, and the second cylinder is fixedly connected to the stator of the first driving member. The first shell provides support for the two driving members at the same time, which simplifies the structure and provides stable support.

[0021] In one embodiment, the second cylinder includes a first surface and a second surface opposite to each other in the second direction, a receiving groove is opened from the first surface, at least a portion of the first driving member is received in the receiving groove, a receiving hole is opened on the second surface, the receiving hole is connected to the receiving groove, the rotor of the first driving member is exposed from the receiving hole to the second surface, and the crank, the first connecting rod and the second connecting rod are located on the side of the second surface opposite to the first surface.

[0022] By arranging the second cylinder with a receiving groove from the first surface, the rotor of the first driving member is exposed from the second surface and is connected and fixed to the crank on the side facing away from the second surface. The weight distribution of the leg assembly is more uniform and not easy to tilt.

[0023] In one embodiment, a limiting portion is provided on the second surface, and the limiting portion is used to limit the rotation range of the crank.

[0024] The limit portion allows the crank to rotate within a predetermined angle range, preventing the crank from moving too much and interfering with other nearby components. This helps reduce shaking and instability when the humanoid robot is walking, running or performing other complex movements, and improves the overall movement performance of the leg assembly.

[0025] In one embodiment, the first shell further includes a mounting portion, the mounting portion is connected to the outer periphery of the second cylinder facing away from the first cylinder, a step is provided at one end of the mounting portion away from the second cylinder, and the calf member is rotatably connected to the step.

[0026] By setting a mounting portion, the mounting portion is connected to the outer periphery of the second cylinder facing away from the first cylinder, and the calf piece is rotatably connected to the step at one end of the mounting portion away from the second cylinder. The connection between the calf piece and the first shell is stable, and the calf piece can be roughly located on the center line of the leg assembly, and the overall distribution of the leg assembly is relatively uniform.

[0027] In one embodiment, the mounting portion includes a first plate and a second plate that are opposite to and spaced apart from each other in a third direction, the first plate and the second plate are both connected to the outer peripheral surface of the second cylinder, the first plate is closer to the front side of the humanoid robot in the third direction, and an end of the first plate away from the second cylinder in the first direction is closer to the calf member than an end of the second plate away from the second cylinder in the first direction, and the third direction is the front-to-back direction of the humanoid robot.

[0028] By arranging the first plate and the second plate opposite to and spaced apart in the third direction, and the end of the first plate away from the second cylinder in the first direction is closer to the calf piece than the end of the second plate away from the second cylinder in the first direction, the first plate can cover the connection part between the calf piece and the thigh shell, thereby improving the aesthetics. At the same time, the calf piece will not interfere with the second plate when rotating, and the anthropomorphic effect is good.

[0029] In one embodiment, the thigh shell also includes a second shell, the second shell is connected to the second cylinder and / or the mounting portion, the second shell and the step have a gap in the second direction, at least part of the calf member is accommodated in the gap, and the calf member is also rotatably connected to the second shell.

[0030] By setting up a second shell, the second shell is connected to the first shell and is rotatably connected to the calf member. The second shell can cover at least part of the first connecting rod, the second connecting rod, the crank and the calf member, and the internal parts are not exposed, which can improve the aesthetics of the leg assembly.

[0031] In a second aspect, the present application further provides a humanoid robot, comprising a crotch assembly and a leg assembly as described in any one of the various embodiments of the first aspect, wherein the thigh shell is connected to the crotch assembly.

[0032] The humanoid robot in the embodiment of the present application has a unique leg assembly, the structure of the leg assembly is reasonably arranged, the center of gravity is stable, and the degree of anthropomorphism is high.

[0033] In one embodiment, the hip assembly includes a bracket, a pitch drive, a roll drive and a yaw drive, the pitch drive is connected to the bracket, the pitch drive is used to drive the bracket to rotate around a first axis to drive the leg assembly to swing in a third direction, the third direction is the front and back direction of the humanoid robot; the roll drive is connected to the bracket; the yaw drive is connected to the roll drive, the yaw drive is also connected to the leg assembly, and drives the leg assembly to rotate around a second axis, the second axis intersects with the first axis and has an inclined angle; the roll drive is used to drive the leg assembly to swing around the third axis to drive the leg assembly to swing in the second direction.

[0034] The embodiment of the present application tilts the yaw drive component relative to the pitch drive component, thereby reducing the restriction of the pitch drive component on the movement of the yaw drive component in the left and right directions, increasing the movable space of the yaw drive component in the left and right directions, increasing the swing angle of the leg assembly in the left and right directions, increasing the complexity of the actions that can be performed by the leg assembly of the humanoid robot, and improving the degree of anthropomorphism of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 is a three-dimensional diagram of a humanoid robot of one embodiment; Figure 2 is a perspective view of a portion of a leg assembly of one embodiment; Figure 3is an exploded schematic diagram of a portion of a leg assembly of one embodiment; Figure 4 is a perspective view of a first housing of an embodiment; Figure 5 The present invention is a three-dimensional view of the first shell of an embodiment from another angle.

[0037] Description of reference numerals: 100-humanoid robot; 10-crotch assembly, 11-bracket, 12-pitch drive component, 13-roll drive component, 14-yaw drive component; 20-leg assembly, 21-thigh shell, 211-first shell, 212-first cylinder, 2121-first notch, 213-second cylinder, 214-first surface, 215-second surface, 2151-limiting part, 216-receiving groove, 217-receiving hole, 218-installation part, 2181-first plate, 2182-second plate, 2183-third plate, 2184-weight reduction hole, 2185-wiring slot, 219-step, 2191-weight reduction slot, 22-first drive member, 23-calf member, 231-first connection portion, 232-second connection portion, 24-first connecting rod, 241-first end, 242-second end, 243-first rod, 244-second rod, 245-third rod, 246-reinforcement rib, 25-crank, 26-second connecting rod, 261-third end, 262-fourth end, 27-second housing; E1-first axis, E2-second axis, E3-third axis, E4-fourth axis; X-the left and right direction of the humanoid robot, Y-the front and back direction of the humanoid robot, and Z-the up and down direction of the humanoid robot. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] 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.

[0040] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0041] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0042] Please refer to Figure 1 The present application also provides a humanoid robot 100 , including a crotch component 10 and a leg component 20 in an embodiment of the present application, wherein a thigh shell 21 of the leg component 20 is connected to the crotch component 10 .

[0043] The specific structure of the crotch assembly 10 is not limited and can be set to a humanoid shape. Optionally, the humanoid robot 100 also includes a trunk assembly (not shown in the figure), and the crotch assembly 10 is connected to the trunk assembly and can rotate relatively to achieve a sacral joint function similar to that of the human body. The crotch assembly 10 is connected to the leg assembly 20 and can rotate relatively to achieve a hip joint function similar to that of the human body. For the convenience of subsequent description, a coordinate system XYZ is established, wherein the X direction is the left-right direction X of the assembled humanoid robot 100, the Y direction is the front-back direction Y of the humanoid robot 100, and the Z direction is the up-down direction Z of the humanoid robot 100.

[0044] The humanoid robot 100 in the embodiment of the present application is provided with a unique leg assembly 20, and the leg assembly 20 has a reasonable structure, a stable center of gravity, and a high degree of anthropomorphism.

[0045] When the humanoid robot 100 is in a state where both feet stand upright on a horizontal plane and the head is looking straight ahead, the first direction is the Z direction, the second direction is the X direction, and the third direction is the Y direction.

[0046] In one embodiment, Figure 1 As shown, the crotch assembly 10 includes a bracket 11, a pitch drive 12, a roll drive 13 and a yaw drive 14. The pitch drive 12 is connected to the bracket 11. The pitch drive 12 is used to drive the bracket 11 to rotate around the first axis E1 to drive the leg assembly 20 to swing in the Y direction. The pitch drive 12 drives the leg assembly 20 to rotate around the axis, so that the leg assembly 20 can swing in the front-to-back direction Y of the humanoid robot 100, similar to the action of the human body kicking forward and backward, and the humanoid robot 100 can be moved in the front-to-back direction Y.

[0047] The roll drive member 13 is connected to the bracket 11, and the yaw drive member 14 is connected to the roll drive member 13. The yaw drive member 14 is also connected to the leg assembly 20, and drives the leg assembly 20 to rotate around the second axis E2, and the second axis E2 intersects with the first axis E1 and has an inclined angle. The second axis E2 extends along the Z direction, and the yaw drive member 14 drives the leg assembly 20 to rotate around the second axis E2, that is, when the leg assembly 20 rotates around its own center line, it is similar to the action of a human body turning around, and the turning of the humanoid robot 100 can be realized.

[0048] The rolling drive member 13 is used to drive the leg assembly 20 to swing around the third axis E3, so as to drive the leg assembly 20 to swing in the X direction. When the leg assembly 20 swings in the left-right direction X of the humanoid robot 100, it is similar to the action of a human body splitting its legs left-right or bringing its legs together, so that the humanoid robot 100 can move in the left-right direction X.

[0049] With the bracket 11 as the center, the leg assembly 20 can swing in the left-right direction X of the humanoid robot 100 and the front-back direction Y of the humanoid robot 100, and can also rotate around the center line of the leg assembly 20. Considering that the humanoid robot 100 should simulate the appearance and movement posture of the human body as much as possible, the range of movement of the leg assembly 20 of the humanoid robot 100 should simulate the range of movement of the human body's legs as much as possible, that is, the leg assembly 20 can swing outward to a certain angle in the left-right direction X of the humanoid robot 100.

[0050] Optionally, the included angle between the first axis E1 and the second axis E2 is α, satisfying: 90°<α≤160°.

[0051] By setting the angle α between the first axis E1 and the second axis E2 between 90° and 160°, the leg assembly 20 is able to swing at a large angle to simulate more complex human gaits and movements, while avoiding sacrificing the compactness of the hip assembly 10 due to excessively large angle between the first axis E1 and the second axis E2.

[0052] The embodiment of the present application tilts the yaw drive member 14 relative to the pitch drive member 12, thereby reducing the restriction of the pitch drive member 12 on the movement of the yaw drive member 14 in the left and right directions, increasing the movable space of the yaw drive member 14 in the left and right directions, increasing the swing angle of the leg assembly 20 in the left and right directions, increasing the complexity of the actions that can be performed by the humanoid robot 100 at the leg assembly 20, and improving the degree of anthropomorphism of the humanoid robot 100.

[0053] In the prior art, the pitch drive member 12 is arranged on the leg assembly 20, and the pitch drive member 12 and the drive members of the leg assembly 20 are respectively located on both sides of the thigh. Compared with the prior art, the humanoid robot 100 in the embodiment of the present application connects the pitch drive member 12, the roll drive member 13 and the yaw drive member 14 to the bracket 11, which is convenient for the disassembly and maintenance of the crotch assembly 10 and the leg assembly 20, and improves the anthropomorphism of the crotch assembly 10. However, after the leg assembly 20 reduces the pitch drive member 12, the leg assembly 20 is only provided with a single drive member on one side, which easily leads to an unstable center of gravity, and the thigh part is asymmetrical as a whole, and the anthropomorphism is not high.

[0054] Please refer to Figure 1 and Figure 2 The present application provides a leg assembly 20 for a humanoid robot 100, which also includes a hip assembly 10. The leg assembly 20 includes a thigh shell 21, a first driving member 22, a calf member 23 and a first connecting rod 24. One end of the thigh shell 21 in the Z direction is used to connect with the hip assembly 10, and at least a portion of the first driving member 22 is accommodated in the thigh shell 21.

[0055] The thigh shell 21 is made of a material with high structural strength, specifically metal materials, high-strength plastics, ceramics, etc. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys, etc. The thigh shell 21 can be an integrated structure, that is, the thigh shell 21 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The thigh shell 21 can also be a split structure, and the various parts of the thigh shell 21 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0056] Optionally, the thigh shell 21 is connected and fixed to the rotor of the yaw drive member 14 of the crotch assembly 10, and the connection method can be clamping, screwing, riveting, etc., which is not limited. The stator of the yaw drive member 14 is connected and fixed to the bracket 11 of the crotch assembly 10, and the rotor of the yaw drive member 14 rotates relative to the stator to drive the leg assembly 20 to rotate around the second axis E2, thereby realizing the self-rotation of the leg assembly 20.

[0057] The calf member 23 is rotatably connected to one end of the thigh shell 21 away from the crotch assembly 10 in the Z direction, and the first connecting rod 24 includes a first end 241 and a second end 242 opposite to each other, the first end 241 is connected to the first driving member 22, the second end 242 is connected to the calf member 23, and the first end 241 is located on the outside of the second end 242 in the X direction.

[0058] The material of the calf member 23 is similar to that of the thigh shell 21, which can be used for reference only and will not be described in detail. The calf member 23 can be an integrated structure, that is, the calf member 23 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The calf member 23 can also be a split structure, and the various parts of the calf member 23 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0059] Optionally, the first connecting rod 24 may be a straight rod or a bent rod, without any specific limitation.

[0060] The first connecting rod 24 is connected to the first driving member 22 and the shank member 23. The first driving member 22 drives the shank member 23 to rotate around the fourth axis E4 through the first connecting rod 24. When the humanoid robot 100 is in a state where both feet stand upright on a horizontal plane and the head is looking straight ahead, the fourth axis E4 extends along the X direction. The first driving member 22 drives the shank member 23 to swing in the Y direction, similar to the action of a human body performing a shank kick backward.

[0061] Similar to the human body, the humanoid robot 100 includes two leg assemblies 20, and the first end 241 is located on the outside of the second end 242 in the X direction, that is, when the humanoid robot 100 is in a state where both feet are standing upright on a horizontal plane and the head is looking straight ahead, the line between the first end 241 and the second end 242 is inclined relative to the Z direction, and the first end 241 of the first connecting rod 24 of one leg assembly 20 is farther away from the second end 242 than the other leg assembly 20.

[0062] In this way, the first driving member 22 can be arranged close to the center of the leg assembly 20, so that the leg assembly 20 is roughly a symmetrical structure. At the same time, the connection between the first connecting rod 24 and the calf member 23 is also roughly located on the center line of the leg assembly 20. The leg assembly 20 as a whole is roughly a symmetrical structure, and the center line of the leg assembly 20 roughly coincides with the second axis E2. The center of gravity is stable and the degree of anthropomorphism is high.

[0063] The leg assembly 20 in the embodiment of the present application is connected to the first driving member 22 and the calf member 23 by setting a first connecting rod 24, and the first end 241 of the first connecting rod 24 connected to the first driving member 22 is located on the outside of the second end 242 connected to the calf member 23, and the connection positions of the first driving member 22 and the second end 242 with the calf member 23 are both roughly located on the center line of the leg assembly 20, which can reduce the size of the leg assembly 20 in the X direction, and the weight distribution of the leg assembly 20 is more uniform, the center of gravity is not easy to shift, and the anthropomorphic effect is good.

[0064] In one embodiment, reference Figure 2The first connecting rod 24 is a bent rod and includes a first rod 243, a second rod 244 and a third rod 245 connected in sequence. The end of the first rod 243 away from the second rod 244 is a first end 241, and the end of the third rod 245 away from the second rod 244 is a second end 242. There is a first angle A between the first rod 243 and the second rod 244, and there is a second angle B between the second rod 244 and the third rod 245.

[0065] The first connecting rod 24 can be an integrated structure, that is, the first connecting rod 24 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The first connecting rod 24 can also be a split structure, and the first rod 243, the second rod 244 and the third rod 245 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0066] Optionally, the first rod 243 and the second rod 244 extend along the same straight line, that is, the first angle A is 180°, and the second rod 244 and the third rod 245 are bent and connected; or, the second rod 244 and the third rod 245 extend along the same straight line, that is, the second angle B is 180°, and the first rod 243 and the second rod 244 are bent and connected; or, the first rod 243 and the second rod 244, and the second rod 244 and the third rod 245 are all bent and connected. All of the above methods are possible and are not specifically limited.

[0067] By setting the first connecting rod 24 as a bent rod, the sizes of the first angle A and the second angle B can be determined according to actual needs, thereby avoiding interference between the first connecting rod 24 and the first driving member 22 and the thigh shell 21.

[0068] In one embodiment, the following conditions are also satisfied: 90°≤A<180°, and / or, 90°≤B<180°.

[0069] Optionally, the value of the first angle A may be 90°, 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, 165°, 170°, 175°, 180°, etc., without limitation.

[0070] Similarly, the value of the second angle B can be 90°, 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, 165°, 170°, 175°, 180°, etc., without limitation.

[0071] Optionally, the first angle A and the second angle B are of the same size, in which case the extension directions of the first rod 243 and the third rod 245 are parallel; or, the first angle A and the second angle B are of different sizes, and all of the above methods are possible without specific limitation.

[0072] In a specific embodiment, the first angle A and the second angle B are of the same size, and the first rod 243 and the third rod 245 both extend along the Z direction to facilitate the connection between the first end 241 and the first driving member 22 and the second end 242 and the calf member 23.

[0073] By setting the first angle A and the second angle B to satisfy: 90°≤A<180°, and / or, 90°≤B<180°, the sizes of the first angle A and the second angle B are determined according to actual needs, while avoiding interference between the first connecting rod 24 and the first driving member 22 and the thigh shell 21, the connection between the first connecting rod 24 and the first driving member 22 and the calf member 23 is facilitated.

[0074] In one embodiment, Figure 2 As shown, a surface of the second rod 244 facing away from the first driving member 22 is provided with a reinforcing rib 246 , and the reinforcing rib 246 also extends to the first rod 243 and / or the third rod 245 .

[0075] The reinforcing rib 246 and the second rod 244 can be an integrated structure or a split structure, and there is no specific limitation. The shape of the reinforcing rib 246 is not limited, and it can be a single reinforcing rib 246 disposed on the surface of the second rod 244 facing away from the first driving member 22, or the reinforcing rib 246 is a plurality of sections, and the plurality of sections of reinforcing ribs 246 are disposed at intervals on the surface of the second rod 244 facing away from the first driving member 22, and there is no limitation.

[0076] Optionally, the reinforcing rib 246 also extends to the connection between the first rod 243 and the second rod 244; or, the reinforcing rib 246 also extends to the connection between the second rod 244 and the third rod 245; or, both ends of the reinforcing rib 246 extend to the first rod 243 and the third rod 245 respectively. All of the above methods are possible and are not specifically limited.

[0077] By providing reinforcing ribs 246 on the surface of the second rod 244 facing away from the first driving member 22, the structural strength of the second rod 244 can be enhanced, thereby improving the connection stability between the second rod 244 and the first rod 243 and the third rod 245. The second rod 244 is not easy to bend and has a long service life.

[0078] In one embodiment, Figure 2 and Figure 3 As shown, the leg assembly 20 further includes a crank 25 and a second connecting rod 26 . The crank 25 is fixedly connected to the rotor of the first driving member 22 , and the first end 241 is rotatably connected to the crank 25 .

[0079] The specific shape of the crank 25 can refer to any feasible solution, and the embodiment of the present application does not limit it. The crank 25 and the rotor of the first driving member 22 can be connected by clamping, screwing, riveting, etc., and there is no specific limitation. Optionally, there is a gap between the crank 25 and the stator of the first driving member 22 to avoid interference during rotation.

[0080] The connection between the first end 241 and the crank 25 may be by clamping, screwing, riveting, etc., or by a bearing, and there is no specific limitation.

[0081] The second connecting rod 26 includes a third end 261 and a fourth end 262 facing each other, the third end 261 is rotationally connected to the crank 25, and the fourth end 262 is connected to the lower leg member 23, and the connection positions of the first end 241 and the fourth end 262 and the crank 25 are symmetrical relative to the axis center of the rotor of the first driving member 22.

[0082] Similar to the first connecting rod 24, the third end 261 is located outside the fourth end 262 in the X direction. The connection method of the second connecting rod 26 to the crank 25 and the lower leg member 23 is similar to that of the first connecting rod 24, and is only for reference and will not be described again. In a specific embodiment, the second connecting rod 26 has the same structure as the first connecting rod 24.

[0083] Optionally, the crank 25 is a centrally symmetrical structure, and the symmetry center of the crank 25 coincides with the axis of the rotor of the first driving member 22. The connection positions of the first end 241 and the fourth end 262 with the crank 25 are centrally symmetrical relative to the axis of the rotor of the first driving member 22, the first connecting rod 24 and the second connecting rod 26 are subjected to the same torque, and the transmitted power is relatively uniform.

[0084] By setting the leg assembly 20 to also include the second connecting rod 26 and the crank 25, the first driving member 22 transmits power to the calf member 23 through the crank 25, the first connecting rod 24 and the second connecting rod 26 to drive the calf member 23 to rotate around the fourth axis E4. This transmission method is not only simple and compact in structure, but also can effectively convert the power of the first driving member 22 into the rotation of the calf member 23, with low power loss. The connection positions of the first connecting rod 24 and the second connecting rod 26 are distributed on different sides of the crank 25, avoiding mutual interference and optimizing the overall layout.

[0085] In one embodiment, in the orthographic projection in the X direction, the first connecting rod 24 and the second connecting rod 26 are parallel and extend along a straight line, and in the Y direction, there is a gap between the first connecting rod 24 and the second connecting rod 26 .

[0086] Optionally, the second connecting rod 26 includes a fourth rod, a fifth rod and a sixth rod connected in sequence, the end of the fourth rod away from the fifth rod is the fourth end 262, and the end of the sixth rod away from the fifth rod is the fourth end 262. The first rod 243, the third rod 245, the fourth rod and the sixth rod are all parallel to the Z direction, and the surface of the fourth rod facing away from the first driving member 22 and the surface of the first rod 243 facing away from the first driving member 22 are located in the same plane parallel to the Z direction, and the surface of the sixth rod facing away from the first driving member 22 and the surface of the third rod 245 facing away from the first driving member 22 are located in the same plane parallel to the Z direction, that is, the distances of the parts of the first connecting rod 24 and the second connecting rod 26 to the corresponding positions of the thigh shell 21 in the Z direction are the same.

[0087] By arranging the first connecting rod 24 and the second connecting rod 26 to be parallel and spaced apart, mutual interference is avoided, while optimizing the overall layout, and also helping to achieve weight balance of the leg assembly 20, thereby improving the stability of the humanoid robot 100 and the smoothness of walking.

[0088] In one embodiment, Figure 2 As shown, the lower leg member 23 includes a first connecting portion 231 and a second connecting portion 232 , the first connecting portion 231 is rotatably connected to the first connecting rod 24 , and the second connecting portion 232 is rotatably connected to the second connecting rod 26 .

[0089] Optionally, the first connecting portion 231 and the second connecting portion 232 are spaced apart, and the calf member 23 also includes a first rotating shaft (not shown in the figure) and a second rotating shaft (not shown in the figure), the first rotating shaft is connected to the first connecting portion 231, the second end 242 of the first connecting rod 24 is rotatably connected to the first rotating shaft, and the fourth end 262 of the second connecting rod 26 is rotatably connected to the second rotating shaft.

[0090] In this way, the first driving member 22 transmits power to the first rotating shaft and the second rotating shaft through the crank 25, the first connecting rod 24 and the second connecting rod 26, thereby driving the lower leg member 23 to rotate around the fourth axis E4. This transmission method is not only simple and compact in structure, but also can effectively convert the power of the second driving member into the rotation of the lower leg member 23.

[0091] The first link 24 is closer to the front side of the humanoid robot 100 in the Y direction than the second link 26 , and the first connecting portion 231 is closer to the first driving member 22 in the Z direction than the second connecting portion 232 .

[0092] In this way, the first connecting rod 24 located on the front side of the humanoid robot 100 (i.e., the face side of the humanoid robot 100) is closer to the top of the humanoid robot 100 than the second connecting rod 26 close to the rear side of the humanoid robot 100 (i.e., the back side of the humanoid robot 100), and the rotation method of the calf part 23 relative to the thigh shell 21 is set to imitate the rotation method of the human body's calf relative to the thigh toward the rear, which has a good anthropomorphic effect.

[0093] By providing a first connecting portion 231 rotatably connected to the first connecting rod 24 and a second connecting portion 232 rotatably connected to the second connecting rod 26, the first connecting rod 24 is closer to the front side of the humanoid robot 100 in the Y direction than the second connecting rod 26, and the first connecting portion 231 is closer to the first driving member 22 in the Z direction. The rotation mode of the calf member 23 relative to the thigh shell 21 is set to imitate the rotation mode of the calf relative to the thigh toward the rear of the human body, and the anthropomorphic effect is good. In one embodiment, Figure 2 and Figure 4 As shown, the thigh shell 21 includes a first shell 211, and the first shell 211 includes a first cylinder 212 and a second cylinder 213. The first cylinder 212 is connected to the outer periphery of the second cylinder 213, and the first cylinder 212 is used for rotationally connecting with the crotch assembly 10, and the second cylinder 213 is fixedly connected to the stator of the first driving member 22.

[0094] The first shell 211 may be an integrated structure, that is, the first shell 211 is an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The first shell 211 may also be a split structure, and the first cylinder 212, the second cylinder 213 and the rest of the first shell 211 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0095] The first cylinder 212 is connected and fixed to the rotor of the yaw drive member 14, so that the leg assembly 20 can rotate around the second axis E2 under the drive of the yaw drive member 14. The first cylinder 212 and the rotor of the yaw drive member 14 can be connected by bonding, clamping, screwing, riveting, etc. The yaw drive member 14 can be connected to the end surface of the first cylinder 212 facing the crotch assembly 10, or to the side circumferential wall of the first cylinder 212, and there is no specific limitation.

[0096] Optionally, the axis of the first cylinder 212 coincides with the second axis E2 of the yaw drive member 14 .

[0097] The second cylinder 213 and the stator of the first driving member 22 can be connected by bonding, clamping, screwing, riveting, etc. The stator of the first driving member 22 can be connected to the end surface of the second cylinder 213 or to the side wall of the second cylinder 213, and there is no specific limitation. Optionally, the axis of the second cylinder 213 coincides with the axis of the rotor of the first driving member 22.

[0098] Optionally, at least a portion of the yaw drive member 14 is accommodated in the first cylinder 212 , and at least a portion of the first drive member 22 is accommodated in the second cylinder 213 .

[0099] By providing the first shell 211, the first cylinder 212 is used for rotationally connecting with the crotch assembly 10, and the second cylinder 213 is fixedly connected with the stator of the first driving member 22. The first shell 211 provides support for the two driving members at the same time, which simplifies the structure and provides stable support.

[0100] In one embodiment, Figure 4 and Figure 5 As shown, the second cylinder 213 includes a first surface 214 and a second surface 215 opposite to each other in the X direction. A receiving groove 216 is formed on the first surface 214, and at least a portion of the first driving member 22 is received in the receiving groove 216. A receiving hole 217 is formed on the second surface 215, and the receiving hole 217 is connected to the receiving groove 216.

[0101] The shape of the receiving groove 216 is not particularly limited, and it only needs to correspond to the outer peripheral shape of the first driving member 22. Similarly, the shape of the receiving hole 217 only needs to correspond to the shape of the rotor of the first driving member 22.

[0102] like Figure 4 and Figure 5 As shown, in a specific embodiment, the receiving groove 216 and the receiving hole 217 are both circular in the orthographic projection in the X direction, and the center of the receiving groove 216 coincides with the center of the receiving hole 217 and is located on the rotation axis of the rotor of the first driving member 22. The inner diameter of the receiving groove 216 is larger than the diameter of the receiving hole 217. In this way, the stator of the first driving member 22 can be connected and fixed to the second surface 215 on the outer peripheral side of the receiving hole 217, and the connection is stable.

[0103] Optionally, the inner diameter of the receiving hole 217 is M, and the length of the first rod 243 (i.e., the size of the first rod 243 in the Z direction) is N, which satisfies: 0.8≤N / M≤1.2. The specific value of N / M can be 0.8, 0.9, 1, 1.1, 1.2, etc., without limitation. When N / M is less than 0.8, the first rod may interfere with the second cylinder 213 during the movement of the first driving member 22 driving the first connecting rod 24; when N / M is greater than 1.2, the length of the first rod 243 is too long, which may affect the overall size and structural layout of the leg assembly 20, and the space utilization rate of the leg assembly 20 is not high. When N / M is set to satisfy 0.8≤N / M≤1.2, the length of the first rod 243 is reasonable, and it will not interfere with the second cylinder 213 during the rotation process, and the structure of the leg assembly 20 is compact.

[0104] The rotor of the first driving member 22 is exposed from the receiving hole 217 to the second surface 215, and the crank 25, the first connecting rod 24 and the second connecting rod 26 are located on the side of the second surface 215 facing away from the first surface 214. The crank 25 is connected and fixed to the rotor of the first driving member 22, and there is a gap between the crank 25 and the second surface 215 to avoid interference.

[0105] By setting the second cylinder 213 with a receiving groove 216 from the first surface 214, the rotor of the first driving member 22 is exposed from the second surface 215 and is connected and fixed to the crank 25 on the side facing away from the second surface 215. The weight distribution of the leg assembly 20 is more uniform and not easy to tilt.

[0106] like Figure 4 As shown, optionally, the first cylinder 212 has a first notch 2121, and the first notch 2121 is arranged on the side of the first cylinder 212 facing away from the second cylinder 213, and the first notch 2121 is used to accommodate the first calibration part (not shown in the figure). The stator of the yaw drive member 14 has a second notch (not shown in the figure), and the second notch is used to accommodate the second calibration part (not shown in the figure). When the humanoid robot 100 is upright and facing forward, the first notch 2121 and the second notch are arranged relative to each other along the Z direction, the first calibration part and the second calibration part are sensed and aligned along the Z direction, and the waist and hip limit structure is in a zero point state.

[0107] In one embodiment, Figure 4 As shown, the second surface 215 is provided with a limiting portion 2151 , and the limiting portion 2151 is used to limit the rotation range of the crank 25 .

[0108] The specific shape of the limiting portion 2151 can refer to any feasible solution, and the embodiment of the present application does not limit it. Optionally, the number of the limiting portion 2151 can be one or more, without limitation. In a specific embodiment, there are two limiting portions 2151, and the two limiting portions 2151 are symmetrically arranged relative to the axis center of the rotor of the first driving member 22.

[0109] In this way, the crank 25 is allowed to rotate within a predetermined angle range through the limiting portion 2151, thereby preventing the crank 25 from moving too much and interfering with other nearby components. This helps to reduce the shaking and instability of the humanoid robot 100 when walking, running or performing other complex movements, thereby improving the overall movement performance of the leg assembly 20.

[0110] In one embodiment, Figure 4 and Figure 5 As shown, the first shell 211 also includes a mounting portion 218 , which is connected to the outer periphery of the second cylinder 213 facing away from the first cylinder 212 . A step 219 is provided at one end of the mounting portion 218 away from the second cylinder 213 , and the calf member 23 is rotatably connected to the step 219 .

[0111] Optionally, the mounting portion 218 and the second cylinder 213 may be an integrated structure or a split structure, and there is no specific limitation thereto.

[0112] Optionally, in the orthographic projection in the X direction, from the end where the mounting portion 218 is connected to the second cylinder 213 to the end where the mounting portion 218 is away from the second cylinder 213, the size of the mounting portion 218 in the Y direction gradually decreases, which is consistent with the human body structure and has a good anthropomorphic effect.

[0113] The shape of the step 219 can be plate-shaped, block-shaped, etc., without specific limitation. The connection between the calf member 23 and the step 219 can be clamped, screwed, riveted, or bearing-connected, etc., without limitation. Optionally, the step 219 protrudes from the first surface 214 in the X direction, and the size of the step 219 in the X direction is smaller than the size of the mounting portion 218 in the X direction. With this arrangement, the calf member 23 can be roughly located on the center line of the leg assembly 20, and the overall distribution of the leg assembly 20 is relatively uniform.

[0114] Optionally, the first connecting portion 231 and the second connecting portion 232 are symmetrical with respect to the center of the connecting position between the calf member 23 and the step 219. In this way, the power transmitted to the calf member 23 by the first connecting rod 24 and the second connecting rod 26 is relatively uniform.

[0115] Optional, such as Figure 4 As shown, the step 219 is further provided with a weight-reducing groove 2191, and the number of the weight-reducing grooves 2191 is not specifically limited. In a specific embodiment, the weight-reducing grooves 2191 are provided at intervals, and the weight-reducing grooves 2191 are centrally symmetrical along the fourth axis E4.

[0116] By setting a mounting portion 218, the mounting portion 218 is connected to the outer periphery of the second cylinder 213 facing away from the first cylinder 212, and the calf member 23 is rotatably connected to a step 219 at one end of the mounting portion 218 away from the second cylinder 213. The connection between the calf member 23 and the first shell 211 is stable, and the calf member 23 can be roughly located on the center line of the leg assembly 20, and the overall distribution of the leg assembly 20 is relatively uniform.

[0117] In one embodiment, Figure 4 As shown, the mounting portion 218 includes a first plate 2181 and a second plate 2182 which are arranged opposite to and spaced apart in the Y direction, the first plate 2181 and the second plate 2182 are both connected to the outer peripheral surface of the second cylinder 213, the first plate 2181 is closer to the front side of the humanoid robot 100 in the Y direction, and the end of the first plate 2181 away from the second cylinder 213 in the Z direction is closer to the calf member 23 than the end of the second plate 2182 away from the second cylinder 213 in the Z direction.

[0118] Optionally, the first plate 2181 and the second plate 2182 are both smoothly connected to the outer circumferential surface of the second cylinder 213 .

[0119] Optionally, in the orthographic projection in the Y direction, the dimension from the end of the first plate 2181 connected to the second cylinder 213 to the end of the first plate 2181 away from the second cylinder 213 in the Z direction is C, and the dimension from the end of the second plate 2182 connected to the second cylinder 213 to the end of the second plate 2182 away from the second cylinder 213 in the Z direction is D, which satisfies: 1 / 2≤D / C≤4 / 5. The specific value of D / C can be 1 / 2, 2 / 3, 3 / 4, 4 / 5, etc., without limitation. When D / C is less than 1 / 2, the shielding effect of the first plate 2181 and the second plate 2182 is poor, and the aesthetics is poor; when D / C is greater than 4 / 5, the distance between the second plate 2182 and the calf member 23 is insufficient, which may result in a limited angle range for the calf member 23 to rotate backward.

[0120] The first plate 2181 is closer to the front side of the humanoid robot 100 (i.e., the facial side of the humanoid robot 100) in the Y direction, and the length of the first plate 2181 extending from the second cylinder 213 to the calf piece 23 is greater than the length of the second plate 2182 extending from the second cylinder 213 to the calf piece 23. The first plate 2181 can shield the connection part between the calf piece 23 and the thigh shell 21 at the front side of the humanoid robot 100 to improve the aesthetics. The second plate 2182 is far away from the calf piece 23, and can provide an angle range for the calf piece 23 to rotate backward. When the calf piece 23 rotates around the fourth axis E4, it will not interfere with the second plate 2182, and the anthropomorphic effect is good.

[0121] Optional, such as Figure 5 As shown, the mounting portion 218 further includes a third plate 2183, the third plate 2183 connects the first plate 2181 and the second plate 2182, and one end of the third plate 2183 in the Z direction is connected to the second cylinder 213, and the other end is connected to the step 219. A reinforcement portion may be provided on one side of the third plate 2183 facing the second surface 215 to increase the structural strength of the mounting portion 218.

[0122] Optional, such as Figure 5 As shown, the third plate 2183 is provided with a weight-reducing hole 2184 and a wiring groove 2185. The weight-reducing hole 2184 can reduce the overall weight of the first shell 211, and the wiring groove 2185 is convenient for wiring.

[0123] By arranging the first plate 2181 and the second plate 2182 which are arranged opposite to each other and spaced apart in the Y direction, and the end of the first plate 2181 which is away from the second cylinder 213 in the Z direction is closer to the calf member 23 than the end of the second plate 2182 which is away from the second cylinder 213 in the Z direction, the first plate 2181 can cover the connection part between the calf member 23 and the thigh shell 21, thereby improving the aesthetics. At the same time, the calf member 23 will not interfere with the second plate 2182 when rotating, and the anthropomorphic effect is good. In one embodiment, as Figure 3As shown, the thigh shell 21 also includes a second shell 27, which is connected to the second cylinder 213 and / or the mounting portion 218. The second shell 27 and the step 219 are spaced apart in the X direction, and at least a portion of the calf member 23 is accommodated in the space. The calf member 23 is also rotatably connected to the second shell 27.

[0124] Optionally, the second housing 27 may be an integrated structure, and the integrated molding process may be stamping, casting, etc., without limitation. The second housing 27 may also be a split structure, and the various parts of the second housing 27 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0125] The connection between the second housing 27 and the second cylinder 213 and / or the mounting portion 218 can be bonding, clamping, screwing, riveting, etc., without limitation. The connection between the lower leg member 23 and the second housing 27 can be clamping, screwing, riveting, or bearing connection, etc., without limitation.

[0126] Optionally, the thigh shell 21 further includes a third shell, which is connected to a side of the first shell 211 facing away from the second shell 27 to shield the first driving member 22 .

[0127] By setting up a second shell 27, the second shell 27 is connected to the first shell 211 and is rotatably connected to the calf member 23. The second shell 27 can cover the first connecting rod 24, the second connecting rod 26, the crank 25 and at least part of the calf member 23, and the internal parts are not exposed, which can improve the aesthetics of the leg assembly 20.

[0128] Optionally, the minimum dimension of the thigh shell 21 in the X direction is H1, and the minimum dimension of the first drive member 22 in the X direction is H2, satisfying: 0.8≤H2 / H1≤1. The specific value of N / M can be 0.8, 0.85, 0.9, 0.95, 1, etc., without limitation. When H2 / H1 is less than 0.8, the difference between the minimum dimension H1 of the thigh shell 21 in the X direction and the minimum dimension H2 of the first drive member 22 in the X direction is too large, and the anthropomorphic effect is poor; when H2 / H1 is greater than 1, the size of the first drive member 22 is greater than the size of the thigh shell 21, which may cause the center of gravity of the leg assembly 20 to tilt toward the side connected to the first drive member 22, resulting in uneven weight distribution. By setting 0.8≤H2 / H1≤1, the overall structural size of the leg assembly 20 is reasonable, the weight distribution is relatively uniform, and the anthropomorphic effect is better.

[0129] In the description of the embodiments of the present application, 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 application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0130] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A leg assembly (20), characterized in that: Used in a humanoid robot (100), the humanoid robot (100) further comprising a crotch assembly (10), the leg assembly (20) comprising: A thigh shell (21), which is used to connect with the crotch component (10) at one end in the first direction; A first driving member (22), at least partially received in the thigh shell (21); A calf member (23) rotatably connected to an end of the thigh shell (21) away from the crotch assembly (10) in the first direction; A first connecting rod (24), comprising a first end (241) and a second end (242) opposite to each other, wherein the first end (241) is connected to the first driving member (22), the second end (242) is connected to the lower leg member (23), and the first end (241) is located on the outside of the second end (242) in the second direction; The first direction is the up-down direction of the humanoid robot (100), and the second direction is the left-right direction of the humanoid robot (100).

2. The leg assembly (20) according to claim 1, characterized in that: The first connecting rod (24) is a bent rod and comprises a first rod (243), a second rod (244) and a third rod (245) which are connected in sequence; an end of the first rod (243) away from the second rod (244) is the first end (241); an end of the third rod (245) away from the second rod (244) is the second end (242); a first angle A is formed between the first rod (243) and the second rod (244); and a second angle B is formed between the second rod (244) and the third rod (245).

3. The leg assembly (20) according to claim 2, characterized in that: It also satisfies: 90°≤A<180°, and / or, 90°≤B<180°.

4. The leg assembly (20) according to claim 2, characterized in that: A reinforcing rib (246) is provided on a surface of the second rod (244) facing away from the first driving member (22), and the reinforcing rib (246) also extends to the first rod (243) and / or the third rod (245).

5. The leg assembly (20) according to claim 1, characterized in that: The leg assembly (20) also includes a crank (25) and a second connecting rod (26), wherein the crank (25) is fixedly connected to the rotor of the first driving member (22), and the first end (241) is rotationally connected to the crank (25); the second connecting rod (26) includes a third end (261) and a fourth end (262) opposite to each other, wherein the third end (261) is rotationally connected to the crank (25), and the fourth end (262) is connected to the calf member (23), and the connection positions of the first end (241) and the fourth end (262) with the crank (25) are symmetrical relative to the axis center of the rotor of the first driving member (22).

6. The leg assembly (20) according to claim 5, characterized in that: In the orthographic projection along the second direction, the first link (24) and the second link (26) are parallel and both extend in a straight line, and in the third direction, the first link (24) and the second link (26) are spaced apart, and the third direction is the front-rear direction of the humanoid robot (100).

7. The leg assembly (20) according to claim 6, characterized in that: The lower leg member (23) comprises a first connecting portion (231) and a second connecting portion (232), wherein the first connecting portion (231) is rotatably connected to the first connecting rod (24), and the second connecting portion (232) is rotatably connected to the second connecting rod (26); The first connecting rod (24) is closer to the front side of the humanoid robot (100) in the third direction than the second connecting rod (26), and the first connecting portion (231) is closer to the first driving member (22) in the first direction than the second connecting portion (232).

8. The leg assembly (20) according to claim 5, characterized in that: The thigh shell (21) includes a first shell (211), the first shell (211) includes a first cylinder (212) and a second cylinder (213), the first cylinder (212) is connected to the outer periphery of the second cylinder (213), the first cylinder (212) is used for rotationally connecting with the crotch component (10), and the second cylinder (213) is connected and fixed to the stator of the first driving member (22).

9. The leg assembly (20) according to claim 8, characterized in that: The second cylinder (213) includes a first surface (214) and a second surface (215) which are opposite to each other in the second direction. A receiving groove (216) is provided on the first surface (214), and at least a part of the first driving member (22) is received in the receiving groove (216). A receiving hole (217) is provided on the second surface (215), and the receiving hole (217) is communicated with the receiving groove (216). The rotor of the first driving member (22) is exposed from the receiving hole (217) to the second surface (215). The crank (25), the first connecting rod (24) and the second connecting rod (26) are located on the side of the second surface (215) which is opposite to the first surface (214).

10. The leg assembly (20) according to claim 9, characterized in that: The second surface (215) is provided with a limiting portion (2151), and the limiting portion (2151) is used to limit the rotation range of the crank (25).

11. The leg assembly (20) according to claim 8, characterized in that: The first shell (211) further comprises a mounting portion (218), wherein the mounting portion (218) is connected to the outer periphery of the second cylinder (213) facing away from the first cylinder (212), and a step (219) is provided at one end of the mounting portion (218) away from the second cylinder (213), and the calf member (23) is rotatably connected to the step (219).

12. The leg assembly (20) according to claim 11, characterized in that The mounting portion (218) includes a first plate (2181) and a second plate (2182) which are arranged opposite to each other and spaced apart in a third direction, the first plate (2181) and the second plate (2182) are both connected to the outer peripheral surface of the second cylinder (213), the first plate (2181) is closer to the front side of the humanoid robot (100) in the third direction, and an end of the first plate (2181) away from the second cylinder (213) in the first direction is closer to the calf member (23) than an end of the second plate (2182) away from the second cylinder (213) in the first direction, and the third direction is the front-to-back direction of the humanoid robot (100).

13. The leg assembly (20) according to claim 11, characterized in that: The thigh shell (21) also includes a second shell (27), the second shell (27) is connected to the second cylinder (213) and / or the mounting portion (218), the second shell (27) and the step (219) are spaced apart in the second direction, at least a portion of the calf member (23) is accommodated in the space, and the calf member (23) is also rotatably connected to the second shell (27).

14. A humanoid robot (100), characterized in that: It comprises a crotch component (10) and a leg component (20) according to any one of claims 1 to 13, wherein the thigh shell (21) is connected to the crotch component (10).

15. The humanoid robot (100) according to claim 14, characterized in that: The crotch assembly (10) comprises: Bracket (11); a pitch driving member (12), the pitch driving member (12) being connected to the bracket (11), the pitch driving member (12) being used to drive the bracket (11) to rotate around a first axis so as to drive the leg assembly (20) to swing in a third direction, the third direction being a front-rear direction of the humanoid robot (100); A rolling drive member (13), wherein the rolling drive member (13) is connected to the bracket (11); A yaw drive member (14), wherein the yaw drive member (14) is connected to the roll drive member (13), and the yaw drive member (14) is also connected to the leg assembly (20), and drives the leg assembly (20) to rotate around a second axis, wherein the second axis intersects with the first axis and has an inclined angle; the roll drive member (13) is used to drive the leg assembly (20) to swing around a third axis, so as to drive the leg assembly (20) to swing in the second direction.

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