Leg Component and Humanoid Robot

Abstract

A leg component and a humanoid robot. The leg component is used for the humanoid robot and includes a thigh housing, a first driving member, a calf member, and a first connecting rod. One end of the thigh housing in the first direction is used to connect with the hip component; at least part of the first driving member is received in the thigh housing; the calf member is rotatably connected to one end of the thigh housing away from the hip component in the first direction; the first connecting rod includes a first end and a second end facing away from each other. The first end is connected to the first driving member, and the second end is connected to the calf member, and the first end is located outside 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. The leg component in this application can reduce the size of the humanoid robot in the left-right direction, the center of gravity is not easily offset, and the anthropomorphic effect is good.

Description

Technical Field

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

[0002] Humanoid robots can imitate the shape and movement postures of the human body and have broad development prospects. Similar to the human body, the structure of a humanoid robot includes a leg component, a hip component, a torso component, etc., and the hip component is respectively connected to the leg component and the torso component.

[0003] Currently, most leg components arrange the driving members for driving the relative rotation of the thigh and the calf at the thigh, resulting in too large dimensions in the left - right direction of the humanoid robot, easy center - of - gravity deviation, and poor anthropomorphic effect. Summary of the Invention

[0004] The purpose of this application is to provide a leg component and a humanoid robot to solve the problems of too large dimensions in the left - right direction of the leg component, center - of - gravity deviation, and poor anthropomorphic effect in the humanoid robot.

[0005] To achieve the purpose of this application, the following technical solutions are provided:

[0006] In a first aspect, this application provides a leg component for a humanoid robot. The humanoid robot further includes a hip component. The leg component includes a thigh housing, a first driving member, a calf member, and a first link. One end of the thigh housing in a first direction is used to be connected to the hip component; at least part of the first driving member is received in the thigh housing; the calf member is rotatably connected to one end of the thigh housing away from the hip component in the first direction; the first link includes a first end and a second end facing away from each other. The first end is connected to the first driving member, the second end is connected to the calf member, and the first end is located outside the second end in a 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.

[0007] In the leg component of the embodiment of this application, by setting the first link to connect the first driving member and the calf member, and the first end of the first link connected to the first driving member is located outside the second end connected to the calf member, and both the connection position of the first driving member and the second end connected to the calf member are approximately located on the center line of the leg component, the dimensions of the leg component in the second direction can be reduced, the weight distribution of the leg component is relatively uniform, the center of gravity is not easily deviated, and the anthropomorphic effect is good.

[0008] 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. One end of the first rod away from the second rod is the first end, and one end of the third rod away from the second rod is the second end. There is a first included angle A between the first rod and the second rod, and there is a second included angle B between the second rod and the third rod.

[0009] By setting the first connecting rod as a bent rod, the magnitudes of the first included angle A and the second included angle B can be determined according to actual needs, avoiding interference between the first connecting rod, the first driving member, and the thigh housing.

[0010] In one embodiment, it also satisfies: 90° ≤ A < 180°, and / or, 90° ≤ B < 180°.

[0011] By setting the first included angle A and the second included angle B to satisfy: 90° ≤ A < 180°, and / or, 90° ≤ B < 180°, the magnitudes of the first included angle A and the second included angle B are determined according to actual needs. While avoiding interference between the first connecting rod, the first driving member, and the thigh housing, it is convenient for the connection between the first connecting rod, the first driving member, and the calf member.

[0012] In one embodiment, reinforcing ribs are provided on the surface of the second rod facing away from the first driving member, and the reinforcing ribs also extend to the first rod and / or the third rod.

[0013] By providing 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, the first rod, and the third rod. The second rod is not easily bent and has a long service life.

[0014] In one embodiment, the leg assembly further 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 facing away from each other. The third end is rotatably connected to the crank, the fourth end is connected to the calf member, and the connection positions of the first end and the fourth end to the crank are centrosymmetric with respect to the axis center of the rotor of the first driving member.

[0015] By setting that the leg assembly further includes 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 the rotation of the calf member with small power loss.

[0016] In one embodiment, in the orthographic projection in the second direction, the first link and the second link are parallel and both extend linearly. In the third direction, there is a gap between the first link and the second link, and the third direction is the front-rear direction of the humanoid robot.

[0017] By arranging the first link and the second link to be parallel and spaced apart, interference between them is avoided, the overall layout is optimized, and it is also helpful to achieve the weight balance of the leg components, improving the stability of the humanoid robot and the smoothness of walking.

[0018] In one embodiment, the calf member includes a first connecting portion and a second connecting portion. The first connecting portion is rotatably connected to the first link, and the second connecting portion is rotatably connected to the second link; the first link is closer to the front side of the humanoid robot than the second link in the third direction, and the first connecting portion is closer to the first driving member than the second connecting portion in the first direction.

[0019] By providing a first connecting portion rotatably connected to the first link and a second connecting portion rotatably connected to the second link, the first link is closer to the front side of the humanoid robot than the second link in the third direction, and the first connecting portion is closer to the first driving member in the first direction. The rotation mode of the calf member relative to the thigh housing is set by imitating the way the calf of the human body rotates backward relative to the thigh, and the anthropomorphic effect is good.

[0020] In one embodiment, the thigh housing includes a first housing, and the first housing 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 for connecting and fixing with the hip component, and the second cylinder is connected and fixed with the stator of the first driving member.

[0021] By providing the first housing, the first cylinder is used for rotatably connecting with the hip component, the second cylinder is connected and fixed with the stator of the first driving member, and the first housing provides support for two driving members at the same time, simplifying the structure and having stable support.

[0022] In one embodiment, the second cylinder includes a first surface and a second surface facing away from each other in the second direction. A receiving groove is formed from the first surface, at least part of the first driving member is received in the receiving groove, a receiving hole is formed in the second surface, the receiving hole communicates with the receiving groove, and the rotor of the first driving member exposes from the receiving hole to the second surface. The crank, the first link, and the second link are located on the side of the second surface facing away from the first surface.

[0023] By providing that the second cylinder body is provided with a receiving groove on the first surface, the rotor of the first driving member is exposed from the second surface and is fixedly connected to a crank on the side facing away from the second surface, the weight distribution of the leg assembly is relatively uniform and it is not prone to tipping.

[0024] 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.

[0025] The limiting portion enables the crank to rotate within a predetermined angular range, preventing the movement amplitude of the crank from being too large and interfering with other nearby components, and helping to reduce the shaking and instability of the humanoid robot during walking, running or performing other complex actions, thereby improving the overall motion performance of the leg assembly.

[0026] In one embodiment, the first housing further includes a mounting portion, the mounting portion is connected to the outer periphery of the second cylinder body facing away from the first cylinder body, a step is provided at one end of the mounting portion away from the second cylinder body, and the calf member is rotatably connected to the step.

[0027] By providing the mounting portion, the mounting portion is connected to the outer periphery of the second cylinder body facing away from the first cylinder body, and the calf member is rotatably connected to the step at one end of the mounting portion away from the second cylinder body, the connection between the calf member and the first housing is stable, and the calf member can be approximately located on the center line of the leg assembly, and the overall distribution of the leg assembly is relatively uniform.

[0028] In one embodiment, the mounting portion includes a first plate and a second plate that are opposite and spaced apart in a third direction, both the first plate and the second plate are connected to the outer peripheral surface of the second cylinder body, the first plate is closer to the front side of the humanoid robot in the third direction, and one end of the first plate away from the second cylinder body in the first direction is closer to the calf member than one end of the second plate away from the second cylinder body in the first direction, and the third direction is the front-rear direction of the humanoid robot.

[0029] By providing the first plate and the second plate that are opposite and spaced apart in the third direction, and one end of the first plate away from the second cylinder body in the first direction is closer to the calf member than one end of the second plate away from the second cylinder body in the first direction, the first plate can shield the connection part between the calf member and the thigh housing, improving the aesthetics, and at the same time, the calf member will not interfere with the second plate during rotation, and the anthropomorphic effect is good.

[0030] In one embodiment, the thigh housing further includes a second housing, the second housing is connected to the second cylinder body and / or the mounting portion, the second housing has a gap from the step in the second direction, at least a part of the calf member is received in the gap, and the calf member is also rotatably connected to the second housing.

[0031] By providing a second housing, which is connected to the first housing and rotatably connected to the calf member, the second housing can shield at least part of the first link, the second link, the crank, and the calf member, and the internal parts are not exposed, which can improve the aesthetics of the leg assembly.

[0032] In a second aspect, the present application also provides a humanoid robot, including a hip assembly and the leg assembly according to any one of the various embodiments of the first aspect, wherein the thigh housing is connected to the hip assembly.

[0033] In the humanoid robot according to the embodiments of the present application, by providing a unique leg assembly, the structure of the leg assembly is reasonably arranged, the center of gravity is stable, and the anthropomorphic degree is high.

[0034] In one embodiment, the hip assembly includes a bracket, a pitch driving member, a roll driving member, and a yaw driving member. The pitch driving member is connected to the bracket, and the pitch driving member is configured to drive the bracket to rotate around a first axis to drive the leg assembly to swing in a third direction, and the third direction is the front-back direction of the humanoid robot; the roll driving member is connected to the bracket; the yaw driving member is connected to the roll driving member, and the yaw driving member is further connected to the leg assembly and drives the leg assembly to rotate around a second axis, and the second axis intersects the first axis and has an inclined angle; the roll driving member is configured to drive the leg assembly to swing around a third axis to drive the leg assembly to swing in a second direction.

[0035] In the embodiments of the present application, by arranging the yaw driving member to be inclined relative to the pitch driving member, the movement restriction of the pitch driving member on the yaw driving member in the left-right direction is reduced, the movable space of the yaw driving member in the left-right direction is increased, the swing angle of the leg assembly in the left-right direction is increased, the complexity of the actions that the humanoid robot can perform at the leg assembly is improved, and the anthropomorphic degree of the humanoid robot is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 is a perspective view of a humanoid robot according to an embodiment;

[0038] Figure 2 is a perspective view of a partial leg assembly according to an embodiment;

[0039] Figure 3 Exploded schematic view of a partial leg component of an embodiment;

[0040] Figure 4 Perspective view of a first housing of an embodiment;

[0041] Figure 5 Perspective view of the first housing from another angle of an embodiment.

[0042] Explanation of reference numerals:

[0043] 100 - Humanoid robot;

[0044] 10 - Hip component, 11 - Bracket, 12 - Pitch drive member, 13 - Roll drive member, 14 - Yaw drive member;

[0045] 20 - Leg component, 21 - Thigh outer shell, 211 - First housing, 212 - First cylinder, 2121 - First notch, 213 - Second cylinder, 214 - First surface, 215 - Second surface, 2151 - Limiting portion, 216 - Receiving groove, 217 - Receiving hole, 218 - Mounting portion, 2181 - First plate, 2182 - Second plate, 2183 - Third plate, 2184 - Weight reduction hole, 2185 - Wiring groove, 219 - Step, 2191 - Weight reduction groove, 22 - First drive member, 23 - Calf member, 231 - First connecting portion, 232 - Second connecting portion, 24 - First link, 241 - First end, 242 - Second end, 243 - First rod, 244 - Second rod, 245 - Third rod, 246 - Reinforcing rib, 25 - Crank, 26 - Second link, 261 - Third end, 262 - Fourth end, 27 - Second housing;

[0046] E1 - First axis, E2 - Second axis, E3 - Third axis, E4 - Fourth axis;

[0047] X - Left - right direction of the humanoid robot, Y - Front - back direction of the humanoid robot, Z - Up - down direction of the humanoid robot. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0049] 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 may 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.

[0050] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in this application 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.

[0051] The following will describe in detail some embodiments of this application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0052] Please refer to Figure 1 , this application also provides a humanoid robot 100, which includes a hip component 10 and the leg component 20 in the embodiments of this application. The thigh housing 21 of the leg component 20 is connected to the hip component 10.

[0053] There is no limitation on the specific structure of the hip component 10, and it can be set in a humanoid shape. Optionally, the humanoid robot 100 further includes a torso component (not shown in the figure). The hip component 10 is connected to the torso component and can rotate relative to each other to realize the function of the sacroiliac joint similar to the human body structure. The hip component 10 is connected to the leg component 20 and can rotate relative to each other to realize the function of the hip joint similar to the human body structure. For the convenience of subsequent description, a coordinate system XYZ is established, where the X direction is the left-right direction X of the humanoid robot 100 after assembly, 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.

[0054] In the humanoid robot 100 in the embodiments of this application, by setting the unique leg component 20, the structure of the leg component 20 is reasonably arranged, the center of gravity is stable, and the anthropomorphic degree is high.

[0055] When the humanoid robot 100 is in a state of standing upright on both feet 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.

[0056] In one embodiment, as Figure 1As shown, the hip component 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 and is used to drive the bracket 11 to rotate around the first axis E1, so as to drive the leg component 20 to swing in the Y direction. The pitch drive 12 drives the leg component 20 to rotate around the axis, which can make the leg component 20 swing in the front and back direction Y of the humanoid robot 100, similar to the action of a human kicking the leg forward and backward, and can realize the movement of the humanoid robot 100 in the front and back direction Y.

[0057] The roll drive 13 is connected to the bracket 11, the yaw drive 14 is connected to the roll drive 13, and the yaw drive 14 is also connected to the leg component 20 and drives the leg component 20 to rotate around the second axis E2. The second axis E2 intersects with the first axis E1 and has an inclined angle. The second axis E2 extends along the Z direction. The yaw drive 14 drives the leg component 20 to rotate around the second axis E2, that is, when the leg component 20 rotates around its own center line, it is similar to the action of a human turning around, and the humanoid robot 100 can realize turning.

[0058] The roll drive 13 is used to drive the leg component 20 to swing around the third axis E3, so as to drive the leg component 20 to swing in the X direction. When the leg component 20 swings in the left and right direction X of the humanoid robot 100, it is similar to the action of a human doing a split or closing the legs left and right, and the humanoid robot 100 can realize the movement in the left and right direction X.

[0059] Centered on the bracket 11, the leg component 20 can swing in the left and right direction X and the front and back direction Y of the humanoid robot 100, and can also rotate around the center line of the leg component 20 itself. Considering that the humanoid robot 100 should try to simulate the shape and movement posture of the human body, the movement amplitude of the leg component 20 of the humanoid robot 100 should try to simulate the movement amplitude of the human leg, that is, the leg component 20 can swing outward to a certain angle in the left and right direction X of the humanoid robot 100.

[0060] Optionally, the included angle between the first axis E1 and the second axis E2 is α, satisfying: 90° < α ≤ 160°.

[0061] By setting the included angle α between the first axis E1 and the second axis E2 between 90° and 160°, while ensuring that the leg component 20 can swing at a large angle to simulate more complex human gaits and actions, it also avoids sacrificing the compactness of the hip component 10 due to the too large included angle between the first axis E1 and the second axis E2.

[0062] In the embodiment of the present application, the yaw driving member 14 is inclined relative to the pitch driving member 12, thereby reducing the movement restriction of the pitch driving member 12 on the yaw driving member 14 in the left - right direction, increasing the movable space of the yaw driving member 14 in the left - right direction, increasing the swing angle of the leg assembly 20 in the left - right direction, improving the complexity of the actions that the humanoid robot 100 can perform at the leg assembly 20, and improving the anthropomorphic degree of the humanoid robot 100.

[0063] In the prior art, the pitch driving member 12 is arranged on the leg assembly 20, and the driving members of the pitch driving member 12 and the leg assembly 20 are respectively located on both sides of the thigh. Compared with the prior art, in the humanoid robot 100 in the embodiment of the present application, the pitch driving member 12, the roll driving member 13, and the yaw driving member 14 are all connected to the bracket 11, which is convenient for the disassembly, assembly, and maintenance of the hip assembly 10 and the leg assembly 20, and improves the anthropomorphic degree of the hip assembly 10. However, after the pitch driving member 12 is reduced in the leg assembly 20, there is only a single driving member arranged on one side of the leg assembly 20, which easily causes the center of gravity to be unstable, and the thigh part is overall asymmetric, and the anthropomorphic degree is not high.

[0064] Please refer to Figure 1 and Figure 2 , the present application provides a leg assembly 20 for a humanoid robot 100. The humanoid robot 100 further includes a hip assembly 10. The leg assembly 20 includes a thigh housing 21, a first driving member 22, a calf member 23, and a first link 24. One end of the thigh housing 21 in the Z - direction is used to connect to the hip assembly 10, and at least a part of the first driving member 22 is received in the thigh housing 21.

[0065] The thigh housing 21 is made of a material with high structural strength, specifically, it can be a metal material, a high - strength plastic, a ceramic, etc. The metal material can be, for example, aluminum, aluminum alloy, magnesium alloy, iron, and iron alloy, etc. The thigh housing 21 can be an integral structure, that is, the thigh housing 21 is an integral structure made by an integral molding process. The integral molding process can be specifically stamping, casting, etc., without limitation. The thigh housing 21 can also be a split - type structure, and each part of the thigh housing 21 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0066] Optionally, the thigh housing 21 is fixedly connected to the rotor of the yaw driving member 14 of the hip assembly 10. The connection method can be clamping, screwing, riveting, etc., without limitation. The stator of the yaw driving member 14 is fixedly connected to the bracket 11 of the hip assembly 10. The rotor of the yaw driving member 14 rotates relative to the stator to drive the leg assembly 20 to rotate around the second axis E2, realizing the self - rotation of the leg assembly 20.

[0067] The lower leg member 23 is rotatably connected to one end of the thigh housing 21 away from the hip assembly 10 in the Z direction. The first link 24 includes a first end 241 and a second end 242 facing away from each other. The first end 241 is connected to the first driving member 22, and the second end 242 is connected to the lower leg member 23. Moreover, the first end 241 is located outside the second end 242 in the X direction.

[0068] The material of the lower leg member 23 is similar to that of the aforementioned thigh housing 21, which can be referred to and will not be elaborated here. The lower leg member 23 can be of an integral structure, that is, the lower leg member 23 is an integral structure made by an integral forming process. The integral forming process can specifically be stamping, casting, etc., without limitation. The lower leg member 23 can also be of a split structure, and each part of the lower leg member 23 can be connected and fixed by means such as welding, bonding, clamping, and screwing.

[0069] Optionally, the first link 24 can be a straight rod or a bent rod, without specific limitation.

[0070] The first link 24 is drivingly connected to the first driving member 22 and the lower leg member 23. The first driving member 22 drives the lower leg member 23 to rotate around the fourth axis E4. When the humanoid robot 100 stands upright on a horizontal plane with both feet and its head is facing straight ahead, the fourth axis E4 extends along the X direction. The first driving member 22 drives the lower leg member 23 to swing in the Y direction, similar to the action of a human performing a back kick with the lower leg.

[0071] Similar to a human body, the humanoid robot 100 includes two leg assemblies 20. The first end 241 is located outside the second end 242 in the X direction. That is, when the humanoid robot 100 stands upright on a horizontal plane with both feet and its head is facing straight ahead, the connection line between the first end 241 and the second end 242 is inclined relative to the Z direction. The first end 241 of the first link 24 of one leg assembly 20 is farther from the other leg assembly 20 than the second end 242.

[0072] With such a setting, the first driving member 22 can be arranged close to the center of the leg assembly 20, making the leg assembly 20 approximately a symmetric structure. At the same time, the connection point between the first link 24 and the lower leg member 23 is also approximately on the center line of the leg assembly 20. The leg assembly 20 as a whole is approximately symmetric, and the center line of the leg assembly 20 approximately coincides with the second axis E2, with stable center of gravity and high anthropomorphic degree.

[0073] In the leg component 20 in the embodiment of the present application, by arranging the first connecting rod 24 to connect the first driving member 22 and the calf member 23, and the first end 241 of the first connecting rod 24 connected to the first driving member 22 is located outside 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 approximately located on the center line of the leg component 20, the size of the leg component 20 in the X direction can be reduced, the weight distribution of the leg component 20 is relatively uniform, the center of gravity is not easily shifted, and the anthropomorphic effect is good.

[0074] In one embodiment, referring to Figure 2 , the first connecting rod 24 is a bent rod and includes a first rod 243, a second rod 244, and a third rod 245 that are sequentially connected. One end of the first rod 243 away from the second rod 244 is the first end 241, and one end of the third rod 245 away from the second rod 244 is the second end 242. There is a first included angle A between the first rod 243 and the second rod 244, and there is a second included angle B between the second rod 244 and the third rod 245.

[0075] The first connecting rod 24 can be an integral structure, that is, the first connecting rod 24 is an integral structure made by an integral forming process. The integral forming process can specifically be stamping, casting, etc., without limitation. The first connecting rod 24 can also be a split structure, and the respective parts of the first rod 243, the second rod 244, and the third rod 245 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0076] Optionally, the first rod 243 and the second rod 244 extend along the same straight line, that is, the first included 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 included angle B is 180°, and the first rod 243 and the second rod 244 are bent and connected; or, both between the first rod 243 and the second rod 244 and between the second rod 244 and the third rod 245 are bent and connected. The above methods are all acceptable, and there is no specific limitation.

[0077] By arranging the first connecting rod 24 as a bent rod, the sizes of the first included angle A and the second included angle B can be determined according to actual needs to avoid interference between the first connecting rod 24 and the first driving member 22 and the thigh outer shell 21.

[0078] In one embodiment, it also satisfies: 90° ≤ A < 180°, and / or, 90° ≤ B < 180°.

[0079] Optionally, the value of the first included angle A can be 90°, 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, 165°, 170°, 175°, 180°, etc., without limitation.

[0080] Similarly, the value of the second included 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.

[0081] Optionally, the first included angle A and the second included angle B are of the same size, and at this time, the extending directions of the first rod 243 and the third rod 245 are parallel; or, the first included angle A and the second included angle B are of different sizes, and the above methods are all acceptable, without specific limitation.

[0082] In a specific embodiment, the first included angle A and the second included angle B are of the same size, and both the first rod 243 and the third rod 245 extend along the Z direction, which is convenient for the connection between the first end 241 and the first driving member 22, and the second end 242 and the calf member 23.

[0083] By setting the first included angle A and the second included angle B to satisfy: 90° ≤ A < 180°, and / or, 90° ≤ B < 180°, the sizes of the first included angle A and the second included angle B are determined according to actual needs, which can avoid interference between the first connecting rod 24 and the first driving member 22 and the thigh housing 21, and at the same time, facilitate the connection between the first connecting rod 24 and the first driving member 22 and the calf member 23.

[0084] In one embodiment, as Figure 2 shown, a reinforcing rib 246 is provided on the 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.

[0085] The reinforcing rib 246 and the second rod 244 can be of an integral structure or a split structure, without specific limitation. The shape of the reinforcing rib 246 is not limited. It can be that one reinforcing rib 246 is provided on the surface of the second rod 244 facing away from the first driving member 22, or the reinforcing rib 246 is in multiple segments, and the multiple segments of the reinforcing rib 246 are arranged at intervals on the surface of the second rod 244 facing away from the first driving member 22, without limitation.

[0086] 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. The above methods are all acceptable, without specific limitation.

[0087] 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 easily bent and has a long service life.

[0088] In one embodiment, as Figure 2 and Figure 3 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.

[0089] Regarding the specific shape of the crank 25, any feasible solution can be referred to, and the embodiments of the present application do not limit it. The connection manner between the crank 25 and the rotor of the first driving member 22 can be snap connection, screw connection, riveting, etc., and is not specifically limited. Optionally, there is a gap between the crank 25 and the stator of the first driving member 22 to avoid interference during rotation.

[0090] The connection manner between the first end 241 and the crank 25 can be snap connection, screw connection, riveting, etc., or can be connected through a bearing, and is not specifically limited.

[0091] The second connecting rod 26 includes a third end 261 and a fourth end 262 facing away from each other. The third end 261 is rotatably connected to the crank 25, 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 centrosymmetric with respect to the axis center of the rotor of the first driving member 22.

[0092] Similar to the first connecting rod 24, the third end 261 is located outside the fourth end 262 in the X direction. The connection manners of the second connecting rod 26 with the crank 25 and the calf member 23 are similar to those of the first connecting rod 24, and can be referred to and will not be elaborated here. In a specific embodiment, the second connecting rod 26 has the same structure as the first connecting rod 24.

[0093] Optionally, the crank 25 is a centrosymmetric structure, and the symmetric 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 centrosymmetric with respect to the axis of the rotor of the first driving member 22, and the torques received by the first connecting rod 24 and the second connecting rod 26 are the same, and the transmitted power is relatively uniform.

[0094] By setting that the leg component 20 further includes a second connecting rod 26 and a crank 25, the first driving member 22 transmits power to the lower leg member 23 through the crank 25, the first connecting rod 24 and the second connecting rod 26 to drive 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 first driving member 22 into the rotation of the lower leg member 23 with small 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 at the same time.

[0095] In one embodiment, in the positive projection in the X direction, the first connecting rod 24 and the second connecting rod 26 are parallel and both extend along a straight line. In the Y direction, there is a gap between the first connecting rod 24 and the second connecting rod 26.

[0096] Optionally, the second connecting rod 26 includes a fourth rod, a fifth rod and a sixth rod connected in sequence. One end of the fourth rod away from the fifth rod is the fourth end 262, and one 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. 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 from the respective parts of the first connecting rod 24 and the second connecting rod 26 to the corresponding positions of the thigh housing 21 in the Z direction are the same.

[0097] By setting the first connecting rod 24 and the second connecting rod 26 to be parallel and spaced apart, mutual interference is avoided, the overall layout is optimized at the same time, and it is also helpful to achieve the weight balance of the leg component 20, improving the stability of the humanoid robot 100 and the smoothness of walking.

[0098] In one embodiment, as Figure 2 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.

[0099] Optionally, the first connecting portion 231 and the second connecting portion 232 are spaced apart. The lower leg member 23 further 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.

[0100] Thus, 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 about 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.

[0101] 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 than the second connecting portion 232.

[0102] Thus, 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 upper part 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). The rotation mode of the lower leg member 23 relative to the thigh housing 21 is arranged by imitating the way that the lower leg of the human body rotates backward relative to the thigh, and the anthropomorphic effect is good.

[0103] By providing the first connecting portion 231 rotatably connected to the first connecting rod 24 and the 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 lower leg member 23 relative to the thigh housing 21 is arranged by imitating the way that the lower leg of the human body rotates backward relative to the thigh, and the anthropomorphic effect is good.

[0104] In one embodiment, as Figure 2 and Figure 4 shown, the thigh housing 21 includes a first housing 211. The first housing 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 rotatably connecting with the hip assembly 10, and the second cylinder 213 is fixedly connected to the stator of the first driving member 22.

[0105] The first housing 211 may be an integral structure, that is, the first housing 211 is an integral structure made by an integral molding process. The integral molding process may specifically be stamping, casting, etc., without limitation. The first housing 211 may also be a split structure. The first cylinder 212, the second cylinder 213, and the rest of the first housing 211 may be connected and fixed by welding, bonding, clamping, screwing, etc.

[0106] The first cylinder body 212 is fixedly connected to the rotor of the yaw drive 14, so that the leg assembly 20 can rotate itself around the second axis E2 under the drive of the yaw drive 14. The connection method between the first cylinder body 212 and the rotor of the yaw drive 14 can be bonding, clamping, screwing, riveting, etc. The yaw drive 14 can be connected to the end face of the first cylinder body 212 facing the hip assembly 10, or can be connected to the side peripheral wall of the first cylinder body 212, and there is no specific limitation.

[0107] Optionally, the axis of the first cylinder body 212 coincides with the second axis E2 of the yaw drive 14.

[0108] The connection method between the second cylinder body 213 and the stator of the first drive 22 can be bonding, clamping, screwing, riveting, etc. The stator of the first drive 22 can be connected to the end face of the second cylinder body 213, or can be connected to the side peripheral wall of the second cylinder body 213, and there is no specific limitation. Optionally, the axis of the second cylinder body 213 coincides with the axis of the rotor of the first drive 22.

[0109] Optionally, at least part of the yaw drive 14 is received in the first cylinder body 212, and at least part of the first drive 22 is received in the second cylinder body 213.

[0110] By providing the first housing 211, the first cylinder body 212 is used for rotatably connecting with the hip assembly 10, the second cylinder body 213 is fixedly connected to the stator of the first drive 22, and the first housing 211 provides support for the two drives at the same time, simplifying the structure and ensuring stable support.

[0111] In one embodiment, as Figure 4 and Figure 5 shown, the second cylinder body 213 includes a first surface 214 and a second surface 215 facing away from each other in the X direction. A receiving groove 216 is formed from the first surface 214, at least part of the first drive 22 is received in the receiving groove 216, and a receiving hole 217 is formed in the second surface 215. The receiving hole 217 communicates with the receiving groove 216.

[0112] The shape of the receiving groove 216 is not specifically limited, and it only needs to correspond to the outer peripheral shape of the first drive 22. Similarly, the shape of the receiving hole 217 only needs to correspond to the shape of the rotor of the first drive 22.

[0113] As Figure 4 and Figure 5As shown, in a specific embodiment, the orthographic projections of the receiving groove 216 and the receiving hole 217 in the X direction are both circular, and the centers of the receiving groove 216 and the receiving hole 217 coincide and are 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. With such a setting, the stator of the first driving member 22 can be fixedly connected to the second surface 215 on the outer peripheral side of the receiving hole 217, and the connection is stable.

[0114] Optionally, the inner diameter of the receiving hole 217 is M, and the length of the first rod 243 (i.e., the dimension of the first rod 243 in the Z direction) is N, satisfying: 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, during the process of the first driving member 22 driving the first connecting rod 24 to move, the first rod may interfere with the second cylinder 213; 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. By setting N / M to satisfy 0.8 ≤ N / M ≤ 1.2, the length of the first rod 243 is reasonable, and there will be no interference with the second cylinder 213 during the rotation process, and the structure of the leg assembly 20 is compact.

[0115] The rotor of the first driving member 22 protrudes 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 fixedly connected to the rotor of the first driving member 22 and has a gap with the second surface 215 to avoid interference.

[0116] By providing the second cylinder 213 with a receiving groove 216 opened from the first surface 214, the rotor of the first driving member 22 protrudes from the second surface 215 and is fixedly connected to the crank 25 on the side facing away from the second surface 215, the weight distribution of the leg assembly 20 is relatively uniform and it is not easy to tip over.

[0117] As Figure 4 As shown, optionally, the first cylinder 212 has a first notch 2121, the first notch 2121 is provided on the side of the first cylinder 212 facing away from the second cylinder 213, and the first notch 2121 is used to receive a first calibration portion (not shown in the figure). The stator of the yaw driving member 14 has a second notch (not shown in the figure), and the second notch is used to receive a second calibration portion (not shown in the figure). When the humanoid robot 100 stands upright and faces forward, the first notch 2121 and the second notch are arranged opposite to each other in the Z direction, the first calibration portion and the second calibration portion sense and are aligned in the Z direction, and the waist-hip limiting structure is in the zero state.

[0118] In one embodiment, as Figure 4As 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 .

[0119] 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.

[0120] 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.

[0121] 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 .

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] Optional, such as Figure 4As shown, the step 219 is also provided with a weight-reducing groove 2191, and the number of the weight-reducing grooves 2191 is not specifically limited. In a specific embodiment, a plurality of weight-reducing grooves 2191 are arranged at intervals, and the plurality of weight-reducing grooves 2191 are centrosymmetric about the fourth axis E4.

[0127] By providing the 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 the 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 housing 211 is stable, and the calf member 23 can be generally located on the center line of the leg assembly 20, and the overall distribution of the leg assembly 20 is relatively uniform.

[0128] In one embodiment, as Figure 4 shown, the mounting portion 218 includes a first plate 2181 and a second plate 2182 that are opposite and spaced apart in the Y direction. Both the first plate 2181 and the second plate 2182 are 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.

[0129] Optionally, both the first plate 2181 and the second plate 2182 are smoothly connected to the outer peripheral surface of the second cylinder 213.

[0130] Optionally, in the positive 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, satisfying: 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 limit the angular range of the backward rotation of the calf member 23.

[0131] The first plate 2181 is closer to the front side of the humanoid robot 100 in the Y direction (i.e., the face side of the humanoid robot 100). The length that the first plate 2181 extends from the second cylinder 213 to the lower leg member 23 is greater than the length that the second plate 2182 extends from the second cylinder 213 to the lower leg member 23. The first plate 2181 can block the connection part between the lower leg member 23 and the thigh housing 21 on the front side of the humanoid robot 100, improving the aesthetics. The second plate 2182 is farther away from the lower leg member 23 and can provide the angular range for the backward rotation of the lower leg member 23, and there will be no interference between the second plate 2182 and the lower leg member 23 when the lower leg member 23 rotates around the fourth axis E4, and the anthropomorphic effect is good.

[0132] Optionally, as Figure 5 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 reinforcing portion can be provided on the side of the third plate 2183 facing the second surface 215 to increase the structural strength of the mounting portion 218.

[0133] Optionally, as Figure 5 shown, the third plate 2183 is provided with a weight reduction hole 2184 and a wire routing groove 2185. The weight reduction hole 2184 can reduce the overall weight of the first housing 211, and the wire routing groove 2185 facilitates wire routing.

[0134] By providing the first plate 2181 and the second plate 2182 that are opposite and spaced apart 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 lower leg member 23 than the end of the second plate 2182 away from the second cylinder 213 in the Z direction, the first plate 2181 can block the connection part between the lower leg member 23 and the thigh housing 21, improving the aesthetics. At the same time, the lower leg member 23 will not interfere with the second plate 2182 during rotation, and the anthropomorphic effect is good. In one embodiment, as Figure 3 shown, the thigh housing 21 further includes a second housing 27. The second housing 27 is connected to the second cylinder 213 and / or the mounting portion 218. There is a gap between the second housing 27 and the step 219 in the X direction, and at least part of the lower leg member 23 is received in the gap. The lower leg member 23 is also rotatably connected to the second housing 27.

[0135] Optionally, the second housing 27 can be an integral structure, and the integral forming process can specifically be stamping, casting, etc., without limitation. The second housing 27 can also be a split structure, and the various parts of the second housing 27 can be connected and fixed by welding, bonding, clamping, screwing, etc.

[0136] The connection mode 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 mode between the calf member 23 and the second housing 27 can be clamping, screwing, riveting, or bearing connection, etc., without limitation.

[0137] Optionally, the thigh housing 21 further includes a third housing, which is connected to the side of the first housing 211 facing away from the second housing 27 to shield the first driving member 22.

[0138] By providing the second housing 27, which is connected to the first housing 211 and rotatably connected to the calf member 23, the second housing 27 can shield at least part of the first link 24, the second link 26, the crank 25, and the calf member 23, and the internal parts are not exposed, which can improve the aesthetics of the leg assembly 20.

[0139] Optionally, the minimum dimension of the thigh housing 21 in the X direction is H1, and the minimum dimension of the first driving 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 housing 21 in the X direction and the minimum dimension H2 of the first driving 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 driving member 22 is larger than the size of the thigh housing 21, which may cause the center of gravity of the leg assembly 20 to tilt towards the side where the first driving member 22 is connected, and the weight distribution is uneven. By setting 0.8 ≤ H2 / H1 ≤ 1, the overall structural dimensions of the leg assembly 20 are reasonable, the weight distribution is relatively uniform, and the anthropomorphic effect is better.

[0140] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application 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 construed as a limitation to the present application.

[0141] The above-disclosed is only a preferred embodiment of the present application, and of course, it cannot be used to limit the scope of rights of the present application. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present application still fall 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 thigh shell (21) comprises a first shell (211), the first shell (211) comprises 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 assembly (10), and the second cylinder (213) is connected and fixed with the first driving member (22); The second cylinder (213) comprises a first surface (214) and a second surface (215) which are opposite to each other in the second direction, the second surface (215) is provided with a receiving hole (217), a portion of the first driving member (22) is exposed from the receiving hole (217) to the second surface (215), and the first connecting rod (24) is located on a side of the second surface (215) which is opposite to the first surface (214); The connection position between the second end (242) and the lower leg member (23) and the first driving member (22) are all approximately located on the center line of the leg assembly (20); 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 is characterized in that a reinforcing rib (246) is provided on the 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 rotatably 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 rotatably 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 third end (261) 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: A receiving groove (216) is opened on the first surface (214), and at least a part of the first driving member (22) is received in the receiving groove (216). The receiving hole (217) is connected to the receiving groove (216), and the rotor of the first driving member (22) is exposed from the receiving hole (217) to the second surface (215). The crank (25) and the second connecting rod (26) are located on the side of the second surface (215) facing away from the first surface (214).

9. The leg assembly (20) according to claim 8, 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).

10. The leg assembly (20) according to claim 1, 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).

11. The leg assembly (20) according to claim 10, 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).

12. The leg assembly (20) according to claim 10, 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).

13. 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 12, wherein the thigh shell (21) is connected to the crotch component (10).

14. The humanoid robot (100) according to claim 13, 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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