Leg structure of humanoid robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a leg structure of a humanoid robot and the humanoid robot. Wherein the leg structure of the humanoid robot mainly comprises a hip structural part and a leg structure, the hip structural part is connected with a hip pitching joint module, an output flange of the hip pitching joint module is connected with a leg rolling joint module, complex assembly on the hip structural part is avoided through a direct connection mode, the requirement for the structural design of the hip is simpler, assembly is more convenient, and the reliability of the humanoid robot is improved. And the size of the hip can be reduced, and structural bloating of the hip position is avoided. Due to the arrangement direction of a rotating shaft of an output flange of the hip pitching joint module, the leg structure of the humanoid robot is more flexible, the movement range is larger, and the humanoid robot can adapt to more scenes.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more particularly to a leg structure of a humanoid robot and a humanoid robot. Background Art

[0002] In the field of robotics, humanoid robots have always been the focus of research. The design of this type of robot usually covers the head, neck, torso, arms, waist, hips, legs and feet, and the flexibility of each part is controlled by the corresponding joint modules. Through the coordinated work of these joint modules in different positions, humanoid robots can simulate various human movements and postures, such as walking, standing, bending over and carrying objects, achieving a high degree of imitation of human behavior.

[0003] The legs of humanoid robots are usually driven by a combination of multiple joint modules at the hip position to achieve the pitch, roll and yaw movements of the legs. The space at the hip is limited, and the common method in the prior art is to set up a hip bracket and install multiple joint modules that achieve pitch, roll and yaw movements at different positions of the hip bracket. Although such a setting can meet the needs of leg operation, the stacking of multiple joint modules and matching parts at the hip position makes the structure of the hip very complicated, the rotation range of the joint module is limited, and it looks very bloated, which is not conducive to aesthetics. Summary of the invention

[0004] The present application provides a leg structure of a humanoid robot and a humanoid robot, aiming to solve the problems of the existing humanoid robot having an overly complex hip structure, interference and bloated appearance.

[0005] In one embodiment, a leg structure of a humanoid robot is provided, which mainly includes: a hip structure and a leg structure, wherein the leg structure includes a hip pitch joint module and a leg roll joint module; wherein the hip pitch joint module is fixedly connected to the hip structure, and the output flange of the hip pitch joint module is fixedly connected to the leg roll joint module; the rotation axis of the output flange of the hip pitch joint module has an angle with the horizontal direction and an angle with the vertical direction; the rotation axis of the output flange of the leg roll joint module is horizontally arranged; the rotation axes of the output flanges of the hip pitch joint module and the leg roll joint module are perpendicular to each other on a non-horizontal and non-vertical plane.

[0006] In one embodiment, the leg structure of the humanoid robot also includes a transmission member and a leg yaw joint module, wherein the transmission member is connected to the output flange of the leg roll joint module; the leg yaw joint module is fixedly connected to the transmission member; the rotation axis of the output flange of the leg yaw joint module is vertically arranged; the rotation axes of the output flanges of the leg yaw joint module and the leg roll joint module are perpendicular to each other in the vertical plane; the angle between the rotation axes of the output flanges of the leg yaw joint module and the hip pitch joint module is an obtuse angle.

[0007] In one embodiment, the angle between the rotation axis of the output flange of the hip pitch joint module and the vertical direction is 50 degrees to 70 degrees.

[0008] In one embodiment, the angle between the rotation axis of the output flange of the hip pitch joint module and the vertical direction is 55 degrees to 65 degrees.

[0009] In one embodiment, the angle between the rotation axis of the output flange of the hip pitch joint module and the vertical direction is 57.5 degrees to 62.5 degrees.

[0010] In one embodiment, the angle between the rotation axis of the output flange of the hip pitch joint module and the vertical direction is approximately 60 degrees.

[0011] In one embodiment, the angle between the rotation axis of the output flange of the hip pitch joint module and the horizontal direction is 20 degrees to 40 degrees.

[0012] In one embodiment, the angle between the rotation axis of the output flange of the hip pitch joint module and the horizontal direction is 25 degrees to 35 degrees.

[0013] In one embodiment, the angle between the rotation axis of the output flange of the hip pitch joint module and the horizontal direction is approximately 30 degrees.

[0014] In one embodiment, the rotation axis of the output flange of the hip pitch joint module substantially passes through the middle position of the leg roll joint module.

[0015] In one embodiment, the leg structure of the humanoid robot further includes a thigh structure, one end of which is fixedly connected to an output flange of the leg yaw joint module.

[0016] In one embodiment, the leg structure of the humanoid robot also includes a knee joint module, which is fixedly connected to the other end of the thigh structure. The rotation axis of the output flange of the knee joint module is horizontally arranged, and along the projection in the vertical direction, the rotation axis of the output flange of the knee joint module is approximately perpendicular to the rotation axis of the output flange of the leg roll joint module.

[0017] In one embodiment, the leg structure of the humanoid robot further includes a calf, one end of which is connected to an output flange of the knee joint module.

[0018] In one embodiment, a humanoid robot is provided, which mainly includes the leg structure of the humanoid robot as described above.

[0019] Beneficial effects of this application:

[0020] In the leg structure of a humanoid robot and the humanoid robot of the present application, the leg structure of the humanoid robot mainly includes a hip structure and a leg structure, the hip structure is connected to a hip pitch joint module, and the output flange of the hip pitch joint module is connected to a leg roll joint module. Compared with the traditional hip setting, the direct connection method avoids complicated assembly on the hip structure, and the structural design requirements for the hip are simpler, the assembly is more convenient, and it is conducive to reducing the volume of the hip and avoiding the bloated structure at the hip position. In addition, the rotation axis of the output flange of the hip pitch joint module has an angle with the horizontal direction and an angle with the vertical direction; a certain avoidance space can be formed in both the vertical and horizontal directions, so that the leg structure of the humanoid robot is more flexible, the range of activities is larger, and more scenes can be adapted. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 is a schematic diagram of the three-dimensional structure of the hip of a humanoid robot after being assembled with multiple joint modules in one embodiment of the present application;

[0023] Figure 2 is a front view schematic diagram of the hip of a humanoid robot after being assembled with multiple joint modules in one embodiment of the present application;

[0024] Figure 3 yes Figure 2 A schematic diagram showing the axis distribution of multiple joint modules;

[0025] Figure 4 is a side view schematic diagram of the hip of a humanoid robot after being assembled with multiple joint modules in one embodiment of the present application;

[0026] Figure 5 is a schematic diagram of the three-dimensional structure of the legs of a humanoid robot in one embodiment of the present application;

[0027] Figure 6It is a schematic diagram of the three-dimensional structure of a humanoid robot in one embodiment of the present application.

[0028] Reference numerals in the figures:

[0029] 1. Hip structure;

[0030] 2. Leg structure; 21. Hip pitch joint module; 22. Leg roll joint module;

[0031] 3. Transmission parts;

[0032] 4. Leg yaw joint module;

[0033] 5. Thigh structure;

[0034] 6. Knee joint module;

[0035] 7. Calf;

[0036] 8. Waist;

[0037] 9. Soles of feet.

[0038] Among them, X represents the first horizontal direction, Y represents the second horizontal direction, X is perpendicular to Y, Z represents the vertical direction, d1 is a schematic diagram of the rotation axis of the output flange of the hip pitch joint module, d2 is a schematic diagram of the rotation axis of the output flange of the leg roll joint module, d3 is a schematic diagram of the rotation axis of the output flange of the leg yaw joint module, and d4 is a schematic diagram of the rotation axis of the output flange of the knee joint module. DETAILED DESCRIPTION

[0039] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and Examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0040] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0042] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0045] In the present invention, the concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain specific shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0046] In one embodiment, see Figures 1 to 4 , a leg structure 2 of a humanoid robot is provided, which mainly includes a hip structure 1 and a leg structure 2, and the leg structure 2 includes a hip pitch joint module 21 and a leg roll joint module 22. Among them, the hip pitch joint module 21 is fixedly connected to the hip structure 1, and the output flange of the hip pitch joint module 21 is fixedly connected to the leg roll joint module 22; the rotation axis d1 of the output flange of the hip pitch joint module 21 has an angle with the horizontal direction and an angle with the vertical direction; the rotation axis d2 of the output flange of the leg roll joint module 22 is horizontally arranged; the rotation axis d1 of the output flange of the hip pitch joint module 21 and the rotation axis d2 of the output flange of the leg roll joint module 22 are perpendicular to each other on a non-horizontal and non-vertical plane.

[0047] In the above-mentioned setting, the hip structure 1 is connected to the hip pitch joint module 21, providing an installation base for the hip pitch joint module 21, so as to facilitate driving the leg roll joint module 22 connected to its output flange to realize the pitch movement of the leg, and the leg roll joint module 22 is directly connected to the hip pitch joint module 21, and other leg structures connected thereto realize rolling movement relative to the hip pitch joint module 21. Compared with the traditional hip setting, it avoids setting the leg roll joint module 22 on the hip structure 1, avoids the complex design and assembly of the hip structure 1, and is conducive to the simplification of the hip structure and avoids bloat.

[0048] The traditional leg roll joint module 22 is arranged behind the hip support. Although the leg roll joint module 22 is installed in this way, the leg roll joint module 22 not only needs to be assembled with the hip support, but also extends a certain distance behind the hip support. This results in that the hip not only needs to design an assembly structure, but also increases the space occupied in the front-to-back direction. In the above embodiment, the rotation axes of the output flanges of the hip pitch joint module 21 and the leg roll joint module 22 are perpendicular to each other on a non-horizontal and non-vertical plane, which can be referred to Figure 2 As shown, the leg roll joint module 22 is located at one end of the hip pitch joint module 21, which does not require an increase in the space occupied in the front-to-back direction and does not affect the structural simplification of the hip.

[0049] Compared with the traditional solution, the assembly requirements of the hip structural component 1 are reduced, and the material requirements of the structural component are also reduced, which is conducive to the lightweight of the humanoid robot. At the same time, it can reduce the assembly process and improve production efficiency.

[0050] In one embodiment, in the projection direction along the rotation axis d1, the hip pitch joint module 21 and the leg roll joint module 22 are at least partially overlapped. In other words, the rotation axis d1 of the output flange of the hip pitch joint module 21 is roughly aligned with the middle position of the rotation axis d2 of the output flange of the leg roll joint module 22. In other words, the shortest distances from the center of the two end faces of the leg roll joint module 22 to the straight line where the rotation axis d1 is located are roughly equal. In this way, the two ends of the leg roll joint module 22 can be connected to the leg yaw joint module 4, and no motion interference will occur when the hip pitch joint module 21 drives the leg roll joint module 22 to rotate.

[0051] In one embodiment, see Figures 1 to 4 , the rotation axis d1 of the output flange of the hip pitch joint module 21 has an angle setting compared to the vertical direction, that is, a first angle φ1, and the rotation axis d1 of the output flange of the hip pitch joint module 21 has an angle setting compared to the horizontal direction, that is, a second angle φ2, so that the hip pitch joint module 21 is tilted in space. On this basis, the rotation axis d2 of the output flange of the leg roll joint module 22 connected to the hip pitch joint module 21 is horizontally set, and the rotation axis d1 of the output flange of the hip pitch joint module 21 and the rotation axis d2 of the output flange of the leg roll joint module 22 are perpendicular to each other on a non-horizontal and non-vertical plane.

[0052] The above-mentioned configuration refers to the configuration of the hip pitch joint module 21 and the leg roll joint module 22 when the humanoid robot is in a naturally standing position.

[0053] The above-mentioned arrangement enables the leg roll joint module 22 to be away from the hip structure 1 in both the vertical and horizontal directions. When the leg roll joint module 22 and other leg structures connected to it perform rolling movements, there is more room for movement between the hip structure 1 or the hip, that is, the leg rolling movement has a greater degree of freedom, avoiding the restriction of the hip setting and reducing the possibility of interference, so as to improve the flexibility of the leg structure of the humanoid robot.

[0054] Compared with traditional solutions, when the legs roll, the rotation angle along the direction close to the hip structure is limited by the rotation limit between the hip structure and the leg structure. The angle must be less than 90 degrees, with limited flexibility, and cannot meet the needs of imitating some sitting and lying postures.

[0055] In the above-mentioned embodiment, the rotation axis d1 of the output flange of the hip pitch joint module 21 has an angle with the horizontal direction and an angle with the vertical direction Z. Such a setting makes the rotation direction restriction of the leg roll joint module 22 not limited to the position of the hip structure 1, that is, the hip pitch joint module 21 can form a certain avoidance space in both the vertical direction Z and the horizontal direction, reducing the influence on the range of motion of the leg roll joint module 22 and the leg structure connected thereto, so that the leg movement can be more flexible and can adapt to more scenes.

[0056] In one embodiment, the rotation axis d1 of the output flange of the hip pitch joint module 21 and the rotation axis d2 of the output flange of the leg roll joint module 22 are perpendicular to each other on a non-horizontal and non-vertical plane. In the projection along the rotation axis d1 direction of the output flange of the hip pitch joint module 21, the leg roll joint module 22 partially overlaps with the hip pitch joint module 21, and the rotation axis d1 of the output flange of the hip pitch joint module 21 is located on the rotation axis d2 of the output flange of the leg roll joint module 22. The projection of the rotation axis d1 of the output flange of the hip pitch joint module 21 in this direction is a circle or a point, and the corresponding rotation axis d2 of the output flange of the leg roll joint module 22 is a line segment, and the two overlap at least partially, or completely overlap. In this embodiment, the rotation axis d1 of the output flange of the hip pitch joint module 21 and the rotation axis d2 of the output flange of the leg roll joint module 22 are both line segments within the axial length range of the joint module.

[0057] In one embodiment, the horizontal direction refers to a direction on a horizontal plane, and the angle between the rotation axis and the horizontal direction may be a spatial angle, or an angle between the rotation axis and a horizontal first direction X, or an angle between the rotation axis and a horizontal second direction Y.

[0058] In one embodiment, see Figures 1 to 4 The leg structure of the humanoid robot also includes a transmission member 3 and a leg yaw joint module 4, the transmission member 3 is connected to the output flange of the leg roll joint module 22; the leg yaw joint module 4 is fixedly connected to the transmission member 3; the rotation axis d3 of the output flange of the leg yaw joint module 4 is vertically arranged; the rotation axis d3 of the output flange of the leg yaw joint module 4 and the rotation axis d2 of the output flange of the leg roll joint module 22 are perpendicular to each other on the vertical plane; the angle φ3 between the rotation axis d3 of the output flange of the leg yaw joint module 4 and the rotation axis d2 of the output flange of the hip pitch joint module 21 is an obtuse angle. Such a setting can realize the yaw rotation of the leg, and the three joint modules jointly realize the pitch, roll and yaw movements of the leg, meeting the requirements of the leg's degree of freedom.

[0059] In one embodiment, the transmission member 3 is specifically a U-shaped structural member, which clamps the leg yaw joint module 4, which is equivalent to the rotation axis d2 of the output flange of the leg yaw joint module 4 being erected between the U-shaped structural members, and the bottom of the U-shaped structural member is directly connected to the leg yaw joint module 4, and the rotation axis d3 of its output flange is perpendicular to the bottom of the U-shaped structural member, thereby satisfying that the rotation axis d3 of the output flange of the leg yaw joint module 4 and the rotation axis d2 of the output flange of the leg roll joint module 22 are perpendicular to each other in the vertical plane.

[0060] In one embodiment, the angle φ3 between the rotation axis d3 of the output flange of the leg yaw joint module 4 and the rotation axis d2 of the output flange of the hip pitch joint module 21 is an obtuse angle. The setting of the obtuse angle makes the distance between the leg yaw joint modules 4 of the two legs of the humanoid robot larger, and the space and flexibility of its movement are higher, which is conducive to performing complex leg movements.

[0061] In the above arrangement, the hip pitch joint module 21 and the hip structure 1 are matched in an eight-shaped manner, and the force has a certain decomposition and conduction when subjected to force, which can avoid force concentration and play a role in increasing structural strength and protecting the joint module.

[0062] In one embodiment, see Figure 2 and Figure 3 When the humanoid robot is in a natural standing position, the angle between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the vertical direction Z is 50 to 70 degrees. This arrangement makes the rotation axis d1 of the output flange of the hip pitch joint module 21 tilted to a greater extent, and the span in the vertical direction is greater than the span in the horizontal direction, that is, the avoidance space in the vertical direction is greater than the avoidance space in the horizontal direction, so that the distance between the two legs of the humanoid robot can be prevented from being too large, and the structure is more reasonable.

[0063] In one embodiment, when the humanoid robot is in a natural standing position, the angle φ1 between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the vertical direction Z is 50 to 70 degrees, and can be specifically 51 degrees, 55 degrees, 58 degrees, 60 degrees, 61 degrees, 63 degrees, 68 degrees, etc., without any special restrictions here.

[0064] In one embodiment, see Figure 2 and Figure 3 When the humanoid robot is in a natural standing position, the angle between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the vertical direction Z is 55 degrees to 65 degrees.

[0065] In one embodiment, when the humanoid robot is in a natural standing position, the angle φ1 between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the vertical direction Z is 55 to 65 degrees, and can be specifically 55 degrees, 56.5 degrees, 58 degrees, 60.5 degrees, 61.5 degrees, 63.5 degrees, 65 degrees, etc., without any special restrictions here.

[0066] In one embodiment, see Figure 2 and Figure 3 When the humanoid robot is in a natural standing position, the angle between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the vertical direction Z is 57.5 degrees to 62.5 degrees.

[0067] In one embodiment, when the humanoid robot is in a natural standing position, the angle φ1 between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the vertical direction Z is 57.5 degrees to 62.5 degrees, and can be specifically 58 degrees, 58.5 degrees, 59 degrees, 59.5 degrees, 60.5 degrees, 61.5 degrees, 62 degrees, etc., without any special restrictions here.

[0068] In one embodiment, see Figure 2 and Figure 3 When the humanoid robot is in a natural standing position, the angle between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the vertical direction Z is approximately 60 degrees.

[0069] In one embodiment, when the humanoid robot is in a natural standing position, the angle between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the vertical direction Z is approximately 60 degrees. At this time, the angle formed by the rotation axis d1 of the output flanges of the two hip pitch joint modules 21 of the humanoid robot is approximately 120 degrees, which has good force, and makes the hip pitch joint modules 21 on both sides of the hip structure 1 and the waist 8 roughly in an isosceles triangle arrangement, the hip structure 1 is roughly in an isosceles triangle, and the hip structure 1 has triangular stability, and the forces in multiple directions can be better integrated, which plays a role in stabilizing and balancing the hip position structure.

[0070] Under the above-mentioned structural setting, the position where the waist 8 is connected is roughly parallel to the horizontal plane. On the one hand, it ensures that the waist 8 and the structure above are in a relatively balanced position in the natural standing state, which is convenient for the initial state of the humanoid robot to remain stable along the horizontal first direction X; on the other hand, the initial position accuracy of each joint module of the humanoid robot is more reliable, which is convenient for the motion control of the humanoid robot.

[0071] In one embodiment, see Figure 2 and Figure 3When the humanoid robot is in a natural standing position, the angle between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the horizontal direction is 20 degrees to 40 degrees.

[0072] In one embodiment, when the humanoid robot is in a natural standing position, the horizontal direction refers to the horizontal first direction X, and the angle φ2 between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the horizontal first direction X is 20 degrees to 40 degrees, and can be specifically 22 degrees, 25 degrees, 28 degrees, 31 degrees, 35 degrees, 38 degrees, 39 degrees, etc., and no special restrictions are made here.

[0073] In one embodiment, see Figure 2 and Figure 3 When the humanoid robot is in a natural standing position, the angle between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the vertical direction Z is 25 degrees to 35 degrees.

[0074] In one embodiment, when the humanoid robot is in a natural standing position, the horizontal direction refers to the horizontal first direction X, and the angle φ2 between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the horizontal first direction X is 25 degrees to 35 degrees, and can be specifically 25.5 degrees, 27 degrees, 30 degrees, 31.5 degrees, 32.5 degrees, 33 degrees, 34 degrees, etc., and no special restrictions are made here.

[0075] In one embodiment, see Figure 2 and Figure 3 When the humanoid robot is in a natural standing position, the angle between the rotation axis d1 of the output flange of the hip pitch joint module 21 and the vertical direction Z is approximately 30 degrees. At this time, the length of the rotation axis d1 of the output flange of the hip pitch joint module 21 is approximately equal to twice the span of the hip pitch joint module 21 in the vertical direction Z, so that the space utilization is more reasonable.

[0076] In one embodiment, see Figure 4 , the rotation axis d1 of the output flange of the hip pitch joint module 21 roughly passes through the middle position of the leg roll joint module 22. Such an arrangement makes the middle position of the leg roll joint module 22 roughly located on the rotation axis d1 of the output flange of the hip pitch joint module 21, so that the rotation axis d1 of the output flange of the hip pitch joint module 21 can balance itself in the horizontal second direction Y and the leg roll joint module 22 can also balance in this direction, that is, the balance of the hip pitch joint module 21 and the leg roll joint module 22 in the horizontal second direction Y is better.

[0077] In one embodiment, see Figure 5The leg structure of the humanoid robot also includes a thigh structure 5, one end of which is fixedly connected to the output flange of the leg yaw joint module 4. The thigh structure 5 is used to transmit yaw motion. The direct connection has a direct driving effect and is easy to control. In addition, when the humanoid robot is standing naturally, the rotation axis d3 of the leg yaw joint module 4 is in the vertical direction Z. The force transmission in the standing state is also along the vertical direction Z, which can avoid the bias of the leg yaw joint module 4.

[0078] In one embodiment, see Figure 5 The leg structure of the humanoid robot also includes a knee joint module 6, which is fixedly connected to the other end of the thigh structure 5. The rotation axis d4 of the output flange of the knee joint module 6 is horizontally arranged. In the projection along the vertical direction, the rotation axis d4 of the output flange of the knee joint module 6 is roughly perpendicular to the rotation axis d2 of the output flange of the leg roll joint module 22. The setting of the knee joint module 6 can imitate the lower leg of a human being and realize actions such as kicking. Such a setting avoids the traditional scheme of setting a joint module at the hip and adopting a rocker drive, which saves the setting of the joint module at the hip and avoids the bloatedness of the hip.

[0079] In one embodiment, when the humanoid robot is in a natural standing position, along the projection in the vertical direction, the rotation axis d4 of the output flange of the knee joint module 6 is approximately perpendicular to the rotation axis d2 of the output flange of the leg roll joint module 22. Such a setting enables the lower leg 7 under the knee joint module 6 to swing forward and backward around the rotation axis d4 of its output flange, while the rotation axis d2 of the output flange of the leg roll joint module 22 enables the thigh and the part below to swing left and right.

[0080] In one embodiment, in one embodiment, see Figure 5 The leg structure of the humanoid robot also includes a shank 7, one end of which is connected to the output flange of the knee joint module 6. The shank 7 is directly driven by the knee joint module 6, and the knee joint module 6 is directly set at the connection between the thigh and the shank 7, and one side of the output end is directly connected to the thigh or the shank 7. The rotation of the knee joint module 6 can drive the shank 7 to rotate relative to the thigh.

[0081] In one embodiment, see Figure 6 , a humanoid robot is provided, which mainly includes the leg structure of the humanoid robot in any of the above embodiments. The beneficial effects of the leg structure of the humanoid robot are detailed in the above embodiments, which will not be repeated here.

[0082] The humanoid robot includes a head, a neck, a torso, a waist 8, a hip, an arm and a leg, wherein the hip includes a hip structure 1, which is respectively connected to the waist 8 and the leg, and the leg includes a leg structure 2, and the leg structure 2 includes a hip pitch joint module 21, a leg roll joint module 22 and a leg yaw joint module 4 which are connected in sequence, and the hip pitch joint module 21 is connected to the hip structure 1, and the thigh structure 5 of the leg is connected to the output end of the leg yaw joint module 4, and the hip pitch joint module 21, the leg roll joint module 22 and the leg yaw joint module 4 realize the pitch, roll and yaw movements of the thigh, and a knee joint module 6 is arranged between the thigh and the calf 7 for directly driving the movement of the calf 7, and the calf 7 drives two sets of crank rocker groups through two foot drive joint modules to realize the omnidirectional movement of the sole 9, such a multi-degree-of-freedom robot can realize the imitation of humanoid walking, standing, bending and other movements, and can also realize complex behaviors such as carrying and climbing in combination with the arms.

[0083] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A leg structure of a humanoid robot, characterized in that: include: Hip structure; as well as A leg structure, the leg structure comprising a hip pitch joint module and a leg roll joint module; Wherein, the hip pitch joint module is fixedly connected to the hip structure, and the output flange of the hip pitch joint module is fixedly connected to the leg roll joint module; The rotation axis of the output flange of the hip pitch joint module has an angle with the horizontal direction and an angle with the vertical direction; The rotation axis of the output flange of the leg roll joint module is arranged horizontally; The rotation axes of the output flanges of the hip pitch joint module and the leg roll joint module are perpendicular to each other on a non-horizontal and non-vertical plane.

2. The leg structure of a humanoid robot according to claim 1, characterized in that: Also includes a transmission member connected to an output flange of the leg roll joint module; and A leg yaw joint module, wherein the leg yaw joint module is fixedly connected to the transmission member; The rotation axis of the output flange of the leg yaw joint module is arranged vertically; The rotation axes of the output flanges of the leg yaw joint module and the leg roll joint module are perpendicular to each other on the vertical plane; The angle between the rotation axes of the output flanges of the leg yaw joint module and the hip pitch joint module is an obtuse angle.

3. The leg structure of a humanoid robot according to claim 1, characterized in that: The angle between the rotation axis of the output flange of the hip pitch joint module and the vertical direction is 50 degrees to 70 degrees.

4. The leg structure of a humanoid robot according to claim 1, characterized in that: The angle between the rotation axis of the output flange of the hip pitch joint module and the vertical direction is 55 degrees to 65 degrees.

5. The leg structure of a humanoid robot according to claim 1, characterized in that: The angle between the rotation axis of the output flange of the hip pitch joint module and the vertical direction is 57.5 degrees to 62.5 degrees.

6. The leg structure of a humanoid robot according to claim 1, characterized in that: The angle between the rotation axis of the output flange of the hip pitch joint module and the vertical direction is approximately 60 degrees.

7. The leg structure of a humanoid robot according to claim 1, characterized in that: The angle between the rotation axis of the output flange of the hip pitch joint module and the horizontal direction is 20 degrees to 40 degrees.

8. The leg structure of a humanoid robot according to claim 1, characterized in that: The angle between the rotation axis of the output flange of the hip pitch joint module and the horizontal direction is 25 degrees to 35 degrees.

9. The leg structure of a humanoid robot according to claim 1, characterized in that: The angle between the rotation axis of the output flange of the hip pitch joint module and the horizontal direction is approximately 30 degrees.

10. The leg structure of a humanoid robot according to claim 1, characterized in that: The rotation axis of the output flange of the hip pitch joint module roughly passes through the middle position of the leg roll joint module.

11. The leg structure of a humanoid robot according to claim 2, characterized in that: It also includes a thigh structure, one end of which is fixedly connected to the output flange of the leg yaw joint module.

12. The leg structure of a humanoid robot according to claim 11, characterized in that: It also includes a knee joint module, which is fixedly connected to the other end of the thigh structure. The rotation axis of the output flange of the knee joint module is horizontally arranged, and along the projection in the vertical direction, the rotation axis of the output flange of the knee joint module is approximately perpendicular to the rotation axis of the output flange of the leg roll joint module.

13. The leg structure of a humanoid robot according to claim 12, characterized in that: It also includes a calf, one end of which is connected to the output flange of the knee joint module.

14. A humanoid robot, characterized in that: include: The leg structure of a humanoid robot as claimed in any one of claims 1 to 10.

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