Leg structure of humanoid robot and humanoid robot

Abstract

The invention discloses a leg structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, and solves the problem that the sizes of a motor and a control unit are limited due to the fact that the motor is fixed to the upper ends of a thigh structure and a shank structure, according to the technical scheme, the leg structure mainly comprises a crotch, the thigh structure, the shank structure and a foot end piece; the thigh structure comprises a thigh support, two motors are installed on the thigh support, the shank structure comprises a shank support, a motor is installed on the shank support, a shell of each motor is in a long strip shape, the control unit comprises a plurality of circuit boards, the circuit boards are stacked in the shell in the length direction of the shell, and a first installation cavity is formed in the thigh support. The two motors on the thigh support are both fixed in the first installation cavity, the shank support is provided with a second installation cavity, the motor of the shank support is fixed in the second installation cavity, and a transmission unit of the motor is fixedly connected with the foot end piece. The motor mounting structure is mainly used for enabling the motor to have a larger mounting space.

Description

Technical Field

[0001] The invention shows a leg structure of a humanoid robot and the humanoid robot, and belongs to the technical field of humanoid robots. Background Art

[0002] With the rapid development of artificial intelligence technology and its deep integration with the traditional robotics industry, humanoid robots have a higher degree of simulation. The leg structure of humanoid robots, as the most important supporting and moving parts of robots, has received more and more attention and research. The research on leg structure not only has great scientific significance, but also shows great potential in practical applications.

[0003] For example, the prior art CN11881095cA discloses a bipedal humanoid robot, including a pelvic structure and two leg structures, a right thigh motor and a left thigh motor are provided at both ends of the pelvic structure, the output end of the right thigh motor is connected to the right leg structure, the right thigh motor drives the right thigh to swing back and forth, a right knee joint motor and a right knee joint rotating connecting rod are provided on the right thigh, the output end of the right knee joint motor is connected to one end of the right knee joint connecting rod, the other end of the right knee joint connecting rod is rotationally connected to the upper end of the right calf, the right knee joint motor drives the right calf to swing back and forth, a right calf motor and a right ankle joint rotation connection are provided on the right calf, and the right calf motor drives the right ankle joint rotating connecting rod to drive the right foot end piece to move.

[0004] The motors of the humanoid robots in the above patents all use disc motors, and the motors are all installed at the upper ends of the thighs and the upper ends of the calves. The disc motors themselves are round and flat in shape, and in order to avoid the upper ends of the thighs and calves being too wide, the volume of the disc motors will also be limited, which leads to a smaller space for accommodating the control unit in the disc motor, making the overall area of ​​the control unit smaller, resulting in insufficient voltage and current output by the control unit to the motor, which will reduce the operating speed and load capacity of the leg structure. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the motor is fixed at the upper end of the thigh structure and the calf structure, resulting in limited size of the motor and the control unit. For this purpose, a leg structure of a humanoid robot and a humanoid robot are provided, and the shape of the motor is consistent with the internal installation cavity of the thigh structure and the calf structure, so that the motor has a larger installation space.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] The leg structure of a humanoid robot includes a crotch, a thigh structure, a calf structure and a foot end piece. The thigh structure is rotatably connected between the crotch and the calf structure, and the foot end piece is rotatably connected to the bottom end of the calf structure. The thigh structure includes a thigh bracket, on which two motors are installed. The calf structure includes a calf bracket, on which a motor is installed. The motor includes a shell, and a drive unit, a control unit and a transmission unit installed in the motor. The shells of the motors are all in the shape of long strips. The transmission unit and the control unit are respectively located at both ends of the drive unit. The control unit includes a plurality of circuit boards, which are stacked in the shell along the length direction of the shell. The transmission unit is connected to the output shaft of the drive unit for outputting torque to the joints of the legs. A first mounting cavity is provided on the thigh bracket along its length direction. The two motors on the thigh bracket are both fixed in the first mounting cavity. The transmission unit of one of the motors of the thigh bracket is fixedly connected to the crotch, and the transmission unit of the other motor is fixedly connected to the calf bracket. A second mounting cavity is provided on the calf bracket along its length direction. The motor of the calf bracket is fixed in the second mounting cavity, and the transmission unit of the motor is fixedly connected to the foot end piece.

[0008] The beneficial effects of adopting the present invention are:

[0009] The thigh support described in the present invention is provided with a first installation cavity, and the calf support is provided with a second installation cavity. The motor in the thigh structure and the motor in the calf structure are both in the shape of an elongated strip, and the outer shell shape of the motor matches the first installation cavity and the second installation cavity, so that the motor can be fixedly installed inside the thigh support and the calf support, thereby making full use of the internal space of the thigh support and the calf support, so that the thigh support and the calf support can reduce the weight while providing a larger installation space for the motor, and also can protect the motor; in addition, the thigh structure and the calf structure have a longer length, so that the first installation cavity and the second installation cavity can provide a longer installation space for the motor, and the size of the motor can be increased by increasing the length of the outer shell, and at the same time, because the control unit includes Several circuit boards are stacked along the length direction of the shell. The installation method of the circuit boards can reduce the size of the circuit boards in the diameter direction of the motor shell, so that the shape of the circuit boards is more consistent with the shape of the motor shell, avoiding the motor shell diameter being too large to affect the appearance of the thigh structure and the calf structure, which helps to improve the aesthetics of the leg structure; secondly, the stacking method of the circuit boards is consistent with the formation of the shell. While the control unit does not affect the appearance of the motor, the overall area of ​​the circuit boards can be increased by increasing the number of circuit boards, so that more components can be installed on the circuit boards, thereby improving the performance of the circuit boards, enabling the circuit boards to output greater voltage and current to the motor, providing the motor with output torque and load performance, and helping to improve the running speed and carrying capacity of the leg structure.

[0010] Preferably, the thigh support includes a first front plate and two first side plates respectively fixed on both sides of the first front plate, the first installation cavity is formed between the first front plate and the two second side plates, the motor of the thigh support includes a first motor and a second motor, the first motor is fixed in the installation cavity and close to the first front plate, the transmission unit of the first motor extends to the bottom end of the thigh support and is fixedly connected to the calf support, the second motor is fixed between the two first side plates, the transmission unit of the second motor extends to the top end of the thigh support and is fixedly connected to the crotch, and the first motor is between the first front plate and the second motor. With the above-mentioned technical solution, the transmission unit of the first motor extends to the bottom end of the thigh support, so that the transmission unit of the first motor can be directly connected to the calf structure, and the corresponding transmission unit of the second motor can also be directly connected to the crotch, thereby reducing the transmission mechanism between the motor and the calf structure or the crotch, helping to reduce energy loss during power transmission, and reducing mechanical wear and failure rate caused by too many transmission parts.

[0011] Preferably, the top end of the first side panel forms a first hinge end, the housing of the second motor is fixed to the first hinge end, and the transmission unit of the second motor is provided with an inertia disk for outputting torque, the inertia disk is fixedly connected to the hip, and the second motor drives the inertia disk to rotate to realize the relative rotation of the thigh and the hip. With the aforementioned technical solution, the second motor directly outputs torque to the hip through the inertia disk to realize the linear transmission of power, which can reduce the constraint stiffness of the transmission unit. Compared with the solution of connecting rod transmission in the prior art, when performing simulation in the design process, the design of the present invention has a larger simulation time step, which helps to reduce the training time of the control unit, shorten the research and development time and iterative testing time. In addition, the connecting rod transmission is a nonlinear transmission, which is rarely supported by simulation engines during simulation, and the solution obtained during simulation is only an approximate solution, which is quite different from the real physical situation. The present invention transmits torque directly to the joint part, which is a linear transmission. When performing simulation, The solution is closer to the real physical situation, and the actual product motion state is closer to the state during simulation. In addition, the use of linear transmission can reduce the difficulty of solving inverse kinematics, reduce calculation overhead, and help to directly use the control unit of simulation training for real objects. In addition, in the prior art, in order to set the connecting rod structure in the limited leg space, the size of the motor has to be reduced. In the present invention, because the torque is directly transmitted to the joints of the leg structure, the length of the motor can be designed to be close to the length of the leg space, so that the motor has a more powerful performance, thereby outputting a larger torque, increasing the range of motion during leg movement, and improving the motion performance of the humanoid robot.

[0012] Preferably, the calf support includes a second front plate, a second rear plate and two second side plates, the second installation cavity is formed between the second front plate, the second rear plate and the two second side plates, the motor of the calf support is a third motor, the housing of the third motor is fixed in the second installation cavity and distributed along the length direction of the calf support, the transmission unit of the third motor extends to the bottom end of the calf support and is fixedly connected to the foot end piece. With the aforementioned technical solution, the calf support is formed by splicing the second front plate, the second rear plate and the two second side plates, and an opening can be formed at the top and the bottom of the second installation cavity, so as to facilitate the connection between the thigh structure and the hinged end of the calf support, and also facilitate the connection between the third motor and the foot end piece, so that the installation and disassembly of the leg structure are simpler and more convenient, which helps to improve the installation and maintenance efficiency of the leg structure.

[0013] Preferably, the top end of the second side panel forms a second hinged end, the transmission unit of the motor is provided with an inertia disk for outputting torque, the inertia disk of a motor in the thigh support is fixedly connected to the second hinged end, and the motor of the thigh support drives the inertia disk to rotate to realize relative rotation of the thigh support and the calf support.

[0014] Preferably, in the vertical direction, the top of the second front plate is lower than the top of the second side plate, and the upper side of the second front plate forms an avoidance groove for avoiding the thigh support. With the above technical solution, the avoidance groove can be inserted into the thigh structure, ensuring that the front side of the thigh structure and the front side of the calf structure can be kept in the same plane, thereby allowing the thigh structure and the calf structure to remain straight, enabling the leg structure to stand straight, and making the leg structure more realistic.

[0015] Preferably, the thigh support includes a first front plate, and when the first front plate and the second front plate are in the same plane, the bottom end of the first front plate extends into the avoidance groove and abuts against the top end of the second front plate. With the above technical solution, when the first front plate and the second front plate are in the same plane, the thigh support and the calf support are in the same straight line, and the leg structure is in a standing state at this time, and the top end of the first front plate and the second front plate abut against each other, so that the calf support can support the thigh support, thereby dispersing the force between the motor of the thigh support and the second hinge end, and reducing the possibility of damage to the motor and the second hinge end of the thigh support.

[0016] Preferably, a mounting groove is provided at the top of the foot end piece, and the transmission unit of the motor of the calf support is provided with an inertia disk for outputting torque. The inertia disk is fixed to the side wall of the mounting groove, and the motor of the calf support drives the inertia disk to rotate to realize the relative rotation of the calf support and the foot end piece. With the aforementioned technical solution, the inertia disk of the motor of the calf support is directly fixedly connected to the foot end piece, which can eliminate the connecting rod and reduce the energy loss in the power transmission process, so that the motor can output a greater torque to the foot end piece, so that the torque output by the motor is sufficient to satisfy the foot end piece to walk and run in the form of toe landing, so that the walking posture of the leg structure of the humanoid robot is more in line with the human body structure and has a higher simulation; secondly, in the prior art, a connecting rod mechanism is usually used to transmit the motor power to the calf. Because the toe lands before the heel, the connecting rod is prone to breakage. Therefore, at present, Humanoid robots that use connecting rod transmission all adopt a walking posture with the heels touching the ground, so that the entire foot end serves as a fulcrum. In the present invention, due to the structural adjustment of the motor and the change in the transmission method, the inertia disk and the foot end piece have sufficient installation strength and will not separate. The motor has powerful performance so that the motor can withstand the impact when the toe of the foot end piece touches the ground. In this way, the entire leg becomes a three-section structure, namely the thigh, the calf and the foot end piece. When the humanoid robot encounters complex road conditions during its movement, the morphological changes of the legs have more solutions to adapt to the environment, so that the humanoid robot has higher motion performance.

[0017] Preferably, the calf support includes a second front plate, and there is an avoidance gap between the bottom end of the second front plate and the edge of the slot of the installation slot; or, when the second front plate is vertically located on the bottom surface of the foot end piece, the orthographic projection of the second front plate on the foot end piece is in the installation slot. By adopting the above technical solution, the front end of the foot end piece can be rotated toward the second front plate to avoid the second front plate from hindering the rotation of the foot end piece, which helps to increase the relative angle between the calf support and the foot end piece, making the foot end piece more flexible and improving the simulation of the leg structure.

[0018] Preferably, the foot end piece includes an ankle, a heel and a toe, the mounting groove is provided at the top of the ankle, the inertia disk is fixedly connected to the ankle, and when the leg structure walks and the foot end piece gradually contacts the ground, the motor of the calf support drives the toe to rotate in a direction away from the calf support, so that the toe contacts the ground first. With the aforementioned technical solution, the leg structure walks and runs in the form of toe contact during walking, and the force applied when the foot end piece touches the ground is applied to the toe, so that the force can be kept away from the connection between the ankle and the calf support, reducing the impact force on the connection, reducing the possibility of ankle damage, and helping to extend the service life of the leg structure.

[0019] Preferably, the driving unit includes a stator, a rotor and an output shaft, and the transmission unit includes a rotating shaft, a first bevel gear is provided at one end of the rotating shaft, an inertia disk is provided at the other end, and a second bevel gear is provided at the end of the output shaft, the first bevel gear is meshed with the second bevel gear so that the rotating shaft and the output shaft remain perpendicular, and the driving unit drives the inertia disk to rotate through the rotating shaft. By adopting the above technical solution, the first bevel gear and the second bevel gear can realize vertical transmission between the transmission shaft and the output shaft, so that the transmission efficiency between the output shaft and the transmission shaft is higher, and the stable transmission of torque is ensured.

[0020] Preferably, the transmission unit further comprises a reduction mechanism, which comprises a planetary gear and a ring gear, a sun gear is provided at the end of the rotating shaft, the planetary gear meshes with the ring gear and the sun gear at the same time, the rotating shaft drives the ring gear to rotate through the planetary gear, and the inertia disc is fixedly connected to the ring gear; or, the ring gear is relatively fixed to the housing, the inertia disc is fixedly connected to the planetary gear, and the output shaft drives the inertia disc to rotate through the planetary gear. By adopting the above technical solution, the reduction mechanism can reduce the rotation speed of the rotating shaft and make the inertia disc have a larger output torque, so that the motor can stably drive the movement of the leg structure.

[0021] Preferably, the reduction mechanism further comprises a reduction box, which is fixedly connected to the housing of the motor, the gear ring is fixed to the inner wall of the reduction box, the reduction box is provided with a through hole, the inertia disc is rotatably mounted on the through hole through a bearing, the outer peripheral side of the rotating shaft is rotatably connected to a retainer, the retainer is fixedly connected to the inertia disc, the planetary gear has a rotating shaft, the two ends of the rotating shaft are respectively connected to the retainer and the inertia disc, and the inertia disc has a fastener for fixing the hip, calf or foot end piece. By adopting the above technical solution, the planetary gear is restricted between the retainer and the inertia disc, which can prevent the planetary gear from moving along the axial direction of the sun gear, ensuring that the planetary gear can maintain stable meshing with the sun gear and the gear ring.

[0022] Preferably, the housing includes a main housing and an end cap detachably mounted on one end of the main housing, the end cap being connected to one end of the main housing away from the transmission unit, and a receiving chamber for assembling the control unit is formed between the end cap and the main housing. With the aforementioned technical solution, the main housing and the end cap are detachably connected, which can facilitate the installation and disassembly of the control unit, and enable maintenance and testing of the control unit; in addition, the end cap forms a receiving chamber at one end of the main housing, which can increase the distance between the control unit and the drive unit, reduce the heat generated by the drive unit entering the receiving chamber, reduce the heating rate of the control unit, and help extend the service life of the control unit; in addition, the receiving chamber is arranged at one end of the main housing, and since the housing is arranged in a long strip shape, the volume of the receiving chamber can be expanded by increasing the length of the housing, so that a larger area of ​​the control unit can be installed in the receiving chamber, so as to enhance the function of the control unit and enable the leg structure to have a faster running speed and stronger load capacity.

[0023] Preferably, the control unit includes a first circuit board and at least one second circuit board, the weak current area of ​​the control unit is arranged on the first circuit board, and the strong current area of ​​the control unit is arranged on the second circuit board, the first circuit board is used for signal interaction and control of the motor, and the second circuit board is used to control the voltage and current output to the motor, and the first circuit board is provided with a plurality of support columns, which support the second circuit board to form a heat dissipation channel between the first circuit board and the second circuit board, and the first circuit board and the second circuit board are stacked along the length direction of the shell. With the above-mentioned technical solution, the support columns not only fix the height of the heat dissipation channel to ensure the stable performance of the heat dissipation function, but also support and position the first circuit board and the second circuit board, prevent the first circuit board and the second circuit board from being displaced or loosened due to vibration, collision and other factors during the movement of the leg structure, ensure the reliability of the electrical connection and the normal operation of the circuit, and reduce the hidden dangers of electrical failure caused by mechanical factors.

[0024] Preferably, a third circuit board is attached to one side of the second circuit board, the second circuit board is electrically connected to the third circuit board, the second circuit board is provided with components for controlling the voltage and current input to the motor, and the third circuit board is used to reduce the voltage fluctuation during the operation of the motor. The aforementioned technical solution is adopted, and the voltage, current control and voltage fluctuation suppression functions are respectively undertaken by different circuit boards, so that each circuit board focuses on a specific function, improving the accuracy and stability of the function realization; in addition, during the operation of the leg structure, its joint parts will be in a state of reciprocating motion, so the motor is also in a high-frequency and reciprocating forward and reverse rotation during the operation, and the voltage of the motor will fluctuate violently during the forward and reverse switching process. The third circuit board can specifically deal with the voltage fluctuation problem to avoid damage caused by violent voltage fluctuations exceeding the rated voltage value of the control unit, thereby improving the stability of the motor operation.

[0025] Preferably, the second circuit board includes a PCB substrate, the PCB substrate includes a first mounting surface and a second mounting surface, and the components include a first component group mounted on the first mounting surface and a second component group mounted on the second mounting surface. By adopting the above-mentioned technical solution, the double-sided layout method can make full use of the two surface spaces of the PCB substrate, increase the layout density of the components, and help disperse the heat source, avoid excessive heat concentration on one side of the PCB substrate, thereby improving the heat dissipation effect of the entire circuit board, reducing problems such as component performance degradation or damage caused by overheating, and helping to maintain the stable operation of the control unit; in addition, because the high-voltage area can be arranged on the upper and lower surfaces of the PCB substrate, it can also further reduce the size of the PCB substrate and reduce the volume of the control unit.

[0026] Preferably, the first component group includes multiple groups of MOS tubes, and the height of the components other than the MOS tubes in the first component group protruding from the first mounting surface is lower than the height of the MOS tubes protruding from the first mounting surface. A heat sink is attached to the MOS tube, and all MOS tubes share one heat sink. By adopting the above technical solution, the height of the components other than the MOS tubes in the first component group is lower than the height of the MOS tubes protruding from the first end surface, which helps to form a more regular layout structure on the second circuit board, avoiding the space waste or mutual interference problems that may be caused by uneven component heights, making the space utilization of the second circuit board more reasonable; in addition, multiple groups of MOS tubes share one heat sink, which can centrally dissipate heat for the MOS tubes. Since the MOS tubes usually generate more heat during operation, the shared heat sink can increase the heat dissipation area, enhance the heat dissipation effect, effectively reduce the temperature of the MOS tube, ensure that it works within a suitable temperature range, reduce performance degradation or failures caused by overheating, and improve the stability and reliability of the entire device, thereby ensuring the continuous and stable operation of the control unit.

[0027] Preferably, the first component group includes multiple groups of MOS tubes and current-carrying copper blocks, the third circuit board includes a copper substrate, one side of the copper substrate is attached to the second mounting surface and is used to dissipate heat for the MOS tubes and the current-carrying copper blocks, the mounting position of the second component group on the second mounting surface avoids the projection area of ​​all MOS tubes and the current-carrying copper blocks on the second panel, and the copper substrate is provided with a avoidance hole avoiding the second component group, and the copper substrate at least covers the projection area of ​​all MOS tubes and the current-carrying copper blocks on the second panel. With the above-mentioned technical solution, copper has good thermal conductivity and can quickly conduct away the heat generated by the MOS tubes and the current-carrying copper blocks. Although the surface of the PCB substrate itself also has a layer of copper, it is too thin to carry high voltage and current. The current-carrying copper block protrudes from the first end surface, so it has a larger volume and heat dissipation area; in addition, the large volume enables the current-carrying copper block to have a better voltage and current carrying capacity, so that when the control unit is reduced in size, it can also output a larger voltage and current to the motor, so that the motor outputs a larger torque and improves the operating performance of the leg structure, and at the same time, the large heat dissipation area enables the current-carrying copper block to generate more heat when carrying voltage and current. The high temperature can be radiated outward faster, improving the heat dissipation effect of the current-carrying copper block; secondly, both the MOS tube and the current-carrying copper block will generate a lot of heat. Since the two are in direct contact with the PCB substrate, part of the heat generated will be transferred to the PCB substrate. The copper substrate is attached to the second mounting surface, so part of the heat generated by the MOS tube and the current-carrying copper block will be transferred to the copper substrate. The main material of the copper substrate is copper, so the copper substrate can quickly dissipate the heat outward, thereby improving the heat dissipation efficiency, effectively reducing the temperature of the MOS tube and the current-carrying copper block, ensuring the stable operation of these MOS tubes and the current-carrying copper block, thereby improving the reliability and durability of the control unit.

[0028] Preferably, one end of the output shaft of the motor passes through the main housing and extends into the accommodating cavity, a magnet is installed on one end of the output shaft located in the accommodating cavity, and a Hall sensor for detecting the output shaft speed is provided on the side of the control unit close to the magnet. With the above technical solution, when the output shaft rotates, the magnetic field change of the magnet will be accurately captured by the Hall sensor, and then the magnetic field change will be converted into an electrical signal output, which can accurately reflect the actual speed of the output shaft, provide more accurate data support for the motion control of the leg structure, and ensure the accuracy of the leg structure's movements.

[0029] The present invention also shows a humanoid robot, including a trunk, the bottom of which is movably connected to a leg structure, and the leg structure adopts the leg structure of the humanoid robot as described in any one of the above items.

[0030] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below in conjunction with the accompanying drawings:

[0032] Figure 1 is a schematic structural diagram of the leg structure of the humanoid robot of the present invention;

[0033] Figure 2 is a schematic structural diagram of the left leg of the leg structure of the humanoid robot of the present invention;

[0034] Figure 3 is a schematic diagram of a thigh structure in the leg structure of a humanoid robot of the present invention;

[0035] Figure 4 is a schematic diagram of a thigh support in the leg structure of a humanoid robot of the present invention;

[0036] Figure 5 is a schematic diagram of a calf structure in the leg structure of a humanoid robot of the present invention;

[0037] Figure 6 is a schematic diagram of a calf support in the leg structure of a humanoid robot of the present invention;

[0038] Figure 7 is a schematic diagram of a motor in the leg structure of a humanoid robot of the present invention;

[0039] Figure 8 An exploded view of a motor in the leg structure of a humanoid robot of the present invention;

[0040] Fig. 9 is a cross-sectional view of a motor in the leg structure of a humanoid robot of the present invention;

[0041] Fig.10 for Fig. 9 A partial enlarged view of part A;

[0042] Fig.11 An exploded view of a deceleration structure in the leg structure of a humanoid robot of the present invention;

[0043] Fig.12 A schematic diagram of a control unit and a receiving cavity in the leg structure of a humanoid robot of the present invention;

[0044] Fig.13 An exploded view of the end cover and the main shell of the leg structure of the humanoid robot of the present invention;

[0045] Fig.14 It is a schematic structural diagram of a control unit in the leg structure of a humanoid robot of the present invention;

[0046] Fig.15 An exploded view of a control unit in the leg structure of a humanoid robot of the present invention;

[0047] Fig.16 Schematic diagram of the first circuit board in the leg structure of the humanoid robot of the present invention Figure 1 ;

[0048] Fig.17 Schematic diagram of the first circuit board in the leg structure of the humanoid robot of the present invention Figure 2 ;

[0049] Fig.18 Schematic diagram of the second circuit board in the leg structure of the humanoid robot of the present invention Figure 1 ;

[0050] Fig.19 Schematic diagram of the second circuit board in the leg structure of the humanoid robot of the present invention Figure 2 .

[0051] Figure numerals: 1, crotch; 2, thigh structure; 21, thigh support; 211, first front plate; 212, first side plate; 213, mounting hole; 22, first mounting cavity; 3, calf structure; 31, calf support; 311, second front plate; 312, second side plate; 313, second rear plate; 32, second mounting cavity; 33, avoidance groove; 34, second hinge end; 4, foot end piece; 5, motor; 5a, first motor; 5b, second motor; 5c, third motor; 51, housing; 511, first housing; 512, end cover; 5121, accommodating cavity; 5122, column; 5123, threading hole; 513, box; 52, drive unit; 521, output shaft; 5212, rotating wheel; 5 213, magnet; 522, second bevel gear; 53, transmission unit; 531, rotating shaft; 532, first bevel gear; 533, inertia disk; 541, sun gear; 542, planetary gear; 543, ring gear; 544, retaining frame; 5441, connecting column; 545, reduction gear box; 6, control unit; 61, first circuit board; 62, second circuit board; 621, first mounting surface; 6211, MOS tube; 6212, current-carrying copper block; 622, second mounting surface; 6221, second component group; 63, third circuit board; 631, avoidance hole; 632, capacitor; 64, electrical connection pin; 65, electrical connection seat; 67, support column; 68, Hall sensor; 69, heat dissipation channel. DETAILED DESCRIPTION

[0052] The technical solutions of the embodiments of the present invention are explained and described below in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the present invention.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0054] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly defined.

[0055] 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 connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] Embodiment 1:

[0057] like Figures 1 to 19 As shown, this embodiment shows the leg structure of a humanoid robot, including a crotch 1, a thigh structure 2, a calf structure 3 and a foot end piece 4, the thigh structure 2 is rotatably connected between the crotch 1 and the calf structure 3, the foot end piece 4 is rotatably connected to the bottom end of the calf structure 3, the thigh structure 2 includes a thigh bracket 21, two motors 5 are installed on the thigh bracket 21, the calf structure 3 includes a calf bracket 31, a motor 5 is installed on the calf bracket 31, the motor 5 includes a housing 51, and a drive unit 52, a control unit 6 and a transmission unit 53 installed in the motor 5, the housing 51 of the motor 5 is all in a long strip shape, the transmission unit 53 and the control unit 6 are respectively located at the two ends of the drive unit 52, and the control unit 6 includes a plurality of motors. The road plate and the circuit board are stacked in the shell 51 along the length direction of the shell 51, the transmission unit 53 is connected to the output shaft 521 of the drive unit 52 for outputting torque to the leg joints, the thigh support 21 is provided with a first installation cavity 22 arranged along its length direction, the two motors 5 on the thigh support 21 are fixed in the first installation cavity 22, the transmission unit 53 of one of the motors 5 of the thigh support 21 is fixedly connected to the crotch 1, the transmission unit 53 of the other motor 5 is fixedly connected to the calf support 31, the calf support 31 is provided with a second installation cavity 32 arranged along its length direction, the motor 5 of the calf support 31 is fixed in the second installation cavity 32, and the transmission unit 53 of the motor 5 is fixedly connected to the foot end piece 4.

[0058] In the present embodiment, the thigh support 21 is provided with a first installation cavity 22, and the calf support 31 is provided with a second installation cavity 32. The motor 5 in the thigh structure 2 and the motor 5 in the calf structure 3 are both in the shape of long strips, and the shape of the outer shell 51 of the motor 5 matches the first installation cavity 22 and the second installation cavity 32, so that the motor 5 can be fixedly installed inside the thigh support 21 and the calf support 31, so that the internal space of the thigh support 21 and the calf support 31 can be fully utilized, so that the thigh support 21 and the calf support 31 can reduce the weight while providing a larger installation space for the motor 5, and also can protect the motor 5; in addition, the thigh structure 2 and the calf structure 3 have a longer length, so that the first installation cavity 22 and the second installation cavity 32 can provide a longer installation space for the motor 5, and the size of the motor 5 can be increased by increasing the length of the outer shell 51. At the same time, since the control unit 6 includes a plurality of circuit boards, and the circuit boards are stacked along the length direction of the shell 51, the installation method of the circuit boards can reduce the size of the circuit boards in the diameter direction of the motor 5 shell 51, so that the shape of the circuit boards is more consistent with the shape of the motor 5 shell 51, and the diameter of the motor 5 shell 51 is avoided to be too large to affect the appearance of the thigh structure 2 and the calf structure 3, which helps to improve the aesthetics of the leg structure; secondly, the stacking method of the circuit boards is consistent with the formation of the shell 51. While the control unit 6 does not affect the appearance of the motor 5, the overall area of ​​the circuit boards can be increased by increasing the number of circuit boards, so that more components can be installed on the circuit boards, thereby improving the performance of the circuit boards, enabling the circuit boards to output a larger voltage and current to the motor 5, providing the motor 5 with output torque and load performance, which helps to improve the running speed and carrying capacity of the leg structure.

[0059] like Figure 3 and Figure 4As shown, the thigh support 21 described in this embodiment includes a first front plate 211 and two first side plates 212, the two first side plates 212 are respectively fixed on both sides of the first front plate 211, and the two first side plates 212 are arranged in parallel, and a first installation cavity 22 is formed between the first front plate 211 and the two first side plates 212, wherein the first installation cavity 22 is open on the side away from the first front plate 211 and the top and bottom ends of the two first side plates 212, and the two motors 5 are respectively a first motor 5a and a second motor 5b, the first motor 5a is installed in the first motor 5a and fixed in the first installation cavity 22 and close to the first front plate 211, and the transmission unit 53 of the first motor 5a extends to the thigh support. The bottom end of the thigh support 21, the second motor 5b is fixed between the two first side plates 212, the transmission unit 53 of the second motor 5b extends to the top of the thigh support 21, and the first motor 5a is between the first front plate 211 and the second motor 5b; the transmission unit 53 of the first motor 5a extends to the bottom end of the thigh support 21, so that the transmission unit 53 of the first motor 5a can be directly connected to the calf structure 3, and the corresponding transmission unit 53 of the second motor 5b can also be directly connected to the crotch 1, thereby reducing the transmission parts between the motor 5 and the calf structure 3 or the crotch 1, which helps to reduce the energy loss in the power transmission process and reduce the mechanical wear and failure rate caused by too many transmission parts. It should be noted that the front plate is the front part of the thigh structure 2, and the front side of the thigh structure 2 is the direction facing the humanoid robot.

[0060] like Figure 3 and Figure 4 As shown, in this embodiment, the top of the first side panel 212 is flush with the top of the first front panel 211, and the length of the first side panel 212 is less than the length of the first front panel 211, that is, the connection position between the bottom end of the first side panel 212 and the first front panel 211 is located on the upper side of the bottom end of the first front panel 211, and the transmission unit 53 of the first motor 5a extends to the bottom end of the first front panel 211, and only one side of the transmission unit 53 is in contact with the first front panel 211, and the other sides are exposed to the outside, and the connection between the transmission unit 53 and the calf structure 3 is located on both sides of the first front panel 211, that is, the first motor 5a and the calf structure 3 are connected. When the structure 3 is installed, it will not be affected by the thigh support 21, making the connection between the thigh structure 2 and the calf structure 3 more convenient and quick; in addition, shortening the length of the first side plate 212 can reduce the overall weight of the thigh support 21, and can also reduce the manufacturing cost of the thigh support 21; secondly, the transmission unit 53 of the first motor 5a extends to the bottom end of the front plate, which can make the front of the thigh structure 2 have a more complete shape. At the same time, the first front plate 211 can also shield the first motor 5a and the second motor 5b, thereby reducing the possibility of the motor 5 of the thigh structure 2 being subjected to external impact during the movement of the humanoid robot.

[0061] like Figure 3 and Figure 4 As shown, in this embodiment, a mounting hole 213 for fixing the second motor 5b is provided at the top end of the first side plate 212, and the mounting hole 213 is located at the edge of the first side plate 212 away from the first front plate 211. The transmission unit 53 of the second motor 5b extends to the top end of the first side plate 212, and the transmission unit 53 of the second motor 5b is fixed through the mounting hole 213, thereby forming a first hinged end connected to the crotch 1, and the transmission unit 53 is provided with an inertia disk 533, and the inertia disk 533 is fixedly connected to the crotch 1, and the motor 5 drives the inertia disk 533 to rotate, thereby realizing the relative rotation of the thigh structure 2 and the crotch 1.

[0062] like Figure 5 and Figure 6 As shown, the calf support 31 described in this embodiment includes a second front plate 311, a second rear plate 313 and two second side plates 312, the two second side plates 312 are respectively connected to the two sides of the second front plate 311 and the second rear plate 313, the second front plate 311, the second rear plate 313 and the two second side plates 312 are surrounded to form a second installation cavity 32, the second installation cavity 32 is opened at the top and the bottom of the calf support 31, in the vertical direction, the top of the second side plate 312 is higher than the top of the second front plate 311 and the top of the second rear plate 313, the top of the second side plate 312 forms a second hinged end 34 hinged to the thigh structure 2, the motor 5 in the calf support 31 is a third motor 5c, and the shell 51 of the third motor 5c is fixed to the calf The second front plate 311 of the bracket 31, and the transmission unit 53 of the third motor 5c extend to the bottom end of the calf bracket 31, so that the transmission unit 53 of the third motor 5c can be connected to the foot end piece 4 of the leg structure, and the third motor 5c drives the foot end piece 4 to rotate to realize the relative rotation of the calf bracket 31 and the foot end piece 4. The calf bracket 31 is spliced ​​by the second front plate 311, the second rear plate 313 and the two second side plates 312, and an opening can be formed at the top and the bottom of the second installation cavity 32 to facilitate the connection between the thigh structure 2 and the second hinge end 34 of the calf bracket 31, and also facilitate the connection between the third motor 5c and the foot end piece 4, making the installation and disassembly of the leg structure simpler and more convenient, which helps to improve the installation and maintenance efficiency of the leg structure.

[0063] like Figure 5 and Figure 6As shown, in this embodiment, the top surface of the second side plate 312 is an arc surface, and the top surface of the second front plate 311 is lower than the arc surface of the second side plate 312, so that an avoidance groove 33 for avoiding the thigh structure 2 is formed on the upper side of the second front plate 311, and the avoidance groove 33 is located between the two second side plates 312. The top ends of the two second side plates 312 form a second hinge end 34, and the second hinge end 34 forms a hinge structure fixedly connected to the inertia disk 533 of the motor 5 in the thigh structure 2 on the opposite surfaces of the two second side plates 312. The avoidance groove 33 can be used for the thigh support The support frame 21 extends into the second side plate 312, ensuring that the first front side of the thigh support 21 and the second front side of the calf structure 3 can be maintained in the same plane, so that the thigh structure 2 and the calf structure 3 can remain straight, and the leg structure can stand upright, making the leg structure more realistic; in addition, the arc surface at the top of the second side plate 312 can make the relative rotation of the calf support 31 and the thigh support 21 smoother, avoiding the second side plate 312 and the thigh support 21 from interfering with each other when the calf support 31 and the thigh support 21 rotate, thereby limiting the rotation angle of the calf support 31 and the thigh support 21.

[0064] In this embodiment, when the first front plate 211 and the second front plate 311 are in the same plane, the bottom end of the first front plate 211 extends into the avoidance groove 33 and abuts against the top end of the second front plate 311. When the first front plate 211 and the second front plate 311 are in the same plane, the thigh support 21 and the calf support 31 are in the same straight line. At this time, the leg structure is in a standing state, and the top end of the first front plate 211 and the second front plate 311 abut against each other, so that the calf support 31 can support the thigh support 21, thereby dispersing the force between the motor 5 of the thigh support 21 and the second hinge end 34, reducing the possibility of damage to the motor 5 and the second hinge end 34 of the thigh support 21.

[0065] like Figure 5 and Figure 6 As shown, in this embodiment, the top end of the second rear plate 313 is connected to the bottom end of the second side plate 312, and in the vertical direction, the bottom end surface of the second rear plate 313 is higher than the bottom end surface of the second front plate 311, that is, the lengths of the second rear plate 313 and the second side plate 312 are both relatively short, thereby shortening the lengths of the second rear plate 313 and the second side plate 312, which can reduce the overall weight of the calf support 31, help reduce the power required by the thigh structure 2 to drive the calf support 31, reduce the load of the first motor 5a, and also reduce the manufacturing cost of the calf support 31. Of course, it can be understood that in other embodiments, the calf support 31 can also be composed of only the second front plate 311 and the two second side plates 312, and the second rear plate 313 can be omitted, which can further reduce the weight of the calf support 31.

[0066] The foot end piece 4 described in this embodiment includes an ankle, a heel and a toe, and a mounting groove is provided at the top of the ankle. The transmission unit 53 of the third motor 5c is provided with an inertia disk 533 for outputting torque, and the inertia disk 533 is fixed to the side wall of the mounting groove. The motor 5 of the calf support 31 drives the inertia disk 533 to rotate to realize the relative rotation of the calf support 31 and the foot end piece 4. In the process of the leg structure walking and the foot end piece 4 gradually contacting the ground, the motor 5 of the calf support 31 drives the toe to rotate in the direction away from the calf support 31 so that the toe contacts the ground first. The inertia disk 533 of the motor 5 of the calf support 31 is directly fixedly connected to the foot end piece 4, which can eliminate the connecting rod and reduce the energy loss in the power transmission process, so that the motor 5 can output a larger torque to the foot end piece 4, so that the torque output by the motor 5 is sufficient to meet the foot end piece 4 in the form of toe landing. Walking and running; in the prior art, a connecting rod mechanism is usually used to transmit the power of the motor 5 to the calf structure 3. Since the toes touch the ground before the heels, the connecting rod is prone to breakage. Therefore, the humanoid robots currently using connecting rod transmission all adopt a walking posture with the heels touching the ground, so that the entire foot end piece 4 serves as a fulcrum; in this embodiment, due to the structural adjustment of the motor and the change in the transmission method, the inertia disk and the foot end piece 4 have sufficient installation strength and will not separate. The motor 5 has a powerful performance so that the motor 5 can withstand the impact when the toes of the foot end piece 4 touch the ground. In this way, the entire leg becomes a three-section structure, namely the thigh structure 2, the calf structure 3 and the foot end piece 4. When the humanoid robot encounters complex road conditions during its movement, the morphological change of the leg structure has more solutions to adapt to the environment, so that the humanoid robot has higher motion performance.

[0067] In this embodiment, there is an avoidance gap between the bottom end of the second front plate 311 of the calf support 31 and the edge of the slot of the installation slot. The avoidance gap allows the front end of the foot end piece 4 to rotate toward the second front plate 311, avoiding the second front plate 311 from hindering the rotation of the foot end piece 4, which helps to increase the relative angle between the calf support 31 and the foot end piece 4, making the foot end piece 4 more flexible and improving the simulation of the leg structure. Of course, it is understandable that in other embodiments, when the second front plate 311 is vertical to the bottom surface of the foot end piece 4, the orthographic projection of the second front plate 311 on the foot end piece 4 is in the installation slot.

[0068] like Figures 7 to 11As shown, the housing 51 of the motor 5 in this embodiment includes a main housing, a box body 513 and an end cover 512. The box body 513 and the end cover 512 are respectively installed at two ends of the main housing. The driving unit 52 includes a stator, a rotor and an output shaft 521. The stator is fixed to the inner wall of the main housing, and the rotor is rotatably matched with the inside of the stator. Both ends of the rotor extend out of the main housing to form an output shaft 521. The output shaft 521 at one end of the driving unit 52 extends into the box body 513. The transmission unit 53 is installed in the box body 513. The transmission unit 53 includes a rotating shaft 531, which is rotatably connected to the box body 513. The outer peripheral side of the rotating shaft 531 is fixed with a first bevel gear 532. A second bevel gear 522 is fixed to the end of the output shaft 521, the first bevel gear 532 and the second bevel gear 522 are meshed with each other, the inertia disk 533 is transmission-connected with one end of the rotating shaft 531, and the inertia disk 533 is outside the box body 513, the output shaft 521 drives the rotating shaft 531 to rotate through the first bevel gear 532 and the second bevel gear 522, and the rotating shaft 531 drives the inertia disk 533 to rotate to achieve torque output, the first bevel gear 532 and the second bevel gear 522 can achieve vertical transmission between the transmission shaft and the output shaft 521, so that the transmission efficiency between the output shaft 521 and the transmission shaft is higher, ensuring stable transmission of torque.

[0069] like Fig.10 and Fig.11As shown, the transmission unit 53 described in this embodiment also includes a reduction mechanism, which includes a reduction box 545 fixed to one side of the housing 513. The reduction box 545 is provided with a sun gear 541, a planetary gear 542 and a ring gear 543. One end of the rotating shaft 531 of the transmission unit 53 is rotatably connected to the housing 513, and the other end passes through the housing 513 and extends into the reduction box 545. The sun gear 541 is fixed to the end of the rotating shaft 531 and rotates synchronously with the rotating shaft 531. The ring gear 543 is fixed to the inner wall of the reduction box 545. The planetary gear 542 is meshed with the ring gear 543 and the sun gear 541 at the same time. The outer peripheral side of the end of the rotating shaft 531 extending into the reduction box 545 is sleeved with a shaft sleeve, which is fixedly connected to the housing 513. The outer peripheral side of the shaft sleeve is rotatably connected with a retaining frame 544. A through hole is provided on the side of the reduction box 545 away from the rotating shaft 531, and the inertia disk 533 rotates with the through hole through a bearing. In coordination, the retainer 544 is provided with a connecting column 5441 extending toward the inertia disk 533, the retainer 544 and the inertia disk 533 are fixedly connected via the connecting column 5441, the planetary gear 542 is rotatable, the two ends of the rotating shaft are respectively connected to the retainer 544 and the inertia disk 533, the planetary gear 542 is rotatably arranged between the retainer 544 and the inertia disk 533 via the rotating shaft, the inertia disk 533 has a fastener for connecting the leg structure; after the motor 5 is started, the rotating shaft 531 drives the sun gear 541 to rotate, the sun gear 541 and the ring gear 543 cooperate to mobilize the planetary gear 542 to rotate circumferentially around the sun gear 541, and the planetary gear 542 drives the inertia disk 533 to rotate during the rotation of the sun gear 541, thereby realizing the output of torque, the reduction mechanism can slow down the rotation speed of the rotating shaft, and make the inertia disk 533 have a larger output torque, so that the motor 5 can stably drive the movement of the leg structure.

[0070] Of course, it is understandable that in other embodiments, the inertia disk 533 can also be fixedly connected to the ring gear 543, and the ring gear 543 is rotatably installed in the reduction box 545. The rotating shaft 531 drives the planetary gear 542 to rotate through the sun gear 541, and the planetary gear 542 drives the ring gear 543 to rotate, and the ring gear 543 drives the inertia disk 533 to rotate, thereby realizing the output of torque.

[0071] In addition, the rotating shaft 531 in this embodiment directly outputs torque through the inertia disk 533, which can realize linear transmission of power and reduce the constraint stiffness of the transmission unit 53. Compared with the solution of connecting rod transmission in the prior art, this embodiment has a larger simulation time step when performing simulation in the design process, which helps to reduce the training time of the control unit 6, shorten the research and development time and iterative testing time. In addition, the connecting rod transmission is a nonlinear transmission, which is rarely supported by simulation engines during simulation, and the solution obtained during simulation is only an approximate solution, which is quite different from the actual physical situation. The present application transmits torque directly to the joint part, which is a linear transmission, and the simulation simulation is simple and easy to use. The real-time solution is closer to the real physical situation, and the actual product motion state is closer to the state in simulation. In addition, the use of linear transmission can reduce the difficulty of solving inverse kinematics, reduce computing overhead, and help to directly use the control unit of simulation training for real objects. In addition, in the prior art, in order to set up the connecting rod structure in the limited leg space, the size of the motor has to be reduced. In this embodiment, because the torque is directly transmitted to the joints of the leg structure, the length of the motor can be designed to be close to the length of the leg space, which can make the motor have more powerful performance, thereby outputting greater torque, increasing the range of motion when the legs move, and improving the motion performance of the humanoid robot. ; Secondly, in this embodiment, because the torque of the motor 5 is directly transmitted to the joint of the leg structure, the length of the motor 5 can be designed to be close to the length of the leg space. By increasing the size of the motor 5, a larger installation space can be provided for the control unit 6, and then the installation area of ​​the control unit 6 can be increased, so that the control unit 6 can be installed with more components. When there are more components, the control unit 6 can output a larger voltage and current to the drive unit 52, so that the drive unit 52 has a higher output power. The drive unit 52 outputs a higher output power at the output shaft 521. After being transmitted by the reduction mechanism, the inertia disk 533 can have a higher output torque. After the torque is increased It can improve the stride concentration of the leg structure, that is, it can make the leg structure have a larger step. In addition, installing the motor 5 along the length direction of the thigh support 21 and the calf support 31 will increase the inertia of the whole leg, and then reduce the step frequency of the whole leg. At the same time, the reduction mechanism of the motor can further reduce the step frequency of the whole leg to increase the torque output by the motor. The actual step frequency of humans during walking is lower than 2.5HZ, and the human step frequency is also relatively small. This embodiment increases the running speed of the robot by sacrificing the step frequency and increasing the pace, so that the leg structure can achieve a running speed of 8m / s. At the same time, it can also make the leg structure more in line with the human body structure and make the leg structure have a higher degree of simulation.

[0072] like Fig.12 and Fig.13As shown, in this embodiment, a receiving chamber 5121 for assembling the control unit 6 is formed between the end of the main shell away from the transmission unit 53 and the end cover 512, and a column 5122 is provided in the receiving chamber 5121. The column 5122 is formed on the inner wall of the receiving chamber 5121, and one end of the column 5122 is abutted against the end of the main shell. The control unit 6 is detachably connected to the column 5122 through a fastener, and the column 5122 supports the control unit 6 so that a gap is formed between the control unit 6 and the inner wall of the receiving chamber 5121. The main shell and the end cover 512 are detachably connected, which can facilitate the installation and disassembly of the control unit 6 and facilitate the maintenance and testing of the control unit 6. In addition, the end cover 512 forms a receiving chamber 5121 at one end of the main shell, which can increase the distance between the control unit 6 and the drive unit 52, reduce the heat generated by the drive unit 52 entering the receiving chamber 5121, and reduce The heating rate of the control unit 6 is reduced, which helps to extend the service life of the control unit 6. In addition, the accommodating chamber 5121 is arranged at one end of the main shell. Since the outer shell 51 is arranged in an elongated strip shape, the volume of the accommodating chamber 5121 can be expanded by increasing the length of the outer shell 51, so that the accommodating chamber 5121 can be installed with a larger area of ​​the control unit 6, so as to enhance the function of the control unit 6 and make the leg structure have a faster running speed and stronger load capacity. Secondly, the column 5122 can raise the control unit 6, which can further increase the distance between the control unit 6 and the driving unit 52, and reduce the influence of the heat generated by the driving unit 52 on the control unit 6. In addition, a gap is formed between the control unit 6 and the inner wall of the accommodating chamber 5121, so that the control unit 6 can install electronic components on the side of the inner wall of the accommodating chamber 5121, thereby increasing the installation area of ​​the control unit 6.

[0073] like Fig.13As shown, the main shell in this embodiment encloses a cavity for assembling the drive unit 52, and a partition is provided at the end of the main shell near the end cover 512 for separating the accommodating cavity 5121 and the cavity, and a threading hole 5123 is provided on the partition for connecting the accommodating cavity 5121 and the cavity. The wire of the drive unit 52 passes through the threading hole 5123 and is electrically connected to the control unit 6. In addition, one end of the output shaft 521 passes through the partition and extends into the accommodating cavity 5121. A rotating wheel 5212 is fixed to the end of the output shaft 521 in the accommodating cavity 5121. The rotating wheel 5212 rotates synchronously with the output shaft 521, and the rotating wheel 5212 is away from the control unit 6. A magnet 5213 is installed on the surface of the output shaft 521, and a Hall sensor 68 for detecting the rotation speed of the output shaft 521 is provided on the side of the control unit 6 close to the magnet 5213. When the output shaft 521 rotates, the magnetic field change of the magnet 5213 will be accurately captured by the Hall sensor 68, and then the magnetic field change will be converted into an electrical signal output, which can accurately reflect the actual rotation speed of the output shaft 521. The rotation speed of the output shaft 521 can be fed back to the control unit 6 of the motor, so that the control system can adjust the operating state of the motor 5 in time according to the rotation speed data, such as adjusting the output power and torque of the motor 5. In this way, the movement speed and strength of the leg structure can be accurately controlled, so as to achieve more precise, natural and smooth movements, and perform better in complex sports scenes such as walking, running, climbing, etc.

[0074] like Figures 14 to 19 As shown, the control unit 6 in this embodiment includes a first circuit board 61 and at least one second circuit board 62, the weak current area of ​​the control unit 6 is arranged on the first circuit board 61, and the strong current area of ​​the control unit 6 is arranged on the second circuit board 62, the first circuit board 61 and the second circuit board 62 are stacked along the length direction of the shell 51, and a plurality of support columns 67 are provided on the edge of the first circuit board 61, and the support columns 67 support the second circuit board 62 so that a heat dissipation channel 69 is formed between the first circuit board 61 and the second circuit board 62; in this embodiment, the weak current area and the strong current area of ​​the control unit 6 are respectively arranged on two circuit boards, which can effectively avoid the interference of strong current signals on weak current signals, prevent the weak current signals from malfunctioning or data transmission errors, and thus may affect the stability and accuracy of the leg structure movement; in addition, the separate arrangement of the weak current area and the strong current area can also reduce the possibility of safety risks due to failures in the strong current area, reduce the safety hazards of the control unit 6, and make the operation of the leg structure safer and more reliable.

[0075] Of course, it is understandable that in other embodiments, the number of the second circuit boards 62 may be more than one, and the second circuit boards 62 may be stacked in sequence along the length direction of the housing 51, so that the first circuit board 61 and the second circuit board 62 may be made modular. According to different power requirements, the number of the second circuit boards 62 may be freely combined or different types of first circuit boards 61 may be matched, thereby reducing the design difficulty of the control unit 6.

[0076] In addition, the first circuit board 61 and the second circuit board 62 are separated by a support column 67 to form a heat dissipation channel 69. When the control unit 6 is in operation, the high-voltage area of ​​the second circuit board 62 will generate a large amount of heat, which will accelerate the heating rate of the control unit 6. If the control unit 6 is operated in an overheated environment for a long time, the performance and service life of the components in the control unit 6 may be affected. The heat dissipation channel 69 can guide the airflow to flow between the first circuit board 61 and the second circuit board 62, and can take away the heat generated by the control unit 6 through the flow of airflow to prevent the heat from gathering on the first circuit board 61 and the second circuit board 62, which helps to slow down the heating rate of the control unit 6 and reduce the possibility of the control unit 6 operating in an overheated environment for a long time, thereby improving the reliability and stability of the control unit 6 and helping to extend the service life of the control unit 6.

[0077] Secondly, the support column 67 can not only fix the height of the heat dissipation channel 69 to ensure the stable performance of the heat dissipation function, but also support and position the first circuit board 61 and the second circuit board 62, preventing the first circuit board 61 and the second circuit board 62 from being displaced or loosened due to vibration, collision and other factors during the movement of the leg structure, thereby ensuring the reliability of the electrical connection and the normal operation of the circuit, and reducing the hidden dangers of electrical failures caused by mechanical factors.

[0078] like Fig.14As shown, in this embodiment, a surface of one side of the first circuit board 61 facing the second circuit board 62 is provided with a plurality of groups of electrical connection pins 64, and the second circuit board 62 includes a first mounting surface 621 facing away from the first circuit board 61 and a second mounting surface 622 facing the first circuit board 61, wherein the first mounting surface 621 is also provided with a plurality of groups of electrical connection pins 64, and the second mounting surface 622 is provided with an electrical connection seat 65 matching the electrical connection pins 64. In this embodiment, the electrical connection pins 64 of the first circuit board 61 are plugged into the electrical connection seat 65 on the second circuit board 62 to realize the electrical connection between the first circuit board 61 and the second circuit board 62, so that the connection between the first circuit board 61 and the second circuit board 62 becomes simpler and more convenient, which helps to improve the assembly efficiency of the control unit 6; when the first circuit board 61 or the second circuit board 62 needs to be repaired, decelerated or replaced, the connection by plugging can also simplify the disassembly and reinstallation of the first circuit board 61 and the second circuit board 62, which helps to improve the maintainability of the control unit 6 and the replaceability of the components, and reduce the difficulty of repairing and upgrading the control unit 6.

[0079] Of course, it is understandable that in other embodiments, when the number of second circuit boards 62 exceeds one, two adjacent second circuit boards 62 can also be electrically connected through electrical connection pins 64 and electrical connection sockets 65; in addition, the more second circuit boards 62 there are, the greater the voltage and current that the control unit 6 can output to the motor 5. The number of second circuit boards 62 can be selected according to the actual needs of the motor 5.

[0080] like Fig.18 and Fig.19 As shown, in this embodiment, the second circuit board 62 includes a PCB substrate, a first component group is provided on the first mounting surface 621 of the PCB substrate, and a second component group 6221 is provided on the second mounting surface 622 of the PCB substrate, so that the second circuit board 62 forms a double-sided layout, thereby greatly increasing the mounting area of ​​the second circuit board 62, and compared with the single-sided layout, the number of components installed on the second circuit board 62 can be greatly increased, which provides the possibility of realizing more complex circuit functions; in addition, the double-sided part can form functional partitions, and components with different functions can be installed on different mounting surfaces respectively, so that the first mounting surface 621 and the second mounting surface 622 can undertake different sub-functions or process different types of signals, which helps to reduce mutual interference between components and make the operation of the second circuit board 62 more stable and reliable; secondly, the distribution of dispersed components is conducive to dispersing heat sources and avoiding excessive heat concentration on one side of the PCB substrate, thereby improving the heat dissipation effect of the entire circuit board, reducing the performance degradation or damage of components that may be caused by overheating, and helping to maintain the stable operation of the control unit 6; in addition, the double-sided layout can further reduce the size of the PCB substrate and the volume of the control unit 6.

[0081] In this embodiment, the first component group includes multiple groups of MOS tubes 6211 and current-carrying copper blocks 6212. The height of the components in the first component group other than the MOS tube 6211 protruding from the first mounting surface 621 is lower than the height of the MOS tube 6211 protruding from the first mounting surface 621. A heat sink is attached to the MOS tube 6211, and all MOS tubes 6211 share one heat sink. Compared with the previous structure, in order to prevent the heat sink from hitting components higher than the MOS tube 6211, a heat sink needs to be attached to each MOS tube 6211, which will greatly increase the mounting time of the heat sink, and the heat sink The total heat dissipation area will also be reduced; and by adopting the solution in this embodiment, the heat sink does not need to avoid the components of the first component group, so that one heat sink can cover all MOS tubes 6211, which not only expands the heat dissipation area of ​​the heat sink and improves the heat dissipation efficiency, but also simplifies the difficulty of mounting the heat sink, which helps to improve the mounting efficiency of the heat sink and reduce the production cost of the control unit 6; secondly, the heat sink can also ensure that the MOS tube works within a suitable temperature range, reduce performance degradation or failure caused by overheating, improve the stability and reliability of the entire device, and thus ensure the continuous and stable operation of the control unit 6. It should be noted that the current-carrying copper block 6212 described in this embodiment can improve the current carrying capacity of the second circuit board 62, increase the voltage and current carrying capacity of the second circuit board 62, and thus enable the control unit 6 to output higher voltage and current to the drive unit 52, so that the motor 5 has a higher output power, and thus can improve the running speed and bearing performance of the leg structure.

[0082] Since the MOS tubes 6211 and the current-carrying copper blocks 6212 are centrally mounted on the first mounting surface 621, and the number of them is large, and when the control unit 6 is running, the MOS tubes 6211 and the current-carrying copper blocks 6212 will generate a lot of heat, so the first mounting surface 621 of the second circuit board 62 will have a high and concentrated heat generation phenomenon. In order to further improve the heat dissipation effect of the second circuit board 62; in addition to setting a heat dissipation channel 69 between the first circuit board 61 and the second circuit board 62, and assembling a heat sink on the MOS tubes 6211, in this embodiment, a heat dissipation channel 69 is provided between the first circuit board 61 and the second circuit board 62, and a heat sink is installed on the MOS tubes 6211. A third circuit board 63 is also attached to the surface 622. The third circuit board 63 is a copper substrate. A plurality of capacitors 632 are provided on the third circuit board 63, which can reduce the voltage fluctuation of the second circuit board 62. During the operation of the leg structure, the joints of the leg structure will be in a state of reciprocating motion. Therefore, the motor 5 is also in a high-frequency and reciprocating forward and reverse rotation during operation. The voltage of the motor 5 will fluctuate violently during the forward and reverse switching process. The third circuit board 63 can specifically deal with the voltage fluctuation problem to avoid damage caused by violent voltage fluctuations exceeding the rated voltage value of the control unit 6, thereby improving the stability of the operation of the motor 5.

[0083] In addition, in this embodiment, the installation position of the second component group 6221 on the second installation surface 622 avoids the projection area of ​​all MOS tubes 6211 and the current-carrying copper block 6212 on the second panel, and an avoidance hole 631 is opened on the copper substrate to avoid the second component group 6221. The copper substrate at least covers all MOS tubes 6211 and the current-carrying copper block 6212 in the projection area of ​​the second panel. The copper material of the copper substrate has good thermal conductivity and can quickly conduct the heat generated by the MOS tube and the current-carrying copper block 6212. Although the surface of the PCB substrate itself also has a layer of copper, it is too thin to carry higher voltage and current. The current-carrying copper block 6212 protrudes from the first end surface, so it has a larger volume and heat dissipation area; in addition, the large volume makes the current-carrying copper block 6212 have better voltage and current carrying capacity, thereby achieving a larger current output to the motor 5 when the control unit 6 is reduced. The voltage and current are increased, so that the motor 5 outputs a greater torque and improves the operating performance of the leg structure. At the same time, the large heat dissipation area enables the high temperature generated by the current-carrying copper block 6212 when carrying voltage and current to radiate outward more quickly, thereby improving the heat dissipation effect of the current-carrying copper block 6212; secondly, the MOS tube 6211 and the current-carrying copper block 6212 will both generate a large amount of heat. Since the two are in direct contact with the PCB substrate, part of the heat generated will be transferred to the PCB substrate. The copper substrate is attached to the second mounting surface 622, so part of the heat generated by the MOS tube 6211 and the current-carrying copper block 6212 will be transferred to the copper substrate. The main material of the copper substrate is copper, so the copper substrate can quickly dissipate the heat outward, thereby improving the heat dissipation efficiency, effectively reducing the temperature of the MOS tube and the current-carrying copper block 6212, ensuring the stable operation of these MOS tubes and the current-carrying copper block 6212, thereby improving the reliability and durability of the control unit 6.

[0084] Embodiment 2:

[0085] The present embodiment shows a humanoid robot, including a trunk, the bottom of which is movably connected to a leg structure, the leg structure including a crotch 1, a thigh structure 2, a calf structure 3 and a foot end piece 4, wherein the leg structure adopts the leg structure of the humanoid robot as described in the first embodiment, the crotch 1 is fixedly connected to the trunk, the crotch 1 is rotatably connected to two thigh structures 2, the bottom end of each thigh structure 2 is rotatably connected to a calf structure 3, the foot end piece 4 is rotatably connected to the bottom end of the calf structure 3, the inside of the thigh structure 2 forms an installation cavity for installing a motor 5, and two motors 5 are fixedly connected in the installation cavity of the thigh structure 2, and an inertia disk 5 of one of the motors 5 33 is fixedly connected to the crotch 1. After the motor 5 is started, it drives the inertia disk 533 to rotate, thereby realizing the relative rotation of the crotch 1 and the thigh structure 2. The inertia disk 533 of another motor 5 is fixedly connected to the top of the calf structure 3. After the motor 5 is started, it drives the inertia disk 533 to rotate, thereby realizing the relative rotation of the thigh structure 2 and the calf structure 3. The interior of the corresponding calf structure 3 is also formed with an installation cavity for installing the motor 5. A motor 5 is fixedly connected in the installation cavity of the calf structure 3. The inertia disk 533 of the motor 5 is fixedly connected to the foot end piece 4. After the motor 5 is started, it drives the inertia disk 533 to rotate, thereby realizing the relative rotation of the calf structure 3 and the foot end piece 4.

[0086] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A leg structure of a humanoid robot, comprising a crotch, a thigh structure, a calf structure and a foot end piece, wherein the thigh structure is rotatably connected between the crotch and the calf structure, the foot end piece is rotatably connected to the bottom end of the calf structure, the thigh structure comprises a thigh bracket, two motors are mounted on the thigh bracket, the calf structure comprises a calf bracket, a motor is mounted on the calf bracket, the motor comprises a housing, and a drive unit, a control unit and a transmission unit mounted in the motor, characterized in that: The shells of the motors are all in the shape of long strips, and the transmission unit and the control unit are respectively located at two ends of the drive unit. The control unit includes a plurality of circuit boards, which are stacked in the shell along the length direction of the shell. The transmission unit is connected to the output shaft of the drive unit for outputting torque to the leg joints. The thigh bracket is provided with a first installation cavity arranged along its length direction, and the two motors on the thigh bracket are fixed in the first installation cavity. The transmission unit of one of the motors of the thigh bracket is fixedly connected to the crotch, and the transmission unit of the other motor is fixedly connected to the calf bracket. The calf bracket is provided with a second installation cavity arranged along its length direction, and the motor of the calf bracket is fixed in the second installation cavity, and the transmission unit of the motor is fixedly connected to the foot end piece.

2. The leg structure of a humanoid robot according to claim 1, characterized in that: The thigh support includes a first front plate and two first side plates respectively fixed on both sides of the first front plate, and the first installation cavity is formed between the first front plate and the two second side plates. The motor of the thigh support includes a first motor and a second motor. The first motor is fixed in the installation cavity and close to the first front plate. The transmission unit of the first motor extends to the bottom end of the thigh support and is fixedly connected to the calf support. The second motor is fixed between the two first side plates. The transmission unit of the second motor extends to the top end of the thigh support and is fixedly connected to the crotch. The first motor is located between the first front plate and the second motor.

3. The leg structure of a humanoid robot according to claim 2, characterized in that: The top end of the first side panel forms a first hinge end, the housing of the second motor is fixed to the first hinge end, the transmission unit of the second motor is provided with an inertia disk for outputting torque, the inertia disk is fixedly connected to the crotch, and the second motor drives the inertia disk to rotate to realize relative rotation of the thigh and the crotch.

4. The leg structure of a humanoid robot according to claim 1, characterized in that: The calf support includes a second front plate, a second rear plate and two second side plates, and the second installation cavity is formed between the second front plate, the second rear plate and the two second side plates. The motor of the calf support is a third motor, and the housing of the third motor is fixed in the second installation cavity and distributed along the length direction of the calf support. The transmission unit of the third motor extends to the bottom end of the calf support and is fixedly connected to the foot end piece.

5. The leg structure of a humanoid robot according to claim 4, characterized in that: The top end of the second side plate forms a second hinged end, the transmission unit of the motor is provided with an inertia disk for outputting torque, the inertia disk of a motor in the thigh support is fixedly connected to the second hinged end, and the motor of the thigh support drives the inertia disk to rotate to realize the relative rotation of the thigh support and the calf support.

6. The leg structure of a humanoid robot according to claim 4, characterized in that: In the vertical direction, the top end of the second front plate is lower than the top end of the second side plate, and the upper side of the second front plate forms an avoidance groove for avoiding the thigh support.

7. The leg structure of a humanoid robot according to claim 6, characterized in that: The thigh support comprises a first front plate. When the first front plate and the second front plate are in the same plane, the bottom end of the first front plate extends into the avoidance groove and abuts against the top end of the second front plate.

8. The leg structure of a humanoid robot according to claim 1, characterized in that: The top of the foot end piece is provided with a mounting groove, and the transmission unit of the calf support motor is provided with an inertia disk for outputting torque. The inertia disk is fixed to the side wall of the mounting groove, and the calf support motor drives the inertia disk to rotate to realize the relative rotation of the calf support and the foot end piece.

9. The leg structure of a humanoid robot according to claim 8, characterized in that: The calf support includes a second front plate, and there is an avoidance gap between the bottom end of the second front plate and the edge of the slot of the mounting slot; or, when the second front plate is vertically located on the bottom surface of the foot end piece, the orthographic projection of the second front plate on the foot end piece is in the mounting slot.

10. The leg structure of a humanoid robot according to claim 8, characterized in that: The foot end piece includes an ankle, a heel and a toe, the mounting groove is arranged at the top of the ankle, the inertia disk is fixedly connected to the ankle, and when the leg structure walks and the foot end piece gradually contacts the ground, the motor of the calf support drives the toe to rotate in a direction away from the calf support so that the toe contacts the ground first.

11. The leg structure of a humanoid robot according to claim 1, characterized in that: The driving unit includes a stator, a rotor and an output shaft, and the transmission unit includes a rotating shaft. A first bevel gear is provided at one end of the rotating shaft, and an inertia disk is provided at the other end. A second bevel gear is provided at the end of the output shaft. The first bevel gear is meshed with the second bevel gear so that the rotating shaft and the output shaft remain perpendicular. The driving unit drives the inertia disk to rotate through the rotating shaft.

12. The leg structure of a humanoid robot according to claim 11, characterized in that: The transmission unit also includes a reduction mechanism, which includes a planetary gear and a ring gear. A sun gear is provided at the end of the rotating shaft, and the planetary gear is meshed with the ring gear and the sun gear at the same time. The rotating shaft drives the ring gear to rotate through the planetary gear, and the inertia plate is fixedly connected to the ring gear; or, the ring gear is relatively fixed to the housing, the inertia plate is fixedly connected to the planetary gear, and the output shaft drives the inertia plate to rotate through the planetary gear.

13. The leg structure of a humanoid robot according to claim 12, characterized in that: The reduction mechanism also includes a reduction box, which is fixedly connected to the outer casing of the motor, and the ring gear is fixed to the inner wall of the reduction box. The reduction box is provided with a through hole, and the inertia disk is rotatably installed on the through hole through a bearing. The outer peripheral side of the rotating shaft is rotatably connected to a retaining frame, and the retaining frame is fixedly connected to the inertia disk. The planetary gear has a rotating shaft, and both ends of the rotating shaft are respectively connected to the retaining frame and the inertia disk, and the inertia disk has a fastener for fixing the hip, calf or foot end piece.

14. The leg structure of a humanoid robot according to claim 1, characterized in that: The housing comprises a main housing and an end cover detachably mounted on one end of the main housing. The end cover is connected to one end of the main housing away from the transmission unit. An accommodating cavity for assembling the control unit is formed between the end cover and the main housing.

15. The leg structure of a humanoid robot according to claim 14, characterized in that: The control unit includes a first circuit board and at least one second circuit board. The weak current area of ​​the control unit is arranged on the first circuit board, and the strong current area of ​​the control unit is arranged on the second circuit board. The first circuit board is used for signal interaction and control of the motor, and the second circuit board is used to control the voltage and current output to the motor. A plurality of support columns are arranged on the first circuit board, and the support columns support the second circuit board so that a heat dissipation channel is formed between the first circuit board and the second circuit board. The first circuit board and the second circuit board are stacked along the length direction of the shell.

16. The leg structure of a humanoid robot according to claim 15, characterized in that: A third circuit board is attached to one side of the second circuit board, the second circuit board is electrically connected to the third circuit board, the second circuit board is provided with components for controlling the voltage and current input to the motor, and the third circuit board is used to reduce voltage fluctuations during the operation of the motor.

17. The leg structure of a humanoid robot according to claim 16, characterized in that: The second circuit board includes a PCB substrate, the PCB substrate includes a first mounting surface and a second mounting surface, and the components include a first component group mounted on the first mounting surface and a second component group mounted on the second mounting surface.

18. The leg structure of a humanoid robot according to claim 17, characterized in that: The first component group includes multiple groups of MOS tubes. The height of the components other than the MOS tubes in the first component group protruding from the first mounting surface is lower than the height of the MOS tubes protruding from the first mounting surface. A heat sink is attached to the MOS tube, and all MOS tubes share one heat sink.

19. The leg structure of a humanoid robot according to claim 17, characterized in that: The first component group includes multiple groups of MOS tubes and current-carrying copper blocks, the third circuit board includes a copper substrate, one side of the copper substrate is attached to the second mounting surface and is used to dissipate heat for the MOS tubes and the current-carrying copper blocks, the mounting position of the second component group on the second mounting surface avoids the projection area of ​​all MOS tubes and the current-carrying copper blocks on the second panel, and the copper substrate is provided with avoidance holes avoiding the second component group, and the copper substrate at least covers the projection area of ​​all MOS tubes and the current-carrying copper blocks on the second panel.

20. The leg structure of a humanoid robot according to claim 14, characterized in that: One end of the output shaft of the motor passes through the main housing and extends into the accommodating cavity. A magnet is installed on the end of the output shaft located in the accommodating cavity. A Hall sensor for detecting the output shaft rotation speed is provided on the side of the control unit close to the magnet.

21. A humanoid robot comprising a trunk, the bottom of which is movably connected to a leg structure, characterized in that: The leg structure adopts the leg structure of the humanoid robot as described in any one of claims 1 to 20.

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