Limb device and humanoid robot

Abstract

The limb device comprises a first limb, a second limb, a driving assembly and a connecting rod, the near end of the first limb is connected with a robot body, the far end of the first limb is hinged to the near end of the second limb, the driving assembly is installed on the first limb, and the near end of the connecting rod is in transmission connection with an output flange of the driving assembly; the far end of the connecting rod is in transmission connection with the near end of the second limb, the near end of the second limb is provided with an installation base hinged to the far end of the first limb, the installation base is located on the rotating axis of the second limb, and the connecting rod and the installation base are overlapped on the rotating axis of the second limb; the first bending part is used for being hinged to the near end of the second limb, so that the first bending part and the main body part jointly surround the mounting base in the rotating direction of the second limb. According to the technical scheme, the swing range of the second limb is not too small, and the layout of the mounting base and the connecting rod is compact.

Description

Technical Field

[0001] The present invention relates to the technical field of limb devices, and in particular to limb devices and humanoid robots. Background Art

[0002] The limb device of the humanoid robot includes a first limb and a second limb connected to each other. Without loss of generality, the limb device can be a leg, the first limb can be a thigh, and the second limb can be a calf. The first limb is equipped with a driving component, and the second limb has a mounting seat. The driving component is connected to the mounting seat through a connecting rod to drive the first limb to swing relative to the second limb.

[0003] In a related art, the outermost side of the mounting seat is rotatably connected to the connecting rod in the extension direction of the rotation axis of the second limb, so that the connecting rod will not interfere with the mounting seat during movement.

[0004] However, this makes the overall length of the mounting seat and the connecting rod longer in the extension direction of the rotation axis of the second limb, making the layout of the mounting seat and the connecting rod not compact enough.

[0005] In another related art, the connecting rod is located between the opposite ends of the mounting seat in the extension direction of the rotation axis of the second limb. In this way, in the extension direction of the rotation axis of the second limb, the overall size of the connecting rod and the mounting seat is the size of the mounting seat, making the overall size smaller.

[0006] However, when the second limb rotates relative to the first limb, the connecting rod will interfere with the mounting seat, resulting in a smaller rotation range of the second limb relative to the first limb. Summary of the invention

[0007] An embodiment of the present invention provides a limb device and a humanoid robot, wherein the limb device can ensure that the rotation range of the second limb relative to the first limb is not too small, and the overall length of the mounting seat and the connecting rod in the extension direction of the rotation axis of the second limb is not too large.

[0008] An embodiment of the present invention provides a limb device, characterized in that the limb device is applied to a humanoid robot, and the humanoid robot includes a body and the limb device;

[0009] The limb device comprises a first limb, a second limb, a driving assembly and a connecting rod, wherein the proximal end of the first limb is used to connect with the fuselage, the distal end of the first limb is hinged with the proximal end of the second limb, the driving assembly is mounted on the first limb, the proximal end of the connecting rod is transmission-connected to the output flange of the driving assembly and is not located on the rotation axis of the output flange, and the distal end of the connecting rod is transmission-connected to the proximal end of the second limb and is not located on the rotation axis of the second limb;

[0010] In which, the proximal end of the second limb is constructed with a mounting seat for hinged connection with the distal end of the first limb, and the mounting seat is located on the rotation axis of the second limb. The connecting rod and the mounting seat overlap on the rotation axis of the second limb. The connecting rod includes a main body and a first bending portion connected to one end of the main body, and the first bending portion is used to hinge with the proximal end of the second limb. The angle between the first bending portion and the main body is an obtuse angle to allow the first bending portion and the main body to jointly surround the mounting seat along the rotation direction of the second limb.

[0011] Beneficial effects of the embodiments of the present invention:

[0012] In an embodiment of the present invention, the angle formed by the first bent portion and the main body provides space for avoiding the mounting seat, so that the rotation range of the second limb relative to the first limb will not be too small. In addition, the connecting rod and the mounting seat overlap on the rotation axis of the second limb, that is, on the rotation axis of the second limb, the connecting rod is located between the opposite ends of the mounting seat, that is, on the rotation axis of the second limb, the overall size of the connecting rod and the mounting seat is equal to the size of the mounting seat. In this way, the overall length of the connecting rod and the mounting seat in the extension direction of the rotation axis of the second limb will not be too large, so that the layout of the connecting rod and the mounting seat is relatively compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 is a three-dimensional schematic diagram of a robot provided by an embodiment of the present invention;

[0015] Figure 2 yes Figure 1 Schematic diagram of the structure of the middle left leg;

[0016] Figure 3 yes Figure 2 A schematic diagram of the structure of the left leg with some of its structures hidden;

[0017] Figure 4 yes Figure 3 The enlarged view of point A in the middle;

[0018] Figure 5 yes Figure 4 A cross-sectional view of the middle drive assembly;

[0019] Figure 6 yes Figure 4Schematic diagram of the structure of the middle crank;

[0020] Figure 7 yes Figure 2 A structural diagram of the middle thigh from another angle;

[0021] Figure 8 yes Figure 7 The enlarged view of point B in the middle;

[0022] Fig. 9 yes Figure 7 Schematic diagram of the partial structure of the middle thigh;

[0023] Fig.10 yes Fig. 9 A cutaway view of the structure shown. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In the present invention, unless otherwise specified, the directional words used, such as "upper" and "lower", generally refer to the upper and lower parts of the device in actual use or working state, specifically the drawing direction in the drawings; while "inside" and "outside" refer to the outline of the device.

[0025] Reference Figures 1 to 5 The present application provides a humanoid robot 100. As the name implies, the humanoid robot 100 has a human form, and includes a body 110, an arm 130 connected to the body 110, a leg 140 connected to the body 110, and a head 120 connected to the body 110.

[0026] The limb device provided by the present application includes a first limb 200, a second limb 300, a driving assembly 400 and a connecting rod 500. The proximal end of the first limb 200 is used to connect with the fuselage 110, the distal end of the first limb 200 is hinged with the proximal end of the second limb 300, the driving assembly 400 is installed on the first limb 200, the proximal end of the connecting rod 500 is transmission-connected to the output flange 410 of the driving assembly 400 and is not located on the rotation axis of the output flange 410, and the distal end of the connecting rod 500 is transmission-connected to the proximal end of the second limb 300 and is not located on the rotation axis of the second limb 300. In this way, under the drive of the driving assembly 400, the connecting rod 500 can drive the second limb 300 to rotate relative to the first limb 200.

[0027] It is worth mentioning that the rotation axis of the output flange 410 is as follows Figure 4 and Figure 5 As shown in D in FIG. 1 , the rotation axis of the second limb 300 is as shown in FIG. Figure 4 and Fig.10 As shown in E.

[0028] The first limb 200 may be at least a part of the upper arm in the limb device, and the second limb 300 may be at least a part of the lower arm in the limb device; or, the first limb 200 may be at least a part of the thigh, and the second limb 300 may be at least a part of the calf. In order to facilitate the understanding of the present solution, without loss of generality, this article introduces the first limb 200 as the thigh and the second limb 300 as the calf. In this way, under the drive of the drive assembly 400, the calf can rotate relative to the thigh.

[0029] The proximal end of the second limb 300 is configured with a mounting seat 310 for articulating with the distal end of the first limb 200. The mounting seat 310 is located on the rotation axis of the second limb 300. The connecting rod 500 and the mounting seat 310 overlap on the rotation axis of the second limb 300. The connecting rod 500 includes a main body 510 and a first bending portion 520 connected to one end of the main body 510. The first bending portion 520 is used to articulate with the proximal end of the second limb 300. The angle between the first bending portion 520 and the main body 510 is an obtuse angle, so as to allow the first bending portion 520 and the main body 510 to surround the mounting seat 310 together along the rotation direction of the second limb 300. The rotation direction of the second limb 300 is as follows: Figure 4 As shown in C.

[0030] It should be noted that "the first bending portion 520 and the main body 510 jointly surround the mounting seat 310 along the rotation direction of the second limb 300" means that during the rotation of the second limb 300 relative to the first limb 200, there is at least a state in which the first bending portion 520 and the main body 510 jointly surround the mounting seat 310. For example, during the contraction of the limb device, there may be a state in which the second limb 300 contracts toward the first limb 200.

[0031] Thus, during the contraction of the limb device, the angle formed by the first bending portion 520 and the main body 510 provides space for avoiding the mounting seat 310, so that the rotation range of the second limb 300 relative to the first limb 200 will not be too small.

[0032] In addition, the connecting rod 500 and the mounting seat 310 overlap on the rotation axis of the second limb 300, that is, on the rotation axis of the second limb 300, the connecting rod 500 is located between the opposite ends of the mounting seat 310, that is, on the rotation axis of the second limb 300, the overall size of the connecting rod 500 and the mounting seat 310 is equal to the size of the mounting seat 310. In this way, the overall length of the connecting rod 500 and the mounting seat 310 will not be too large in the extension direction of the rotation axis of the second limb 300, so that the layout of the connecting rod 500 and the mounting seat 310 is relatively compact.

[0033] In one embodiment, the included angle between the first bending portion 520 and the main body portion 510 is between 140° and 170°, so that the included angle is within a suitable range.

[0034] Refer to Figures 7 to 10 In one embodiment, the proximal end of the second limb 300 is configured with a support seat 320 for being hinged to the distal end of the connecting rod 500, and the support seat 320 and the mounting seat 310 overlap on the rotation axis of the second limb 300. In this way, in the extension direction of the rotation axis of the second limb 300, the overall length of the support seat 320 and the mounting seat 310 is relatively small, that is, the overall length dimension of the support seat 320 and the mounting seat 310 is the length dimension of the mounting seat 310, so that the layout of the support seat 320 and the mounting seat 310 is relatively compact.

[0035] In addition, the connecting rod 500 is connected to the support seat 320. In this way, the first bending portion 520 is connected to the mounting seat 310 through the support seat 320, and the support seat 320 makes the connection between the first bending portion 520 and the support seat 320 have a certain distance from the mounting seat 310, which provides space for avoiding the mounting seat 310, which is conducive to increasing the angle range of the calf relative to the thigh.

[0036] Furthermore, the connecting rod 500 is located inside the support seat 320 on the rotation axis of the second limb 300. Thus, the connecting rod 500, as a moving component, is located inside the support seat 320, which is beneficial to reduce the interference with other components of the leg 140.

[0037] Exemplarily, on the rotation axis of the second limb 300, the support seat 320 includes two support plates 321 arranged opposite to each other, the support plates 321 are arranged on the mounting seat 310, and the connecting rod 500 is arranged between the two support plates 321 and is rotatably connected to the two support plates 321. In this way, when the connecting rod 500 moves, the connection between the connecting rod 500 and the support plate 321 is subjected to a relatively uniform force. It can be understood that at this time, for the outer side of the support seat 320, it is the side of one support plate 321 away from the other support plate 321.

[0038] Reference Fig.10In one embodiment, the robot 100 includes a radial bearing 710 installed in the mounting seat 310, the inner ring of the radial bearing 710 is relatively fixed to the first limb 200, and the outer ring of the radial bearing 710 is relatively fixed to the second limb 300. In this way, the radial bearing 710 supports the second limb 300 and bears the radial load, ensuring that the second limb 300 can rotate relatively stably relative to the first limb 200.

[0039] In addition, the connecting rod 500 and the radial bearing 710 overlap on the rotation axis of the second limb 300. In this way, in the extension direction of the rotation axis of the second limb 300, the overall length of the connecting rod 500 and the radial bearing 710 is reduced, and the layout of the connecting rod 500 and the radial bearing 710 is more compact. In addition, it is also beneficial for the radial bearing 710 to better withstand the radial load from the connecting rod 500.

[0040] However, the present design is not limited thereto. In some other embodiments, the connecting rod 500 and the radial bearing 710 are staggered on the rotation axis of the second limb 300 .

[0041] In one embodiment, a groove is constructed on the inner side of the first limb 200 facing the support seat 320, and the robot 100 includes a thrust bearing 720 installed in the groove. On the rotation axis of the second limb 300, one side of the thrust bearing 720 abuts against the outer ring of the radial bearing 710, and the other side of the thrust bearing 720 abuts against the bottom of the groove.

[0042] In this way, the thrust bearing 720 can reduce the occurrence of movement of the mounting seat 310 in the extension direction of the rotation axis of the second limb 300 .

[0043] Exemplarily, the first limb 200 includes end plates 210 arranged opposite to each other, and a support shaft 220 connecting the two end plates 210, the axial direction of the support shaft 220 is consistent with the extension direction of the rotation axis of the second limb 300, and the two end plates 210 are respectively provided with grooves, and in the axial direction of the support shaft 220, the mounting seat 310 has two opposite ends respectively provided with mounting grooves with a groove depth direction in the axial direction of the support shaft 220, and the support shaft 220 is penetrated by the two grooves and the two mounting grooves. Two radial bearings 710 are provided, and one radial bearing 710 is correspondingly provided in one mounting groove, and two thrust bearings 720 are provided, and one thrust bearing 720 is correspondingly provided in one groove. It can be understood that the inner ring of the radial bearing 710 and the inner ring of the thrust bearing 720 are both connected to the support shaft 220, and the two radial bearings 710 are provided between the two thrust bearings 720. The two thrust bearings 720 clamp the two radial bearings 710 to reduce the movement of the mounting seat 310 in the extension direction of the rotation axis of the second limb 300. In addition, under the clamping of the two thrust bearings 720, the two radial bearings 710 are respectively pressed against the bottom of the corresponding mounting grooves, so that the radial bearings 710 and the mounting seat 310 are connected more firmly.

[0044] Refer to Figure 6 In one embodiment, the robot 100 includes a crank 600, which is configured with a crankshaft 610, a crank arm 620, and a flange 630. The flange 630 is connected to the output flange 410, and the rotation axis of the crank 600 coincides with the rotation axis of the driving assembly 400. Specifically, the output flange 410, the flange 630, the crankshaft 610, and the crank arm 620 are sequentially arranged in the extension direction of the rotation axis of the driving assembly 400.

[0045] Among them, the connecting rod 500 includes a second bending portion 530 connected to the other end of the main body 510, and the second bending portion 530 is used to be hinged with the crank arm 620. The first bending portion 520 and the second bending portion 530 are bent to the same side of the main body 510, and the angle between the second bending portion 530 and the main body 510 is an obtuse angle, so as to allow the proximal part of the connecting rod 500 to surround the crankshaft 610, so as to allow the second bending portion 530 and the main body 510 to jointly surround the crankshaft 610 along the rotation direction of the crank 600.

[0046] It should be noted that "the second bending portion 530 and the main body 510 jointly surround the crankshaft 610 along the rotation direction of the crank 600" means that during the rotation of the second limb 300 relative to the first limb 200, there is at least a state in which the second bending portion 530 and the main body 510 jointly surround the crankshaft 610 along the rotation direction of the crank 600. For example, during the extension of the limb device, the second limb 300 and / or the first limb 200 may be extended outward.

[0047] In this way, during the extension of the limb device, the angle formed by the second bending portion 530 and the main body 510 provides space to avoid the crankshaft 610, thereby increasing the angle range of the calf's relative swing to the thigh, allowing the calf to rotate more.

[0048] In one embodiment, the included angle between the second bending portion 530 and the main body portion 510 is between 140° and 170°, so that the included angle is within a suitable range.

[0049] In one embodiment, the angle between the first bending portion 520 and the main body 510 is equal to the angle between the second bending portion 530 and the main body 510. In this way, the connecting rod 500 can be manufactured in batches.

[0050] In one embodiment, the length of the first bending portion 520 is equal to the length of the second bending portion 530. In this way, the connecting rod 500 can be manufactured in batches.

[0051] Reference Figure 5In one embodiment, the driving assembly 400 includes a motor 420, a first adapter 440 and a first encoder. A limiting ring 422 is constructed on the side of the output shaft 421 of the motor 420 that is away from the output flange 410. The first adapter 440 is installed on the inner side of the limiting ring 422, and the code disk of the first encoder is installed on the first adapter 440.

[0052] The limiting ring 422 provided on the output shaft 421 provides space for accommodating at least part of the first adapter seat 440, that is, the first adapter seat 440 at least partially extends into the limiting ring 422 in the axial direction of the output shaft 421, that is, at least partially extends into the output shaft 421, which is conducive to reducing the axial dimension of the drive assembly 400 on the output shaft 421, and is conducive to miniaturization of the drive assembly 400.

[0053] In addition, for the sake of convenience, the code disk of the first encoder is defined as the first code disk 471 . The first encoder rotates along with the output shaft 421 through the first adapter 440 . The first code disk 471 is used to detect the rotation state of the output shaft 421 .

[0054] However, the present design is not limited thereto. In some other embodiments, the first adapter 440 is welded to the output shaft 421 .

[0055] In order to increase the output torque of the drive assembly 400, in one embodiment, the drive assembly 400 includes a reducer 430, and the output shaft 421 is connected to the output flange 410 through the reducer 430. The output shaft 421 of the motor 420 increases the output torque of the output flange 410 through the deceleration and torque-increasing effect of the reducer 430.

[0056] In addition, in order to improve the connection stability between the first adapter 440 and the output shaft 421, the drive assembly 400 also includes a hollow rotating shaft 431 and a first bearing 481. The hollow rotating shaft 431 is connected to the output flange 410 and passes through the reducer 430 and the output shaft 421. The inner ring of the first bearing 481 is nested on the outside of the hollow rotating shaft 431, and the outer ring of the first bearing 481 is embedded on the inner side of the first adapter 440.

[0057] In this way, the hollow shaft 431 rotates with the output flange 410. Since the outer side of the first adapter seat 440 is connected to the inner side of the limit ring 422, and the inner side of the first adapter seat 440 is connected to the hollow shaft 431 through the first bearing 481, the first adapter seat 440 is supported by the hollow shaft 431 and the limit ring 422, so that the relative posture of the first adapter seat 440 and the limit ring 422 is relatively stable. It can be understood that the hollow shaft 431 and the output shaft 421 have a speed difference under the action of the reducer 430, and the hollow shaft 431 reduces the influence of the speed difference through the first bearing 481 and provides good support for the first adapter seat 440.

[0058] Furthermore, as the name implies, the hollow shaft 431 is a shaft having a channel extending axially along the output shaft 421, and the channel can provide a wiring harness channel for the drive assembly 400, that is, the channel can be configured as a wiring channel.

[0059] In one embodiment, the driving assembly 400 includes a circuit board 473, on which a sensor of a first encoder is disposed. The sensor of the first encoder is defined herein as a first sensor. In order to realize the function of the first encoder, the first code disk 471 needs to be rotated relative to the first sensor, that is, the first code disk 471 needs to be rotated relative to the circuit board 473. To this end, the driving assembly 400 also includes a bearing seat 460 and a second bearing 482, the inner ring of the second bearing 482 is nested on the outer side of the limit ring 422, the outer ring of the second bearing 482 is embedded on the inner side of the bearing seat 460, and the circuit board 473 is mounted on the bearing seat 460. In this way, when the output shaft 421 rotates, the bearing seat 460 can have a speed difference with the output shaft 421 through the second bearing 482, so that the first code disk 471 rotates relative to the circuit board 473.

[0060] In addition, the first bearing 481 and the second bearing 482 overlap on the rotation axis of the drive assembly 400, so that in the extension direction of the rotation axis of the drive assembly 400, the overall length of the first bearing 481 and the second bearing 482 is small, so that the layout of the first bearing 481 and the second bearing 482 is relatively compact, which is conducive to shortening the distance between the first sensor and the first code disk 471 when the size of the bearing seat 460 and the first adapter seat 440 is small in the extension direction of the rotation axis of the drive assembly 400. That is, it is conducive to reducing the materials required for making the bearing seat 460 and the first adapter seat 440, and improving the detection accuracy of the first encoder.

[0061] However, the present design is not limited thereto. In some other embodiments, the first bearing 481 and the second bearing 482 are staggered on the rotation axis of the driving assembly 400 .

[0062] In order to better control the drive assembly 400, in one embodiment, the drive assembly 400 further includes a second encoder for detecting the rotation state of the output flange 410. The drive assembly 400 further includes a second adapter 450, the second adapter 450 is mounted on the hollow shaft 431, the code disk of the second encoder is mounted on the second adapter 450, and the sensor of the second encoder is arranged on the circuit board 473, and the circuit board 473 is located between the code disk of the first encoder and the code disk of the second encoder. Here, the code disk of the second encoder is the second code disk 472, and the sensor of the second encoder is the second sensor. It can be understood that the rotation state of the hollow shaft 431 is consistent with the rotation state of the output flange 410, and the second code disk 472 is installed on the hollow shaft 431 through the second adapter 450, so that the second encoder can detect the rotation state of the output flange 410 through the hollow shaft 431. In addition, since the circuit board 473 is not only provided with the first sensor, but also provided with the second sensor, this allows the first encoder and the second encoder to share a circuit board 473, which is conducive to simplifying the structure of the drive assembly 400.

[0063] Exemplarily, the first sensor and the second sensor are configured as optical sensors, respectively. In this way, the first sensor can be arranged on a side of the circuit board 473 close to the first code disk 471, and the second sensor can be arranged on a side of the circuit board 473 close to the second code disk 472. In this way, the size requirements for the first code disk 471 and the second code disk 472 are relatively low.

[0064] In some other embodiments, the second code disc 472 is disposed between the first code disc 471 and the circuit board 473, and the first sensor and the second sensor are respectively configured as optical sensors. The size of the second code disc 472 needs to be smaller than the size of the first code disc 471 to prevent the optical fiber emitted by the first sensor from being blocked by the second code disc 472.

[0065] The embodiments of the present invention are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A limb device, characterized in that: The limb device is applied to a humanoid robot, which comprises a body and the limb device; The limb device comprises a first limb, a second limb, a driving assembly and a connecting rod, wherein the proximal end of the first limb is used to connect with the fuselage, the distal end of the first limb is hinged with the proximal end of the second limb, the driving assembly is mounted on the first limb, the proximal end of the connecting rod is transmission-connected to the output flange of the driving assembly and is not located on the rotation axis of the output flange, and the distal end of the connecting rod is transmission-connected to the proximal end of the second limb and is not located on the rotation axis of the second limb; In which, the proximal end of the second limb is constructed with a mounting seat for hinged connection with the distal end of the first limb, and the mounting seat is located on the rotation axis of the second limb. The connecting rod and the mounting seat overlap on the rotation axis of the second limb. The connecting rod includes a main body and a first bending portion connected to one end of the main body, and the first bending portion is used to hinge with the proximal end of the second limb. The angle between the first bending portion and the main body is an obtuse angle to allow the first bending portion and the main body to jointly surround the mounting seat along the rotation direction of the second limb.

2. The limb device according to claim 1, characterized in that: An included angle between the first bending portion and the main body portion is between 140° and 170°.

3. The limb device according to claim 1, characterized in that: The proximal end of the second limb is configured with a support seat for hinged connection with the distal end of the connecting rod, the support seat and the mounting seat overlap on the rotation axis of the second limb, and the connecting rod is located on the inner side of the support seat on the rotation axis of the second limb.

4. The limb device according to claim 3, characterized in that: The limb device includes a radial bearing installed in the mounting seat, the inner ring of the radial bearing is fixed relative to the first limb, the outer ring of the radial bearing is fixed relative to the second limb, and the connecting rod and the radial bearing overlap on the rotation axis of the second limb.

5. The limb device according to claim 4, characterized in that: The first limb is configured with a groove on the inner side facing the support seat, and the limb device includes a thrust bearing installed in the groove. On the rotation axis of the second limb, one side of the thrust bearing abuts against the outer ring of the radial bearing, and the other side of the thrust bearing abuts against the bottom of the groove.

6. The limb device according to claim 1, characterized in that: The limb device comprises a crank, wherein the crank is configured with a crankshaft, a crank arm and a flange, wherein the flange is connected to the output flange and the rotation axis of the crank coincides with the rotation axis of the drive assembly; In which, the connecting rod includes a second bending portion connected to the other end of the main body, the second bending portion is used to be hinged with the crank arm, the first bending portion and the second bending portion are bent to the same side of the main body, and the angle between the second bending portion and the main body is an obtuse angle to allow the second bending portion and the main body to jointly surround the crankshaft along the rotation direction of the crank.

7. The limb device according to claim 6, characterized in that: An included angle between the second bending portion and the main body portion is between 140° and 170°.

8. The limb device according to claim 7, characterized in that: The included angle between the first bending portion and the main body portion is equal to the included angle between the second bending portion and the main body portion; And / or, the length of the first bending portion is equal to the length of the second bending portion.

9. The limb device according to claim 1, characterized in that: The driving assembly includes a motor, a first adapter and a first encoder. A limit ring is constructed on the side of the output shaft of the motor away from the output flange. The first adapter is installed on the inner side of the limit ring. The code disk of the first encoder is installed on the first adapter.

10. The limb device according to claim 9, characterized in that: The driving assembly includes a reducer, a hollow shaft and a first bearing. The output shaft is connected to the output flange through the reducer. The hollow shaft is connected to the output flange and passes through the reducer and the output shaft. The inner ring of the first bearing is nested on the outside of the hollow shaft, and the outer ring of the first bearing is embedded on the inside of the first adapter.

11. The limb device according to claim 10, characterized in that: The driving assembly includes a bearing seat, a second bearing and a circuit board. The inner ring of the second bearing is nested on the outer side of the limit ring, and the outer ring of the second bearing is embedded on the inner side of the bearing seat. The first bearing and the second bearing overlap on the rotation axis of the driving assembly. The circuit board is installed on the bearing seat, and the sensor of the first encoder is arranged on the circuit board.

12. The limb device according to claim 11, characterized in that: The driving assembly includes a second adapter and a second encoder, the second adapter is mounted on the hollow shaft, the code disc of the second encoder is mounted on the second adapter, the sensor of the second encoder is provided on the circuit board, and the circuit board is located between the code disc of the first encoder and the code disc of the second encoder.

13. The limb device according to claim 1, characterized in that: The first limb serves as at least a part of a thigh of the humanoid robot, and the second limb serves as at least a part of a calf of the humanoid robot.

14. A humanoid robot, characterized in that: Comprising a limb device as claimed in any one of claims 1 to 13.

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