Leg structure and humanoid robot

Abstract

The invention provides a leg structure and a humanoid robot, and relates to the technical field of robots. The leg structure comprises a foot assembly, a shank assembly and a pair of driving assemblies. The shank assembly and the foot assembly are hinged to form a rotation center. In the pair of driving assemblies, one driving assembly is arranged on the outer side of the shank assembly, and the other driving assembly is arranged on the inner side of the shank assembly; the driving assembly can stretch out and draw back in the extending direction of the driving assembly and is provided with a fixed end and a telescopic end, the fixed end is hinged to the shank assembly, the telescopic end is hinged to the foot assembly, and the hinged position of the telescopic end and the foot assembly and the rotating center are arranged at intervals in the length direction of the foot assembly. The telescopic action of the driving assembly can drive the foot assembly to rotate around the rotating center. According to the leg structure provided by the invention, by improving the leg structure, the weight of the ankle joint can be reduced, the size of the ankle joint is reduced, and the bionic effect of the rotation action between the leg bone and the foot is better.

Description

Technical Field

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

[0002] The ankle joints of the leg structures of humanoid robots are mostly driven by at least two drive motors to achieve multiple movements of the feet. In this structure, the two drive motors are stacked in series, making the overall structure of the ankle joint bulky and redundant. In addition, this structure is very different from the joint structure of the human body, and the bionic effect of the movement is poor. Summary of the invention

[0003] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and to provide a leg structure and a humanoid robot. By improving the leg structure, the weight of the ankle joint can be reduced, the volume of the ankle joint can be reduced, and the bionic effect of the rotational movement between the leg bone and the foot can be better.

[0004] The present invention provides the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a leg structure, the leg structure comprising:

[0006] Foot assembly;

[0007] A calf assembly, wherein the calf assembly and the foot assembly are hinged and form a rotation center;

[0008] A pair of driving assemblies, in which one of the driving assemblies is arranged on the outside of the calf assembly, and the other driving assembly is arranged on the inside of the calf assembly; the driving assembly can be extended and retracted along the extension direction of the driving assembly, and the driving assembly has a fixed end and a retractable end, the fixed end is hinged to the calf assembly, and the retractable end is hinged to the foot assembly, along the length direction of the foot assembly, the hinge between the retractable end and the foot assembly is spaced from the rotation center, and the retracting action of the driving assembly can drive the foot assembly to rotate around the rotation center.

[0009] In some embodiments of the first aspect, the foot assembly comprises:

[0010] a foot body having opposing bottom and top portions;

[0011] An adapter assembly, the adapter assembly is connected to the top of the foot body, the adapter assembly includes a first adapter and a second adapter, along the length direction of the calf assembly, the first adapter and the second adapter are arranged opposite to each other at intervals, and relative to the second adapter, the first adapter is farther away from the front side of the foot assembly;

[0012] The first adapter is hinged to the telescopic end, and the second adapter is hinged to the calf component to form the rotation center.

[0013] In some embodiments of the first aspect, the first adapter comprises a first connecting shaft, a second connecting shaft and a connecting portion, the first connecting shaft and the second connecting shaft are both rotatably connected to the connecting portion, the connecting portion is disposed at the top of the foot body, and along the width direction of the foot assembly, the first connecting shaft and the second connecting shaft are arranged in parallel and coaxially;

[0014] The first connecting shaft is hinged to the telescopic end of one of the driving assemblies, and the second connecting shaft is hinged to the telescopic end of another of the driving assemblies.

[0015] In some embodiments of the first aspect, the connecting portion has a mounting groove that is arranged therethrough, and the first connecting shaft and the second connecting shaft both have a plug-in end and a connecting end, the plug-in end of the first connecting shaft is passed through one end of the mounting groove, and the plug-in end of the second connecting shaft is passed through the other end of the mounting groove, and the first connecting shaft and the second connecting shaft are both rotatably matched with the mounting groove.

[0016] In some embodiments of the first aspect, the plug end of the first connecting shaft and the plug end of the second connecting shaft are connected to each other;

[0017] The groove wall of the installation groove has a disassembly side opening, and the connection between the first connecting shaft and the second connecting shaft is located at the disassembly side opening.

[0018] In some embodiments of the first aspect, the first adapter further comprises a first rotating bearing and a second rotating bearing, and the first rotating bearing and the second rotating bearing are both disposed in the mounting groove;

[0019] The plug-in end of the first connecting shaft is inserted into the inner ring of the first rotating bearing, the outer diameter of the connecting end of the first connecting shaft is larger than the outer diameter of the plug-in end, and the connecting end of the first connecting shaft and the inner ring of the first rotating bearing close to each other are in contact with each other;

[0020] The plug-in end of the second connecting shaft is inserted into the inner ring of the second rotating bearing, the outer diameter of the connecting end of the second connecting shaft is larger than the outer diameter of the plug-in end, and the connecting end of the second connecting shaft and the inner ring of the second rotating bearing close to each other abut against each other.

[0021] In some embodiments of the first aspect, the end of the plug-in end of the first connecting shaft has a plug-in slot, and the end of the plug-in end of the second connecting shaft has a plug-in body, and the plug-in body is plugged into the plug-in slot;

[0022] The first adapter also includes a fastening portion, and along the radial direction of the first connecting shaft and the second connecting shaft, the fastening portion is penetrated through the first connecting shaft and the plug-in body to connect the first connecting shaft and the second connecting shaft.

[0023] In some embodiments of the first aspect, the fastening portion is a fastening screw, a first through hole is radially penetrated through the groove wall of the plug-in groove of the first connecting shaft, the first through hole and the plug-in groove are communicated, a threaded hole is radially penetrated through the plug-in body of the second connecting shaft, the threaded hole and the plug-in groove are communicated, and the rod of the fastening screw is passed through the first through hole and is threadedly connected to the hole wall of the threaded hole.

[0024] In some embodiments of the first aspect, the fastening portion is a fastening bolt, a first through hole is radially penetrated through the groove wall of the plug-in groove of the first connecting shaft, the first through hole and the plug-in groove are connected, a second through hole is radially penetrated through the plug-in body of the second connecting shaft, and the rod of the fastening bolt is passed through the first through hole and the second through hole and is connected with a fastening nut.

[0025] In some embodiments of the first aspect, the end of the plug-in end of the first connecting shaft has a plug-in groove, and the end of the plug-in end of the second connecting shaft has a plug-in body, and the plug-in body is passed through and fixed in the plug-in groove; wherein the plug-in body and the plug-in groove are key-matched.

[0026] In some embodiments of the first aspect, each of the drive assemblies comprises at least one of the following:

[0027] Electric push rod, pneumatic cylinder, hydraulic cylinder;

[0028] The calf assembly has an avoidance cavity, and the avoidance cavity is used to accommodate the drive assembly.

[0029] In a second aspect, the present application also provides a humanoid robot, comprising a leg structure as described in any one of the above embodiments.

[0030] The embodiments of the present invention have the following advantages:

[0031] With the leg structure provided by the present invention, the ball joint between the calf component and the foot component forms a fixed rotation center. This rotation center allows the foot component to perform complex rotations in three-dimensional space, imitating the movement of the human ankle joint. The fixed end of the drive component is connected to the calf component through a ball joint, ensuring that the drive component can transmit force without changing its own position. The drive component can perform telescopic movements, which are achieved by hydraulic, pneumatic or electric push rods. The telescopic end is connected to the foot component through a ball joint, and the hinge is located at the front or rear side of the calf component. When the drive component performs the telescopic movement, it pushes or pulls the foot component to rotate around the rotation center. The drive components are respectively arranged on the outside and inside of the calf component, so that the two drive components can cooperate to apply force from different directions, ensuring that the rotation of the foot component is more stable and natural. The hinge between the telescopic end and the foot component is located at the front or rear side of the calf component, and the driving effect can be optimized according to the specific application scenario.

[0032] Obviously, by reducing the number of drive motors and optimizing the structural layout, the weight and volume of the ankle joint are significantly reduced. The ball-jointed design makes the movement of the foot assembly closer to the multi-directional rotation of the human ankle joint, enhancing the naturalness and flexibility of the movement. The coordinated work of a pair of drive assemblies ensures more consistent movement between the various degrees of freedom, improves the walking stability and adaptability of the robot, and the drive assembly is set in the calf assembly to be integrated with the calf assembly, which is conducive to adjusting the center of gravity of the leg structure and improving the walking stability of the robot.

[0033] Furthermore, the calf assembly is ball-jointed to the foot assembly and is connected to the foot assembly through a drive assembly. Obviously, this can effectively improve the connection strength between the calf assembly and the foot assembly, share the load of the calf assembly, and improve the stability and load-bearing capacity of the leg structure.

[0034] The present invention also relates to a humanoid robot. Since the above-mentioned leg structure has the above-mentioned technical effects, the humanoid robot including the leg structure should have the same technical effects, which will not be repeated here.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 A structural schematic diagram of a leg structure provided by an embodiment of the present invention from one viewing angle is shown;

[0038] Figure 2 A schematic structural diagram of a leg structure provided by an embodiment of the present invention from another perspective is shown;

[0039] Figure 3 A structural schematic diagram showing another perspective of a leg structure provided by an embodiment of the present invention;

[0040] Figure 4 Shows Figure 3 AA cross-sectional structure diagram in;

[0041] Figure 5 A structural schematic diagram of a foot component in a leg structure provided by an embodiment of the present invention from one perspective is shown;

[0042] Figure 6 A schematic diagram of the assembly of a connecting shaft in a leg structure provided by an embodiment of the present invention is shown;

[0043] Figure 7 A schematic diagram of an exploded structure at a connecting shaft in a leg structure provided by an embodiment of the present invention is shown.

[0044] Description of main component symbols:

[0045] 100-calf assembly; 110-avoidance cavity; 200-driving assembly; 210-fixed end; 220-telescopic end; 300-foot assembly; 310-first adapter; 311-first connecting shaft; 3111-connecting end; 3112-plug-in end; 3113-plug-in slot; 3114-plug-in body; 3115-first through hole; 3116-second through hole; 312-connecting part; 3121-installation slot; 3122-disassembly and assembly side port; 313-second connecting shaft; 314-fastening part; 315-second rotating bearing; 316-first rotating bearing; 320-foot body; 330-base; 340-second adapter; 400-rotation center. DETAILED DESCRIPTION

[0046] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0047] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0048] 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the template are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0051] In related technologies, with the advancement of science and technology, the research and application fields of robots are constantly expanding. Among them, the research and application of humanoid robots have received particular attention and has become one of the most active research hotspots in the field of robotics.

[0052] Among them, most humanoid robots are driven by at least two drive motors to achieve multiple movements of the feet. This structure, with two drive motors stacked in series, makes the overall structure of the ankle joint bulky and redundant, which is very different from the joint structure of the human body and has a poor bionic effect of movement.

[0053] like Figure 1 , Figure 2 and Figure 3As shown, in order to solve the above technical problems, an embodiment of the present application provides a leg structure, which includes a foot component 300, a calf component 100 and a pair of drive components 200, the calf component 100 and the foot component 300 are hinged and form a rotation center 400; in the pair of drive components 200, one drive component 200 is arranged on the outside of the calf component 100, and the other drive component 200 is arranged on the inside of the calf component 100; the drive component 200 can be telescoped along the extension direction of the drive component 200, and the drive component 200 has a fixed end 210 and a telescopic end 220, the fixed end 210 and the calf component 100 are ball-hinged, and the telescopic end 220 and the foot component 300 are ball-hinged, along the length direction of the foot component 300, the hinge between the telescopic end 220 and the foot component 300 is spaced from the rotation center 400, and the telescopic action of the drive component 200 can drive the foot component 300 to rotate around the rotation center 400.

[0054] In these embodiments, the present application aims to reduce the weight and volume of the ankle joint and improve the bionic effect of the rotational motion between the leg bones and the foot. The following is a description of the specific components of the leg structure:

[0055] The foot assembly 300 is used for support and movement, and is in direct contact with the ground to ensure the stability and flexibility of the robot on different terrains. Accordingly, the foot assembly 300 has a sole side and an instep side, the sole side corresponds to the bottom of the foot assembly 300 hereinafter, and the instep side corresponds to the top of the foot assembly 300 hereinafter.

[0056] The calf component 100 and the foot component 300 are connected by a hinge to form a rotation center 400 .

[0057] Exemplarily, the calf component 100 has a calf ankle joint end, and the foot component 300 has a foot ankle joint end, and the calf ankle joint end is connected to the foot ankle joint end through a cross hinge, and the two rotation axes of the cross hinge are respectively parallel to the length direction and the width direction of the foot component 300. The calf ankle joint end can realize rotation in two degrees of freedom directions relative to the foot ankle joint end through the cross hinge. Of course, in other embodiments, the calf ankle joint end realizes a ball hinge with the foot ankle joint end through a ball hinge, etc. This ball hinge design allows the foot component 300 to rotate around the rotation center 400 (similar to the center of a ball) in multiple directions, which is closer to the movement mode of human joints.

[0058] In a pair of drive assemblies 200, one drive assembly 200 is arranged on the outside of the calf assembly 100, and the other drive assembly 200 is arranged on the inside of the calf assembly 100. Each drive assembly 200 has a fixed end 210 and a telescopic end 220, wherein the drive assembly 200 can perform a telescopic action. In addition, the fixed end 210 is ball-jointed with the calf assembly 100, and the telescopic end 220 is ball-jointed with the foot assembly 300. The hinge of the telescopic end 220 and the foot assembly 300 of the pair of drive assemblies 200 is located at the front side or the rear side of the calf assembly 100, ensuring that the telescopic action of the telescopic end 220 can effectively drive the foot assembly 300 to rotate around the rotation center 400.

[0059] Through the ball-hinged design, a pair of drive components 200 are respectively arranged on the outside and the inside, and the connection between the telescopic ends 220 of the pair of drive components 200 and the foot component 300 is spaced apart in the width direction of the foot component 300, that is, the hinge between the telescopic end 220 of one drive component 200 and the foot component 300 is located on the inside of the calf component 100, and the hinge between the telescopic end 220 of the other drive component 200 and the foot component 300 is located on the outside of the calf component 100. The rotation angle and direction of the foot component 300 can be accurately controlled through the telescopic action of the pair of drive components 200, thereby achieving a more natural and flexible gait. The foot component 300 can rotate around the rotation center 400 in multiple directions, simulating the movement characteristics of the human ankle joint, such as dorsiflexion, straight flexion, inversion, eversion and other actions of the foot.

[0060] Compared with the traditional design, this solution reduces the number of drive motors, simplifies the mechanical structure, reduces the overall weight and volume, and improves energy efficiency and movement coordination. In other words, the ball joint between the calf component 100 and the foot component 300 forms a fixed rotation center 400. This rotation center 400 allows the foot component 300 to perform complex rotations in three-dimensional space, imitating the movement of the human ankle joint. The fixed end 210 of the drive component 200 is connected to the calf component 100 by a ball joint, ensuring that the drive component 200 can transmit force without changing its position. The drive component 200 can perform telescopic movements, which are achieved by hydraulic, pneumatic or electric push rods. The telescopic end 220 is connected to the foot component 300 by a ball joint, and the joint is located at the front or rear side of the calf component 100. When the drive component 200 performs a telescopic movement, it pushes or pulls the foot component 300 to rotate around the rotation center 400.

[0061] It is foreseeable that the drive assembly 200 is respectively arranged on the outside and inside of the calf assembly 100, so that the two drive assemblies 200 can cooperate to apply force from different directions, ensuring that the rotation of the foot assembly 300 is more stable and natural. The hinge between the telescopic end 220 and the foot assembly 300 is located at the front or rear side of the calf assembly 100, and the driving effect can be optimized according to the specific application scenario. For example, in this embodiment, the hinge between the telescopic end 220 and the foot assembly 300 is located at the rear side of the calf assembly 100.

[0062] Of course, in order to improve the load-bearing capacity and flexibility of the leg structure, a pair of drive assemblies 200 are respectively provided on the inner and outer sides of the calf assembly 100, and the telescopic ends 220 of the drive assemblies 200 on the same side are respectively ball-jointed with the front side and the rear side of the foot assembly 300.

[0063] Obviously, by reducing the number of drive motors and optimizing the structural layout, the weight and volume of the ankle joint are significantly reduced. The ball-jointed design makes the movement of the foot assembly 300 closer to the multi-directional rotation of the human ankle joint, enhancing the naturalness and flexibility of the movement. The coordinated work of a pair of drive assemblies 200 ensures more consistent movement between the various degrees of freedom, improves the walking stability and adaptability of the robot, and the drive assembly 200 is arranged on the calf assembly 100 to be integrated with the calf assembly 100, which is conducive to adjusting the center of gravity of the leg structure and improving the walking stability of the robot.

[0064] Furthermore, the calf assembly 100 is ball-jointed to the foot assembly 300 and is connected to the foot assembly 300 through the drive assembly 200. Obviously, this can effectively improve the connection strength between the calf assembly 100 and the foot assembly 300, share the load of the calf assembly 100, and improve the stability and load-bearing capacity of the leg structure.

[0065] It should be noted that when performing tasks in complex environments, a more bionic ankle joint can help the robot maintain balance and improve work efficiency and safety.

[0066] like Figure 2 and Figure 5 As shown, in some embodiments, the foot assembly 300 includes a foot body 320 and an adapter assembly, the foot body 320 has a relative bottom and top; the adapter assembly is connected to the top of the foot body 320, and the adapter assembly includes a first adapter 310 and a second adapter 340. Along the length direction of the foot assembly 300, the first adapter 310 and the second adapter 340 are arranged relative to each other at intervals, and relative to the second adapter 340, the first adapter 310 is farther away from the front side of the foot assembly 300; the first adapter 310 and the telescopic end 220 are ball-jointed, and the second adapter 340 and the calf assembly 100 are ball-jointed to form a rotation center 400.

[0067] In these embodiments, the present application makes detailed improvements to the foot assembly 300. Specifically, the foot assembly 300 includes the following parts:

[0068] The foot body 320 is used for support and movement, directly contacts the ground, and ensures the stability and flexibility of the robot on different terrains. The foot body 320 has a relative bottom and a top, wherein the bottom is the part that directly contacts the ground, and the top is used to connect other components, such as a switching component.

[0069] The adapter assembly is a key component that connects the foot body 320, the drive assembly 200 and the calf assembly 100, ensuring flexible rotation and force transmission between the various parts. The adapter assembly is connected to the top of the foot body 320 in a detachable manner, which is convenient for installation, maintenance and replacement. Compared with the second adapter 340, the first adapter 310 is farther away from the front side of the foot assembly 300, so that the ball hinge point of the telescopic end 220 can be better distributed in space, improving the flexibility of movement. Compared with the first adapter 310, the second adapter 340 is closer to the foot assembly 300 and is ball-hinged with the calf assembly 100. The first adapter 310 is ball-hinged with the telescopic end 220 of the drive assembly 200, allowing the telescopic end 220 to rotate freely in multiple directions, thereby accurately controlling the movement of the foot body 320. The second adapter 340 is ball-hinged with the calf assembly 100, ensuring that the entire foot assembly 300 can rotate around the rotation center 400 in multiple directions to simulate the movement of the human ankle joint.

[0070] The adapter assembly reduces mechanical complexity, simplifies the overall structure, reduces weight and volume, improves energy efficiency and motion coordination, and the adapter assembly is split-type, which makes it easy to replace if damaged, without the need for overall replacement, thus reducing costs.

[0071] For example, the second adapter 340 is configured as a cross hinge, and the cross hinge is used to realize the hinge connection between the calf component 100 and the foot body 320. Of course, in other embodiments, the second adapter 340 can also be configured as a ball head, etc.

[0072] like Figure 1 , Figure 3 , Figure 4 and Figure 5As shown, in some embodiments, the first adapter 310 includes a first connecting shaft 311, a second connecting shaft 313 and a connecting portion 312, the first connecting shaft 311 and the second connecting shaft 313 are both rotatably connected to the connecting portion 312, the connecting portion 312 is arranged at the top of the foot body 320, and along the width direction of the foot component 300, the first connecting shaft 311 and the second connecting shaft 313 are arranged parallel and coaxially; the first connecting shaft 311 and the telescopic end 220 of a driving component 200 are ball-jointed, and the second connecting shaft 313 and the telescopic end 220 of another driving component 200 are ball-jointed.

[0073] In these embodiments, in order to further optimize the connection between the foot assembly 300 and the drive assembly 200, the first adapter 310 is improved in the embodiment of the present application. Specifically, the first adapter 310 includes the following parts:

[0074] The connecting portion 312, as the basic structure of the first adapter 310, provides a stable platform for installing and fixing other components. In this embodiment, the connecting portion 312 has sufficient strength and rigidity to withstand the torque and load from the drive assembly 200 and the foot body 320. The connecting portion 312 is provided with necessary mounting grooves 3121 and other interfaces to facilitate connection with other components (such as the foot body 320, the first connecting shaft 311, the second connecting shaft 313, etc.).

[0075] The first connecting shaft 311 and the second connecting shaft 313 are key components for connecting the drive assembly 200 and the foot body 320, ensuring flexible rotation and force transmission between the various parts. In the present embodiment, the first connecting shaft 311 is located at the inner side of the calf assembly 100, and the second connecting shaft 313 is located at the outer side of the calf assembly 100 as an example. Of course, in other embodiments, the first connecting shaft 311 can also be located at the outer side of the calf assembly 100, and the second connecting shaft 313 is located at the inner side of the calf assembly 100. Optionally, the first connecting shaft 311 and the second connecting shaft 313 are connected to the connecting portion 312 in a detachable manner, which is convenient for installation, maintenance and replacement, so that the first connecting shaft 311 and the second connecting shaft 313 can be quickly disassembled and reinstalled when necessary, thereby improving the flexibility and maintainability of the system. Among them, the first connecting shaft 311 and the second connecting shaft 313 are arranged relative to each other, and the first connecting shaft 311 and the second connecting shaft 313 are coaxially arranged and the axial direction is parallel to the width direction of the foot assembly 300. The first connecting shaft 311 and the second connecting shaft 313 are coaxially arranged, that is, the first connecting shaft 311 and the second connecting shaft 313 share the same axis, which not only simplifies the mechanical structure but also ensures that the actions of the driving assembly 200 are more coordinated.

[0076] The first connecting shaft 311 and the second connecting shaft 313 are respectively responsible for connecting the telescopic end 220 of a driving assembly 200. The first connecting shaft 311 and the second connecting shaft 313 are respectively connected to the telescopic end 220 of the corresponding driving assembly 200 through a ball hinge, allowing the telescopic end 220 to rotate freely in multiple directions, thereby accurately controlling the movement of the foot body 320.

[0077] In order to ensure that the first connecting shaft 311 and the second connecting shaft 313 can accurately be ball-jointed with the corresponding telescopic end 220 of the drive assembly 200, the position and size of the mounting groove 3121 on the connecting portion 312 need to be precisely designed and processed to ensure stability after assembly. In order to ensure that the connection between the first connecting shaft 311 and the second connecting shaft 313 and the corresponding telescopic end 220 of the drive assembly 200 is both flexible and reliable, a high-precision ball joint design is used. This design allows the first connecting shaft 311 and the second connecting shaft 313 to rotate freely in multiple directions while maintaining high load-bearing capacity and wear resistance.

[0078] For example, the first connecting shaft 311 and the second connecting shaft 313 can be connected to the connecting portion 312 via bearings, bushings or other forms of rotating mechanisms, respectively, to ensure that the first connecting shaft 311 and the second connecting shaft 313 can rotate freely around their own axes within a certain range.

[0079] For example, the first connecting shaft 311 is connected to the corresponding telescopic end 220 through a first bearing, so as to realize a ball joint between the first connecting shaft 311 and the corresponding telescopic end 220. Similarly, the second connecting shaft 313 is connected to the corresponding telescopic end 220 through a second bearing, so as to realize a ball joint between the second connecting shaft 313 and the corresponding telescopic end 220. The first bearing and the second bearing may both be fisheye bearings.

[0080] like Figure 5 As shown, in some embodiments, the connecting portion 312 is disposed on the base 330, and the second adapter 340 is disposed on the base 330. The base 330 and the foot body 320 are detachably connected, so that after the first adapter 310 and / or the second adapter 340 are damaged, there is no need to replace the foot body 320, thereby saving costs.

[0081] Exemplarily, the top of the base 330 and the foot body 320 are connected by bolts or screws. Of course, in other embodiments, the base 330 and the foot body 320 can also be connected by buckling, clamping, etc.

[0082] The exemplary base 330 should be disposed between the foot bodies 320 for surface contact, thereby increasing the contact area between the two and improving stability.

[0083] like Figure 5As shown, in some embodiments, the connecting portion 312, the second adapter 340 and the base 330 are integrated.

[0084] like Figure 3 and Figure 4 As shown, in some embodiments, the connecting portion 312 has a mounting groove 3121 that is arranged through, and the first connecting shaft 311 and the second connecting shaft 313 both have a plug-in end 3112 and a connecting end 3111, the plug-in end 3112 of the first connecting shaft 311 is passed through one end of the mounting groove 3121, and the plug-in end 3112 of the second connecting shaft 313 is passed through the other end of the mounting groove 3121, and the first connecting shaft 311 and the second connecting shaft 313 are both rotatably matched with the mounting groove 3121.

[0085] In these embodiments, in order to further optimize the first adapter 310, the embodiments of the present application improve the connection mode between the connection portion 312 and the first connection shaft 311 and the second connection shaft 313. Specifically, a through-set installation groove 3121 is provided on the connection portion 312, and the installation groove 3121 penetrates the connection portion 312 in the width direction of the foot assembly 300, and is used to accommodate the plug-in ends 3112 of the first connection shaft 311 and the second connection shaft 313. The size and shape of the installation groove 3121 need to be processed with high precision to ensure that the first connection shaft 311 and the second connection shaft 313 can be accurately inserted and maintain a good rotation fit.

[0086] The first connecting shaft 311 and the second connecting shaft 313 are key components for connecting the driving assembly 200 and the foot body 320, ensuring flexible rotation and force transmission between the various parts. The first connecting shaft 311 and the second connecting shaft 313 are divided into two opposite parts, namely the plug end 3112 and the connecting end 3111. The plug end 3112 is used to be inserted into the mounting groove 3121 of the connecting part 312, and the connecting end 3111 is used to be hinged with the telescopic end 220 of the driving assembly 200.

[0087] The plug end 3112 of the first connecting shaft 311 is inserted from one end of the mounting groove 3121, and the plug end 3112 of the second connecting shaft 313 is inserted from the other end of the mounting groove 3121, so that the first connecting shaft 311 and the second connecting shaft 313 can rotate relative to each other on the same axis while maintaining a stable connection. The first connecting shaft 311 and the second connecting shaft 313 are respectively rotationally matched with the mounting groove 3121, allowing the first connecting shaft 311 and the second connecting shaft 313 to rotate freely around their own axes. This rotational match can be achieved through bearings, bushings or other forms of rotation mechanisms to ensure smooth rotation without gaps.

[0088] The plug-in end 3112 is designed to be easily inserted into the mounting groove 3121, such as a cylindrical shape or a shape with a guiding slope to reduce friction during insertion. After the first connecting shaft 311 and the second connecting shaft 313 are inserted, screws, bolts, retaining springs or other fixing methods can be used to ensure that they do not accidentally slip out while maintaining sufficient rotational freedom. The first connecting shaft 311 and the second connecting shaft 313 are rotationally matched with the mounting groove 3121 through bearings, bushings or other forms of rotating mechanisms to ensure smooth rotation without gaps. The coaxial setting reduces the need for additional mechanical components, simplifies the overall structure, and reduces the failure rate.

[0089] like Figure 4 , Figure 6 and Figure 7 As shown, in some embodiments, the plug-in end 3112 of the first connecting shaft 311 and the plug-in end 3112 of the second connecting shaft 313 are connected to each other; the groove wall of the installation groove 3121 has a disassembly side opening 3122, and the connection between the first connecting shaft 311 and the second connecting shaft 313 is located at the disassembly side opening 3122.

[0090] In these embodiments, the plug-in ends 3112 of the first connecting shaft 311 and the second connecting shaft 313 are connected to each other to form an integral structure, thereby ensuring that torque can be transmitted between the first connecting shaft 311 and the second connecting shaft 313, thereby preventing the driving force of the driving component 200 from acting entirely on the connection points between the first connecting shaft 311 and the second connecting shaft 313 and the connecting part 312 respectively.

[0091] Furthermore, a disassembly side opening 3122 is provided through the groove wall of the installation groove 3121 so that the connection between the first connecting shaft 311 and the second connecting shaft 313 can be exposed to the disassembly side opening 3122, thereby facilitating disassembly and assembly.

[0092] For example, the first connecting shaft 311 and the second connecting shaft 313 are tightened and fixed axially by the fastening portion 314, such as a bolt or a screw. That is, the axis of the bolt or the screw and the axis of the first connecting shaft 311 and the second connecting shaft 313 are parallel, and the fastening portion 314 is used to tighten and lock the first connecting shaft 311 and the second connecting shaft 313.

[0093] like Figure 4 , Figure 6 and Figure 7As shown, in some embodiments, the first adapter 310 further includes a first rotating bearing 316 and a second rotating bearing 315, and the first rotating bearing 316 and the second rotating bearing 315 are both arranged in the mounting groove 3121; the plug-in end 3112 of the first connecting shaft 311 is inserted into the inner ring of the first rotating bearing 316, the outer diameter of the connecting end 3111 of the first connecting shaft 311 is larger than the outer diameter of the plug-in end 3112, and the connecting end 3111 of the first connecting shaft 311 and the inner ring of the first rotating bearing 316, which are close to each other, abut against each other;

[0094] The plug-in end 3112 of the second connecting shaft 313 is inserted into the inner ring of the second rotating bearing 315, the outer diameter of the connecting end 3111 of the second connecting shaft 313 is larger than the outer diameter of the plug-in end 3112, and the connecting end 3111 of the second connecting shaft 313 and one end of the inner ring of the second rotating bearing 315 close to each other abut against each other.

[0095] In these embodiments, in order to further optimize the first adapter 310 and enhance the stability and rotation performance of the system, the embodiments of the present application improve the cooperation between the mounting groove 3121 and the first connecting shaft 311 and the second connecting shaft 313. By arranging the first rotating bearing 316 and the second rotating bearing 315 at both ends of the mounting groove 3121, a low-friction, high-precision rotating platform is provided to ensure that the first connecting shaft 311 and the second connecting shaft 313 can smoothly rotate around their own axes.

[0096] For example, the plug end 3112 of the first connecting shaft 311 is designed to have a smaller diameter so that it can smoothly pass through the inner ring of the first rotating bearing 316 and can rotate freely with the inner ring. The connecting end 3111 of the first connecting shaft 311 is designed to have a larger diameter to form a step-like structure. When the plug end 3112 penetrates the inner ring of the first rotating bearing 316, the larger diameter portion of the connecting end 3111 will abut against the inner ring end face of the first rotating bearing 316, playing a limiting role, preventing the first connecting shaft 311 from slipping out of the first rotating bearing 316.

[0097] For example, the plug end 3112 of the second connecting shaft 313 is designed to have a smaller diameter so that it can smoothly pass through the inner ring of the second rotating bearing 315 and can rotate freely with the inner ring. The connecting end 3111 of the second connecting shaft 313 is designed to have a larger diameter, forming a step-like structure. When the plug end 3112 penetrates the inner ring of the second rotating bearing 315, the larger diameter portion of the connecting end 3111 will abut against the inner ring end face of the second rotating bearing 315, playing a limiting role, preventing the second connecting shaft 313 from slipping out of the second rotating bearing 315.

[0098] For example, the first rotating bearing 316 and the second rotating bearing 315 may select different types of rotating bearings, such as deep groove ball bearings, angular contact ball bearings, etc., according to application scenarios and load requirements to meet different rotation requirements.

[0099] like Figure 7 As shown, in some embodiments, the end of the plug end 3112 of the first connecting shaft 311 has a plug slot 3113 , and the end of the plug end 3112 of the second connecting shaft 313 has a plug body 3114 , and the plug body 3114 is plugged into the plug slot 3113 .

[0100] The first adapter 310 also includes a fastening portion 314, which is inserted into the first connecting shaft 311 and the plug-in body 3114 along the radial direction of the first connecting shaft 311 and the second connecting shaft 313 to connect the first connecting shaft 311 and the second connecting shaft 313; that is, the axis of the fastening portion 314 is perpendicular to the axes of the first connecting shaft 311 and the second connecting shaft 313.

[0101] In these embodiments, the plug-in fit between the plug-in groove 3113 and the plug-in body 3114 can enhance the connection strength between the first connecting shaft 311 and the second connecting shaft 313, and effectively reduce the risk of the fastening portion 314 being easily broken due to the axial connection between the first connecting shaft 311 and the second connecting shaft 313.

[0102] Furthermore, the first connecting shaft 311 and the second connecting shaft 313 are tightened and fixed radially by the fastening portion 314 , such as a bolt or a screw. In other words, the fastening portion 314 is penetrated through the plug-in ends 3112 of the first connecting shaft 311 and the second connecting shaft 313 .

[0103] The present application adopts an installation method in which the fastening part 314 radially locks the first connecting shaft 311 and the second connecting shaft 313. The force transmitted to the fastening part 314 by the two drive components 200 is a shear force. Therefore, the fastening part 314 will not break due to lateral tension or pressure, and the fastening part 314 has a longer service life.

[0104] In some embodiments, when the distance between the two drive components 200 is required to remain relatively unchanged, the distance between the connection between the first connecting shaft 311 and the second connecting shaft 313 and the first bearing is increased as much as possible, that is, the force arm when the first connecting shaft 311 is subjected to force is increased; the distance between the connection between the first connecting shaft 311 and the second connecting shaft 313 and the second bearing is increased as much as possible, that is, the force arm when the second connecting shaft 313 is subjected to force is increased; so that the force borne by the connection position between the first connecting shaft 311 and the second connecting shaft 313 in the radial direction is smaller. In addition, the fastening portion 314 radially locks the first connecting shaft 311 and the second connecting shaft 313, and the axis of the fastening portion 314 is perpendicular to the axis of the first connecting shaft 311 and the second connecting shaft 313, and the distance from the axis of the fastening portion 314 to the connection end 3111 of the first connecting shaft 311 and the connection end 3111 of the second connecting shaft 313 is equal, that is, the distance from the axis of the fastening portion 314 to the first bearing and the second bearing is equal. The forces on both sides of the fastening portion 314 are balanced. At the same time, the connection between the first connecting shaft 311 and the second connecting shaft 313 is far away from the bearings on both sides, and the radial force on the connection between the first connecting shaft 311 and the second connecting shaft 313 is small, which can further extend the service life of the fastening part 314.

[0105] In some embodiments, the fastening portion 314 is a fastening screw, and a first through hole 3115 is radially penetrated through the groove wall of the plug-in groove 3113 of the plug-in end 3112 of the first connecting shaft 311, the first through hole and the plug-in groove are connected, and a threaded hole is radially penetrated through the plug-in body 3114 of the second connecting shaft 313, and the rod of the fastening screw is passed through the first through hole 3115 and is threadedly connected to the hole wall of the threaded hole.

[0106] In these embodiments, by providing a first through hole 3115 that penetrates radially at the plug-in end 3112 of the first connecting shaft 311, and providing a threaded hole that penetrates radially at the plug-in end 3112 of the second connecting shaft 313, the rod of the fastening screw is passed through the first through hole 3115 and is threadedly connected to the hole wall of the threaded hole. The first through hole 3115 is located at the plug-in end 3112 of the first connecting shaft 311, and is radially penetrated to allow the rod of the fastening screw to pass through. The threaded hole is located at the plug-in end 3112 of the second connecting shaft 313, and is also radially penetrated to ensure that the fastening screw can be smoothly screwed in and form a threaded connection with the hole wall. The rod of the fastening screw passes through the first through hole 3115 and is threadedly connected to the hole wall of the threaded hole to provide a tightening force.

[0107] Obviously, the first connecting shaft 311 and the second connecting shaft 313 are initially positioned through the insertion groove 3113 to ensure that the two are aligned. The fastening screw further strengthens the connection through the first through hole 3115 and the threaded hole to ensure a stable connection between the two connecting shafts. When disassembly is required, the two connecting shafts can be easily separated by loosening the fastening screw, which is convenient for maintenance and adjustment.

[0108] like Figure 6 and Figure 7 As shown, in some embodiments, the fastening portion 314 is a fastening bolt, a first through hole 3115 is radially penetrated through the groove wall of the plug-in groove 3113 of the plug-in end 3112 of the first connecting shaft 311, the first through hole 3115 and the plug-in groove 3113 are connected, a second through hole 3116 is radially penetrated through the plug-in end 3112 of the second connecting shaft 313, and the rod of the fastening bolt is passed through the first through hole 3115 and the second through hole 3116 and is connected with a fastening nut.

[0109] In these embodiments, the fastening portion 314 is a fastening bolt, a first through hole 3115 is radially penetrated through the plug end 3112 of the first connecting shaft 311, a second through hole 3116 is radially penetrated through the plug end 3112 of the second connecting shaft 313, and the first through hole 3115 is communicated with the plug slot 3113. The rod of the fastening bolt is penetrated through the first through hole 3115 and the second through hole 3116, and is fixed by a fastening nut.

[0110] The first through hole 3115 is located at the plug-in end 3112 of the first connecting shaft 311, is radially penetrated, and is connected to the plug-in slot 3113, allowing the rod of the fastening bolt to pass through. The second through hole 3116 is located at the plug-in end 3112 of the second connecting shaft 313, and is also radially penetrated to ensure that the fastening bolt can pass through smoothly and cooperate with the fastening nut. The rod of the fastening bolt passes through the first through hole 3115 and the second through hole 3116 in sequence. The fastening nut is installed at the end of the fastening bolt, and a stable connection between the two connecting shafts is achieved by tightening the nut.

[0111] The first connecting shaft 311 and the second connecting shaft 313 are initially positioned through the insertion groove 3113 to ensure that the two are aligned. The fastening bolts are further connected through the first through hole 3115 and the second through hole 3116 to ensure a stable connection between the two connecting shafts. The fastening nut provides additional fastening force to prevent the bolts from loosening or falling off.

[0112] Obviously, the fastening bolts and nuts provide additional fastening force, enhance the stability of the connection, and prevent loosening or falling off. When disassembly is required, just loosen the fastening nuts to easily separate the two connected shafts, which is convenient for maintenance and adjustment.

[0113] like Figure 7 As shown, in some embodiments, the end of the plug-in end 3112 of the first connecting shaft 311 has a plug-in slot 3113, and the end of the plug-in end 3112 of the second connecting shaft 313 has a plug-in body 3114, and the plug-in body 3114 is passed through and fixed in the plug-in slot 3113; wherein the plug-in body 3114 and the plug-in slot 3113 are key-matched.

[0114] In these embodiments, a key-matching design is introduced between the first connecting shaft 311 and the second connecting shaft 313 to ensure that the first connecting shaft 311 and the second connecting shaft 313 move synchronously and stably. A key-matching design is adopted between the plug-in body 3114 and the plug-in slot 3113, that is, the plug-in body 3114 and the plug-in slot 3113 are provided with corresponding key slots and keys to ensure that the two can achieve accurate relative positioning and rotation transmission after insertion.

[0115] For example, the keyway and key can be designed in the form of a flat key, a semicircular key, a spline, etc., and the appropriate type is selected according to the specific application scenario. For example, a flat key is suitable for transmitting a large torque, while a spline is suitable for occasions requiring high-precision positioning and frequent sliding. The dimensions of the key and keyway need to be processed with high precision to ensure a tight fit and gapless rotation after assembly. Of course, in this embodiment, the protrusion on the side of the plug-in body 3114 forms a key, and the depression on the inner wall of the plug-in slot 3113 forms a keyway.

[0116] like Figure 1 As shown, in some embodiments, each drive assembly 200 includes at least one of the following: an electric push rod, a pneumatic cylinder, and a hydraulic cylinder; the calf assembly 100 has an avoidance cavity 110, and the avoidance cavity 110 is used to accommodate the drive assembly 200.

[0117] In these embodiments, each driving mode has its unique advantages and applicable scenarios, and the specific selection depends on the design requirements and application scenarios of the robot. Among them, the electric push rod: the electric motor drives the lead screw or gear mechanism to convert electrical energy into mechanical energy to achieve telescopic action. The electric push rod can achieve high-precision position control through feedback devices such as encoders, which is suitable for application scenarios that require fine adjustment. The electric push rod has a fast response speed, can execute instructions quickly, and improve the dynamic performance of the system. The electric push rod has a compact structure and is easy to integrate with the control system, which is suitable for small or portable robots. Compared with pneumatic and hydraulic systems, the electric push rod has a higher energy conversion efficiency and reduces energy waste.

[0118] Pneumatic cylinder: The piston is driven by compressed air to achieve the telescopic action. The cost of pneumatic cylinders is relatively low, which is suitable for mass production and low-cost applications. Pneumatic cylinders are usually light, which helps to reduce the overall weight and improve the mobility of the robot. Pneumatic systems are quiet when running, which is suitable for noise-sensitive environments. Pneumatic systems have a simple structure and are easy to maintain, suitable for long-term use.

[0119] Hydraulic cylinder: The piston is driven by hydraulic oil to achieve telescopic movement. The hydraulic cylinder can provide a large thrust and is suitable for application scenarios that require carrying heavy objects or dealing with complex terrain. The hydraulic system has good stability and impact resistance and can work reliably in harsh environments. The hydraulic system can achieve fine flow control through components such as proportional valves to ensure smooth and accurate movement. The hydraulic system can adjust the output torque and speed within a large range to meet different task requirements.

[0120] Of course, in other embodiments, the drive assembly 200 may also be configured as an electromagnetic drive, a gear rack drive mechanism, etc., which is not specifically limited here.

[0121] In addition, the avoidance cavity 110 is extended along the extension direction of the calf assembly 100, so that the drive assembly 200 is at least partially located in the avoidance cavity 110, so as to reduce the size of the leg structure and make the calf assembly 100 and the drive assembly 200 form a whole, which is conducive to adjusting the center of gravity and improving the stability of the leg structure.

[0122] In some embodiments, the present application also provides a humanoid robot, which includes a leg structure as described in any of the above embodiments.

[0123] Obviously, the present application is not limited to a single leg structure, but also proposes a new integrated solution, namely a humanoid robot. This humanoid robot integrates the leg structure technology described in the various embodiments above, aiming to provide users with a more intelligent, flexible and efficient automation solution. One of the design goals of a humanoid robot is to imitate the human body structure and movement ability to achieve more natural human-computer interaction and a wide range of application scenarios. As an important component of a humanoid robot, the leg structure bears the key responsibilities of performing various tasks, such as grasping objects, performing fine operations, etc.

[0124] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0125] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0126] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A leg structure, characterized in that: The leg structure comprises: Foot assembly; A calf assembly, wherein the calf assembly and the foot assembly are hinged and form a rotation center; A pair of driving assemblies, in which one of the driving assemblies is arranged on the outside of the calf assembly, and the other driving assembly is arranged on the inside of the calf assembly; the driving assembly can be extended and retracted along the extension direction of the driving assembly, and the driving assembly has a fixed end and a retractable end, the fixed end is hinged to the calf assembly, and the retractable end is hinged to the foot assembly, along the length direction of the foot assembly, the hinge between the retractable end and the foot assembly is spaced from the rotation center, and the retracting action of the driving assembly can drive the foot assembly to rotate around the rotation center.

2. The leg structure according to claim 1, characterized in that: The foot assembly comprises: a foot body having opposing bottom and top portions; An adapter assembly, the adapter assembly is connected to the top of the foot body, the adapter assembly includes a first adapter and a second adapter, along the length direction of the calf assembly, the first adapter and the second adapter are arranged opposite to each other at intervals, and relative to the second adapter, the first adapter is farther away from the front side of the foot assembly; The first adapter is hinged to the telescopic end, and the second adapter is hinged to the calf component to form the rotation center.

3. The leg structure according to claim 2, characterized in that: The first adapter comprises a first connecting shaft, a second connecting shaft and a connecting portion, the first connecting shaft and the second connecting shaft are both rotatably connected to the connecting portion, the connecting portion is arranged at the top of the foot body, and along the width direction of the foot assembly, the first connecting shaft and the second connecting shaft are arranged in parallel and coaxially; The first connecting shaft is hinged to the telescopic end of one of the driving assemblies, and the second connecting shaft is hinged to the telescopic end of another of the driving assemblies.

4. The leg structure according to claim 3, characterized in that: The connecting portion has a mounting groove that is arranged through it, and the first connecting shaft and the second connecting shaft both have a plug-in end and a connecting end, the plug-in end of the first connecting shaft is arranged through one end of the mounting groove, and the plug-in end of the second connecting shaft is arranged through the other end of the mounting groove, and the first connecting shaft and the second connecting shaft are both rotatably matched with the mounting groove.

5. The leg structure according to claim 4, characterized in that: The plug-in end of the first connecting shaft and the plug-in end of the second connecting shaft are connected to each other; The groove wall of the installation groove has a disassembly side opening, and the connection between the first connecting shaft and the second connecting shaft is located at the disassembly side opening.

6. The leg structure according to claim 4, characterized in that: The first adapter also includes a first rotating bearing and a second rotating bearing, and the first rotating bearing and the second rotating bearing are both arranged in the mounting groove; The plug-in end of the first connecting shaft is inserted into the inner ring of the first rotating bearing, the outer diameter of the connecting end of the first connecting shaft is larger than the outer diameter of the plug-in end, and the connecting end of the first connecting shaft and the inner ring of the first rotating bearing close to each other are in contact with each other; The plug-in end of the second connecting shaft is inserted into the inner ring of the second rotating bearing, the outer diameter of the connecting end of the second connecting shaft is larger than the outer diameter of the plug-in end, and the connecting end of the second connecting shaft and the inner ring of the second rotating bearing close to each other abut against each other.

7. The leg structure according to claim 5, characterized in that: The end of the plug-in end of the first connecting shaft has a plug-in slot, and the end of the plug-in end of the second connecting shaft has a plug-in body, and the plug-in body is plugged into the plug-in slot; The first adapter also includes a fastening portion, and along the radial direction of the first connecting shaft and the second connecting shaft, the fastening portion is penetrated through the first connecting shaft and the plug-in body to connect the first connecting shaft and the second connecting shaft.

8. The leg structure according to claim 7, characterized in that: The fastening part is a fastening screw, a first through hole is radially penetrated through the groove wall of the plug-in groove of the first connecting shaft, the first through hole and the plug-in groove are connected, a threaded hole is radially penetrated through the plug-in body of the second connecting shaft, the rod of the fastening screw is passed through the first through hole and is threadedly connected with the hole wall of the threaded hole.

9. The leg structure according to claim 7, characterized in that: The fastening part is a fastening bolt, a first through hole is radially penetrated through the groove wall of the plug-in groove of the first connecting shaft, the first through hole and the plug-in groove are connected, a second through hole is radially penetrated through the plug-in body of the second connecting shaft, and the rod of the fastening bolt is passed through the first through hole and the second through hole and is connected with a fastening nut.

10. The leg structure according to claim 5, characterized in that: The end of the plug-in end of the first connecting shaft has a plug-in slot, and the end of the plug-in end of the second connecting shaft has a plug-in body, and the plug-in body is passed through and fixed in the plug-in slot; wherein the plug-in body and the plug-in slot are key-matched.

11. The leg structure according to claim 1, characterized in that: Each of the drive components includes at least one of the following: Electric push rod, pneumatic cylinder, hydraulic cylinder; The calf assembly has an avoidance cavity, and the avoidance cavity is used to accommodate the drive assembly.

12. A humanoid robot, characterized in that: The humanoid robot comprises the leg structure according to any one of claims 1 to 11.

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