Mechanical leg and humanoid robot

Abstract

The invention provides a mechanical leg and a humanoid robot, and relates to the technical field of robots. The mechanical leg comprises a shank assembly and a foot assembly. The shank assembly is connected with the foot body, so that the shank assembly can drive the foot body to rotate relative to the shank assembly, and the mechanical leg can simulate the posture that the foot of the human body moves relative to the shank. The plurality of detection areas at the bottom of the foot body can correspond to different parts when the foot body is in contact with the ground, the first detection piece can detect the magnitude of external force borne by the first area, and when the pressure borne by a certain detection area is too large, it is indicated that the height corresponding to the detection area is higher than that of other detection areas; the corresponding first force feedback compensation piece can drive the corresponding supporting piece to move towards the bottom of the foot body, so that the height of the supporting piece is increased, the supporting pieces at the bottom of the foot body are kept at the same height, and the foot body can be kept balanced.

Description

Technical Field

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

[0002] Humanoid robots are a highly developed project in the robotics industry because their shape is closer to the human body and the actions they can perform are more diverse and complex. In particular, the leg structure of humanoid robots is the key part for them to walk stably.

[0003] At present, in order to maintain stability during walking, humanoid robots use the torque of the motor set at the ankle of the leg structure to detect the force of the foot, and control the robot's walking according to the force of the foot. When the force of the foot is detected by the torque of the motor at the ankle, there is a problem of poor detection accuracy, which leads to poor stability of the humanoid robot when passing through complex terrain. Summary of the invention

[0004] The present application provides a mechanical leg and a humanoid robot, which solves the problem of complex structure of humanoid robots in related technologies.

[0005] In a first aspect, the present application provides a mechanical leg, comprising:

[0006] Lower leg assembly;

[0007] A foot assembly, comprising a foot body, a plurality of support members, a plurality of first detection members and a plurality of first force feedback compensation members, wherein the foot body is rotatably connected to the calf assembly, the calf assembly is configured to drive the foot body to rotate around at least two axes in different directions, the bottom of the foot body comprises a plurality of detection areas, the first detection member is arranged in the detection area, the first force feedback compensation member is electrically connected to the first detection member, the first force feedback compensation member is arranged in the detection area, and the support member is connected to a side of the first force feedback compensation member away from the foot body;

[0008] Wherein, the first detection member is configured to detect the pressure exerted on the detection area, and the first force feedback compensation member is configured to drive the support member to move toward or away from the foot body according to the pressure exerted on the detection area.

[0009] In some embodiments, the plurality of detection areas are sequentially arranged along the length direction and the width direction of the script body.

[0010] In some embodiments, the support member is an elastic structural member.

[0011] In some embodiments, the orthographic projection of the support member toward the script body covers the corresponding detection area.

[0012] In some embodiments, the calf assembly includes a calf body and a driving member, one end of the calf body is rotatably connected to the foot body, one end of the driving member is rotatably connected to a side of the calf body away from the foot body, and the driving member is configured to drive the foot body to rotate relative to the calf body around at least two axes in different directions.

[0013] In some embodiments, the foot body includes a toe portion and a heel portion, the driving member includes two linear actuators, one end of the linear actuator is rotatably connected to the calf body so that the calf body can rotate relative to the linear actuator around at least two axes in different directions, the other end of the linear actuator is rotatably connected to the heel portion so that the foot body can rotate relative to the linear actuator around at least two axes in different directions, and the two linear actuators are arranged in parallel between the foot body and the calf body.

[0014] In some embodiments, the calf assembly further includes a spherical joint and a ball bearing, one end of the calf body is connected to the foot body via the spherical joint, one end of the driving member is connected to the calf body via the ball bearing, and the other end of the driving member is connected to the foot body via the ball bearing.

[0015] In some embodiments, the foot assembly further includes a toe piece, a second detection piece and a second force feedback compensation piece, the toe piece is rotatably connected to the toe portion, the second force feedback compensation piece is connected to the foot body and the toe piece, the second force feedback compensation piece is configured to drive the toe piece to rotate relative to the foot body to adjust the angle between the foot body and the toe piece, the second detection piece is disposed between the toe piece and the foot body, and the second detection piece is configured to detect the angle between the toe piece and the foot body.

[0016] In some embodiments, the first detection member and the second detection member are pressure sensors, the first force feedback compensation member is a hydraulic damper, and the second force feedback compensation member is a spring.

[0017] In a second aspect, based on the above mechanical legs, the present application provides a humanoid robot comprising the above mechanical legs.

[0018] In the mechanical leg provided by the present application, the calf component is connected to the foot body, so that the calf component can drive the foot body to rotate relative to the calf component, so that the mechanical leg can simulate the posture of the human foot relative to the calf activity. The multiple detection areas at the bottom of the foot body can correspond to different parts of the foot body when it contacts the ground. The first detection member can detect the size of the external force received by the first area corresponding to it. When the pressure received by a certain detection area is too large, it indicates that the height corresponding to the detection area is higher than the height of other detection areas. The corresponding first force feedback compensation member can drive the corresponding support member to move toward the bottom of the foot body, so that the height of the support member is increased, so that the bottom support members of the foot body maintain the same height, so that the foot body can maintain balance. When the pressure received by a certain detection area is too small, it indicates that the height of the foot body corresponding to the detection area is relatively lower, and the corresponding first force feedback compensation member can drive the corresponding support member to move back to the bottom of the foot body, so that the height of the support member is reduced, so that the bottom parts of the foot body can adapt to different road conditions, so that the foot body can maintain balance. Thus, the mechanical leg can still maintain balance and stability when in contact with uneven ground.

[0019] The humanoid robot proposed in the present application uses the above-mentioned mechanical legs, so that the humanoid robot can remain stable when encountering uneven roads during walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic diagram of a mechanical leg according to an embodiment of the present application;

[0022] Figure 2 A schematic diagram of a detection area of ​​a foot body of a mechanical leg according to an embodiment of the present application;

[0023] Figure 3 A schematic top view of a foot assembly of a mechanical leg according to an embodiment of the present application;

[0024] Figure 4 for Figure 3 Schematic diagram of the cross section of AA;

[0025] Figure 5 A bottom view schematically shows a foot assembly of a mechanical leg according to an embodiment of the present application;

[0026] Figure 6 It is a schematic side view of a mechanical leg according to an embodiment of the present application.

[0027] Reference numerals:

[0028] 100-calf assembly, 110-calf body, 120-driving element, 121-linear actuator, 122-spherical joint, 123-ball bearing,

[0029] 200 - foot assembly, 210 - foot body, 211 - detection area, 220 - support member, 230 - first detection member, 240 - first force feedback compensation member, 250 - toe member, 260 - second detection member, 270 - second force feedback compensation member. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0031] Humanoid robots are a highly developed project in the robotics industry because their shape is closer to the human body and the actions they can perform are more diverse and complex. In particular, the leg structure of humanoid robots is the key part for them to walk stably.

[0032] At present, in order to maintain stability during walking, humanoid robots use the torque of the motor set at the ankle of the leg structure to detect the force of the foot, and control the robot's walking according to the force of the foot. When the force of the foot is detected by the torque of the motor, there is a problem of poor detection accuracy, which leads to poor stability of the humanoid robot when passing through complex terrain.

[0033] In the mechanical leg proposed in the present application, the calf component is connected to the foot body, so that the calf component can drive the foot body to rotate relative to the calf component, so that the mechanical leg can simulate the posture of the human foot relative to the calf activity. The multiple detection areas at the bottom of the foot body can correspond to different parts of the foot body when it contacts the ground. The first detection member can detect the size of the external force received by the first area corresponding to it. When the pressure received by a certain detection area is too large, it indicates that the height corresponding to the detection area is higher than the height of other detection areas. The corresponding first force feedback compensation member can drive the corresponding support member to move toward the bottom of the foot body, so that the height of the support member is increased, so that the bottom support members of the foot body maintain the same height, so that the foot body can maintain balance. When the pressure received by a certain detection area is too small, it indicates that the height of the foot body corresponding to the detection area is relatively lower. The corresponding first force feedback compensation member can drive the corresponding support member to move back to the bottom of the foot body, so that the height of the support member is reduced, so that the bottom parts of the foot body can adapt to different road conditions, so that the foot body can maintain balance. Thus, the mechanical leg can still maintain balance and stability when in contact with uneven ground.

[0034] The humanoid robot proposed in the present application uses the above-mentioned mechanical legs, so that the humanoid robot can remain stable when encountering uneven roads during walking.

[0035] The mechanical leg and humanoid robot provided by the present application are described in detail below in conjunction with specific embodiments.

[0036] This application proposes a mechanical leg, referring to Figures 1 to 4 As shown, the mechanical leg comprises a calf assembly 100 and a foot assembly 200. The mechanical leg can be applied to a humanoid robot as a leg structure of the humanoid robot.

[0037] The calf assembly 100 is a basic component of the mechanical leg of the present application, and the calf assembly 100 can provide a mounting base for at least part of other components of the mechanical leg. The calf assembly 100 can be made of metal material, so that the calf assembly 100 has better structural strength, thereby making the durability and reliability of the calf assembly 100 better. Of course, the calf assembly 100 can also be partially made of polymer material, so that the calf assembly 100 has a certain structural strength and is relatively light in weight.

[0038] The foot assembly 200 includes a script body 210, a plurality of support members 220, a plurality of first detection members 230, and a plurality of first force feedback compensation members 240. The script body 210 is a basic component of the foot assembly 200, and the script body 210 can provide a mounting base for at least part of other components of the foot assembly 200. The script body 210 can be made of metal material, so that the script body 210 has a better structural strength, thereby making the durability and reliability of the script body 210 better. The script body 210 is rotatably connected to the calf assembly 100, and the calf assembly 100 is configured to drive the foot assembly 200 to rotate around at least two axes in different directions, so that the script body 210 can rotate around multiple directions to achieve complex movements.

[0039] The first detection member 230 and the detection area 211 are arranged in a one-to-one correspondence. The first detection member 230 and the first force feedback compensation member 240 are arranged in a one-to-one correspondence. The detection area 211 and the first force feedback compensation member 240 are arranged in a one-to-one correspondence. The support member 220 and the first force feedback compensation member 240 are arranged in a one-to-one correspondence. The support member 220 and the detection area 211 are arranged in a one-to-one correspondence.

[0040] The bottom side of the script body 210 is the sole area of ​​the script body 210. The sole area of ​​the script body 210 can be provided with a plurality of detection areas 211, and the plurality of detection areas 211 can form a complete sole area after being combined. Each first force feedback compensator 240 is respectively provided in the corresponding detection area 211, and each first force feedback compensator 240 is also respectively connected to the corresponding support member 220. Specifically, one end of each first force feedback compensator 240 can be respectively connected to the corresponding detection area 211 in the script body 210, and the other end of the first force feedback compensator 240 can be respectively connected to the corresponding support member 220. When the mechanical leg of the present application walks on the ground, the support member 220 is located between the ground and the corresponding detection area 211 in the script body 210, so that the support member 220 can support the script body 210 and contact the ground, thereby achieving the purpose of protecting the script body 210. The support member 220 and the first force feedback compensation member 240 can be connected in a detachable manner, so that when the support member 220 is damaged, the corresponding support member 220 can be replaced, thereby reducing the maintenance cost of the mechanical leg of the present application.

[0041] The first force feedback compensator 240 can drive the corresponding support member 220 to move toward or away from the script body 210. When the first force feedback compensator 240 drives the support member 220 to move toward the script body 210, the distance between the support member 220 and the script body 210 can be reduced. When the feedback compensator drives the support member 220 to move away from the script body 210, the distance between the support member 220 and the script body 210 can be increased. When one of the plurality of first force feedback compensators 240 drives the support member 220 to move away from the script body 210, the distance between the support member 220 and the script body 210 can be larger than the distance between other support members 220 and the script body 210. When one of the plurality of first force feedback compensators 240 drives the support member 220 to move toward the script body 210, the distance between the support member 220 and the script body 210 can be smaller than the distance between other support members 220 and the script body 210.

[0042] The first detection member 230 can be respectively arranged between the support member 220 corresponding to the first detection member 230 and the detection area 211 corresponding to the first detection member 230. When the mechanical leg of the present application walks on the ground, the support member 220 will contact the ground and generate an interaction force. The first detection member 230 can detect the interaction force generated by the contact between the support member 220 and the ground.

[0043] It should be understood that the multiple detection areas 211 may include a preset detection area 211, the multiple support members 220 may include a preset support member 220, the multiple first detection members 230 may include a preset first detection member 230, and the multiple first force feedback compensation members 240 may include a preset first force feedback compensation member 240, and the preset detection area 211, the preset support member 220, the preset first detection member 230 and the preset first force feedback compensation member 240 are set correspondingly.

[0044] When the mechanical leg of the present application is on an uneven road surface, and the ground corresponding to the preset detection area 211 of the script body 210 is a convex structure, and is higher than the surrounding ground, accordingly, the convex structure of the ground acts on the preset support member 220, which can make the preset support member 220 be lifted up, so that the height of the preset support member 220 is higher than the height of other support members 220, and causes the leg assembly 200 to tilt as a whole. Accordingly, the pressure value detected by the preset first detection member 230 is larger than the pressure values ​​detected by other first detection members 230, so that the processing module of the mechanical leg can judge that the ground corresponding to the preset area of ​​the script body 210 is a convex structure according to the value detected by the preset first detection member 230, and the leg assembly 200 has a tendency to tilt.

[0045] The preset first force feedback compensation member 240 can drive the preset support member 220 to move in the direction of the preset detection area 211 toward the script body 210, so that the preset support member 220 can be closer to the script body 210 than other support members 220, thereby reducing the distance between the preset detection area 211 and the raised structure on the ground, thereby reducing the height of the preset area of ​​the script body 210, thereby compensating for the height of the script body 210 lifted up by the raised structure on the ground, so that the script body 210 as a whole can be kept balanced.

[0046] When the mechanical leg of the present application is on an uneven road surface, and the ground corresponding to the preset detection area 211 of the script body 210 is a concave structure, and is lower than the surrounding ground height, accordingly, the concave structure of the ground cannot act on the preset support member 220. If the preset area is located at the edge of the script body 210, the foot assembly 200 will be tilted toward the concave structure of the ground as a whole. If the preset area is located in the middle part of the script body 210, the preset support member 220 will not be supported, and the other support members 220 will be overstressed. Accordingly, the pressure value detected by the preset first detection member 230 is smaller than the pressure values ​​detected by other first detection members 230, so that the processing module of the mechanical leg can judge that the ground corresponding to the preset area of ​​the script body 210 is a concave structure according to the value detected by the preset first detection member 230, and the foot assembly 200 may have a tendency to tilt.

[0047] The preset first force feedback compensation member 240 can drive the preset support member 220 to move in the direction of the preset detection area 211 facing away from the script body 210, so that the preset support member 220 can be farther away from the script body 210 than other support members 220, so that the preset support member 220 can extend into the concave structure on the ground and contact the ground. If the preset area is located at the edge of the script body 210, the script body 210 as a whole can be kept balanced. If the preset area is located in the middle of the script body 210, the preset support member 220 can also contact the ground to support the script body 210, so that multiple support members 220 can support the script body 210, so that the stability of the foot assembly 200 is better.

[0048] Therefore, the mechanical leg of the present application drives the support member 220 to move toward or away from the leg body 210 by setting the first force feedback compensation member 240. Compared with the current solution of maintaining the balance of the humanoid robot through the cooperation of the overall actuator of the humanoid robot, the implementation method is simpler and more efficient.

[0049] In some embodiments, reference Figure 2 , Figure 4 and Figure 5As shown, in order to enable the multiple first detection members 230 to more accurately detect the force conditions at the bottom of the script body 210, the multiple detection areas 211 on one side of the bottom of the script body 210 can be arranged along the length direction and width of the script body 210. Specifically, among the multiple detection areas 211, part of the detection areas 211 can be arranged along the length direction of the script body 210, so that the multiple detection areas 211 can extend from the heel part of the script body 210 to the toe part. Among the multiple detection areas 211, another part of the detection areas 211 can be continuously arranged along the width direction of the script body 210. Correspondingly, the multiple support members 220, the multiple first detection members 230 and the multiple first force feedback compensation members 240 are also distributed on one side of the bottom of the script body 210 corresponding to the multiple detection areas 211.

[0050] In the present application, the number of detection areas 211 can be specifically set to six, wherein two detection areas 211 are set near the heel of the script body 210, two detection areas 211 are set near the toe of the script body 210, and two detection areas 211 are set at the middle part between the heel and the toe of the bottom of the script body 210. The detection area 211 near the heel, the detection area 211 in the middle part of the script body 210, and the detection area 211 near the toe are set along the length direction of the script body 210. The two detection areas 211 near the heel can be set along the width direction of the script body 210, and the two detection areas 211 near the toe can also be set along the width direction of the script body 210. In this way, multiple detection areas 211 can cover various areas at the bottom of the script body 210. When the pressure applied to any detection area 211 of the script body 210 is too large or too small, the corresponding first detection member 230 can detect the pressure value and drive the support member 220 to move toward or away from the script body 210 through the corresponding first force feedback compensation member 240.

[0051] In some embodiments, in order to enable the first detection member 230 of the present application to detect the pressure exerted on each detection area 211 of the foot body 210, the first detection member 230 may use a pressure sensor. One end of the first detection member 230 may be connected to the foot body 210, and the detection end of the first detection member 230 may be connected to the support member 220. When the foot assembly 200 is located on the ground, the support member 220 is in direct contact with the ground, and the relative force between the support member 220 and the ground can be transmitted to the detection end of the first detection member 230, so that the magnitude of the interaction force between the support member 220 and the ground can be obtained.

[0052] In addition, the first detection member 230 is arranged between the support member 220 and the script body 210, so that the detection end of the first detection member 230 is located on the support member 220, which can prevent the detection end of the first detection member 230 from directly contacting the ground, thereby preventing the detection end of the first detection member 230 from being worn to a certain extent, thereby achieving the purpose of protecting the first detection member 230.

[0053] In order to enable the first force feedback compensator 240 of the present application to drive the support member 220 to move toward or away from the leg body 210, the first force feedback compensator 240 may use a hydraulic damper. The hydraulic damper may be fixedly installed on one side of the bottom of the leg body 210, and the output end of the hydraulic damper is connected to the support member 220. The hydraulic damper drives the support member 220 to move toward or away from the leg body 210 through hydraulic pressure. The driving force of the hydraulic damper is stronger than that of motor drive and other methods. In this way, when the weight of the mechanical leg is large, the first force feedback compensator 240 can also drive the support member 220 to move away from or toward the leg body 210 in a better, stable and reliable manner.

[0054] In addition, when the first force feedback compensator 240 adopts a hydraulic damper, the first force feedback compensator 240 can also have a certain shock absorption and vibration reduction effect. In this way, when the mechanical leg of the present application is lifted and then dropped so that the foot assembly 200 contacts the ground, the first force feedback compensator 240 can absorb part of the impact force of the ground on the foot assembly 200, thereby protecting the foot assembly 200 and the mechanical leg.

[0055] In some embodiments, in order to further make the mechanical leg of the present application stable and reliable during operation, the support member 220 can be an elastic structural member, so that the support member 220 has a shock-absorbing and shock-absorbing effect. In this way, when the mechanical leg of the present application is lifted and then dropped so that the foot assembly 200 contacts the ground, the support member 220 can absorb part of the impact force of the ground on the foot assembly 200, thereby protecting the foot assembly 200 and the mechanical leg.

[0056] Specifically, since the support member 220 of the mechanical leg needs to be in contact and friction with the ground during walking, the support member 220 can be made of rubber material, so that the support member 220 can have a certain structural strength and shock-absorbing and cushioning capabilities, thereby improving the wear resistance of the support member 220, and further improving the durability and reliability of the mechanical leg of the present application.

[0057] In this application, reference Figure 2 and Figure 5 As shown, the orthographic projections of the multiple support members 220 toward the script body 210 can respectively cover the multiple detection areas 211, so that the multiple support members 220 can completely cover the bottom side of the script body 210, thereby making the contact area between the foot assembly 200 and the ground larger, so that the mechanical leg of the present application is more stable when walking on the ground.

[0058] In some embodiments, reference Figure 1 and Figure 6 As shown, in order to enable the calf assembly 100 to drive the foot assembly 200 of the present application to rotate around at least two axes in different directions. The calf assembly 100 can be configured to include a calf body 110 and a driver 120, one end of the calf body 110 is rotatably connected to the foot body 210, and the foot body 210 can rotate around at least two axes in different directions relative to the calf body 110. One end of the driver 120 is rotatably connected to a side of the calf body 110 away from the foot body 210, and the driver 120 is configured to drive the foot body 210 to rotate around at least two axes in different directions relative to the calf body 110.

[0059] The calf body 110 can provide a mounting base for the driver 120 and the script body 210, so that the driver 120 and the script body 210 can be fixedly mounted. The output end of the driver 120 can be arranged to be connected to the script body 210, and the driver 120 can output power to make the script body 210 rotate relative to the calf body 110 around at least two axes in different directions.

[0060] In some embodiments, reference Figure 1 and Figure 6 As shown, in order to enable the driving member 120 of the present application to drive the foot body 210 to rotate relative to the calf body 110 around at least two axes in different directions, the foot body 210 includes a toe portion and a heel portion, and the driving member 120 includes two linear actuators 121, one end of the linear actuator 121 is rotatably connected to the calf body 110, so that the calf body 110 can rotate relative to the linear actuator 121 around at least two axes in different directions, the other end of the linear actuator 121 is rotatably connected to the heel portion, so that the foot body 210 can rotate relative to the linear actuator 121 around at least two axes in different directions, the two linear actuators 121 are arranged in parallel between the foot body 210 and the calf body 110, and the linear actuator 121 is configured to change the length of the linear actuator 121.

[0061] The toe portion of the script body 210 is located at the front end of the script body 210, and the heel portion of the script body 210 is located at the end of the script body 210. Two linear actuators 121 are arranged between the calf body 110 and the heel portion of the script body 210, and the lengths of the two linear actuators 121 are adjustable, that is, the screw rods of the linear actuators 121 reciprocate in their cylinders. In this way, by adjusting the lengths of the two linear actuators 121 respectively, the script body 210 connected to the linear actuator 121 can be deflected relative to the calf body 110, so that the script body 210 can rotate relative to the calf body 110.

[0062] Specifically, the two linear actuators 121 include a first linear actuator 121 and a second linear actuator 121. When the length of the first linear actuator 121 is reduced so that the length of the first linear actuator 121 is less than the length of the second linear actuator 121, the distance between the portion where the script body 210 and the calf body 110 are connected through the first linear actuator 121 can be reduced, and the distance between the portion where the script body 210 and the calf body 110 are connected through the second linear actuator 121 can be increased, so that the script body 210 can rotate relative to the calf body 110 around at least two axes in different directions. When the length difference between the first linear actuator 121 and the second linear actuator 121 is larger, the angle at which the script body 210 rotates relative to the calf body 110 is also larger. By controlling the length difference between the first linear actuator 121 and the second linear actuator 121, the angle between the script body 210 and the calf body 110 can be adjusted.

[0063] When the lengths of the first linear actuator 121 and the second linear actuator 121 are synchronously extended or shortened, the first linear actuator 121 and the second linear actuator 121 can drive the foot 210 to rotate relative to the calf body 110 around an axis in another direction. Thus, the first linear actuator 121 and the second linear actuator 121 can cooperate to drive the foot 210 to rotate relative to the calf body 110 around at least two axes in different directions.

[0064] In some embodiments, reference Figure 1 and Figure 6 As shown, in order to make the foot body 210 rotatably connected to the calf body 110, and the first linear actuator 121 and the second linear actuator 121 rotatably connected to the foot body 210 and the calf body 110, the calf assembly 100 may also be provided with a spherical joint 122 and a ball bearing 123. One end of the calf body 110 is connected to the foot body 210 through the spherical joint 122, one end of the linear actuator 121 is connected to the calf body 110 through the ball bearing 123, and the other end of the linear actuator 121 is connected to the foot body 210 through the ball bearing 123.

[0065] The spherical joint 122 and the ball bearing 123 can be provided so that the calf body 110, the foot body 210 and the actuator can rotate around at least two axes in different directions. Specifically, the spherical joint 122 is rotatably connected to the foot body 210 through two ball bearings 123, and the spherical joint 122 can also be rotatably connected to the calf body 110 through two ball bearings 123.

[0066] In some embodiments, reference Figures 4 to 6As shown, the foot assembly 200 of the present application can also be provided with a toe piece 250 and a second detection piece 260. The toe piece 250 is rotatably connected to the toe part of the foot body 210, and the second detection piece 260 is arranged between the toe piece 250 and the foot body 210, and the second detection piece 260 is configured to detect the angle between the toe piece 250 and the foot body 210. In some embodiments, the second detection piece 260 can adopt a pressure sensor. In this embodiment, the pressure value detected by the second detection piece 260 can be converted into an angle, and the angle between the toe piece 250 and the foot body 210 can be measured. When the pressure value is specifically converted into an angle, multiple groups of data including the pressure value and the corresponding angle can be obtained based on an experiment, and then fitting is performed based on the multiple groups of data to obtain the functional relationship between the pressure value and the corresponding angle, and the corresponding angle can be calculated based on the pressure value based on the functional relationship.

[0067] Specifically, the toe piece 250 is connected to the foot body 210 via a rotating shaft, and the rotating shaft can be connected to a driver. The driver can drive the toe piece 250 to rotate relative to the foot body 210, thereby further increasing the activity modes of the foot assembly 200. This can simulate the activity mode of the toes of the human foot, making the activity mode of the mechanical leg of the present application closer to the activity mode of the human leg.

[0068] The second detection member 260 can be disposed between the toe member 250 and the foot body 210. When the toe member 250 contacts the raised structure of the ground, the raised structure of the ground can lift the toe member 250, so that the height of the toe member 250 is higher than the height of the foot body 210, and the foot assembly 200 is tilted as a whole. Accordingly, the pressure value detected by the second detection member 260 increases, so that the processing module of the mechanical leg can judge that the ground corresponding to the toe member 250 is a raised structure according to the value detected by the second detection member 260, and the foot assembly 200 has a tendency to tilt.

[0069] The second force feedback compensation component 270 can drive the toe component 250 to rotate relative to the foot body 210 away from the ground, so that the toe component 250 can avoid the raised structure on the ground, so that the raised structure on the ground no longer lifts the toe component 250, so that the foot assembly 200 as a whole can maintain balance.

[0070] When the toe piece 250 is facing away from the ground and rotates relative to the foot body 210, the toe piece 250 can squeeze the second detection piece 260, so that the pressure value detected by the second detection piece 260 increases. When the toe piece 250 is not facing away from the ground and rotates relative to the foot body 210 and is flush with the foot body 210, the toe piece 250 may not squeeze the second detection piece 260 or reduce the squeezing force on the second detection piece 260, so that the pressure value detected by the second detection piece 260 is smaller. The second force feedback compensation piece 270 can be a spring, so that when the toe piece 250 is no longer subjected to external force and rotates relative to the foot body 210, the second force feedback compensation piece 270 can drive the toe piece 250 to reset.

[0071] Based on the above mechanical legs, the present application also proposes a humanoid robot, comprising the above mechanical legs.

[0072] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0073] In general, terms should be understood, at least in part, by the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending, at least in part, on the context. Similarly, terms such as "a," "an," or "the" may also be understood to convey singular usage or to convey plural usage, depending, at least in part, on the context.

[0074] It should be easily understood that the terms “on,” “above,” and “over” in this application should be interpreted in the broadest manner, so that “on” means not only “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above something” or “over,” but also may include the meaning of “above something” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0075] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90° or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A mechanical leg, characterized in that: include: Lower Leg Assembly (100); A foot assembly (200), comprising a foot body (210), a plurality of support members (220), a plurality of first detection members (230) and a plurality of first force feedback compensation members (240), wherein the foot body (210) is rotatably connected to the calf assembly (100), the calf assembly (100) being configured to drive the foot body (210) to rotate around at least two axes in different directions, the bottom of the foot body (210) comprising a plurality of detection areas (211), the first detection members (230) being arranged in the detection areas (211), the first force feedback compensation members (240) being electrically connected to the first detection members (230), the first force feedback compensation members (240) being arranged in the detection areas (211), and the support member (220) being connected to a side of the first force feedback compensation members (240) facing away from the foot body (210); The first detection member (230) is configured to detect the pressure exerted on the detection area (211), and the first force feedback compensation member (240) is configured to drive the support member (220) to move toward or away from the foot body (210) according to the pressure exerted on the detection area (211).

2. The mechanical leg according to claim 1, characterized in that: The plurality of detection areas (211) are arranged in sequence along the length direction and the width direction of the script body (210).

3. The mechanical leg according to claim 2, characterized in that: The support member (220) is an elastic structural member.

4. The mechanical leg according to claim 3, characterized in that: The orthographic projection of the support member (220) toward the script body (210) covers the corresponding detection area (211).

5. The mechanical leg according to claim 1, characterized in that: The calf assembly (100) comprises a calf body (110) and a driving member (120), one end of the calf body (110) being rotatably connected to the foot body (210), one end of the driving member (120) being rotatably connected to a side of the calf body (110) facing away from the foot body (210), and the driving member (120) being configured to drive the foot body (210) to rotate relative to the calf body (110) around at least two axes in different directions.

6. The mechanical leg according to claim 5, characterized in that: The foot body (210) comprises a toe portion and a heel portion, and the driving member (120) comprises two linear actuators (121), one end of each linear actuator (121) being rotatably connected to the calf body (110) so that the calf body (110) can rotate relative to the linear actuator (121) around at least two axes in different directions, and the other end of each linear actuator (121) being rotatably connected to the heel portion so that the foot body (210) can rotate relative to the linear actuator (121) around at least two axes in different directions, and the two linear actuators (121) are arranged in parallel between the foot body (210) and the calf body (110).

7. The mechanical leg according to claim 6, characterized in that: The calf assembly (100) further comprises a spherical joint (122) and a ball bearing (123); one end of the calf body (110) is connected to the foot body (210) via the spherical joint (122); one end of the driving member (120) is connected to the calf body (110) via the ball bearing (123); and the other end of the driving member (120) is connected to the foot body (210) via the ball bearing (123).

8. The mechanical leg according to claim 6 or 7, characterized in that: The foot assembly (200) further comprises a toe piece (250), a second detection piece (260) and a second force feedback compensation piece (270); the toe piece (250) is rotatably connected to the toe tip; the second force feedback compensation piece (270) is connected to the foot body (210) and the toe piece (250); the second force feedback compensation piece (270) is configured to drive the toe piece (250) to rotate relative to the foot body (210) so as to adjust the angle between the foot body (210) and the toe piece (250); the second detection piece (260) is disposed between the toe piece (250) and the foot body (210); the second detection piece (260) is configured to detect the angle between the toe piece (250) and the foot body (210).

9. The mechanical leg according to claim 8, characterized in that: The first detection component (230) and the second detection component (260) are pressure sensors, the first force feedback compensation component (240) is a hydraulic damper, and the second force feedback compensation component (270) is a spring.

10. A humanoid robot, characterized in that: Comprising the mechanical leg as claimed in any one of claims 1-9.

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