Mechanical leg and humanoid robot

Abstract

The application provides a mechanical leg and a humanoid robot, and relates to the technical field of robots. The mechanical leg comprises a lower leg assembly and a foot assembly. The lower leg assembly is connected with the foot body, so that the lower leg assembly can drive the foot body to rotate relative to the lower leg assembly, thereby enabling the mechanical leg to simulate the posture of the human foot moving relative to the lower leg. The plurality of detection areas at the bottom of the foot body can correspond to different parts of the foot body when the foot body is in contact with the ground. The first detection member can detect the size of the external force acting on the first area. When the pressure acting on a certain detection area is too large, it indicates that the height of the corresponding detection area is higher than the height of the other detection areas. The corresponding first force feedback compensation member can drive the corresponding support member to move towards the bottom of the foot body, so that the height of the support member is raised, thereby enabling the bottom of the foot body to maintain the same height, and the foot body can maintain balance.

Description

Technical Field

[0001] This application relates to a mechanical leg and a humanoid robot, belonging to the field of humanoid robot technology. Background Technology

[0002] Humanoid robots, due to their more human-like shape, can perform a wider variety and more complex movements. Therefore, humanoid robots are currently a key area of ​​development in the robotics industry. In particular, the leg structure of a humanoid robot is crucial for its stable walking.

[0003] Currently, humanoid robots maintain stability while walking by detecting the force applied to their feet using the torque of motors located at the ankles of their legs. This method of detecting foot force through ankle motor torque has limitations in accuracy, leading to poor stability when traversing complex terrain. Summary of the Invention

[0004] This 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, this application provides a mechanical leg, comprising:

[0006] Lower leg assembly;

[0007] A foot assembly includes a script body, multiple support members, multiple first detection members, and multiple first force feedback compensation members. The script body is rotatably connected to the lower leg assembly. The lower leg assembly is configured to drive the script body to rotate about at least two axes in different directions. The bottom of the script body includes multiple detection areas. The first detection members are disposed in the detection areas. The first force feedback compensation members are electrically connected to the first detection members. The first force feedback compensation members are disposed in the detection areas, and the support members are connected to the side of the first force feedback compensation members opposite to the script body.

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

[0009] In some implementations, multiple detection regions are arranged sequentially along the length and width directions of the script body.

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

[0011] In some implementations, 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 drive member, one end of the calf body being rotatably connected to the script body, and one end of the drive member being rotatably connected to the side of the calf body opposite to the script body. The drive member is configured to drive the script body to rotate relative to the calf body about at least two axes in different directions.

[0013] In some embodiments, the script body includes a toe portion and a heel portion, and the drive component includes two linear actuators. One end of each linear actuator is rotatably connected to the lower leg body so that the lower leg body can rotate relative to the linear actuator about at least two axes in different directions. The other end of each linear actuator is rotatably connected to the heel portion so that the script body can rotate relative to the linear actuator about at least two axes in different directions. The two linear actuators are arranged side by side between the script body and the lower leg body.

[0014] In some embodiments, the lower leg assembly further includes a ball joint and a ball bearing, one end of the lower leg body is connected to the script body via the ball joint, one end of the drive member is connected to the lower leg body via the ball bearing, and the other end of the drive member is connected to the script body via the ball bearing.

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

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

[0017] Secondly, based on the mechanical legs described above, this application provides a humanoid robot including the mechanical legs described above.

[0018] In the robotic leg provided in this application, the lower leg assembly is connected to the script body, allowing the lower leg assembly to drive the script body to rotate relative to the lower leg assembly. This enables the robotic leg to simulate the posture of a human foot relative to the lower leg. Multiple detection areas on the bottom of the script body correspond to different parts of the script body when in contact with the ground. A first detection element detects the magnitude of the external force on its corresponding first area. When the pressure on a certain detection area is too high, it indicates that the height of that detection area is relatively higher than the height of other detection areas. A corresponding first force feedback compensation element can drive a corresponding support element to move towards the bottom of the script body, increasing the height of the support element and ensuring that all supports at the bottom of the script body are at the same height, thus maintaining the balance of the script body. When the pressure on a certain detection area is too low, it indicates that the height of the script body corresponding to that detection area is relatively lower. A corresponding first force feedback compensation element can drive a corresponding support element to move away from the bottom of the script body, decreasing the height of the support element. This allows the bottom of the script body to adapt to different road conditions, maintaining the balance of the script body. Therefore, the robotic leg can maintain balance and stability even when in contact with uneven ground.

[0019] The humanoid robot proposed in this application uses the aforementioned mechanical legs, which enables the humanoid robot to maintain stability when encountering uneven surfaces during walking. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the mechanical leg according to an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the detection area of ​​the script body of the mechanical leg in an embodiment of this application;

[0023] Figure 3 This is a top view schematic diagram of the foot assembly of the mechanical leg according to an embodiment of this application;

[0024] Figure 4 for Figure 3 A cross-sectional schematic diagram of AA in the middle;

[0025] Figure 5 This is a bottom view schematic diagram of the foot assembly of the mechanical leg according to an embodiment of this application;

[0026] Figure 6 This is a side view of a mechanical leg according to an embodiment of this application.

[0027] Figure label:

[0028] 100 - Lower leg assembly, 110 - Lower leg body, 120 - Drive unit, 121 - Linear actuator, 122 - Ball joint, 123 - Ball bearing.

[0029] 200-Foot component, 210-Script body, 211-Detection area, 220-Support component, 230-First detection component, 240-First force feedback compensation component, 250-Toe component, 260-Second detection component, 270-Second force feedback compensation component. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] Humanoid robots, due to their more human-like shape, can perform a wider variety and more complex movements. Therefore, humanoid robots are currently a key area of ​​development in the robotics industry. In particular, the leg structure of a humanoid robot is crucial for its stable walking.

[0032] Currently, humanoid robots maintain stability while walking by detecting the force applied to their feet using the torque of motors located at the ankles of their legs. This method of detecting foot force via motor torque suffers from poor detection accuracy, leading to poor stability when traversing complex terrain.

[0033] In the robotic leg proposed in this application, the lower leg assembly is connected to the script body, allowing the lower leg assembly to drive the script body to rotate relative to the lower leg assembly. This enables the robotic leg to simulate the posture of a human foot relative to the lower leg. Multiple detection areas on the bottom of the script body correspond to different parts of the script body when in contact with the ground. A first detection element detects the magnitude of the external force on its corresponding first area. When the pressure on a certain detection area is too high, it indicates that the height of that detection area is relatively higher than the height of other detection areas. A corresponding first force feedback compensation element drives a corresponding support element to move towards the bottom of the script body, increasing the height of the support element and ensuring that all supports at the bottom of the script body are at the same height, thus maintaining the balance of the script body. When the pressure on a certain detection area is too low, it indicates that the height of the script body corresponding to that detection area is relatively lower. A corresponding first force feedback compensation element drives a corresponding support element to move away from the bottom of the script body, decreasing the height of the support element. This allows the bottom of the script body to adapt to different road conditions, maintaining the balance of the script body. Therefore, the robotic leg can maintain balance and stability even when in contact with uneven ground.

[0034] The humanoid robot proposed in this application uses the aforementioned mechanical legs, which enables the humanoid robot to maintain stability when encountering uneven surfaces during walking.

[0035] The mechanical leg and humanoid robot provided in this application will be described in detail below with reference to specific embodiments.

[0036] This application proposes a mechanical leg, with reference to... Figures 1 to 4 As shown, it includes a lower leg assembly 100 and a foot assembly 200. This mechanical leg can be applied to humanoid robots as the leg structure of the humanoid robot.

[0037] The lower leg assembly 100 is the basic component of the robotic leg of this application, and it can provide a mounting base for at least some of the other components of the robotic leg. The lower leg assembly 100 can be made of metallic materials, giving it better structural strength, thus improving its durability and reliability. Alternatively, the lower leg assembly 100 can be partially made of polymer materials, allowing it to maintain a certain structural strength while remaining relatively lightweight.

[0038] The foot assembly 200 includes a script body 210, multiple support members 220, multiple first detection members 230, and multiple first force feedback compensation members 240. The script body 210 is the basic component of the foot assembly 200, providing a mounting base for at least some of the other components. The script body 210 can be made of metal, giving it superior structural strength, thus improving its durability and reliability. The script body 210 is rotatably connected to the lower leg assembly 100, which is configured to drive the foot assembly 200 to rotate around at least two axes in different directions, allowing the script body 210 to rotate in multiple directions to achieve complex movements.

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

[0040] The bottom side of the script body 210 is its foot area, which can include multiple detection areas 211. These detection areas 211 can be combined to form a complete foot area. Each first force feedback compensation element 240 is disposed in its corresponding detection area 211, and each first force feedback compensation element 240 is also connected to its corresponding support element 220. Specifically, one end of each first force feedback compensation element 240 can be connected to its corresponding detection area 211 in the script body 210, and the other end can be connected to its corresponding support element 220. When the mechanical leg of this application walks on the ground, the support element 220 is located between the ground and the corresponding detection area 211 in the script body 210, allowing the support element 220 to support the script body 210 and maintain contact with the ground, thereby 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, reducing the maintenance cost of the mechanical leg of this application.

[0041] The first force feedback compensation member 240 can drive the corresponding support member 220 to move towards or away from the script body 210. When the first force feedback compensation member 240 drives the support member 220 to move towards the script body 210, the distance between the support member 220 and the script body 210 can be reduced. When the feedback compensation member 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 multiple first force feedback compensation members 240 drives the support member 220 to move away from the script body 210, the distance between that support member 220 and the script body 210 can be larger than the distances between the other support members 220 and the script body 210. When one of the multiple first force feedback compensation members 240 drives the support member 220 to move towards the script body 210, the distance between that support member 220 and the script body 210 can be smaller than the distances between the other support members 220 and the script body 210.

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

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

[0044] When the robotic leg of this application is on an uneven surface, and the ground corresponding to the preset detection area 211 of the script body 210 has a raised structure and is higher than the surrounding ground, the raised ground structure acts on the preset support member 220, causing the preset support member 220 to be lifted up. This makes the height of the preset support member 220 higher than that of other support members 220, resulting in the overall tilting of the foot assembly 200. Consequently, the pressure value detected by the preset first detection member 230 is greater than the pressure value detected by other first detection members 230. Thus, the processing module of the robotic leg can determine from the value detected by the preset first detection member 230 that the ground corresponding to the preset area of ​​the script body 210 has a raised structure and that the foot assembly 200 has a tendency to tilt.

[0045] The preset first force feedback compensation component 240 can drive the preset support component 220 to move along the preset detection area 211 toward the script body 210, so that the preset support component 220 can be closer to the script body 210 than other support components 220, thereby reducing the distance between the preset detection area 211 and the raised structure on the ground, thereby reducing the height of the script body 210 at the preset area, thus compensating for the height of the raised structure on the ground that lifts the script body 210, so that the script body 210 can maintain overall balance.

[0046] When the robotic leg of this application is on an uneven surface, and the ground corresponding to the preset detection area 211 of the script body 210 has a concave structure and is lower than the surrounding ground, the concave ground structure cannot act on the preset support member 220. If the preset area is located at the edge of the script body 210, it will cause the foot assembly 200 to tilt towards the concave structure of the ground. If the preset area is located in the middle of the script body 210, the preset support member 220 will not be supported, resulting in excessive force on other support members 220. Correspondingly, the pressure value detected by the preset first detection member 230 is smaller than the pressure values ​​detected by other first detection members 230. Thus, the processing module of the robotic leg can determine from the value detected by the preset first detection member 230 that the ground corresponding to the preset area of ​​the script body 210 has a concave structure and that the foot assembly 200 may be tilting.

[0047] The preset first force feedback compensation component 240 can drive the preset support component 220 to move in the direction of the preset detection area 211 facing away from the script body 210, so that the preset support component 220 can be further away from the script body 210 than other support components 220, allowing the preset support component 220 to extend into the recessed structure of the ground and contact the ground. If the preset area is located at the edge of the script body 210, the script body 210 can maintain overall balance. If the preset area is located in the middle of the script body 210, the preset support component 220 can also contact the ground and support the script body 210. In this way, multiple support components 220 can support the script body 210, making the stability of the foot assembly 200 better.

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

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

[0050] In this application, the number of detection areas 211 can be specifically set to six. Two detection areas 211 are located near the heel of the footpiece 210, two detection areas 211 are located near the toe of the footpiece 210, and two detection areas 211 are located at the bottom of the footpiece 210, in the middle between the heel and toe. The detection areas 211 near the heel, the detection areas 211 in the middle of the footpiece 210, and the detection areas 211 near the toe are arranged along the length of the footpiece 210. The two detection areas 211 near the heel can be arranged along the width of the footpiece 210, and the two detection areas 211 near the toe can also be arranged along the width of the footpiece 210. In this way, multiple detection areas 211 can cover each area at the bottom of the script body 210. When the pressure on any detection area 211 of the script body 210 is too high or too low, the corresponding first detection element 230 can detect the pressure value and drive the support element 220 to move toward or away from the script body 210 through the corresponding first force feedback compensation element 240.

[0051] In some embodiments, to enable the first detection element 230 of this application to detect the pressure on each detection area 211 of the script body 210, the first detection element 230 may be a pressure sensor. One end of the first detection element 230 may be connected to the script body 210, and the detection end of the first detection element 230 may be connected to the support member 220. When the foot assembly 200 is 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 element 230, thereby obtaining the magnitude of the interaction force between the support member 220 and the ground.

[0052] In addition, by placing the first detection element 230 between the support element 220 and the script body 210, so that the detection end of the first detection element 230 is located on the support element 220, the detection end of the first detection element 230 can be prevented from directly contacting the ground, thereby avoiding wear on the detection end of the first detection element 230 to a certain extent and achieving the purpose of protecting the first detection element 230.

[0053] To enable the first force feedback compensation component 240 of this application to drive the support component 220 to move toward or away from the script body 210, the first force feedback compensation component 240 can be a hydraulic damper. The hydraulic damper can be fixedly installed on one side of the bottom of the script body 210, and its output end is connected to the support component 220. The hydraulic damper drives the support component 220 to move toward or away from the script body 210 through hydraulic pressure. The driving force of the hydraulic damper is stronger than that of motor drives, thus allowing the first force feedback compensation component 240 to drive the support component 220 to move toward or away from the script body 210 more stably and reliably, even when the mechanical leg has a large self-weight.

[0054] Furthermore, when the first force feedback compensation component 240 adopts a hydraulic damper, it can also have a certain shock absorption and damping effect. In this way, when the mechanical leg of this application performs the action of raising and lowering, causing the foot assembly 200 to contact the ground, the first force feedback compensation component 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, to further ensure the stability and reliability of the robotic leg during operation, the support member 220 may be an elastic structural component, giving it a shock-absorbing and vibration-damping function. Thus, when the robotic leg of this application performs a lifting and lowering motion, causing the foot assembly 200 to contact the ground, the support member 220 can absorb part of the impact force from the ground on the foot assembly 200, thereby protecting both the foot assembly 200 and the robotic leg.

[0056] Specifically, since the support component 220 needs to come into contact with the ground and rub against it during the walking process, the support component 220 can be made of rubber. This allows the support component 220 to have both structural strength and shock absorption capacity, improving the wear resistance of the support component 220 and thus improving the durability and reliability of the mechanical leg of this application.

[0057] In this application, references Figure 2 and Figure 5 As shown, the orthographic projection of multiple support members 220 toward the script body 210 can cover multiple detection areas 211 respectively. In this way, the multiple support members 220 can completely cover one side of the bottom 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 this application is more stable when walking on the ground.

[0058] In some implementations, reference Figure 1 and Figure 6 As shown, in order for the lower leg assembly 100 to drive the script body 210 of the foot assembly 200 to rotate about at least two axes in different directions, the lower leg assembly 100 may be configured to include a lower leg body 110 and a drive member 120. One end of the lower leg body 110 is rotatably connected to the script body 210, and the script body 210 is rotatable relative to the lower leg body 110 about at least two axes in different directions. One end of the drive member 120 is rotatably connected to the side of the lower leg body 110 opposite to the script body 210, and the drive member 120 is configured to drive the script body 210 to rotate relative to the lower leg body 110 about at least two axes in different directions.

[0059] The lower leg body 110 can provide a mounting base for the drive unit 120 and the script body 210, allowing the drive unit 120 and the script body 210 to be fixedly installed. The output end of the drive unit 120 can be connected to the script body 210, and the drive unit 120 can output power to make the script body 210 rotate relative to the lower leg body 110 around at least two axes in different directions.

[0060] In some implementations, reference Figure 1 and Figure 6 As shown, in order for the drive unit 120 of this application to drive the script body 210 to rotate relative to the lower leg body 110 about at least two axes in different directions, the script body 210 includes a toe portion and a heel portion. The drive unit 120 includes two linear actuators 121. One end of the linear actuator 121 is rotatably connected to the lower leg body 110 so that the lower leg body 110 can rotate relative to the linear actuator 121 about 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 script body 210 can rotate relative to the linear actuator 121 about at least two axes in different directions. The two linear actuators 121 are arranged side by side between the script body 210 and the lower leg body 110. The linear actuators 121 are configured to change their length.

[0061] The toe portion of the script body 210 is located at its front end, and the heel portion is located at its rear end. Two linear actuators 121 are positioned between the lower leg body 110 and the heel portion of the script body 210, and the lengths of the two linear actuators 121 are adjustable, meaning that the lead screws of the linear actuators 121 reciprocate within their cylinders. By adjusting the lengths of the two linear actuators 121, the script body 210 connected to the linear actuators 121 can be deflected relative to the lower leg body 110, thereby allowing the script body 210 to rotate relative to the lower leg 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 to be less than the length of the second linear actuator 121, the distance between the script body 210 and the lower leg body 110 connected by the first linear actuator 121 can be reduced, and the distance between the script body 210 and the lower leg body 110 connected by the second linear actuator 121 can be increased. This allows the script body 210 to rotate relative to the lower leg body 110 around at least two axes in different directions. The greater the length difference between the first linear actuator 121 and the second linear actuator 121, the greater the angle of rotation of the script body 210 relative to the lower leg body 110. 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 lower leg body 110 can be adjusted.

[0063] When the lengths of the first linear actuator 121 and the second linear actuator 121 extend or shorten synchronously, the first linear actuator 121 and the second linear actuator 121 can drive the script body 210 to rotate relative to the lower leg body 110 about an axis in another direction. This allows the first linear actuator 121 and the second linear actuator 121 to cooperate in driving the script body 210 to rotate relative to the lower leg body 110 about at least two axes in different directions.

[0064] In some implementations, reference Figure 1 and Figure 6 As shown, to enable the script body 210 to be rotatably connected to the lower leg body 110, and for the first linear actuator 121 and the second linear actuator 121 to be rotatably connected to the script body 210 and the lower leg body 110, the lower leg assembly 100 may also include a ball joint 122 and a ball bearing 123. One end of the lower leg body 110 is connected to the script body 210 via the ball joint 122, one end of the linear actuator 121 is connected to the lower leg body 110 via the ball bearing 123, and the other end of the linear actuator 121 is connected to the script body 210 via the ball bearing 123.

[0065] By configuring the ball joint 122 and the ball bearing 123, the lower leg body 110, the script body 210, and the actuator can rotate around at least two axes in different directions. Specifically, the ball joint 122 is rotatably connected to the script body 210 via two ball bearings 123, and the ball joint 122 is also rotatably connected to the lower leg body 110 via two ball bearings 123.

[0066] In some implementations, reference Figures 4 to 6As shown, the foot assembly 200 of this application may further include a toe member 250 and a second detection member 260. The toe member 250 is rotatably connected to the toe portion of the footpiece 210. The second detection member 260 is disposed between the toe member 250 and the footpiece 210, and is configured to detect the angle between the toe member 250 and the footpiece 210. In some embodiments, the second detection member 260 may be a pressure sensor. In this embodiment, the pressure value detected by the second detection member 260 can be converted into an angle, thereby measuring the angle between the toe member 250 and the footpiece 210. Specifically, when converting the pressure value into an angle, multiple sets of data including pressure values ​​and corresponding angles can be obtained experimentally. Then, based on these multiple sets of data, a functional relationship between the pressure value and the corresponding angle can be obtained. Based on this functional relationship, the corresponding angle can be calculated from the pressure value.

[0067] Specifically, the toe component 250 is connected to the script body 210 via a rotating shaft. The rotating shaft can be connected to a driver, which can drive the toe component 250 to rotate relative to the script body 210, thereby increasing the range of motion of the foot assembly 200. This can simulate the movement of the toes of a human foot, making the movement of the mechanical leg of this application closer to the movement of a human leg.

[0068] The second detection element 260 can be positioned between the toe piece 250 and the script body 210. When the toe piece 250 contacts a raised structure on the ground, the raised structure can lift the toe piece 250, making its height higher than that of the script body 210, thus causing the foot assembly 200 to tilt as a whole. Correspondingly, the pressure value detected by the second detection element 260 increases. Thus, the processing module of the robotic leg can determine, based on the value detected by the second detection element 260, that the ground surface corresponding to the toe piece 250 has a raised structure and that the foot assembly 200 is tilting.

[0069] The second force feedback compensation component 270 can drive the toe component 250 to rotate relative to the foot body 210 with its back to the ground, so that the toe component 250 can avoid the protruding structure on the ground, so that the protruding structure on the ground will no longer lift the toe component 250, and the foot assembly 200 as a whole can maintain balance.

[0070] When the toe piece 250 rotates relative to the foot body 210 with its back to the ground, it can compress the second detection piece 260, increasing the pressure value detected by the second detection piece 260. When the toe piece 250 is not facing away from the ground and rotates relative to the foot body 210 until it is flush with the foot body 210, the toe piece 250 may not compress the second detection piece 260 or the compressive force on the second detection piece 260 may be reduced, resulting in a smaller pressure value detected by the second detection piece 260. The second force feedback compensation piece 270 can be a spring, so that when the toe piece 250 is no longer under 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 mechanical legs described above, this application also proposes a humanoid robot, including the mechanical legs described above.

[0072] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0073] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0074] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0075] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used 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 other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A mechanical leg, characterized in that, include: Lower leg assembly (100); The foot assembly (200) includes a script body (210), multiple support members (220), multiple first detection members (230), and multiple first force feedback compensation members (240). The script body (210) is rotatably connected to the lower leg assembly (100). The lower leg assembly (100) is configured to drive the script body (210) to rotate about at least two axes in different directions. The bottom of the script body (210) includes multiple detection areas (211). The first detection members (230) are disposed in the detection areas (211). The first force feedback compensation members (240) are electrically connected to the first detection members (230). The first force feedback compensation members (240) are disposed in the detection areas (211), and the support members (220) are connected to the side of the first force feedback compensation members (240) away from the script body (210). The first detection element (230) is configured to detect the pressure on the detection area (211), and the first force feedback compensation element (240) is configured to drive the support element (220) to move toward or away from the script body (210) according to the pressure on the detection area (211).

2. The mechanical leg according to claim 1, characterized in that, Multiple detection areas (211) are arranged sequentially along the length and width directions 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 lower leg assembly (100) includes a lower leg body (110) and a drive member (120). One end of the lower leg body (110) is rotatably connected to the script body (210), and one end of the drive member (120) is rotatably connected to the side of the lower leg body (110) away from the script body (210). The drive member (120) is configured to drive the script body (210) to rotate relative to the lower leg body (110) about at least two axes in different directions.

6. The mechanical leg according to claim 5, characterized in that, The script body (210) includes a toe portion and a heel portion. The drive unit (120) includes two linear actuators (121). One end of the linear actuator (121) is rotatably connected to the lower leg body (110) so that the lower leg body (110) can rotate relative to the linear actuator (121) about 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 script body (210) can rotate relative to the linear actuator (121) about at least two axes in different directions. The two linear actuators (121) are arranged side by side between the script body (210) and the lower leg body (110).

7. The mechanical leg according to claim 6, characterized in that, The lower leg assembly (100) further includes a ball joint (122) and a ball bearing (123). One end of the lower leg body (110) is connected to the script body (210) through the ball joint (122). One end of the drive member (120) is connected to the lower leg body (110) through the ball bearing (123). The other end of the drive member (120) is connected to the script body (210) through the ball bearing (123).

8. The mechanical leg according to claim 6 or 7, characterized in that, The foot assembly (200) further includes 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 portion. The second force feedback compensation piece (270) is connected to the script 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 script body (210) to adjust the angle between the script body (210) and the toe piece (250). The second detection piece (260) is disposed between the toe piece (250) and the script body (210). The second detection piece (260) is configured to detect the included angle between the toe piece (250) and the script body (210).

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

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

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