Leg structure and humanoid robot

Abstract

The leg structure comprises thighs, shanks, knee joints and dampers, the knee joints are connected with the thighs and the shanks, each damper comprises a damping main body and a piston rod capable of stretching out and drawing back relative to the damping main body, the damping main bodies are hinged to the shanks, and the piston rods are connected with the thighs and the shanks. The piston rod is connected with the thigh part and used for stretching out and drawing back relative to the damping body when the knee joint is stressed so as to share the load borne by the knee joint. When the humanoid robot encounters passive impact or is in a heavy-load working condition, the piston rod of the damper stretches out and draws back relative to the damping main body, the damping characteristic can be automatically adjusted according to the change of the load borne by the hip joint so as to absorb and disperse part of impact force, so that the load borne by the hip joint is shared, the locked-rotor condition of a joint actuator is reduced, and the reliability of the humanoid robot is improved. And therefore, huge energy consumption caused by stalling is reduced, and the energy cost and the maintenance cost of the humanoid robot are reduced.

Description

Technical Field

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

[0002] Humanoid robots, as a product that integrates cutting-edge technologies in multiple fields such as mechanical engineering, electronic technology, and artificial intelligence, are designed to simulate human appearance and behavior patterns, have similar limb structures and movement capabilities to humans, and can perform a variety of tasks in complex and changing environments. Among them, the leg structure occupies a key position in humanoid robots, and the performance of its joint actuators directly affects the robot's movement performance. In particular, the knee joint is responsible for bearing and transmitting a large amount of force and torque when the humanoid robot performs complex movements such as walking, jumping, and crossing obstacles.

[0003] At present, when humanoid robots are in motion, the knee joints have to deal with the load force balance problem caused by passive impact and meet the power requirements of active movement, and all of this depends on a single joint actuator. When encountering passive impact or working under heavy load, the rotary joint actuator of the knee joint can often only output torque by stalling to ensure the stability of the body posture. However, this mode of operation has obvious disadvantages: first, the efficiency of stalling output torque is extremely low and the energy consumption is huge, which undoubtedly increases the energy cost of humanoid robots and greatly shortens their cruising range; second, frequent stalling will cause serious damage to the drive components, greatly reducing the service life of the drive components, thereby increasing the maintenance cost and replacement frequency of humanoid robots.

[0004] In order to meet the torque requirements of the knee joint during impact and large load balance, the commonly used method is to use a higher-power actuator. However, in actual applications, this approach has obvious disadvantages. When the robot is walking normally, power redundancy will occur, and the robot's own mass will also increase due to the high-power actuator, which seriously affects the robot's movement flexibility. Summary of the invention

[0005] The main purpose of the present invention is to propose a leg structure and a humanoid robot, aiming to solve the technical problems of low efficiency, high energy consumption and low movement flexibility caused by the existing humanoid robots maintaining the stability of the body posture through the stalled output torque.

[0006] To achieve the above-mentioned objectives, the present invention proposes a leg structure, comprising a thigh, a calf, a knee joint and a damper, wherein the knee joint connects the thigh and the calf, the damper comprises a damping body and a piston rod that can be extended and retracted relative to the damping body, the damping body is hinged to the calf, and the piston rod is connected to the thigh, and is used to extend and retract relative to the damping body when the knee joint is subjected to force, so as to share the load borne by the knee joint.

[0007] In some embodiments, the calf portion includes a calf shell and a side cover, the side cover is connected to the calf shell to form a accommodating cavity with a cavity opening, the damping body is accommodated in the accommodating cavity, and the piston rod is connected to the thigh portion from the cavity opening through a linkage assembly.

[0008] In some embodiments, the linkage assembly includes a first linkage rod and a second linkage rod, one end of the first linkage rod extends into the cavity and is hinged to the calf, the other end of the first linkage rod is hinged to one end of the second linkage rod, the other end of the second linkage rod is hinged to the thigh, and the piston rod is hinged to the first linkage rod.

[0009] In some embodiments, the leg structure further includes a control panel, which is disposed on the calf portion and located in the accommodating cavity, and the control panel is electrically connected to the damper; and / or, The side cover is provided with a plurality of weight-reducing holes.

[0010] In some embodiments, the outer wall surface of the thigh portion is provided with a wiring groove and a plurality of wire pressing plates, and the plurality of wire pressing plates are arranged in sequence and spaced apart along the wiring groove to limit the wire body in the wiring groove.

[0011] In some embodiments, the knee joint includes a first driving member and a first transmission assembly, wherein the first driving member is disposed on the thigh and is transmission-connected to the calf through the first transmission assembly.

[0012] In some embodiments, a mounting groove is provided on one side of the thigh portion, one end of the calf portion is located in the mounting groove and is rotatably connected to the thigh portion via a hinge shaft, and both side walls of the mounting groove located on the rotation trajectory of the calf portion are provided with a first limiting end surface for abutting against the calf portion.

[0013] In some embodiments, the leg structure further comprises: The sole of the foot is rotatably connected to the calf; The second driving member is arranged on the calf and connected to the sole of the foot through a second transmission assembly, and the second driving member is used for driving the sole of the foot to move.

[0014] In some embodiments, the second transmission assembly includes a first transmission arm and a second transmission arm, one end of the first transmission arm is hinged to the calf, the other end of the first transmission arm is hinged to one end of the second transmission arm, and the other end of the second transmission arm is hinged to the sole of the foot; The leg structure also includes a limiting member arranged on the calf and sleeved on the outside of the first transmission arm. Both side walls of the limiting member located on the rotation trajectory of the first transmission arm are provided with a second limiting end surface for abutting against the first transmission arm.

[0015] The present invention also provides a humanoid robot, comprising the leg structure as described above.

[0016] The leg structure provided by the present application is provided with a damper between the thigh and the calf, and the damper includes a damping body and a piston rod that can be extended and retracted relative to the damping body. When the humanoid robot encounters a passive impact or is in a heavy load condition, the piston rod of the damper is extended and retracted relative to the damping body, and the damping characteristics can be automatically adjusted according to the change of the load on the hip joint to absorb and disperse part of the impact force, thereby sharing the load borne by the hip joint, reducing the situation of the joint actuator being blocked, and then reducing the huge energy consumption caused by the blocking, and reducing the energy cost and maintenance cost of the humanoid robot. Compared with the traditional method of using a higher-power actuator to cope with impacts and large loads, the leg structure with a damper in the present application will not increase the mass of the humanoid robot itself and cause power redundancy. When the robot walks normally, it will not become bulky due to the additional high-power actuator. The joint actuator can work according to the normal power demand, thereby ensuring the good movement flexibility of the humanoid robot, enabling it to complete various actions more agilely. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of an embodiment of the leg structure of the present invention; Figure 2 for Figure 1 A partially disassembled diagram of the middle leg structure; Figure 3 It is a structural schematic diagram of another viewing angle of an embodiment of a leg structure of the present invention; Figure 4 for Figure 3 A partially disassembled diagram of the middle leg structure; Figure 5 This is a schematic structural diagram of an embodiment of a thigh portion of the present invention; Figure 6 It is a partially disassembled schematic diagram of an embodiment of a leg structure of the present invention.

[0018] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0019] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0022] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0023] Please refer to Figure 1 and Figure 2 An embodiment of the present application proposes a leg structure 100, including a thigh 10, a calf 20, a knee joint 30 and a damper 40, wherein the knee joint 30 connects the thigh 10 and the calf 20, and the damper 40 includes a damping body 41 and a piston rod 42 that can be extended and retracted relative to the damping body 41, the damping body 41 is hinged to the calf 20, and the piston rod 42 is connected to the thigh 10, and is used for extending and retracting relative to the damping body 41 when the knee joint 30 is subjected to force, so as to share the load borne by the knee joint 30.

[0024] The thigh 10 can be made of high-strength aluminum alloy, which is light and strong, and can effectively reduce the overall weight of the humanoid robot's legs, while ensuring that it will not deform when subjected to large external forces. The knee joint 30, as a key component connecting the thigh 10 and the calf 20, can be designed in a multi-axis linkage manner to achieve flexible rotation in multiple directions to meet the needs of the humanoid robot in complex movements.

[0025] The damper 40 may be a hydraulic damper 40 or a pneumatic damper 40. For example, the damper 40 may be a hydraulic damper 40, and the damper body 41 may be filled with high-viscosity hydraulic oil. One end of the piston rod 42 is connected to the thigh 10, and the other end is inserted into the damper body 41, and the piston interacts with the hydraulic oil. When the piston rod 42 is extended and retracted by an external force, the piston moves in the hydraulic oil to generate a damping force, thereby sharing the load on the knee joint 30.

[0026] In actual use, the magnitude and characteristics of the damping force can be changed according to different use requirements and sports scenes by adjusting the parameters of the damping body 41 (such as damping coefficient, medium viscosity, etc.). For example, when performing high-intensity exercise, the damping force can be increased to provide better support and control; when walking daily, the damping force can be reduced to make the exercise easier and more natural.

[0027] When the humanoid robot is in a stationary state, the components of the leg structure 100 remain relatively stable, and the piston rod 42 and the damping body 41 are in a natural state.

[0028] When the humanoid robot starts walking, for example, when it steps forward on a flat ground, the thigh 10 swings forward, the knee joint 30 rotates, and the calf 20 stretches forward accordingly. In this process, if there is a slight unevenness on the ground, causing the knee joint 30 to be subjected to a certain impact force, the piston rod 42 will react immediately. Since the piston rod 42 is connected to the thigh 10, as the thigh 10 moves and the knee joint 30 is impacted, the piston rod 42 will expand and contract relative to the damping body 41. For example, when the knee joint 30 is subjected to an upward impact force, the piston rod 42 will be compressed, the hydraulic oil inside the damping body 41 will be squeezed, and a damping force will be generated through the small hole between the piston and the piston rod 42, which will hinder the rapid compression of the piston rod 42. A part of the load originally borne by the knee joint 30 will be transmitted to the damper 40 through the expansion and contraction of the piston rod 42, and will be shared by the damper 40, thereby reducing the force borne by the knee joint 30 and making the movement of the knee joint 30 more stable.

[0029] This embodiment shares the load borne by the knee joint 30 through the damper 40, which can effectively reduce the force and torque that the knee joint 30 needs to bear when working, so that the rotary joint actuator of the knee joint 30 does not need to bear all the loads alone, reducing its pressure when dealing with passive impact or heavy loads, thereby improving the stability and reliability of the entire leg structure 100. Since it is not necessary to rely solely on the rotary joint actuator of the knee joint 30 to output torque by stalling to maintain the stability of the body posture, the problem of extremely low efficiency and huge energy consumption when stalling to output torque is avoided. After the damper 40 shares the load, the robot's energy utilization during movement is more reasonable, reducing energy costs, and helping to extend the cruising range of the humanoid robot.

[0030] Compared with the method of selecting a higher-power actuator to meet the knee joint torque requirement, the leg structure 100 of the present application shares the load through the damper 40, does not require the addition of a high-power actuator, and thus does not increase the mass of the robot itself, making the robot more flexible when moving, and will not affect the smoothness and agility of its various movements such as walking, jumping, and turning due to excessive weight, thereby improving the movement performance of the humanoid robot in complex environments.

[0031] Please refer to Figure 3 and Figure 4 In some embodiments, the calf portion 20 includes a calf shell 21 and a side cover 22, the side cover 22 is connected to the calf shell 21 to form a accommodating cavity 24 with a cavity opening 23, the damping body 41 is accommodated in the accommodating cavity 24, and the piston rod 42 is connected to the thigh portion 10 from the cavity opening 23 through the linkage assembly 50.

[0032] The side cover 22 is connected to the calf housing 21 to form a receiving chamber 24, which provides installation and working space for the damping body 41, protects the damping body 41, and prevents it from being directly hit and worn in a complex environment. Moreover, the receiving chamber 24 effectively integrates the damping body 41 and other components together, making the entire leg structure 100 more compact, which not only does not cause excessive obstruction to the normal movement of the humanoid robot, but also facilitates installation and maintenance, thereby improving the reliability and service life of the entire system.

[0033] The piston rod 42 is connected to the thigh 10 through the cavity 23 through the linkage assembly 50, forming a transmission system. The linkage assembly 50 plays the role of transmitting force and motion. It can accurately transmit the motion of the thigh 10 to the piston rod 42, and can also feed back the damping force exerted on the piston rod 42 to the thigh 10, so as to achieve the coordinated work of the whole system and ensure the continuity and stability of the movement. For example, the linkage assembly 50 may include some connecting rods, joints and other structures, which can transmit force and motion in different directions to ensure the flexibility and stability of leg movement.

[0034] Please continue to refer to Figure 3 In some embodiments, the linkage assembly 50 includes a first linkage rod 51 and a second linkage rod 52, one end of the first linkage rod 51 extends into the cavity 23 and is hinged to the calf portion 20, the other end of the first linkage rod 51 is hinged to one end of the second linkage rod 52, the other end of the second linkage rod 52 is hinged to the thigh portion 10, and the piston rod 42 is hinged to the first linkage rod 51.

[0035] Among them, one end of the first linkage rod 51 is hinged to the calf 20, so that it can rotate at a certain angle with the hinge point as the center, and the movement of the calf 20 can be transmitted to the first linkage rod 51. The other end of the first linkage rod 51 is hinged to the second linkage rod 52, and the second linkage rod 52 is hinged to the thigh 10, so that a multi-rod transmission mechanism is formed. When the thigh 10 moves, it will drive the second linkage rod 52 to move, and the second linkage rod 52 drives the first linkage rod 51 to move through the hinge point, and the first linkage rod 51 drives the piston rod 42 hinged thereto to move. Through this multi-rod transmission method, the movement of the thigh 10 and the calf 20 can be effectively transmitted and converted, so that the piston rod 42 can perform corresponding actions according to the relative movement of the thigh 10 and the calf 20.

[0036] This embodiment adopts a double connecting rod hinge structure, which makes the movement between the thigh 10, the calf 20 and the piston rod 42 more flexible. Compared with a single connecting rod connection, it can achieve more complex movements in multiple directions and better adapt to the posture changes of the human leg in different movement states. For example, when performing a movement that requires a large range of leg movements, such as straddling, this structure can make the movement of the legs more natural and smooth, and will not affect the completion of the movement due to the limitation of the connection structure.

[0037] Furthermore, the arrangement of the first linkage rod 51 and the second linkage rod 52 can transfer the force between the thigh 10 and the calf 20 more evenly. During the movement, the force is gradually transferred through the two linkage rods, avoiding the concentration and sudden change of force. For example, when running, the impact force of each step is transferred to the first linkage rod 51 through the second linkage rod 52, and then to the piston rod 42 and the calf 20. This gradual transfer method makes the force more evenly distributed in the whole system, reduces the situation of excessive local force, and thus improves the stability and reliability of the whole structure.

[0038] In actual application, the amplitude, speed and damping effect of leg movement can be adjusted more finely by adjusting the length of the first connecting rod 51 and the second connecting rod 52, the position of the hinge point and other parameters. For example, by changing the length ratio of the first connecting rod 51 and the second connecting rod 52, the transmission ratio between them can be changed, thereby adjusting the influence of the piston rod 42 on the movement of the thigh 10 and the calf 20, so that the structure can better meet the requirements of different sports scenes.

[0039] Please continue to refer to Figure 4 In some embodiments, the leg structure 100 further includes a control panel 60 disposed on the calf portion 20 and located in the accommodating cavity 24, and the control panel 60 is electrically connected to the damper 40; and / or The side cover 22 is provided with a plurality of weight-reducing holes 221 .

[0040] Among them, the control panel 60 can collect data in real time during the movement of the leg structure 100, such as the force applied to the thigh 10, the movement speed, and the extension and retraction degree of the piston rod 42, and adjust the damping force of the damper 40 according to these data information to enhance the buffering protection of the knee joint 30 and prevent the huge impact force generated by the sudden stop from causing damage to the humanoid robot.

[0041] The principle of the multiple weight-reducing holes 221 provided on the side cover 22 is to effectively reduce the weight of the calf 20 and improve the movement flexibility of the leg structure 100 by removing part of the material without affecting the overall structural strength of the side cover 22. The lighter leg structure 100 consumes less energy during movement, which helps to extend the endurance of the humanoid robot and enhance its working durability. Moreover, reducing the weight of the leg structure 100 can reduce the load on the joints and driving components, reduce wear, thereby extending the overall service life of the humanoid robot and reducing the long-term use cost.

[0042] It should be understood that the position of the weight-reducing hole 221 will avoid the key stress-bearing position of the side cover 22 , and may adopt a reasonable shape such as a circle or an ellipse to reduce stress concentration and ensure the structural stability of the side cover 22 .

[0043] In some embodiments, a wiring groove 11 and a plurality of wire pressing plates 12 are provided on the outer wall surface of the thigh portion 10 . The plurality of wire pressing plates 12 are arranged in sequence along the wiring groove 11 at intervals to limit the wires in the wiring groove 11 .

[0044] Among them, the wiring groove 11 provided on the outer wall of the thigh 10 provides a special channel for various wires of the leg structure 100, so that the wires can be arranged in an orderly manner in the thigh 10. A plurality of wire pressing plates 12 are arranged in sequence along the wiring groove 11. The principle is to prevent the wires from being displaced, entangled or damaged due to shaking, friction and other reasons during the movement of the leg structure 100 by physically limiting the wires, thereby ensuring the stability of the line connection. For example, when the humanoid robot walks quickly or makes large movements, the wire pressing plate 12 can effectively limit the shaking of the wires, avoiding problems such as short circuits and disconnections caused by winding and pulling of the wires.

[0045] In this embodiment, the wire pressing piece 12 is closely matched with the wire routing groove 11, and the wire body is firmly fixed in the wire routing groove 11 by utilizing the elasticity and friction of the wire pressing piece 12, ensuring that the wire body can maintain normal connection and working state under various complex movement states.

[0046] In some embodiments, the knee joint 30 includes a first driving member 31 and a first transmission assembly 32 . The first driving member 31 is disposed on the thigh portion 10 and is transmission-connected to the calf portion 20 via the first transmission assembly 32 .

[0047] Among them, the first driving member 31 is arranged on the thigh 10, as a power source, usually composed of a motor and other devices, which can output rotational motion and torque. The first transmission assembly 32 acts as a bridge, transmitting the motion and force output by the first driving member 31 to the calf 20. The common first transmission assembly 32 may include structures such as gears, chains or connecting rods. Taking gear transmission as an example, the output shaft of the first driving member 31 is connected to the driving gear, the driving gear is meshed with the driven gear, and the driven gear is connected to the transmission component of the calf 20. When the first driving member 31 is started, the driving gear rotates, and the driven gear is driven by the meshing, thereby driving the calf 20 to move in a predetermined manner, realizing the flexion and extension of the leg structure 100.

[0048] This embodiment realizes active motion control of the knee joint 30, providing the humanoid robot with flexible leg motion capabilities. By reasonably designing the transmission ratio of the first transmission assembly 32, the movement speed and output torque of the calf 20 can be accurately adjusted according to different motion scenes and task requirements. For example, when carrying heavy objects, the transmission ratio is increased so that the calf 20 obtains greater torque to meet the power requirements for carrying heavy objects; when running fast, the transmission ratio is adjusted to increase the movement speed of the calf 20. At the same time, the cooperation of the first drive member 31 and the first transmission assembly 32 enables the humanoid robot to respond to leg movements more quickly and accurately when facing complex terrain and diversified tasks, greatly expanding the application scope and working ability of the humanoid robot.

[0049] Please refer to Figure 4 and Figure 5In some embodiments, a mounting groove 13 is provided on one side of the thigh portion 10, one end of the calf portion 20 is located in the mounting groove 13 and is rotatably connected to the thigh portion 10 through a hinge shaft 25, and both side walls of the mounting groove 13 located on the rotation trajectory of the calf portion 20 are provided with a first limiting end surface 131 for abutting against the calf portion 20.

[0050] Among them, the installation groove 13 set on one side of the thigh 10 provides an installation space for one end of the calf 20, and the rotational connection between the two is realized through the hinge shaft 25, so that the calf 20 can flex and extend around the hinge shaft 25, simulating the basic movements of the human knee joint 30.

[0051] The first limiting end faces 131 provided on the two side walls of the mounting groove 13 on the rotation track of the calf 20 play a limiting role in the movement of the calf 20. When the calf 20 rotates to a certain angle, it will abut against the first limiting end face 131, thereby preventing the calf 20 from continuing to rotate and limiting the range of motion of the calf 20. For example, when the humanoid robot walks, after the calf 20 swings forward to a certain angle, it contacts the first limiting end face 131 in front to prevent the calf 20 from swinging forward too much; the same is true when swinging backward to prevent the calf 20 from swinging backward too much.

[0052] In this embodiment, the first limiting end face 131 accurately defines the movement range of the calf part 20, ensuring the standardization and safety of the leg movement of the humanoid robot. The cooperation between the mounting groove 13 and the hinge shaft 25 makes the installation and connection of the calf part 20 more stable, enhances the overall rigidity of the leg structure 100, and is able to withstand various forces and torques generated during the movement of the humanoid robot, thereby extending the service life of the leg structure 100.

[0053] Please continue to refer to Figure 4 In some embodiments, the leg structure 100 further includes a sole 70 and a second driving member 80, wherein the sole 70 is rotationally connected to the calf portion 20; the second driving member 80 is disposed on the calf portion 20 and is connected to the sole 70 through a second transmission assembly 81, and the second driving member 80 is used to drive the sole 70 to move.

[0054] The sole 70 is rotatably connected to the calf 20, so that the sole 70 can rotate within a certain range to simulate the movement of the human foot. The second driving member 80 is arranged on the calf 20, as the power source for the movement of the sole 70, and is usually composed of a motor and other equipment. The second transmission assembly 81 connects the second driving member 80 and the sole 70, and transmits the movement and force output by the second driving member 80 to the sole 70. The working principle of the second transmission assembly 81 is similar to that of the first transmission assembly 32, and can adopt gear transmission, crank transmission or chain transmission. For example, when adopting gear transmission, the output shaft of the second driving member 80 is connected to the driving gear, and the driving gear is meshed with the driven gear installed on the connecting shaft of the sole 70, and the sole 70 is driven to rotate by the rotation of the gear.

[0055] In this embodiment, the arrangement of the sole 70 and the second driving member 80 greatly enriches the movement function of the leg structure 100. When walking on complex terrain, the second driving member 80 can adjust the angle and posture of the sole 70 according to the ground conditions, so that the humanoid robot can maintain a stable walking posture on slopes and other terrains, thereby enhancing the robot's environmental adaptability.

[0056] In addition, the coordinated work of the second driving member 80 and the second transmission assembly 81 provides the humanoid robot with more precise motion control, helping the robot to complete complex tasks such as precise footsteps and fixed-point turning, further expanding the application of humanoid robots in logistics handling, rescue and emergency response and other fields.

[0057] Please refer to Figure 4 and Figure 6 In some embodiments, the second transmission assembly 81 includes a first transmission arm 811 and a second transmission arm 812, one end of the first transmission arm 811 is hinged to the calf portion 20, and the other end is hinged to one end of the second transmission arm 812, and the other end of the second transmission arm 812 is hinged to the sole 70; The leg structure 100 also includes a limiting member 90 disposed on the calf portion 20 and sleeved outside the first transmission arm 811 . Both side walls of the limiting member 90 located on the rotation trajectory of the first transmission arm 811 are provided with second limiting end surfaces 91 for abutting against the first transmission arm 811 .

[0058] Among them, one end of the first transmission arm 811 is hinged to the calf part 20, so that it can rotate around the hinge point as the center and receive the motion transmission from the calf part 20. The other end of the first transmission arm 811 is hinged to one end of the second transmission arm 812, and the other end of the second transmission arm 812 is hinged to the sole 70. When the second driving member 80 is working, it drives the first transmission arm 811 to rotate, and the first transmission arm 811 drives the second transmission arm 812 to move through the hinge point, thereby causing the sole 70 to make a corresponding rotation movement. For example, when the humanoid robot goes up and down stairs, the second driving member 80 drives the first transmission arm 811, and the first transmission arm 811 drives the second transmission arm 812, so that the sole 70 adjusts the angle to fit the stair steps, thereby achieving a stable up and down stairs movement.

[0059] In this embodiment, the double-arm articulated transmission mode provides a more flexible movement mode for the sole 70. Compared with a single connecting rod transmission, it can achieve more complex sole 70 movements in multiple directions, better adapting to different terrains and task requirements. For example, when the humanoid robot walks on uneven ground, by adjusting the angles of the first transmission arm 811 and the second transmission arm 812, the sole 70 can fit the ground more accurately, thereby enhancing the walking stability and passability of the humanoid robot.

[0060] The limiting member 90 is disposed on the calf 20 and sleeved outside the first transmission arm 811. The two side walls of the limiting member 90 located on the rotation track of the first transmission arm 811 are provided with a second limiting end face 91. When the first transmission arm 811 rotates, it will abut against the second limiting end face 91 after reaching a certain angle, thereby limiting the first transmission arm 811 from continuing to rotate, thereby limiting the movement range of the sole 70. For example, when the humanoid robot walks normally, the first transmission arm 811 rotates to a certain angle and is blocked by the second limiting end face 91, ensuring that the lifting and falling angles of the sole 70 are within a reasonable range, thereby ensuring the walking stability.

[0061] In this embodiment, the second limiting end surface 91 accurately limits the rotation range of the first transmission arm 811, thereby ensuring the standardization and safety of the movement of the sole 70, and helping the robot to maintain a stable posture and movement accuracy when performing various tasks. In addition, the setting of the limiting member 90 can prevent structural damage caused by excessive rotation of the first transmission arm 811, thereby extending the service life of the leg structure 100.

[0062] The present application also provides a humanoid robot, including the above-mentioned leg structure 100. Since the humanoid robot adopts all technical solutions of all embodiments of the above-mentioned leg structure 100, the humanoid robot of the present invention also has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0063] The above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the embodiments here. Any obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A leg structure, characterized in that: It includes a thigh, a calf, a knee joint and a damper, the knee joint connects the thigh and the calf, the damper includes a damping body and a piston rod which can be extended and retracted relative to the damping body, the damping body is hinged to the calf, the piston rod is connected to the thigh, and is used for extending and retracting relative to the damping body when the knee joint is subjected to force, so as to share the load borne by the knee joint.

2. The leg structure according to claim 1, characterized in that: The calf part includes a calf shell and a side cover, the side cover is connected with the calf shell to form a receiving cavity with a cavity opening, the damping body is accommodated in the receiving cavity, and the piston rod is connected with the thigh part through the cavity opening through a linkage assembly.

3. The leg structure according to claim 2, characterized in that: The linkage assembly includes a first linkage rod and a second linkage rod, one end of the first linkage rod extends into the cavity and is hinged to the calf, the other end of the first linkage rod is hinged to one end of the second linkage rod, the other end of the second linkage rod is hinged to the thigh, and the piston rod is hinged to the first linkage rod.

4. The leg structure according to claim 2, characterized in that: The leg structure further includes a control panel, which is disposed on the calf portion and located in the accommodating cavity, and the control panel is electrically connected to the damper; and / or, The side cover is provided with a plurality of weight-reducing holes.

5. The leg structure according to any one of claims 1 to 4, characterized in that: The outer wall surface of the thigh part is provided with a wiring groove and a plurality of wire pressing plates, and the plurality of wire pressing plates are arranged in sequence and at intervals along the wiring groove to limit the wire body in the wiring groove.

6. The leg structure according to any one of claims 1 to 4, characterized in that: The knee joint includes a first driving member and a first transmission assembly. The first driving member is arranged on the thigh and is transmission-connected to the calf through the first transmission assembly.

7. The leg structure according to any one of claims 1 to 4, characterized in that: A mounting groove is provided on one side of the thigh, one end of the calf is located in the mounting groove and is rotatably connected to the thigh via a hinge shaft, and both side walls of the mounting groove located on the rotation track of the calf are provided with a first limiting end surface for abutting against the calf.

8. The leg structure according to any one of claims 1 to 4, characterized in that: The leg structure further comprises: The sole of the foot is rotatably connected to the calf; The second driving member is arranged on the calf and connected to the sole of the foot through a second transmission assembly, and the second driving member is used for driving the sole of the foot to move.

9. The leg structure according to claim 8, characterized in that: The second transmission assembly comprises a first transmission arm and a second transmission arm, one end of the first transmission arm is hinged to the calf, the other end of the first transmission arm is hinged to one end of the second transmission arm, and the other end of the second transmission arm is hinged to the sole of the foot; The leg structure also includes a limiting member arranged on the calf and sleeved on the outside of the first transmission arm. Both side walls of the limiting member located on the rotation trajectory of the first transmission arm are provided with a second limiting end surface for abutting against the first transmission arm.

10. A humanoid robot, characterized in that: Comprising the leg structure according to any one of claims 1 to 9.

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