Leg structure and humanoid robot

Abstract

The present invention discloses a leg structure and a humanoid robot. The leg structure includes a thigh portion, a calf portion, a knee joint, and a damper. The knee joint connects the thigh portion and the calf portion. The damper includes a damper body and a piston rod that can telescopically move relative to the damper body. The damper body is hinged to the calf portion, and the piston rod is connected to the thigh portion and is used to telescopically move relative to the damper body when the knee joint is stressed, so as to share the load borne by the knee joint. When the humanoid robot encounters a passive impact or is in a heavy-load working condition, the piston rod of the damper telescopically moves relative to the damper body, and can automatically adjust the damping characteristics according to the change of the load borne by the hip joint, so as 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 further reducing the huge energy consumption caused by the blockage, and reducing the energy cost and maintenance cost of the humanoid robot.

Description

Technical Field

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

[0002] A humanoid robot, as a product integrating cutting-edge technologies in multiple fields such as mechanical engineering, electronic technology, and artificial intelligence, aims to simulate the human appearance and behavior patterns, has a limb structure and movement ability similar to that of humans, and can perform diverse tasks in a complex and changing environment. Among them, the leg structure plays a crucial role in a humanoid robot, and the performance of its joint actuators directly affects the robot's movement performance. In particular, the knee joint shoulders the heavy responsibility of bearing and transmitting a large amount of force and torque when the humanoid robot performs complex actions such as walking, jumping, and crossing obstacles.

[0003] Currently, during the movement of a humanoid robot, the knee joint has to handle both the load force balance problem caused by passive impacts and the power demand for active movement, and all of this depends on a single joint actuator. When encountering passive impacts or in a heavy-load working state, the rotary joint actuator of the knee joint often can only output torque by stalling to ensure the stability of the body posture. However, this operating method has obvious drawbacks: First, the efficiency of stalling to output torque is extremely low and the energy consumption is huge, which undoubtedly increases the energy cost of the humanoid robot and greatly shortens its battery life; Second, the frequent stalling situations will cause serious damage to the driving components, greatly reducing the service life of the driving parts, and thus increasing the maintenance cost and replacement frequency of the humanoid robot.

[0004] To meet the torque requirements of the knee joint during impacts and large-load force balance, the commonly used method at present is to select an actuator with a higher power. However, in practical applications, this approach has obvious drawbacks. When the robot is walking normally, there will be a phenomenon of power redundancy, and the own mass of the robot will also increase due to the high-power actuator, seriously affecting the movement flexibility of the robot. Summary of the Invention

[0005] The main objective 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 brought about by the existing humanoid robot maintaining the body posture stability by stalling to output torque.

[0006] To achieve the above object, the present invention provides a leg structure, including a thigh portion, a calf portion, a knee joint and a damper. The knee joint connects the thigh portion and the calf portion. The damper includes a damper body and a piston rod that can telescopically move relative to the damper body. The damper body is hinged to the calf portion, and the piston rod is connected to the thigh portion, and is configured to telescopically move relative to the damper body when the knee joint is stressed, so as to share the load borne by the knee joint.

[0007] In some embodiments, the calf portion includes a calf housing and a side cover. The side cover is connected to the calf housing to form a receiving cavity with an opening. The damper body is received in the receiving cavity, and the piston rod is connected to the thigh portion through a linkage assembly from the opening.

[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 opening and is hinged to the calf portion. 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 portion, and the piston rod is hinged to the first linkage rod.

[0009] In some embodiments, the leg structure further includes a control board, which is disposed in the calf portion and located in the receiving cavity. The control board is electrically connected to the damper; and / or,

[0010] The side cover is provided with a plurality of weight-reducing holes.

[0011] In some embodiments, the outer wall surface of the thigh portion is provided with a wire groove and a plurality of wire pressing pieces. The plurality of wire pressing pieces are sequentially arranged at intervals along the wire groove for limiting the wire body in the wire groove.

[0012] In some embodiments, the knee joint includes a first driving member and a first transmission assembly. The first driving member is disposed on the thigh portion and is in transmission connection with the calf portion through the first transmission assembly.

[0013] In some embodiments, an installation groove is provided on one side of the thigh portion. One end of the calf portion is located in the installation groove and is rotatably connected to the thigh portion through a hinge shaft. Both side walls of the installation groove located on the rotation trajectory of the calf portion are provided with first limiting end faces for abutting against the calf portion.

[0014] In some embodiments, the leg structure further includes:

[0015] A foot sole, which is rotatably connected to the calf portion;

[0016] A second driving member, which is disposed on the calf portion and is connected to the foot sole through a second transmission assembly. The second driving member is configured to drive the foot sole to move.

[0017] 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 portion, the other end is hinged to one end of the second transmission arm, and the other end of the second transmission arm is hinged to the foot sole.

[0018] The leg structure further includes a limiting member disposed on the calf portion and sleeved outside the first transmission arm. Second limiting end faces for abutting against the first transmission arm are provided on both side walls of the limiting member located on the rotation track of the first transmission arm.

[0019] The present invention also provides a humanoid robot including the leg structure as described above.

[0020] For the leg structure provided in the present application, by arranging a damper between the thigh portion and the calf portion, the damper includes a damper main body and a piston rod that can telescopically move relative to the damper main body. When the humanoid robot encounters passive impacts or is in a heavy load working condition, the piston rod of the damper telescopically moves relative to the damper main body, and can automatically adjust the damping characteristics according to the change of the load borne by the hip joint, so as 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, further reducing the huge energy consumption caused by the blockage, and reducing the energy cost and maintenance cost of the humanoid robot. Compared with the traditional method of using a larger power actuator to cope with impacts and large loads, the leg structure with a damper in the present application will not increase the own mass of the humanoid robot and cause power redundancy. When the robot is walking normally, it will not become bulky due to an additional large power actuator, and the joint actuator can work according to the normal power demand, thus ensuring good movement flexibility of the humanoid robot and enabling it to complete various actions more nimbly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of an embodiment of the leg structure of the present invention;

[0022] Figure 2 is Figure 1 a partial disassembled schematic diagram of the leg structure in

[0023] Figure 3 is a schematic structural diagram of another perspective of an embodiment of the leg structure of the present invention;

[0024] Figure 4 is Figure 3 a partial disassembled schematic diagram of the leg structure in

[0025] Figure 5 is a schematic structural diagram of an embodiment of the thigh portion of the present invention;

[0026] Figure 6This is a partially disassembled schematic diagram of an embodiment of the leg structure of the present invention.

[0027] The realization of the object, functional characteristics, and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific Embodiments

[0028] Next, the solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.

[0029] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0030] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can 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 can be directly connected to the other element or there may be an intermediate element at the same time.

[0031] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "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 it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0032] Please refer to Figure 1 and Figure 2 , an embodiment of the present application provides a leg structure 100, including a thigh portion 10, a calf portion 20, a knee joint 30, and a damper 40. The knee joint 30 connects the thigh portion 10 and the calf portion 20. The damper 40 includes a damper main body 41 and a piston rod 42 that can telescopically move relative to the damper main body 41. The damper main body 41 is hinged to the calf portion 20, and the piston rod 42 is connected to the thigh portion 10, and is used to telescopically move relative to the damper main body 41 when the knee joint 30 is stressed, so as to share the load borne by the knee joint 30.

[0033] Among them, the thigh part 10 can be made of high-strength aluminum alloy, which has the characteristics of light weight and high strength. It can effectively reduce the overall weight of the humanoid robot's leg, and at the same time ensure that it will not deform when bearing a large external force. As a key component connecting the thigh part 10 and the calf part 20, the knee joint 30 can adopt a multi-axis linkage design method, which can achieve flexible rotation in multiple directions to meet the needs of the humanoid robot in complex movements.

[0034] The damper 40 can be selected as a hydraulic damper 40 or a pneumatic damper 40. For example, if the damper 40 is selected as a hydraulic damper 40, the damper body 41 is filled with high-viscosity hydraulic oil. One end of the piston rod 42 is connected to the thigh part 10, and the other end is inserted into the damper body 41 and interacts with the hydraulic oil through the piston. When the piston rod 42 is subjected to an external force and expands or contracts, the piston moves in the hydraulic oil, generating a damping force, thereby realizing the sharing of the load on the knee joint 30.

[0035] In actual use, according to different usage requirements and motion scenarios, the size and characteristics of the damping force can be changed by adjusting the parameters of the damper body 41 (such as damping coefficient, medium viscosity, etc.). For example, during high-intensity exercise, the damping force can be increased to provide better support and control; during daily walking, the damping force can be reduced to make the movement more relaxed and natural.

[0036] 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 damper body 41 are in a natural state.

[0037] When the humanoid robot starts to walk, for example, when taking a step forward on a flat ground, the thigh part 10 swings forward, and at the same time the knee joint 30 rotates, and the calf part 20 extends forward accordingly. During this process, if there are slight unevenness on the ground, resulting in a certain impact force on the knee joint 30, the piston rod 42 will immediately respond. Since the piston rod 42 is connected to the thigh part 10, with the movement of the thigh part 10 and the impact on the knee joint 30, the piston rod 42 will expand and contract relative to the damper body 41. For example, when the knee joint 30 is subjected to an upward impact force, the piston rod 42 will be compressed, and the hydraulic oil inside the damper body 41 will be squeezed, generating a damping force through the small hole between the piston and the piston rod 42, hindering 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 the damper 40 will share it, thereby reducing the force borne by the knee joint 30 and making the movement of the knee joint 30 more stable.

[0038] In this embodiment, the damper 40 shares the load borne by the knee joint 30, which can effectively reduce the force and torque that the knee joint 30 needs to bear during operation, so that the rotary joint actuator of the knee joint 30 does not need to bear all the loads alone, reducing the pressure when dealing with passive impacts 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 body posture stable, avoiding the problems of extremely low efficiency and huge energy consumption when stalling to output torque, after the damper 40 shares the load, the energy utilization of the robot during movement is more reasonable, reducing the energy cost and helping to extend the battery life of the humanoid robot.

[0039] Compared with the method of selecting a larger power actuator to meet the knee joint torque requirements, the leg structure 100 of the present application shares the load through the damper 40, does not need to increase a high-power actuator, and thus does not increase the mass of the robot itself, making the robot more flexible during movement and not affecting the smoothness and agility of various actions such as walking, jumping, and turning due to excessive weight, improving the movement performance of the humanoid robot in complex environments.

[0040] Please refer to Figure 3 and Figure 4 , in some embodiments, the calf 20 includes a calf housing 21 and a side cover 22. The side cover 22 is connected to the calf housing 21 to form a receiving cavity 24 with an opening 23. The damper body 41 is received in the receiving cavity 24, and the piston rod 42 passes through the opening 23 and is connected to the thigh 10 through a linkage assembly 50.

[0041] Among them, the side cover 22 is connected to the calf housing 21 to form the receiving cavity 24, providing an installation and working space for the damper body 41 and protecting the damper body 41 from being directly collided and worn in a complex environment. Moreover, the receiving cavity 24 effectively integrates components such as the damper body 41, making the entire leg structure 100 more compact, not only not causing too much obstruction to the normal movement of the humanoid robot, but also facilitating installation and maintenance, improving the reliability and service life of the entire system.

[0042] The piston rod 42 is connected to the thigh 10 through the opening 23 by the linkage assembly 50, forming a transmission system. The linkage assembly 50 plays a role in transmitting force and movement. It can accurately transmit the movement of the thigh 10 to the piston rod 42, and at the same time can also feedback the damping force received by the piston rod 42 to the thigh 10, realizing the coordinated work of the entire system and ensuring the coherence and stability of the movement. For example, the linkage assembly 50 may include some linkages, joints and other structures, which can transmit force and movement in different directions, ensuring the flexibility and stability of the leg movement.

[0043] 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 opening 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. The piston rod 42 is hinged to the first linkage rod 51.

[0044] Wherein, one end of the first linkage rod 51 is hinged to the calf portion 20, enabling it to rotate at a certain angle around the hinge point, and the movement of the calf portion 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 further hinged to the thigh portion 10, thus forming a multi-link transmission mechanism. When the thigh portion 10 moves, it drives the second linkage rod 52 to move. 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-link transmission method, the movements of the thigh portion 10 and the calf portion 20 can be effectively transmitted and converted, enabling the piston rod 42 to perform corresponding actions according to the relative movements of the thigh portion 10 and the calf portion 20.

[0045] This embodiment adopts the hinge structure of a double linkage rod, making the movements between the thigh portion 10, the calf portion 20, and the piston rod 42 more flexible. Compared with a single-link connection, it can achieve more complex movements in multiple directions and better adapt to the posture changes of the human leg in different motion states. For example, when performing movements such as striding that require large leg movements, this structure can make the leg movements more natural and smooth, without affecting the completion of the movements due to the limitations of the connection structure.

[0046] Furthermore, the arrangement of the first linkage rod 51 and the second linkage rod 52 can transmit the force between the thigh portion 10 and the calf portion 20 more evenly. During the movement process, the force is gradually transmitted through the two linkage rods, avoiding the concentration and sudden change of the force. For example, when running, the impact force of each step is transmitted to the first linkage rod 51 through the second linkage rod 52, and then to the piston rod 42 and the calf portion 20. This gradual transmission method makes the force more evenly distributed in the entire system, reducing the situation of excessive local stress, thereby improving the stability and reliability of the entire structure.

[0047] In practical applications, by adjusting parameters such as the lengths of the first linkage rod 51 and the second linkage rod 52, and the positions of the hinge points, the amplitude, speed, and damping effect of the leg movement can be adjusted more precisely. For example, by changing the length ratio of the first linkage rod 51 to the second linkage rod 52, the transmission ratio between them can be changed, thereby adjusting the influence degree of the piston rod 42 on the movement of the thigh part 10 and the calf part 20, so that this structure can better meet the requirements of different movement scenarios.

[0048] Please continue to refer to Figure 4 , in some embodiments, the leg structure 100 further includes a control board 60, which is disposed in the calf part 20 and located in the accommodation cavity 24, and the control board 60 is electrically connected to the damper 40; and / or,

[0049] The side cover 22 is provided with a plurality of weight reduction holes 221.

[0050] Among them, the control board 60 can collect data during the movement of the leg structure 100 in real time, such as the force magnitude, movement speed of the thigh part 10, and the telescopic degree of the piston rod 42, etc., and adjust the damping force of the damper 40 according to these data information, enhancing the buffer protection of the knee joint 30 and preventing the huge impact force generated by sudden stops from damaging the humanoid robot.

[0051] The principle of the plurality of weight reduction holes 221 provided on the side cover 22 is to effectively reduce the weight of the calf part 20 without affecting the overall structural strength of the side cover 22 by removing some materials, thereby improving the movement flexibility of the leg structure 100. The lighter leg structure 100 consumes less energy during movement, which helps to extend the battery life 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 drive components, reduce wear, thereby extending the overall service life of the humanoid robot and reducing the long-term use cost.

[0052] It should be understood that the positions of the weight reduction holes 221 will avoid the key stress-bearing parts of the side cover 22, and reasonable shapes such as circular or elliptical can be adopted to reduce stress concentration and ensure the structural stability of the side cover 22.

[0053] In some embodiments, the outer wall surface of the thigh part 10 is provided with a wire groove 11 and a plurality of wire pressing pieces 12, and the plurality of wire pressing pieces 12 are arranged at intervals along the wire groove 11 for limiting the wire body in the wire groove 11.

[0054] Among them, the wire groove 11 provided on the outer wall surface of the thigh part 10 provides a dedicated channel for various wire bodies of the leg structure 100, enabling the wire bodies to be arranged orderly in the thigh part 10. A plurality of wire pressing pieces 12 are arranged at intervals along the wire groove 11 in sequence. The principle is to physically limit the wire bodies to prevent the wire bodies from shifting, winding or being damaged due to shaking, friction, etc. during the movement of the leg structure 100, ensuring the stability of the circuit connection. For example, when the humanoid robot walks quickly or makes large-amplitude movements, the wire pressing pieces 12 can effectively limit the shaking of the wire bodies and avoid problems such as short circuits and open circuits caused by wire winding and pulling.

[0055] In this embodiment, the wire pressing pieces 12 are closely matched with the wire groove 11. By using the elasticity and friction of the wire pressing pieces 12, the wire bodies are firmly fixed in the wire groove 11, ensuring that the wire bodies can maintain normal connection and working states under various complex motion states.

[0056] 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 arranged on the thigh part 10 and is in transmission connection with the calf part 20 through the first transmission assembly 32.

[0057] Among them, the first driving member 31 is arranged on the thigh part 10 and serves as a power source, usually composed of devices such as motors, and 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 part 20. Common first transmission assemblies 32 may include structures such as gears, chains or linkages. Taking gear transmission as an example, the output shaft of the first driving member 31 is connected to the driving gear, the driving gear meshes with the driven gear, and the driven gear is then connected to the transmission component of the calf part 20. When the first driving member 31 is started, the driving gear rotates, drives the driven gear through meshing, and then drives the calf part 20 to move in a predetermined manner, realizing actions such as flexion and extension of the leg structure 100.

[0058] This embodiment realizes the active motion control of the knee joint 30 and provides the humanoid robot with flexible leg motion ability. By reasonably designing the transmission ratio of the first transmission assembly 32, the motion speed and output torque of the calf part 20 can be precisely adjusted according to different motion scenarios and task requirements. For example, when carrying heavy objects, the transmission ratio is increased to enable the calf part 20 to obtain greater torque to meet the force requirements for carrying heavy objects; when running quickly, the transmission ratio is adjusted to increase the motion speed of the calf part 20. At the same time, the cooperation between the first driving member 31 and the first transmission assembly 32 enables the humanoid robot to make leg motion responses more quickly and accurately when facing complex terrains and diverse tasks, greatly expanding the application range and working ability of the humanoid robot.

[0059] Please refer to Figure 4 and Figure 5, in some embodiments, an installation groove 13 is provided on one side of the thigh portion 10. One end of the calf portion 20 is located in the installation groove 13 and is rotatably connected to the thigh portion 10 through a hinge shaft 25. First limiting end faces 131 for abutting against the calf portion 20 are provided on both side walls of the installation groove 13 located on the rotation track of the calf portion 20.

[0060] Among them, the installation groove 13 provided on one side of the thigh portion 10 provides an installation space for one end of the calf portion 20. The rotation connection between the two is achieved through the hinge shaft 25, enabling the calf portion 20 to perform flexion and extension movements around the hinge shaft 25, simulating the basic movements of the human knee joint 30.

[0061] The first limiting end faces 131 provided on both side walls of the installation groove 13 located on the rotation track of the calf portion 20 play a limiting role during the movement of the calf portion 20. When the calf portion 20 rotates to a certain angle, it will abut against the first limiting end face 131, thereby preventing the calf portion 20 from continuing to rotate and limiting the movement range of the calf portion 20. For example, when the humanoid robot is walking, after the calf portion 20 swings forward to a certain angle, it contacts the front first limiting end face 131 to prevent the calf portion 20 from swinging forward excessively; the same is true when swinging backward, avoiding excessive backward swing of the calf portion 20.

[0062] In this embodiment, the first limiting end face 131 accurately limits the movement range of the calf portion 20, ensuring the standardization and safety of the leg movement of the humanoid robot. The cooperation of the installation groove 13 and the hinge shaft 25 makes the installation and connection of the calf portion 20 more stable, enhances the overall rigidity of the leg structure 100, can withstand various forces and torques generated during the movement of the humanoid robot, and extends the service life of the leg structure 100.

[0063] Please continue to refer to Figure 4 , in some embodiments, the leg structure 100 further includes a foot sole 70 and a second driving member 80. The foot sole 70 is rotatably connected to the calf portion 20; the second driving member 80 is provided on the calf portion 20 and is connected to the foot sole 70 through a second transmission assembly 81. The second driving member 80 is used to drive the foot sole 70 to move.

[0064] Among them, the sole 70 is rotatably connected to the calf 20, enabling the sole 70 to rotate within a certain range to simulate the movement of the human foot. The second driving member 80 is disposed on the calf 20 and serves as the power source for the movement of the sole 70, usually composed of devices such as motors. The second transmission assembly 81 connects the second driving member 80 and the sole 70, transmitting 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 methods such as gear transmission, crank transmission, or chain transmission. For example, when using gear transmission, the output shaft of the second driving member 80 is connected to the driving gear, and the driving gear meshes with the driven gear installed on the connecting shaft of the sole 70, driving the sole 70 to rotate through the rotation of the gears.

[0065] In this embodiment, the settings of the sole 70 and the second driving member 80 greatly enrich the movement functions of the leg structure 100. When walking on complex terrains, the second driving member 80 can adjust the angle and posture of the sole 70 according to the ground conditions, enabling the humanoid robot to maintain a stable walking posture on terrains such as slopes, enhancing the robot's environmental adaptability.

[0066] In addition, the coordinated operation of the second driving member 80 and the second transmission assembly 81 provides more precise motion control for the humanoid robot, facilitating the robot to complete complex tasks such as precise foot movement and fixed-point turning, further expanding the application of the humanoid robot in fields such as logistics handling and rescue operations.

[0067] 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 20, and the other end is hinged to one end of the second transmission arm 812. The other end of the second transmission arm 812 is hinged to the sole 70;

[0068] The leg structure 100 further includes a limiting member 90 disposed on the calf 20 and sleeved outside the first transmission arm 811. Second limiting end faces 91 for abutting against the first transmission arm 811 are provided on both side walls of the limiting member 90 located on the rotation trajectory of the first transmission arm 811.

[0069] One end of the first transmission arm 811 is hinged to the calf portion 20, enabling it to rotate around the hinge point and receive the motion transmission from the calf portion 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 foot sole 70. When the second driving member 80 operates, it drives the first transmission arm 811 to rotate. The first transmission arm 811 drives the second transmission arm 812 through the hinge point, thereby causing the foot sole 70 to make corresponding rotational movements. 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 to adjust the angle of the foot sole 70 to fit the stair steps, achieving stable up and down stair movements.

[0070] In this embodiment, the transmission method with double-arm hinges provides a more flexible motion mode for the movement of the foot sole 70. Compared with a single-link transmission, it can achieve more complex movements of the foot sole 70 in multiple directions and better adapt 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 foot sole 70 can fit the ground more precisely, enhancing the walking stability and passability of the humanoid robot.

[0071] The limiting member 90 is arranged on the calf portion 20 and sleeved outside the first transmission arm 811. Second limiting end faces 91 are provided on both side walls of the limiting member 90 located on the rotation trajectory of the first transmission arm 811. When the first transmission arm 811 rotates, it will abut against the second limiting end face 91 after reaching a certain angle, thereby restricting the continuous rotation of the first transmission arm 811 and further limiting the movement range of the foot 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 lowering angles of the foot sole 70 are within a reasonable range and guaranteeing the walking stability.

[0072] In this embodiment, the second limiting end face 91 precisely limits the rotation range of the first transmission arm 811, thereby ensuring the standardization and safety of the movement of the foot sole 70. It helps the robot maintain a stable posture and action accuracy when performing various tasks. Moreover, the arrangement of the limiting member 90 can prevent structural damage caused by excessive rotation of the first transmission arm 811 and extend the service life of the leg structure 100.

[0073] This application also provides a humanoid robot, including the leg structure 100 as described above. Since the humanoid robot adopts all the technical solutions of all the embodiments of the above 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 embodiments, which will not be elaborated one by one here.

[0074] The above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to enumerate all the implementation manners here. Any obvious changes or modifications derived from the technical solutions of the present invention still fall within the protection scope of the present invention.

Claims

1. A leg structure, characterized in that, The invention comprises a thigh, a calf, a knee joint and a damper, wherein the knee joint connects the thigh and the calf, and the damper comprises a damping body and a piston rod which can be extended and retracted relative to the damping body, wherein the damping body is hinged to the calf, and the piston rod is connected to the thigh, and is used to be extended and retracted relative to the damping body when the knee joint is subjected to force, so as to share the load borne by the knee joint; The calf part comprises 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 received in the receiving cavity, and the piston rod is connected with the thigh part through the cavity opening via a linkage assembly; 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.

2. The leg structure according to claim 1, 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.

3. The leg structure according to claim 1 or 2, 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.

4. The leg structure according to claim 1 or 2, 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.

5. The leg structure according to claim 1 or 2, 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.

6. The leg structure according to claim 1 or 2, 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.

7. The leg structure according to claim 6, wherein 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.

8. A humanoid robot, characterized in that, Comprising the leg structure according to any one of claims 1 to 7.

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