Humanoid robot leg structure

Abstract

The invention relates to a humanoid robot leg structure which comprises thighs, knee joints, shanks and feet. The thigh part comprises a second motor, the knee joint comprises a second pull rod, and the shank part comprises a third motor, a first shank pull rod, a second shank pull rod and a first flange plate; the foot part comprises a straight pull rod, a front support and a rear support; one end of the straight pull rod is connected with the second motor through the second pull rod; the front support is connected with the rear support; one ends of the first shank pull rod and the second shank pull rod are connected to the two sides of the first flange plate respectively, and the other ends of the first shank pull rod and the second shank pull rod are connected to the two sides of the rear support respectively. Compared with the prior art, a second motor is adopted to drive a straight pull rod to achieve pitching motion of feet, and a third motor is adopted to drive a first shank pull rod and a second shank pull rod to achieve rolling motion of the feet; and the pitching motion and the rolling motion are independently controlled by an independent motor and do not interfere with each other, so that the control difficulty of the foot motion is greatly reduced, and the like.

Description

Technical Field

[0001] The invention relates to a robot, in particular to a leg structure of a humanoid robot. Background Art

[0002] With the rapid development of robotics technology, humanoid robots have broad application prospects in the fields of service, medical rehabilitation, and human-computer interaction. Their design imitates human walking and operation, so joint design is crucial, especially the ankle joints of the lower limbs, which determine the robot's performance in walking, balancing, and adapting to complex terrain.

[0003] Currently, most humanoid robots have only one degree of freedom in their ankle joint design, which mainly realizes pitch motion. This design simplifies the control system, but it performs poorly on complex terrain, limiting the robot's mobility. Common designs use two motors to control pitch and roll motion, and they are mostly arranged on the calves, causing the center of gravity to move downward, increasing the moment of inertia of the swinging leg and the motor load, affecting walking stability, and increasing the complexity of the control system. In order to improve the walking ability and overall stability of humanoid robots in complex terrain, the ankle joint design needs to be further optimized.

[0004] After searching, the application publication number CN119459921A discloses a humanoid robot leg structure, which specifically discloses: including a thigh, a knee joint, a calf, an ankle joint and a calf; the thigh includes a first joint module motor and a second joint module motor; the knee joint includes a first pull rod, a second pull rod and a connecting seat, and the first joint module motor is connected to the connecting seat through the first pull rod; the calf includes a calf pull rod and a third joint module motor; the second joint module motor is connected to the foot through the second pull rod and the calf pull rod; the third joint module motor is connected to the foot through the calf pull rod; the foot includes a front support and a rear support connected by a foot support shaft. However, the two degrees of freedom of the ankle joint of the prior art are coupled, which makes control more difficult.

[0005] In summary, how to decouple multiple degrees of freedom of ankle joint movement is a technical problem that needs to be solved. Summary of the invention

[0006] The purpose of the present invention is to provide a humanoid robot leg structure in order to overcome the defect of coupling of the degrees of freedom of the ankle joint in the above-mentioned prior art.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] According to one aspect of the present invention, there is provided a humanoid robot leg structure, comprising a thigh, a knee joint and a calf connected in sequence; the thigh comprises a first motor and a second motor, the knee joint comprises a first pull rod and a second pull rod, the first motor is connected to the knee joint via the first pull rod, and the calf comprises a third motor, a first calf pull rod and a second calf pull rod;

[0009] The leg structure also includes a foot, which includes a straight pull rod, a front support and a rear support; one end of the straight pull rod is rotatably connected to the second motor through a second pull rod, and the other end is rotatably connected to the rear support; the front support and the rear support are rotatably connected;

[0010] The calf part also includes a first flange, which is installed on the output shaft of the third motor. One end of the first calf pull rod and the second calf pull rod are respectively connected to both sides of the first flange, and the other ends are respectively connected to both sides of the rear support.

[0011] As a preferred technical solution, a U-shaped protrusion is provided on the rear support, and the straight pull rod is rotatably connected to the U-shaped protrusion via a pin shaft.

[0012] As a preferred technical solution, the thigh part also includes a first cam, and the knee joint also includes a second cam and a first knee joint rotating shaft; the first cam is installed at the output end of the first motor, one end of the second pull rod is connected to one side of the first cam, and the other end is connected to one side of the second cam; the middle part of the second cam is rotatably connected to the first knee joint rotating shaft, and one end of the straight pull rod is connected to the other side of the second cam.

[0013] As a preferred technical solution, a connecting hole is provided in the middle of the second cam, a bearing and a retaining ring are provided in the connecting hole, and a gasket is provided on the outer side of the inner ring of the bearing.

[0014] As a preferred technical solution, the thigh part also includes a leg connector, a motor mounting block, a connecting plate, a positioning pin and a second flange. The motor mounting block and the connecting plate are connected at one end by a leg connector and at the other end by a positioning pin. The first motor is installed on the motor mounting block, the second flange is installed on the output shaft of the first motor, and one end of the first pull rod is connected to the second flange.

[0015] As a preferred technical solution, the second motor is installed between the motor mounting block and the connecting plate, and the output shaft axes of the first motor and the second motor are skewed and perpendicular.

[0016] As a preferred technical solution, the knee joint also includes an auxiliary connecting rod, a connecting rod, a connecting seat, a pin, a second knee joint pivot and a third knee joint pivot; the second knee joint pivot connects the connecting rod and the connecting seat; the connecting rod is a Y-shaped structure, connected to the first pull rod and the auxiliary connecting rod through a pin; the auxiliary connecting rod is connected to the connecting seat through the first knee joint pivot, and the two ends of the first knee joint pivot are rotatably connected to the thigh; the third knee joint pivot passes through the auxiliary connecting rod and is fixed to the thigh.

[0017] As a preferred technical solution, a cover is provided on the side of the rear support away from the front support, and a foot sensor is installed in the cover; rubber pads are installed on the side of the front support and the rear support close to the ground.

[0018] As a preferred technical solution, the foot also includes a buffer block, a foot support shaft, a double-sided torsion spring, a second copper sleeve and a rubber pad; a second mounting seat is provided on the front support, a mounting hole is provided on each side of the second mounting seat, and the double-sided torsion spring and the second copper sleeve are installed in the mounting holes; two connecting plates are provided at one end of the rear support, the second mounting seat is located between the two connecting plates, and the buffer block is located in the second mounting seat; the foot support shaft passes through the connecting plate, the second mounting seat and the buffer block.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1) The present invention uses a second motor to drive the straight pull rod to realize the pitching movement of the foot, and uses a third motor to drive the first calf pull rod and the second calf pull rod to realize the rolling movement of the foot; the pitching movement and the rolling movement are individually controlled by independent motors without interfering with each other, which greatly reduces the control difficulty of the foot movement, improves the control accuracy and the robot's movement ability and overall stability in complex terrain; the motion chain is shorter and the transmission gap is smaller;

[0021] 2) The first motor and the second motor of the present invention are both installed on the thigh, and the third motor is installed on the calf. The motors are installed at higher positions, which reduces the inertia of the legs during movement, reduces the energy consumption of the motors, and improves the flexibility of movement;

[0022] 3) The foot of the present invention realizes the rotation connection between the calf and the foot through a cross axis; a foot sensor is installed in the cover of the rear support to provide sole data feedback; a rubber pad is installed on the sole of the foot to provide shock absorption and buffering effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view of the present invention installed on the leg structure;

[0024] Figure 2 It is a schematic diagram of a first overall structure of the present invention installed on a leg structure;

[0025] Figure 3 It is a schematic diagram of a second overall structure of the present invention installed on a leg structure;

[0026] Figure 4 It is an exploded view of the structure of the present invention;

[0027] Figure 5 An exploded view of the thigh and knee joint structure of the present invention;

[0028] Figure 6 A schematic diagram of the gap existing in the joint in the prior art;

[0029] The numbers in the figure show:

[0030] 100, thigh, 101, leg connector, 102, motor mounting block, 103, second flange, 104, second motor, 105, connecting plate, 106, first motor, 107, first cam, 108, positioning pin, 200, knee joint, 201, first pull rod, 202, second pull rod, 203, cover plate, 204, second cam, 205, auxiliary connecting rod, 206, first screw, 207, first gasket, 208, first retaining ring, 209, first bearing, 210, connecting rod, 211, pin, 212, connecting seat, 213, second knee joint shaft, 214, first knee joint shaft, 215, third knee joint shaft, 216, second bearing, 217, first Second retaining spring, 218, third bearing, 219, third retaining spring, 220, third gasket, 221, second screw, 300, calf, 301, third motor, 302, calf plate, 3031, first calf pull rod, 3032, second calf pull rod, 304, straight pull rod, 305, first flange, 400, ankle joint, 401, first copper sleeve, 402, cross shaft, 403, fourth bearing, 500, foot, 501, third screw, 502, second gasket, 503, buffer block, 504, double-sided torsion spring, 505, second copper sleeve, 506, front support, 507, rubber pad, 508, foot support shaft, 509, rear support, 510, ankle joint pin, 511, cover. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are 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 should fall within the scope of protection of the present invention.

[0032] The present invention provides a humanoid robot leg structure, including a thigh 100, a knee joint 200, a calf 300 and a foot 500. The key to the present invention is the decoupling control of the pitch and roll motion of the ankle joint 400 of the foot 500, so as to improve the robot's movement ability and overall stability in complex terrain.

[0033] The thigh part 100 includes a leg connector 101 , a motor mounting block 102 , a second flange 103 , a connecting plate 105 , a first motor 106 , a second motor 104 , a first cam 107 and a positioning pin 108 .

[0034] The connecting plate 105 and the motor mounting block 102 are connected by the leg connecting piece 101 and the positioning pin 108; the axis lines of the bottom holes of the motor mounting block 102 and the connecting plate 105 coincide, and bearing 1 and bearing 2 are respectively installed in the holes and fixed by corresponding retaining spring 1 and retaining spring 2, so that the thigh 100 and the knee joint 200 form a rotating pair.

[0035] The first motor 106 and the second motor 104 control the movement of the knee joint 200 and the ankle joint 400 respectively. The first motor 106 is mounted on the motor mounting block 102. A circle of threaded holes is arranged around the through hole end surface above the motor mounting block 102, and the motor 106 is connected to the first motor 106 through a flat head screw; the first motor 106 is connected to the second flange 103 through a flat head screw. The second motor 104 is installed horizontally in the middle of the thigh, passes through the motor mounting block 102 and is fixed on the connecting plate 105. The second motor 104 is connected to the connecting plate 105 through a flat head screw, and the output end of the second motor 104 is connected to the second calf pull rod 3032 through the first cam 107, which is used to control the pitch movement of the foot 500. The first motor 106 and the second motor 104 are both installed on the thigh 100, which can achieve stable pitch of the knee joint 200 while maintaining lightness and flexibility during movement.

[0036] The knee joint 200 includes a first pull rod 201, a second pull rod 202, a cover plate 203, a second cam 204, an auxiliary connecting rod 205, a first screw 206, a first gasket 207, a first retaining spring 208, a first bearing 209, a connecting rod 210, a pin 211, a connecting seat 212, a first knee joint pivot 214, a second knee joint pivot 213, a third knee joint pivot 215, a second bearing 216, a second retaining spring 217, a third bearing 218, a third retaining spring 219, a third gasket 220 and a second screw 221.

[0037] Ball joint bearings are installed at the holes at both ends of the first tie rod 201. The upper end of the first tie rod 201 is connected to the second flange 103 by bolts, and the lower end is connected to the auxiliary connecting rod 205 and the connecting rod 210 by a pin 211. Specifically, the lower end is installed in the middle of two symmetrically extended curved rods of the auxiliary connecting rod 205. The first tie rod 201, the auxiliary connecting rod 205, the connecting rod 210 and the connecting seat 212 are movably connected by the pin 211, the first knee joint shaft 214 and the third knee joint shaft 215 to form a double rocker mechanism.

[0038] The second pull rod 202 has mounting holes on both sides, and the middle section is arc-shaped. The second cam 204 has three mounting holes. The upper end of the second pull rod 202 is connected to the first cam 107 through a ball joint bearing, and the lower end is connected to the front mounting hole of the second cam 204. The third bearing 218 is installed at the center hole of the second cam 204, fixed by a third retaining spring 219, and connected to the threaded hole on the end face of the third knee joint shaft 215 by a second screw 221. The outer side of the inner ring of the third bearing 218 is provided with a third gasket 220; The second bearing 216 is installed in the hole at the lower end of the connecting plate 105, the second retaining ring 217 fixes the second bearing 216, and the third knee joint shaft 215 passes through the second bearing 216 and the third bearing 218; the first bearing 209 is installed in the hole at the lower end of the motor mounting block 102, the first retaining ring 208 fixes the first bearing 209, the first gasket 207 is arranged on the outer side of the inner ring of the first bearing 209, the first joint bearing passes through the first bearing 209, and the first screw 206 is screwed into the threaded hole on the end face of the first knee joint 200. As a result, the axis of the inner hole of the second cam 204 coincides with the axis of the second knee joint shaft 213, and the rear hole of the second cam 204 is connected to one end of the straight pull rod 304.

[0039] The connecting rod 210 is a Y-shaped structure, one end of which is connected to the first pull rod 201 and the auxiliary connecting rod 205 through a pin shaft 211, and the other end is connected to the connecting seat 212 through a second knee joint shaft 213;

[0040] One end of the auxiliary connecting rod 205 is mounted on the inner side of the Y-shaped opening of the connecting rod 210, and the other end is connected to the third knee joint shaft 215, and is fixed between the motor mounting block 102 and the connecting plate 105 through the cover plate 203;

[0041] The end faces of the second knee joint shaft 213 are aligned with the two side walls of the connecting seat 212, the third knee joint shaft 215 is fixed on the connecting seat 212, both ends of the first knee joint shaft 214 are connected to the thigh 100, and the first motor 106 runs to drive the connecting seat 212 to rotate around the third knee joint shaft 215, thereby realizing the rotation of the knee joint 200 within a certain range.

[0042] When the leg structure is at the zero position of the joint, the rotation axes of the first motor 106 and the third motor 301 are parallel to the side of the leg structure, and the rotation axis of the second motor 104 is perpendicular to the side of the leg structure and perpendicular to the rotation axis of the first motor 106 .

[0043] The calf part 300 includes a third motor 301, a calf plate 302, a first flange 305, a first calf pull rod 3031 and a second calf pull rod 3032. The third motor 301 is installed in the circular hole on the calf plate 302, and a circle of threaded holes is provided on the outer circle of the through hole on the rear side of the calf plate 302, which is connected to the third motor 301. The third motor 301 is used to control the rolling motion of the foot 500; the ankle joint pin 510 is installed below the calf plate 302. The first flange 305 is installed at the output end of the third motor 301 by screws, located at the rear side of the calf, and the two sides of the first flange 305 are connected to the upper end holes of the first calf pull rod 3031 and the second calf pull rod 3032 through ball joint bearings. The lower ends of the first calf pull rod 3031 and the second calf pull rod 3032 are connected to the cross shaft 402.

[0044] In order to improve the flexibility and endurance of the robot, the present invention has designed a lightweight calf part 300; the calf plate 302 is made of lightweight and high-strength material, and a hole is dug in the middle of the calf plate 302 to reduce weight, while an oblique support design is used to ensure its structural strength.

[0045] The foot 500 includes a straight pull rod 304, a front support 506, a rear support 509, a cross shaft 402, a first copper sleeve 401, an ankle joint pin 510, a fourth bearing 403, a third screw 501, a second gasket 502, a buffer block 503, a bilateral torsion spring 504, a second copper sleeve 505, a rubber pad 507, a foot support shaft 508, a cover 511 and a foot 500 sensor.

[0046] The cross shaft 402 includes a mounting plate and a shaft body. The mounting plate is mounted on the end face of one end of the shaft body. The cross shaft 402 forms a T-shaped structure as a whole. The first copper sleeve 401 is sleeved on the outer surface of the shaft body and forms a rotation pair with the outer surface of the shaft body. The shaft body has two through holes that are perpendicular to each other, which are connected to the rotating shaft fixed on the calf plate 302 through the third screw 501 and the fourth bearing 403 to form a rotation pair with a certain angle limit. The front support 506 and the rear support 509 are connected by the foot support shaft 508 to form an adjustable support structure; the front support 506 is provided with a first mounting seat and a second mounting seat, the first mounting seat is U-shaped, the shaft body of the cross shaft 402 is installed in the first mounting seat, the ankle joint pin 510 passes through the through hole and the first mounting seat, and a mounting hole is provided on both sides of the second mounting seat, and the double-sided torsion spring 504 and the second copper sleeve 505 are installed in the mounting holes; the elastic force of the double-sided torsion spring 504 keeps the lower end parts of the front support 506 and the rear support 509 in contact, so that the bottom surface of the whole is flush, and the foot 500 can adapt to the changes of different terrains. In addition, rubber pads 507 are installed at the bottom of the front support 506 and the rear support 509, which can effectively reduce the impact of the ground on the robot foot 500, provide shock absorption and buffering, and enhance the adaptability of the robot in complex environments. The cover 511 is installed at the rear end of the rear support 509, and the closed space between the cover and the rear support 509 is used to install the foot 500 sensor, etc., to provide foot sole data feedback.

[0047] The pitching motion of the knee joint 200 is controlled by the first motor 106, and the pitching and rolling motions of the foot 500 are respectively controlled by the second motor 104 and the third motor 301 through the transmission chain; the pitching motion of the knee joint 200, the rolling motion of the ankle joint 400 and the pitching motion of the foot 500 are precisely controlled. The straight pull rod 304 realizes the pitching motion of the sole of the foot, and the first calf pull rod 3031 and the second calf pull rod 3032 control the rolling motion of the sole of the foot. The control system feeds back the actual posture of the sole of the foot through the foot 500 sensor and adjusts the movement of the motor in real time. The rotation angle of each motor is automatically adjusted according to the expected posture of the sole of the foot, thereby realizing the precise movement of walking with two legs and posture control. Through this decoupling design, the robot can flexibly complete complex movements such as squatting, walking, turning, etc., and enhances the walking ability in complex terrain.

[0048] Compared with the prior art disclosed in application publication number CN119459921A, the present invention firstly simplifies the transmission in structure. When controlling the angle of the ankle rolling direction alone, it is only necessary to control the output angle of the second motor. Secondly, it reduces the structural coupling between the motors.

[0049] Specifically, the transition block and connecting rod are eliminated to avoid the transmission gap caused by structural coupling. In the prior art, one end of the connecting rod is connected to the fourth cam, and the other end is connected to the transition block. The center hole of the transition block is connected to the third shutdown module motor, and the second leg pull rod is connected to the transition block. Figure 6As shown, the clearance of the joint bearing at one end of the connecting rod is 2mm, the length of the connecting rod is 38.27mm, the distance between the center hole of the transition block and the fixed point of the second calf pull rod on the transition block is 36mm, and the distance between the connecting rod and the fixed point of the second calf pull rod on the transition block is 26mm; in the case of the initial position of the calf, the position of the connecting rod after the clearance is increased is drawn through the clearance between the upper and lower ends of the connecting rod, and it is measured that there is a clearance of about 5mm (4.94mm) at the upper end of the second calf pull rod, which enlarges the clearance of the standard joint bearing by 2.5 times, and the clearance of other joint bearing positions has not been considered. The present invention completely avoids the clearance problem caused by multiple connecting rods. By separating the calf motor and the cam, the coupling of the rolling and pitching degrees of freedom of the ankle joint is completely avoided in control, which is simpler in algorithm and more precise in control.

[0050] By adopting the humanoid robot leg structure of the present invention, the robot can achieve high-degree-of-freedom movement, especially the stability and flexibility in complex terrain are significantly improved. The decoupling design of the ankle joint 400 avoids the influence of motion coupling on posture control, making the control system simpler and more efficient, and suitable for application in a variety of scenarios, including service industry, medical rehabilitation and complex terrain tasks.

[0051] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A humanoid robot leg structure, comprising a thigh (100), a knee joint (200) and a calf (300) connected in sequence; the thigh (100) comprises a first motor (106) and a second motor (104); the knee joint (200) comprises a first pull rod (201) and a second pull rod (202); the first motor (106) is connected to the knee joint (200) via the first pull rod (201); the calf (300) comprises a third motor (301), a first calf pull rod (3031) and a second calf pull rod (3032); It is characterized in that The leg structure also includes a foot (500), and the foot (500) includes a straight pull rod (304), a front support (506), and a rear support (509); one end of the straight pull rod (304) is rotatably connected to the second motor (104) through a second pull rod (202), and the other end is rotatably connected to the rear support (509); the front support (506) and the rear support (509) are rotatably connected; The calf part (300) also includes a first flange (305), which is installed on the output shaft of the third motor (301). One end of the first calf pull rod (3031) and the second calf pull rod (3032) are respectively connected to the two sides of the first flange (305), and the other end is respectively connected to the two sides of the rear support (509).

2. A humanoid robot leg structure according to claim 1, characterized in that: The foot (500) further comprises a cross shaft (402), a first copper sleeve (401) and an ankle joint pin (510), wherein the cross shaft (402) comprises a mounting plate and a shaft body, wherein the mounting plate is mounted on an end surface of one end of the shaft body, and the cross shaft (402) forms a T-shaped structure as a whole; the first copper sleeve (401) is sleeved on the outer surface of the shaft body; One end of the first calf pull rod (3031) and the second calf pull rod (3032) are respectively connected to the two ends of the mounting plate; the calf part (300) also includes a calf plate (302), one end of the calf plate (302) is installed with a third motor (301), and the other end is rotatably connected to the shaft body through a first copper sleeve (401); the shaft body is provided with a through hole perpendicular to the axis, the rear support (509) is provided with a first mounting seat, the shaft body is installed in the first mounting seat, and the ankle joint pin (510) passes through the through hole and the first mounting seat.

3. The humanoid robot leg structure according to claim 1, characterized in that: The rear support (509) is provided with a U-shaped protrusion, and the straight pull rod (304) is rotatably connected to the U-shaped protrusion via a pin shaft (211).

4. The humanoid robot leg structure according to claim 1, characterized in that: The thigh part (100) further includes a first cam (107), and the knee joint (200) further includes a second cam (204) and a first knee joint rotating shaft (214); the first cam (107) is installed at the output end of the first motor (106), one end of the second pull rod (202) is connected to one side of the first cam (107), and the other end is connected to one side of the second cam (204); the middle part of the second cam (204) is rotatably connected to the first knee joint rotating shaft (214), and one end of the straight pull rod (304) is connected to the other side of the second cam (204).

5. The humanoid robot leg structure according to claim 4, characterized in that: A connecting hole is provided in the middle of the second cam (204), a bearing and a retaining ring are provided in the connecting hole, and a gasket is provided on the outer side of the inner ring of the bearing.

6. The humanoid robot leg structure according to claim 4, characterized in that: The thigh part (100) also includes a leg connector (101), a motor mounting block (102), a connecting plate (105), a positioning pin (108) and a second flange (103); one end of the motor mounting block (102) and the connecting plate (105) are connected by the leg connector (101), and the other end is connected by the positioning pin (108); the first motor (106) is installed on the motor mounting block (102), the second flange (103) is installed on the output shaft of the first motor (106), and one end of the first pull rod (201) is connected to the second flange (103).

7. The humanoid robot leg structure according to claim 6, characterized in that: The second motor (104) is installed between the motor installation block (102) and the connecting plate (105), and the output shaft axes of the first motor (106) and the second motor (104) are not in the same plane and are perpendicular.

8. The humanoid robot leg structure according to claim 4, characterized in that: The knee joint (200) further comprises an auxiliary connecting rod (205), a connecting rod (210), a connecting seat (212), a pin (211), a second knee joint rotating shaft (213) and a third knee joint rotating shaft (215); the second knee joint rotating shaft (213) connects the connecting rod (210) and the connecting seat (212); the connecting rod (210) is a Y-shaped structure, connected to the first pull rod (201) and the auxiliary connecting rod (205) through the pin (211); the auxiliary connecting rod (205) is connected to the connecting seat (212) through the first knee joint rotating shaft (214), and the two ends of the first knee joint rotating shaft (214) are rotatably connected to the thigh (100); the third knee joint rotating shaft (215) passes through the auxiliary connecting rod (205) and is fixed to the thigh (100).

9. The humanoid robot leg structure according to claim 1, characterized in that: A cover shell (511) is provided on the side of the rear support (509) away from the front support (506), and a foot (500) sensor is installed in the cover shell (511); and rubber pads (507) are installed on the side of the front support (506) and the rear support (509) close to the ground.

10. The humanoid robot leg structure according to claim 1, characterized in that: The foot (500) further comprises a buffer block (503), a foot support shaft (508), a double-sided torsion spring (504), a second copper sleeve (505) and a rubber pad (507); a second mounting seat is provided on the front support (506), a mounting hole is provided on each side of the second mounting seat, and the double-sided torsion spring (504) and the second copper sleeve (505) are installed in the mounting holes; two connecting plates are provided at one end of the rear support (509), the second mounting seat is located between the two connecting plates, and the buffer block (503) is located in the second mounting seat; the foot support shaft (508) passes through the connecting plate, the second mounting seat and the buffer block (503).

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