Lower limb structure of humanoid robot

Abstract

A lower limb structure of a humanoid robot comprises a waist assembly, two thigh assemblies, two shank assemblies and two sole assemblies. The waist assembly comprises a pelvic bone support and a waist joint driving module installed on the pelvic bone support. The thigh assembly comprises a thigh driving module and a thigh support, and the thigh support is connected to the pelvic bone support through the thigh driving module; each shank assembly comprises a knee joint driving module, an ankle joint driving module, a shank bracket, a cross bearing and an ankle joint bracket; the shank support is connected with the thigh support through the knee joint driving module, the ankle joint driving module is installed on the shank support, and the ankle joint support is movably connected to the bottom of the shank support through a cross bearing. The two sole assemblies are fixedly installed at the bottoms of the two ankle joint supports respectively. According to the humanoid robot, the pelvis, the waist, the thighs and the like of the human body are subjected to bionic structural design, and the humanoid degree, strength, impact resistance and load bearing capacity of the humanoid robot are enhanced; and the space utilization rate is high.

Description

Technical Field

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

[0002] At present, humanoid robots are robots designed to imitate human appearance and behavior. With the rapid development of robotics technology, humanoid robots have gradually become a hot topic in research and application, and have broad development prospects. Similar to the human body, the main structure of a humanoid robot includes the head, torso, arms, waist, pelvis, hip joints, legs, soles, etc. In order for humanoid robots to truly complete various complex and diverse tasks like humans, the lower limbs of humanoid robots need to have flexible movement capabilities to ensure that humanoid robots can flexibly cope with complex environments under various complex working conditions.

[0003] In the related technologies, humanoid robots lack accurate bionic design for the movement of the human pelvis and waist. The pelvis and waist are important support and movement hubs for the human body, which can coordinate the movement of the upper and lower limbs and play an important role in the body's stability, balance, and flexibility during walking. The unreasonable structural setting of the hip joint and thigh components will lead to negative effects such as small movable space of the lower limb mechanism, small swing range, small load and impact resistance, large space occupation, and poor anthropomorphic effect. The soles of the feet and calf components often fail to fully simulate the natural movement of the human body. The above situation will cause humanoid robots to have problems such as instability, difficulty in bearing weight, and limited movement when performing complex movements such as walking and running, affecting the overall movement performance and stability of the robot. Summary of the invention

[0004] The present invention provides a lower limb structure of a humanoid robot to solve the technical problems mentioned in the background technology.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] The present invention provides a lower limb structure of a humanoid robot, comprising:

[0007] A waist component, including a pelvic support and a waist joint driving module mounted on the pelvic support, wherein the waist joint driving module is used to drive the external upper limb mounted on the waist joint driving module to twist and swing in multiple directions;

[0008] Two thigh components are connected to the left and right sides of the bottom of the waist component respectively, each thigh component includes a thigh drive module and a thigh bracket, and the thigh bracket is connected to the pelvic bracket through the thigh drive module to achieve multi-directional swinging and twisting of the thigh bracket;

[0009] Two calf components are respectively connected to the bottom of the two thigh components, and each calf component includes a knee joint drive module, an ankle joint drive module, a calf bracket, a cross bearing, and an ankle joint bracket; the calf bracket is connected to the thigh bracket through the knee joint drive module, the ankle joint drive module is installed on the calf bracket, and the ankle joint bracket is movably connected to the bottom of the calf bracket through the cross bearing;

[0010] The two sole components are respectively fixedly mounted on the bottom of the two ankle joint brackets, and the two ankle joint driving modules are used to drive the two sole components to move respectively.

[0011] Beneficial effects of the present invention:

[0012] 1. The present invention discloses a lower limb structure of a humanoid robot, which is equipped with multiple drivers. The multiple drivers are arranged in corresponding brackets, do not occupy external space, have a compact layout, reduce the space occupied by the humanoid robot in the front and rear directions, and improve the space utilization rate of the humanoid robot.

[0013] In addition, the humanoid robot's multiple supports, including the pelvic support, thigh support, calf support, etc., as well as the soles of the feet adopt an integrated structural design, which enhances the strength, impact resistance and load-bearing capacity of the humanoid robot.

[0014] In addition, the present invention has a monitoring module installed on the waist component, which includes a first inertial measurement unit, a laser radar and a camera; at the same time, a second inertial measurement unit and a force sensor are installed on the soles of the feet, which can provide accurate feedback information for the humanoid robot, help the humanoid robot to adjust its movement posture and gait in real time, and ensure the stability of the robot during dynamic walking.

[0015] 2. The present invention also discloses a waist assembly, which is equipped with a first waist driver to a third waist driver, and the driver layout is similar to that of a human waist. The humanoid robot can achieve multi-directional movement at the waist and hip, imitating the natural movement of humans, and improving the flexibility and movement ability of the humanoid robot. At the same time, the driver layout of the series structure reduces the difficulty of upper limb movement control of the humanoid robot.

[0016] 3. The present invention also discloses a thigh assembly, which is provided with a first thigh driver to a third thigh driver, wherein the rotors on the first thigh driver and the third thigh driver can realize 360-degree rotation, and the rotor on the second thigh driver supports 180-degree rotation, thereby increasing the swing amplitude of the thigh and expanding the range of motion. When the humanoid robot walks, the first thigh driver to the third thigh driver jointly drive the thigh movement, thereby improving the load capacity of the hip joint and increasing the anthropomorphism of the thigh movement of the humanoid robot.

[0017] 4. The present invention also discloses a calf assembly, which is provided with a calf first driver, a short rod driver, and a long rod driver, and the three drivers respectively drive the flexible movement of the knee joint, ankle joint, and sole of the foot. Each driver closely cooperates with the corresponding structural component to ensure that the humanoid robot can perform efficient cooperation and precise control in complex gaits.

[0018] 5. The present invention also discloses a sole assembly, wherein the sole adopts a separated arch design, and a sole wear-resistant cushion pad is bonded to the bottom of the sole, which effectively enhances the support performance and cushioning capacity of the entire assembly, especially can adapt to complex ground, such as uneven roads or slopes, to maintain stable movement. The six-dimensional force sensor and inertial measurement unit built into the sole can provide accurate feedback information, help the humanoid robot to adjust the movement posture and gait in real time, and ensure the stability of the humanoid robot in dynamic walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the lower limb structure in the present invention;

[0020] Figure 2 It is a front view of the lower limb structure of the present invention;

[0021] Figure 3 It is an enlarged schematic diagram of the three-dimensional structure of the waist component in the present invention;

[0022] Figure 4 is an enlarged view of the front view of the waist component of the present invention;

[0023] Figure 5 is an enlarged view of an exploded schematic diagram of the waist component of the present invention;

[0024] Figure 6 It is an enlarged schematic diagram of the three-dimensional structure of the thigh component in the present invention;

[0025] Figure 7 is an enlarged view of an exploded schematic diagram of a thigh component in the present invention;

[0026] Figure 8 It is an enlarged schematic diagram of the three-dimensional structure of the pelvic support in the present invention;

[0027] Fig. 9 It is an enlarged schematic diagram of the three-dimensional structure of the calf component and the sole component of the present invention;

[0028] Fig.10 It is an enlarged view of the exploded schematic diagram of the calf component and the sole component of the present invention;

[0029] Fig.11 is an enlarged view of the left side view of the calf component and the sole component of the present invention;

[0030] Fig.12 is an enlarged view of the right side view of the calf component and the sole component of the present invention;

[0031] Fig.13 It is an enlarged schematic diagram of the three-dimensional structure of the calf support in the present invention;

[0032] Fig.14 is an enlarged view of an exploded schematic diagram of a sole assembly of the present invention;

[0033] Fig.15 It is an enlarged schematic diagram of a bottom view of the sole of the foot in the present invention.

[0034] Description of reference numerals:

[0035] 1. Waist assembly; 11. Pelvic support; 111. Thigh connection; 112. Upper limb connection; 113. Arc connection plate; 12. Waist joint drive module; 121. Waist left and right swing submodule; 1211. Waist first driver; 1212. Waist first support; 1213. Waist second support; 1214. Waist third support; 1215. First bearing; 1216. Waist fourth support; 122. Waist torsion submodule; 1221. Waist second driver; 1222. Waist fifth support; 123. Waist front and back swing submodule; 1231. Waist third driver; 1232. Waist sixth support; 1233. Waist seventh support; 1234. Second bearing; 13. Monitoring module; 131. Waist eighth support; 132. First inertial measurement unit; 133. Camera; 134. Waist ninth support; 135. LiDAR;

[0036] 2. Thigh assembly; 21. Thigh drive module; 211. Hip joint drive submodule; 2111. Thigh first drive; 2112. Thigh first bracket; 212. Thigh left and right swing submodule; 2121. Thigh second drive; 2122. Thigh second bracket; 2123. Third bearing; 213. Thigh torsion submodule; 2131. Thigh third drive; 2132. Thigh third bracket; 22. Thigh bracket;

[0037] 3. Calf assembly; 31. Knee joint drive module; 311. Calf first drive; 312. Knee joint support plate; 313. Fourth bearing; 32. Ankle joint drive module; 321. Short rod drive; 322. Power transmission plate one; 323. Short pull rod; 324. Long rod drive; 325. Power transmission plate two; 326. Long pull rod; 327. L-type rod end joint bearing; 33. Calf bracket; 34. Cross bearing; 35. Ankle bracket; 36. Knee joint limit plate;

[0038] 4. Sole assembly; 41. Sole; 42. Wear-resistant cushion pad on the sole; 43. Second inertial measurement unit; 44. Force sensor; 45. Adapter plate. DETAILED DESCRIPTION

[0039] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0040] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0041] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying 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 one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0043] It should also be noted that, in the embodiments of the present application, the same figure mark is used to represent the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0044] The top and bottom directions in the present invention are the arrow U (Up) direction and D (Down) direction in the figure respectively; the left and right directions in the present invention are the arrow L (Left) direction and R (Right) direction in the figure respectively; the front and back directions in the present invention are the arrow F (Front) direction and B (Back) direction in the figure respectively.

[0045] Reference Figure 1 and Figure 2 ,as well as Figure 3 , Figure 6 and Fig. 9 , the embodiment of the present application provides a lower limb structure of a humanoid robot, including:

[0046] The waist component 1 includes a pelvic support 11 and a waist joint driving module 12 mounted on the pelvic support 11. The waist joint driving module 12 is used to drive the external upper limbs mounted on the waist joint driving module 12 to twist and swing in multiple directions. The structure of the waist component 1 is shown in FIG. Figures 3 to 5 ;

[0047] Two thigh components 2 are connected to the left and right sides of the bottom of the waist component 1 respectively. Each thigh component 2 includes a thigh drive module 21 and a thigh support 22. The thigh support 22 is connected to the pelvic support 11 through the thigh drive module 21 to achieve multi-directional swing and twisting of the thigh support 22. The structure of the thigh component 2 refers to Figure 6 and Figure 7 ;

[0048] Two calf components 3 are respectively connected to the bottom of the two thigh components 2, and each calf component 3 includes a knee joint drive module 31, an ankle joint drive module 32, a calf support 33, a cross bearing 34, and an ankle joint support 35; the calf support 33 is connected to the thigh support 22 through the knee joint drive module 31, the ankle joint drive module 32 is installed on the calf support 33, and the ankle joint support 35 is movably connected to the bottom of the calf support 33 through the cross bearing 34; through the cross bearing 34 and the compact layout, the space utilization rate of the component is optimized, the design of the lower limb structure is more compact, and the weight of the lower limb structure is reduced; the structure of the calf component 3 is referred to Figures 9 to 13 ;

[0049] The two sole components 4 are fixedly mounted on the bottom of the two ankle joint brackets 35, and the two ankle joint drive modules 32 are used to drive the two sole components 4 to move. Fig.14 and Fig.15 .

[0050] The waist joint driving module 12, the two thigh driving modules 21, the two knee joint driving modules 31, and the two ankle joint driving modules 32 are all electrically connected to the external control module on the humanoid robot to realize intelligent control of the humanoid robot.

[0051] The present invention discloses a lower limb structure of a humanoid robot, which has multiple drivers arranged inside. The multiple drivers are arranged in corresponding brackets, do not occupy external space, have a compact layout, reduce the space occupied in the front and rear directions of the humanoid robot, and improve the space utilization rate of the humanoid robot.

[0052] In addition, the multiple supports in the lower limb structure, including the pelvic support 11, the thigh support 22, the calf support 33, etc., and the sole 41 adopt an integrated structural design, which enhances the strength, impact resistance and load-bearing capacity of the humanoid robot.

[0053] In addition, the present invention further installs a monitoring module 13 on the waist component 1, and the monitoring module 13 includes a first inertial measurement unit 132, a camera 133 and a laser radar 135; at the same time, a second inertial measurement unit 43 and a force sensor 44 are installed on the sole 41, which can provide accurate feedback information for the humanoid robot, help the humanoid robot to adjust the movement posture and gait in real time, and ensure the stability of the robot during dynamic walking.

[0054] In some embodiments, the lower limb structure also includes a power module, which is used to supply power to the entire humanoid robot.

[0055] In some embodiments, reference Figures 3 to 5 , the waist joint driving module 12 includes:

[0056] The waist left-right swing submodule 121 includes a waist first driver 1211, a waist first bracket 1212, a waist second bracket 1213, a waist third bracket 1214, a first bearing 1215, and a waist fourth bracket 1216; the stator of the waist first driver 1211 is fixedly installed on the rear side of the pelvic bracket 11, the waist first bracket 1212 is fixed on the rotor of the waist first driver 1211, the waist second bracket 1213 is fixed on the waist first bracket 1212, the waist fourth bracket 1216 is fixed on the front side of the pelvic bracket 11, and the waist third bracket 1214 is rotatably connected to the rear side of the waist fourth bracket 1216 through the first bearing 1215; the waist second bracket 1213 is fixedly connected to the waist third bracket 1214; the waist left-right swing submodule 121 is used to drive the upper limb trunk connected to the waist joint driving module 12 to swing left-right;

[0057] The waist twisting submodule 122 includes a waist second driver 1221 and a waist fifth bracket 1222. The stator of the waist second driver 1221 is fixedly installed between the waist second bracket 1213 and the waist third bracket 1214. The waist fifth bracket 1222 is fixed on the rotor of the waist second driver 1221. The waist twisting submodule 122 is used to drive the upper limb trunk connected to the waist joint driving module 12 to twist.

[0058] The waist forward and backward swinging submodule 123 includes a waist third driver 1231, a waist sixth bracket 1232, a waist seventh bracket 1233 and a second bearing 1234; the stator of the waist third driver 1231 is fixed on the waist fifth bracket 1222, the waist seventh bracket 1233 is fixedly installed on the side of the waist sixth bracket 1232, the waist sixth bracket 1232 and the waist seventh bracket 1233 are rotatably connected to the waist fifth bracket 1222 through the second bearing 1234, and the rotor of the waist third driver 1231 is fixedly connected to the waist sixth bracket 1232. The waist forward and backward swinging submodule 123 is used to drive the upper limb trunk connected to the waist joint driving module 12 to swing forward and backward.

[0059] In some embodiments, reference Figures 3 to 5 The waist assembly 1 further includes a monitoring module 13 electrically connected to the external control module on the humanoid robot, and the monitoring module 13 includes:

[0060] The eighth waist bracket 131 is fixedly installed between the two thigh driving modules 21;

[0061] A first inertial measurement unit 132, fixedly mounted on the eighth waist bracket 131, is used to measure the acceleration, tilt angle and moving speed of the waist component 1 relative to the ground;

[0062] A camera 133 is fixedly installed obliquely on the front side of the pelvic support 11, and is used to observe objects in front of the humanoid robot;

[0063] The ninth waist support 134 is fixedly mounted on the inner bottom of the pelvic support 11;

[0064] The laser radar 135 is arranged at the bottom of the ninth waist bracket 134, and is used to sense the surrounding and road environment of the humanoid robot, and provide environmental data for the navigation and obstacle avoidance of the humanoid robot.

[0065] The waist component 1 of the present invention is provided with the first waist driver 1211 to the third waist driver 1231, and the driver layout is similar to that of the human waist. The humanoid robot can realize multi-directional movement at the waist and hip, imitate the natural movement of humans, and improve the flexibility and movement ability of the humanoid robot. At the same time, the driver layout of the series structure reduces the difficulty of the upper limb movement control of the humanoid robot.

[0066] In some embodiments, reference Figure 6 and Figure 7 , the thigh driving module 21 comprises:

[0067] The hip joint driving submodule 211 comprises a first thigh driver 2111 and a first thigh bracket 2112; the stator of the first thigh driver 2111 is fixedly installed obliquely on the left or right side of the pelvic bracket 11; the first thigh bracket 2112 is fixedly installed on the rotor of the first thigh driver 2111; the hip joint driving submodule 211 is used to drive the thigh bracket 22 to swing in the front-back direction;

[0068] The thigh left-right swing submodule 212 comprises a thigh second driver 2121, a thigh second bracket 2122 and a third bearing 2123. The stator of the thigh second driver 2121 is fixedly mounted on the thigh first bracket 2112. The thigh second bracket 2122 is rotatably connected to the thigh first bracket 2112 via the third bearing 2123. The rotor of the thigh second driver 2121 is fixedly connected to the thigh second bracket 2122. The thigh left-right swing submodule 212 is used to drive the thigh bracket 22 to swing in the left-right direction.

[0069] The thigh torsion submodule 213 includes a thigh third driver 2131 and a thigh third bracket 2132. The stator of the thigh third driver 2131 is fixedly mounted on the bottom of the thigh third bracket 2132 and is sleeved in the mounting hole reserved in the thigh bracket 22. The rotor of the thigh third driver 2131 is fixedly connected to the bottom of the thigh second bracket 2122. The thigh third bracket 2132 is fixedly mounted on the top of the thigh bracket 22. The thigh torsion submodule 213 is used to drive the thigh bracket 22 to twist along the vertical axis.

[0070] In some embodiments, reference Figure 8 The pelvic support 11 is an integrated structure, including two thigh connecting parts 111, an upper limb connecting part 112 and an arc-shaped connecting plate 113;

[0071] The two thigh connections 111 are fixed obliquely on the arc-shaped connection plate 113 in a V-shape, and the angles between the two thigh connections 111 and the vertical plane are both 20° to 30°; the two thigh components 2 are respectively installed on the two thigh connections 111; the upper limb connection 112 is fixedly installed on the top of the arc-shaped connection plate 113, and is used to connect the waist joint drive module 12. Preferably, the angles between the two thigh connections 111 and the vertical plane are both 25°; the 25° angle design makes the pelvic support 11 closer to the human pelvis. In addition, the pelvic support 11 designed to imitate the human pelvis can make the humanoid robot more anthropomorphic in terms of movement function, solving the problem of unreasonable hip joint structure layout in traditional technology.

[0072] In some embodiments, reference Figure 7The thigh support 22 includes a fourth thigh support 221 and a fifth thigh support 222; the fifth thigh support 222 is installed on the side of the fourth thigh support 221 in a detachable connection manner.

[0073] The thigh assembly 2 of the present invention is provided with a first thigh driver 2111 to a third thigh driver 2131, wherein the rotors on the first thigh driver 2111 and the third thigh driver 2131 can realize 360-degree rotation, and the rotor on the second thigh driver 2121 supports 180-degree rotation, thereby increasing the swing amplitude of the thigh and expanding the range of motion. When the lower limb structure of the humanoid robot walks, the first thigh driver 2111 to the third thigh driver 2131 jointly drive the thigh movement, thereby improving the load capacity of the hip joint and increasing the anthropomorphism of the thigh movement of the humanoid robot.

[0074] In some embodiments, reference Fig. 9 and Fig.10 , the knee joint driving module 31 includes a first calf driver 311, a knee joint supporting plate 312, and a fourth bearing 313;

[0075] The stator of the first calf driver 311 is fixedly mounted on the top of the calf support 33, the rotor of the first calf driver 311 is fixedly connected to the bottom of the thigh support 22, the knee joint support plate 312 is fixedly mounted on the top of the calf support 33, and is used to limit the first calf driver 311 in the third mounting hole reserved at the top of the calf support 33, and the knee joint support plate 312 is rotatably connected to the fifth thigh support 222 through the fourth bearing 313. The knee joint drive module 31 is used to drive the calf support 33 to rotate in the front-back direction;

[0076] In some embodiments, the ankle joint driving module 32 is used to drive the sole assembly 4 to swing along two vertical axes of the cross bearing 34, and the ankle joint driving module 32 includes a short rod driving module and a long rod driving module;

[0077] Reference Fig.12 The short rod driving module includes a short rod driver 321, a power transmission plate 322, and a short pull rod 323; the stator of the short rod driver 321 is fixedly mounted on the calf support 33, one end of the power transmission plate 322 is fixedly mounted on the rotor of the short rod driver 321, and the other end is rotatably connected to the top of the short pull rod 323, and the bottom of the short pull rod 323 is rotatably connected to the rear of the ankle support 35;

[0078] Reference Fig.11The long rod driving module includes a long rod driver 324, a power transmission plate 2 325, and a long pull rod 326; the stator of the long rod driver 324 is fixedly mounted on the calf support 33, one end of the power transmission plate 2 325 is fixedly mounted on the rotor of the long rod driver 324, and the other end is rotatably connected to the top of the long pull rod 326, and the bottom of the long pull rod 326 is rotatably connected to the rear of the ankle joint support 35.

[0079] In some embodiments, reference Fig.11 and Fig.12 The ankle joint drive module 32 also includes four L-shaped rod end joint bearings 327, and the four L-shaped rod end joint bearings 327 are grouped in pairs, one group of L-shaped rod end joint bearings 327 are respectively installed at the top and bottom of the short pull rod 323, and the other group of L-shaped rod end joint bearings 327 are respectively installed at the top and bottom of the long pull rod 326. The top and bottom of the short pull rod 323 are respectively rotatably connected to the power transmission plate 1 322 and the ankle joint bracket 35 through the two L-shaped rod end joint bearings 327; the top and bottom of the long pull rod 326 are respectively rotatably connected to the power transmission plate 2 325 and the ankle joint bracket 35 through the two L-shaped rod end joint bearings 327.

[0080] In some embodiments, reference Fig. 9 and Fig.10 Each of the calf components 3 also includes a knee joint limiting plate 36, the bottom of the knee joint limiting plate 36 is fixed to the top front side of the calf support 33, and the top of the knee joint limiting plate 36 extends upward and abuts against the bottom front side of the thigh support 22.

[0081] The lower leg assembly 3 of the present invention is provided with a lower leg first driver 311, a short rod driver 321, and a long rod driver 324, which respectively drive the knee joint, the ankle joint, and the sole of the foot 41 to move flexibly. Each driver closely cooperates with the corresponding structural component, ensuring that the lower limb structure of the humanoid robot can perform efficient cooperation and precise control in complex gaits.

[0082] In some embodiments, reference Fig.14 and Fig.15 , the sole assembly 4 comprises:

[0083] The sole 41 includes the forefoot, the arch, and the heel, and the forefoot and the heel are separated by the arch; the sole 41 with the arch separation design improves the structural strength and impact resistance of the lower limb structure, and can withstand greater loads and external impact forces. At the same time, it also effectively improves the support force of the sole 41, which helps the humanoid robot maintain balance during walking and avoids falling due to unstable gait. In addition, the sole 41 adopts a humanoid design, which improves the adaptability of the lower limb structure of the humanoid robot on uneven roads;

[0084] The sole wear-resistant cushion pad 42 has one end bonded to the bottom of the forefoot and the other end bonded to the bottom of the heel; the sole wear-resistant cushion pad 42 is made of rubber material, which has good wear resistance and can effectively reduce the impact force generated during gait, protect the overall structure of the robot, and especially reduce mechanical fatigue during long-term or high-speed movement;

[0085] A second inertial measurement unit 43 is installed on the sole 41 and is used to measure the acceleration, tilt angle and movement speed of the sole 41 relative to the ground;

[0086] The force sensor 44 is installed on the arch of the sole 41. The second inertial measurement unit 43 and the force sensor 44 are electrically connected to the external control module on the humanoid robot. The force sensor 44 is used to feed back the contact force and contact torque between the sole 41 and the ground to the external control module. Preferably, the force sensor 44 is a six-dimensional force sensor.

[0087] The adapter plate 45 is fixedly mounted on the top of the force sensor 44 and is used to fix the sole assembly 4 on the ankle joint support 35 .

[0088] The sole 41 in the sole assembly 4 of the present invention adopts an arch separation design, and a sole wear-resistant cushion pad 42 is bonded to the bottom of the sole 41, which effectively enhances the support performance and cushioning capacity of the lower limb structure of the humanoid robot, especially can adapt to complex ground, such as uneven roads or slopes, to maintain stable movement. The built-in force sensor 44 and the second inertial measurement unit 43 of the sole 41 can provide accurate feedback information, help the humanoid robot to adjust the movement posture and gait in real time, and ensure the stability of the humanoid robot in dynamic walking.

[0089] 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 changes or substitutions within the technical scope disclosed by the present invention, which should be covered within the protection scope of the present invention. In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within 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 lower limb structure of a humanoid robot, characterized in that: include: A waist component (1) comprises a pelvic support (11) and a waist joint driving module (12) mounted on the pelvic support (11), wherein the waist joint driving module (12) is used to drive the external upper limb mounted on the waist joint driving module (12) to twist and swing in multiple directions; Two thigh components (2) are respectively connected to the left and right sides of the bottom of the waist component (1), each thigh component (2) comprises a thigh drive module (21) and a thigh support (22), and the thigh support (22) is connected to the pelvic support (11) through the thigh drive module (21) to achieve multi-directional swinging and twisting of the thigh support (22); Two calf components (3) are respectively connected to the bottom of the two thigh components (2), and each calf component (3) comprises a knee joint drive module (31), an ankle joint drive module (32), a calf support (33), a cross bearing (34), and an ankle joint support (35); the calf support (33) is connected to the thigh support (22) via the knee joint drive module (31), the ankle joint drive module (32) is installed on the calf support (33), and the ankle joint support (35) is movably connected to the bottom of the calf support (33) via the cross bearing (34); The two sole components (4) are respectively fixedly mounted on the bottoms of the two ankle joint supports (35), and the two ankle joint drive modules (32) are used to respectively drive the two sole components (4) to move.

2. The lower limb structure of a humanoid robot according to claim 1, characterized in that: The waist joint driving module (12) comprises: The waist left-right swinging submodule (121) comprises a waist first driver (1211), a waist first bracket (1212), a waist second bracket (1213), a waist third bracket (1214), a first bearing (1215), and a waist fourth bracket (1216); the stator of the waist first driver (1211) is fixedly mounted on the rear side of the pelvic bracket (11); the waist first bracket (1212) is fixed on the rotor of the waist first driver (1211); the waist second bracket (1213) is fixed on the waist first bracket (1212); the waist fourth bracket (1216) is fixed on the front side of the pelvic bracket (11); the waist third bracket (1214) is rotatably connected to the rear side of the waist fourth bracket (1216) via the first bearing (1215); the waist second bracket (1213) is fixedly connected to the waist third bracket (1214); The waist twisting submodule (122) comprises a waist second driver (1221) and a waist fifth bracket (1222), wherein the stator of the waist second driver (1221) is fixedly mounted between the waist second bracket (1213) and the waist third bracket (1214), and the waist fifth bracket (1222) is fixed on the rotor of the waist second driver (1221); The waist forward and backward swinging submodule (123) comprises a waist third driver (1231), a waist sixth bracket (1232), a waist seventh bracket (1233) and a second bearing (1234); the stator of the waist third driver (1231) is fixed on the waist fifth bracket (1222), the waist seventh bracket (1233) is fixedly installed on the side of the waist sixth bracket (1232), the waist sixth bracket (1232) and the waist seventh bracket (1233) are rotatably connected to the waist fifth bracket (1222) via the second bearing (1234), and the rotor of the waist third driver (1231) is fixedly connected to the waist sixth bracket (1232).

3. The lower limb structure of a humanoid robot according to claim 1, characterized in that: The waist assembly (1) further comprises a monitoring module (13) electrically connected to an external control module on the humanoid robot, wherein the monitoring module (13) comprises: An eighth waist bracket (131) is fixedly mounted between the two thigh drive modules (21); A first inertial measurement unit (132) is fixedly mounted on the eighth waist bracket (131) and is used to measure the acceleration, tilt angle and moving speed of the waist component (1) relative to the ground; A camera (133) is fixedly mounted obliquely on the front side of the pelvic support (11) and is used to observe objects in front of the humanoid robot; A ninth waist support (134) is fixedly mounted on the inner bottom of the pelvic support (11); The laser radar (135) is arranged at the bottom of the ninth waist support (134) and is used to sense the surrounding and road environment of the humanoid robot and provide environmental data for the navigation and obstacle avoidance of the humanoid robot.

4. The lower limb structure of a humanoid robot according to claim 1, characterized in that: The thigh driving module (21) comprises: The hip joint driving submodule (211) comprises a first thigh driver (2111) and a first thigh bracket (2112); the stator of the first thigh driver (2111) is fixedly mounted obliquely on the left side or the right side of the pelvic bracket (11); and the first thigh bracket (2112) is fixedly mounted on the rotor of the first thigh driver (2111); The thigh left-right swing submodule (212) comprises a thigh second driver (2121), a thigh second bracket (2122) and a third bearing (2123), wherein the stator of the thigh second driver (2121) is fixedly mounted on the thigh first bracket (2112), the thigh second bracket (2122) is rotatably connected to the thigh first bracket (2112) via the third bearing (2123), and the rotor of the thigh second driver (2121) is fixedly connected to the thigh second bracket (2122); A thigh torsion submodule (213), a thigh third driver (2131) and a thigh third bracket (2132), wherein the stator of the thigh third driver (2131) is fixedly mounted on the bottom of the thigh third bracket (2132) and is sleeved in a mounting hole reserved in the thigh bracket (22), the rotor of the thigh third driver (2131) is fixedly connected to the bottom of the thigh second bracket (2122), and the thigh third bracket (2132) is fixedly mounted on the top of the thigh bracket (22).

5. The lower limb structure of a humanoid robot according to claim 1, characterized in that: The pelvic support (11) is an integrated structure, comprising two thigh connecting parts (111), an upper limb connecting part (112) and an arc-shaped connecting plate (113); The two thigh connecting parts (111) are fixed obliquely on the arc-shaped connecting plate (113) in a V-shape, and the angles between the two thigh connecting parts (111) and the vertical plane are both 20° to 30°; the two thigh components (2) are respectively installed on the two thigh connecting parts (111); the upper limb connecting part (112) is fixedly installed on the top of the arc-shaped connecting plate (113) and is used to connect the waist joint driving module (12).

6. The lower limb structure of a humanoid robot according to claim 1, characterized in that: The thigh support (22) comprises a fourth thigh support (221) and a fifth thigh support (222); the fifth thigh support (222) is installed on the side of the fourth thigh support (221) in a detachable connection manner.

7. The lower limb structure of a humanoid robot according to claim 6, characterized in that: The knee joint driving module (31) comprises a first calf driver (311), a knee joint supporting plate (312), and a fourth bearing (313); The stator of the first calf driver (311) is fixedly mounted on the top of the calf support (33), the rotor of the first calf driver (311) is fixedly connected to the bottom of the thigh support (22), the knee joint support plate (312) is fixedly mounted on the top of the calf support (33) and is used to restrict the first calf driver (311) within a third mounting hole reserved at the top of the calf support (33), and the knee joint support plate (312) is rotationally connected to the fifth thigh support (222) via a fourth bearing (313).

8. The lower limb structure of a humanoid robot according to claim 1, characterized in that: The ankle joint driving module (32) comprises a short rod driving module and a long rod driving module; The short rod driving module comprises a short rod driver (321), a power transmission plate 1 (322), and a short pull rod (323); the stator of the short rod driver (321) is fixedly mounted on the calf support (33), one end of the power transmission plate 1 (322) is fixedly mounted on the rotor of the short rod driver (321), and the other end is rotatably connected to the top of the short pull rod (323), and the bottom of the short pull rod (323) is rotatably connected to the rear of the ankle support (35); The long rod driving module comprises a long rod driver (324), a second power transmission plate (325), and a long pull rod (326); the stator of the long rod driver (324) is fixedly mounted on the calf support (33), one end of the second power transmission plate (325) is fixedly mounted on the rotor of the long rod driver (324), and the other end is rotatably connected to the top of the long pull rod (326), and the bottom of the long pull rod (326) is rotatably connected to the rear of the ankle support (35).

9. The lower limb structure of a humanoid robot according to claim 1, characterized in that: Each of the calf components (3) also includes a knee joint limiting plate (36), the bottom of which is fixed to the top front side of the calf support (33), and the top of which extends upward and abuts against the bottom front side of the thigh support (22).

10. The lower limb structure of a humanoid robot according to any one of claims 1 to 9, characterized in that: The sole assembly (4) comprises: The sole of the foot (41), including the forefoot, the arch, and the heel, wherein the forefoot and the heel are separated by the arch; A sole wear-resistant cushioning pad (42), one end of which is bonded to the bottom of the forefoot and the other end of which is bonded to the bottom of the heel; A second inertial measurement unit (43) is installed on the sole (41) and is used to measure the acceleration, tilt angle and movement speed of the sole (41) relative to the ground; A force sensor (44) is mounted on the arch of the sole (41); the second inertial measurement unit (43) and the force sensor (44) are both electrically connected to an external control module; the force sensor (44) is used to feed back the contact force and contact torque between the sole (41) and the ground to the external control module; The adapter plate (45) is fixedly mounted on the top of the force sensor (44) and is used to fix the sole assembly (4) on the ankle joint support (35).

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