Lower limb structure of a humanoid robot

Abstract

A lower limb structure of a humanoid robot includes a waist component, two thigh components, two calf components, and two foot components; the waist component includes a pelvic support and a waist joint drive module mounted on the pelvic support; the thigh component includes a thigh drive module and a thigh support, and the thigh support is connected to the pelvic support via the thigh drive module; each calf component includes a knee joint drive module, an ankle joint drive module, a calf support, a cross bearing, and an ankle joint support; the calf support is connected to the thigh support via the knee joint drive module, the ankle joint drive module is mounted on the calf support, and the ankle joint support is movably connected to the bottom of the calf support via a cross bearing; the two foot components are fixedly mounted on the bottom of the two ankle joint supports. The present invention adopts bionic structural design of the human pelvis, waist, thigh, etc., to enhance the anthropomorphism, strength, impact resistance, and load-bearing capacity of the humanoid robot; and the present invention has high space utilization rate.

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] Currently, humanoid robots are robots designed to mimic human appearance and behavior. With the rapid development of robotics technology, humanoid robots have become a hot topic in research and application, boasting broad development prospects. Similar to the human body, the main structure of a humanoid robot includes a head, torso, arms, waist, pelvis, hip joints, legs, and feet. To enable humanoid robots to truly perform complex and diverse tasks like humans, they must possess flexible lower limb movement capabilities, ensuring they can flexibly navigate complex environments under diverse working conditions.

[0003] In related technologies, humanoid robots lack accurate biomimetic design for the movement of the human pelvis and waist. The pelvis and waist are important support and movement hubs for the human body, coordinating the movement of the upper and lower limbs and playing an important role in the body's stability, balance, and flexibility during walking. Irrational structural settings of the hip joint and thigh components can lead to negative effects such as small movable space for the lower limb mechanism, small swing range, small load and impact tolerance, large space occupation, and poor anthropomorphic effect. Foot and calf components often fail to fully simulate the natural movement of the human body. This situation can lead to problems such as instability, difficulty in bearing weight, and restricted movement when humanoid robots perform complex movements such as walking and running, affecting the robot's overall motion performance and stability. 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 art.

[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 assembly, comprising a pelvic support and a waist joint drive module mounted on the pelvic support, wherein the waist joint drive module is used to drive the external upper limb mounted on the waist joint drive 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. The thigh bracket is connected to the pelvic bracket through the thigh drive module to achieve multi-directional swing and twisting of the thigh bracket;

[0009] The two calf assemblies are connected to the bottom of the two thigh assemblies respectively. Each calf assembly 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, and the ankle joint drive module is installed on the calf bracket. The ankle joint bracket is movably connected to the bottom of the calf bracket through a cross bearing.

[0010] The two sole components are fixedly mounted on the bottom of the two ankle joint brackets respectively, and the two ankle joint drive 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 in the front and rear directions of the humanoid robot, 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, helping 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 equipped with first, second, and third waist actuators, with an actuator layout similar to that of a human waist. This enables multi-directional movement of the waist and hips of a humanoid robot, mimicking natural human movements and enhancing the robot's flexibility and mobility. Furthermore, the serial actuator layout reduces the difficulty of controlling upper limb motion in the humanoid robot.

[0016] 3. The present invention also discloses a thigh assembly comprising a first thigh actuator, a third thigh actuator, and a second thigh actuator. The rotors on the first thigh actuator and the third thigh actuator are both capable of 360-degree rotation, while the rotor on the second thigh actuator supports 180-degree rotation. This increases the thigh's swing amplitude and expands its range of motion. When a humanoid robot walks, the first to third thigh actuators jointly drive the thigh's movement, improving the load capacity of the hip joint and enhancing the anthropomorphic nature of the robot's thigh movements.

[0017] 4. This invention also discloses a lower leg assembly, which includes a first lower leg actuator, a short rod actuator, and a long rod actuator. These three actuators respectively drive the flexible movement of the knee joint, ankle joint, and sole of the foot. Each actuator closely cooperates with the corresponding structural component, ensuring efficient coordination and precise control of the humanoid robot during complex gaits.

[0018] 5. The present invention also discloses a sole assembly featuring a separated arch design and a wear-resistant cushioning pad bonded to the sole. This effectively enhances the support and cushioning capabilities of the entire assembly, particularly enabling stable movement on complex surfaces such as uneven roads and slopes. The six-dimensional force sensor and inertial measurement unit built into the sole provide precise feedback, enabling the humanoid robot to adjust its posture and gait in real time, ensuring stability during dynamic walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 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 This is an enlarged schematic diagram of the three-dimensional structure of the waist component of 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 This is an enlarged schematic diagram of the three-dimensional structure of the thigh component of 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 This is an enlarged schematic diagram of the three-dimensional structure of the pelvic support in the present invention;

[0027] Figure 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] Figure 10 is an enlarged exploded view of the calf assembly and the sole assembly of the present invention;

[0029] Figure 11 is an enlarged view of the left side view of the calf assembly and the sole assembly of the present invention;

[0030] Figure 12 is an enlarged view of the right side view of the calf assembly and the sole assembly of the present invention;

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

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

[0033] Figure 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-shaped connecting 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 forward and backward 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 1; 323. Short pull rod; 324. Long rod drive; 325. Power transmission plate 2; 326. Long pull rod; 327. L-shaped rod end joint bearing; 33. Calf support; 34. Cross bearing; 35. Ankle joint support; 36. Knee joint limit plate;

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

[0039] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many other forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0040] It should be noted that when an element is referred to as being “fixed” to another element, it may 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 may be directly connected to the other element or indirectly connected to the other element.

[0041] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying 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 limiting the present invention.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0043] It should also be noted that, in the embodiments of the present application, the same figure mark represents 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 U (Up) and D (Down) directions of the arrows in the figure; the left and right directions in the present invention are the L (Left) and R (Right) directions of the arrows in the figure; the front and back directions in the present invention are the F (Front) and B (Back) directions of the arrows in the figure.

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

[0046] The waist assembly 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 limb mounted on the waist joint driving module 12 to twist and swing in multiple directions. The structure of the waist assembly 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 torsion of the thigh support 22; the structure of the thigh component 2 refers to Figure 6 and Figure 7 ;

[0048] The two calf components 3 are respectively connected to the bottom of the two thigh components 2. Each calf component 3 includes a knee joint drive module 31, an ankle joint drive module 32, a calf bracket 33, a cross bearing 34, and an ankle joint bracket 35. The calf bracket 33 is connected to the thigh bracket 22 through the knee joint drive module 31, and the ankle joint drive module 32 is installed on the calf bracket 33. The ankle joint bracket 35 is movably connected to the bottom of the calf bracket 33 through the cross bearing 34. The cross bearing 34 and the compact layout optimize the space utilization of the components, making the design of the lower limb structure more compact and reducing the weight of the lower limb structure. The structure of the calf component 3 is shown in FIG. 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. Figure 14 and Figure 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 achieve intelligent control of the humanoid robot.

[0051] The present invention discloses a lower limb structure of a humanoid robot, which has multiple drivers installed 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 lower limb structure includes multiple supports including the pelvic support 11, thigh support 22, calf support 33, etc., as well as the sole 41 of the foot, which adopts an integrated structural design, thereby enhancing 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 of the foot 41, which can provide accurate feedback information for the humanoid robot, help the humanoid robot adjust its 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 further 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 and right swing submodule 121 includes a first waist driver 1211, a first waist bracket 1212, a second waist bracket 1213, a third waist bracket 1214, a first bearing 1215, and a fourth waist bracket 1216; the stator of the first waist driver 1211 is fixedly installed on the rear side of the pelvic bracket 11, the first waist bracket 1212 is fixed on the rotor of the first waist driver 1211, the second waist bracket 1213 is fixed on the first waist bracket 1212, the fourth waist bracket 1216 is fixed on the front side of the pelvic bracket 11, and the third waist bracket 1214 is rotatably connected to the rear side of the fourth waist bracket 1216 through the first bearing 1215; the second waist bracket 1213 is fixedly connected to the third waist bracket 1214; the waist left and right swing submodule 121 is used to drive the upper limb trunk connected to the waist joint driving module 12 to swing left and 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 mounted between the waist second bracket 1213 and the waist third bracket 1214. The waist fifth bracket 1222 is fixed to 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 swing submodule 123 includes a third waist driver 1231, a sixth waist bracket 1232, a seventh waist bracket 1233, and a second bearing 1234. The stator of the third waist driver 1231 is fixed to the fifth waist bracket 1222, and the seventh waist bracket 1233 is fixedly mounted on the side of the sixth waist bracket 1232. The sixth and seventh waist brackets 1232, 1233 are rotationally connected to the fifth waist bracket 1222 via the second bearing 1234. The rotor of the third waist driver 1231 is fixedly connected to the sixth waist bracket 1232. The waist forward and backward swing submodule 123 is used to drive the upper limb trunk connected to the waist joint drive 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 is fixedly mounted on the eighth waist bracket 131 and is used to measure the acceleration, tilt angle, and movement speed of the waist assembly 1 relative to the ground;

[0062] The 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;

[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 environment and road conditions of the humanoid robot and provide environmental data for the humanoid robot to navigate and avoid obstacles.

[0065] The waist assembly 1 of the present invention incorporates first to third waist actuators 1211, 1231, and a driver layout similar to that of the human waist. This allows the humanoid robot to achieve multi-directional movement at the waist and hips, mimicking natural human movements and enhancing the robot's flexibility and mobility. Furthermore, the serial driver layout reduces the difficulty of controlling the robot's upper limb movements.

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

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

[0068] The thigh left-right swing submodule 212 includes 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 left and right.

[0069] The thigh torsion submodule 213 comprises a third thigh driver 2131 and a third thigh bracket 2132. The stator of the third thigh driver 2131 is fixedly mounted on the bottom of the third thigh bracket 2132 and fits within a mounting hole reserved in the thigh bracket 22. The rotor of the third thigh driver 2131 is fixedly connected to the bottom of the second thigh bracket 2122, and the third thigh 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 its 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 in a V-shaped, oblique angle to the arc-shaped connecting plate 113, with the angles between the two thigh connections 111 and the vertical plane both being 20° to 30°. The two thigh assemblies 2 are respectively mounted on the two thigh connections 111. The upper limb connection 112 is fixedly mounted on the top of the arc-shaped connecting plate 113 and is used to connect to 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 more similar to the human pelvis. In addition, the pelvic support 11 with a humanoid pelvis design 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 includes first to third thigh actuators 2111, 2131. The rotors on both the first and third thigh actuators 2111, 2131 are capable of 360-degree rotation, while the rotor on the second thigh actuator 2121 supports 180-degree rotation. This increases the thigh's swing amplitude and expands its range of motion. When the humanoid robot's lower limbs walk, the first to third thigh actuators 2111, 2131 jointly drive the thigh's movement, improving the load capacity of the hip joint and enhancing the humanoid-like nature of the robot's thigh movements.

[0074] In some embodiments, reference Figure 9 and Figure 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, and the knee joint support plate 312 is fixedly mounted on the top of the calf support 33 to confine the first calf driver 311 within the third mounting hole reserved at the top of the calf support 33. The knee joint support plate 312 is rotatably connected to the fifth thigh support 222 via the fourth bearing 313. The knee joint driver module 31 is used to drive the calf support 33 to rotate in the front-to-back direction;

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

[0077] Reference Figure 12 The short rod drive 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 bracket 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 joint bracket 35;

[0078] Reference Figure 11The long rod drive 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 bracket 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 bracket 35.

[0079] In some embodiments, reference Figure 11 and Figure 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 Figure 9 and Figure 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 includes a first lower leg actuator 311, a short rod actuator 321, and a long rod actuator 324. These three actuators respectively drive the flexible movement of the knee joint, ankle joint, and foot 41. Each actuator closely cooperates with the corresponding structural component, ensuring efficient coordination and precise control of the humanoid robot's lower limb structure during complex gaits.

[0082] In some embodiments, reference Figure 14 and Figure 15 , the sole assembly 4 includes:

[0083] The sole 41 includes the forefoot, arch, and heel, with the forefoot and heel separated by the arch. The arch-separated design of the sole 41 improves the structural strength and impact resistance of the lower limb structure, enabling it to withstand greater loads and external impact forces. This also effectively increases the support force of the sole 41, helping the humanoid robot maintain balance during walking and avoid falls caused by unstable gait. Furthermore, the sole 41 adopts a humanoid design, improving the adaptability of the humanoid robot's lower limb structure on uneven surfaces.

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

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

[0086] A force sensor 44 is mounted on the arch of the sole of the foot 41. The second inertial measurement unit 43 and the force sensor 44 are both electrically connected to the external control module of the humanoid robot. The force sensor 44 is used to provide feedback to the external control module on the contact force and contact torque between the sole of the foot 41 and the ground. 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 foot assembly 4 on the ankle joint support 35 .

[0088] The sole 41 of the foot assembly 4 in the present invention utilizes a separated arch design, with a wear-resistant cushioning pad 42 bonded to the bottom of the sole 41. This effectively enhances the support and cushioning capabilities of the humanoid robot's lower limb structure, particularly enabling it to adapt to complex terrain, such as uneven roads or slopes, and maintain stable movement. The force sensor 44 and second inertial measurement unit 43 built into the sole 41 provide precise feedback, enabling the humanoid robot to adjust its posture and gait in real time, ensuring stability during 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 person skilled in the art who is familiar with the technical field can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be included in 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 this 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 required by 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 assembly (1) includes a pelvic support (11) and a waist joint drive module (12) mounted on the pelvic support (11), wherein the waist joint drive module (12) is used to drive the external upper limb mounted on the waist joint drive 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) includes a thigh drive module (21) and a thigh bracket (22), and the thigh bracket (22) is connected to the pelvic bracket (11) through the thigh drive module (21) to achieve multi-directional swinging and twisting of the thigh bracket (22); Two calf assemblies (3) are respectively connected to the bottoms of the two thigh assemblies (2), and each calf assembly (3) includes a knee joint drive module (31), an ankle joint drive module (32), a calf bracket (33), a cross bearing (34), and an ankle joint bracket (35); the calf bracket (33) is connected to the thigh bracket (22) via the knee joint drive module (31), the ankle joint drive module (32) is installed on the calf bracket (33), and the ankle joint bracket (35) is movably connected to the bottom of the calf bracket (33) via the cross bearing (34); Two sole assemblies (4) are respectively fixedly mounted on the bottoms of two ankle joint brackets (35), and two ankle joint drive modules (32) are used to respectively drive the two sole assemblies (4) to move; 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 torsion 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 mounted on the side of the waist sixth bracket (1232), the waist sixth bracket (1232) and the waist seventh bracket (1233) are rotationally 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).

2. The lower limb structure of the 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 movement 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) for observing 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 bracket (134) at the waist, and is used to sense the surroundings of the humanoid robot and the road environment, and provide environmental data for the humanoid robot to navigate and avoid obstacles.

3. The lower limb structure of the humanoid robot according to claim 1, characterized in that: The thigh driving module (21) comprises: The hip joint drive 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 or 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 second thigh driver (2121), a second thigh bracket (2122) and a third bearing (2123); the stator of the second thigh driver (2121) is fixedly mounted on the first thigh bracket (2112); the second thigh bracket (2122) is rotatably connected to the first thigh bracket (2112) via the third bearing (2123); and the rotor of the second thigh driver (2121) is fixedly connected to the second thigh 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 into 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).

4. The lower limb structure of the 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 on the arc-shaped connecting plate (113) in a V-shaped oblique direction, and the angles between the two thigh connecting parts (111) and the vertical plane are both 20°~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 to the waist joint driving module (12).

5. The lower limb structure of the 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 mounted on the side of the fourth thigh support (221) in a detachable connection manner.

6. The lower limb structure of the humanoid robot according to claim 5, characterized in that: The knee joint drive module (31) comprises a first calf drive (311), a knee joint support plate (312), and a fourth bearing (313); The stator of the first calf driver (311) is fixedly mounted on the top of the calf bracket (33), the rotor of the first calf driver (311) is fixedly connected to the bottom of the thigh bracket (22), the knee joint support plate (312) is fixedly mounted on the top of the calf bracket (33) and is used to restrict the first calf driver (311) within a third mounting hole reserved at the top of the calf bracket (33), and the knee joint support plate (312) is rotationally connected to the fifth thigh bracket (222) via a fourth bearing (313).

7. 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 drive 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 bracket (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); the bottom of the short pull rod (323) is rotatably connected to the rear of the ankle bracket (35); The long rod drive module includes 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 bracket (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 bracket (35).

8. The lower limb structure of a humanoid robot according to claim 1, characterized in that: Each of the calf components (3) further 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).

9. The lower limb structure of a humanoid robot according to any one of claims 1 to 8, characterized in that: The sole assembly (4) comprises: The sole of the foot (41), including the forefoot, the arch, and the heel, with the forefoot and the heel 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 mounted on the sole of the foot (41) and is used to measure the acceleration, tilt angle, and movement speed of the sole of the foot (41) relative to the ground; A force sensor (44) is mounted on the arch of the sole of the foot (41), the second inertial measurement unit (43) and the force sensor (44) are both electrically connected to the external control module, and the force sensor (44) is used to feed back the contact force and contact torque between the sole of the foot (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 support (35).

Images