Thigh structure, leg device and humanoid robot

Abstract

The invention provides a thigh structure and a leg device of a humanoid robot and the humanoid robot. The thigh structure comprises a humanoid thigh shell and a thigh driving assembly; the humanoid thigh shell comprises an outer side shell, an inner side shell and a first covering body, the inner side shell is detachably connected to the outer side shell, a first containing cavity is defined between the inner side shell and the outer side shell, an opening part is formed in the outer surface of the inner side shell, the opening part comprises a first through hole and a non-through area, and the first through hole is communicated with the first through hole. The first covering body detachably covers the opening part, and a second containing cavity is defined between the first covering body and the non-penetrating area. The thigh driving assembly is installed in the first containing cavity, and an electrical wire of the thigh driving assembly is arranged in the second containing cavity.

Description

Technical Field

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

[0002] Existing humanoid robots have two leg devices. Each leg generally includes a thigh structure, a calf structure, and a foot component, and is provided with six degrees of freedom. Among them, three hip degrees of freedom are provided on the thigh structure to be used for realizing the swing of the thigh structure in the front-back direction, the left-right direction, and the rotation of the thigh structure. One knee degree of freedom is provided at the connection between the thigh structure and the calf structure to be used for realizing the bending swing of the calf structure relative to the thigh structure. Two degrees of freedom are provided in the foot component to be used for realizing the pitching motion and the yaw motion of the foot.

[0003] In the thigh structure of existing humanoid robots, the drive structure for driving the rotation of the thigh structure is usually exposed on the outside, and it is difficult to truly achieve an imitation of the human external shape design in terms of appearance. If the drive structure is arranged inside the closed thigh housing, it is not conducive to the installation and arrangement of electrical wires, and it is difficult to check the connection condition of the electrical wires of the drive structure. Summary of the Invention

[0004] Embodiments of the present application provide a thigh structure, a leg device, and a humanoid robot to at least solve the above technical problems existing in the prior art.

[0005] Embodiments of the present application provide a thigh structure of a humanoid robot. The thigh structure includes:

[0006] A humanoid thigh housing, which includes:

[0007] An outer housing;

[0008] An inner housing, which is detachably connected to the outer housing and forms a first accommodation cavity with the outer housing. An opening is formed on the outer surface of the inner housing. The opening includes a first through hole and a non-through area. The first through hole communicates with the inside and outside of the first accommodation cavity.

[0009] A first covering body, which is detachably covered on the opening and forms a second accommodation cavity with the non-through area;

[0010] A thigh drive assembly, which is installed in the first accommodation cavity and is used for driving the thigh structure to perform circumferential rotation; wherein, the electrical wires of the thigh drive assembly are arranged close to the first through hole and are arranged in the second accommodation cavity.

[0011] In an implementable manner, the outer housing includes:

[0012] The main body part forms part of the cavity wall of the first accommodation cavity;

[0013] The annular part, one side part of the annular part is connected to the main body part and partially abuts against the inner shell, and the through hole of the annular part communicates with the first accommodation cavity.

[0014] In an implementable embodiment, a second through hole is provided on the outer shell, and the second through hole communicates with the inside and outside of the first accommodation cavity;

[0015] The humanoid thigh shell further includes a second covering body, the second covering body is detachably covered on the second through hole, and the second through hole is used to allow some components of the thigh driving assembly to be placed into the first accommodation cavity from the outside.

[0016] In an implementable embodiment, at least one of the first covering body and the second covering body is provided with a heat dissipation component.

[0017] In an implementable embodiment, the thigh structure further includes a humanoid root shell, one end of the root shell is connected to the thigh driving assembly, and the root shell forms a third accommodation cavity;

[0018] The thigh structure further includes a left and right swing driving assembly, the left and right swing driving assembly is installed in the third accommodation cavity, and the left and right swing driving assembly is used to drive the thigh structure to swing left and right.

[0019] In an implementable embodiment, the root shell includes a third through hole, and the third through hole communicates with the third accommodation cavity;

[0020] The thigh structure further includes a front and back swing driving assembly, the front and back swing driving assembly passes through the third through hole and is connected to the left and right swing driving assembly to drive the thigh structure to swing back and forth.

[0021] In an implementable embodiment, the front and back swing assembly includes:

[0022] A base, the base is a hollow frame structure;

[0023] The front and back swing driving member is arranged obliquely with respect to the extending direction of the thigh structure and installed on the base, and the axis of the front and back swing driving member is perpendicular to and intersects with the axis of the left and right swing driving assembly.

[0024] The embodiment of the present application further provides a leg device, and the leg device includes:

[0025] The thigh structure as described above, wherein, the outer shell and the inner shell further enclose to form a fourth accommodation cavity, and the fourth accommodation cavity communicates with the second accommodation cavity;

[0026] A rotating connecting member, the rotating connecting member is arranged in the fourth accommodation cavity, and the rotating connecting member is provided with a wire routing opening;

[0027] The calf structure of the humanoid structure is rotatably connected to the thigh structure through a rotating connector; among them,

[0028] The thigh drive assembly is also used to drive the calf structure to rotate relative to the thigh structure; the electrical wires arranged in the second accommodation cavity extend to the calf structure through the wire routing openings.

[0029] In an implementable embodiment, the leg device further includes a foot assembly; the calf structure includes:

[0030] A humanoid calf housing, including a bearing bracket and a contoured outer shell, the bearing bracket is installed inside the contoured outer shell and is rotatably connected to the foot assembly;

[0031] A foot drive mechanism, arranged inside the contoured outer shell and installed on the bearing bracket, the foot drive mechanism is rotatably connected to the foot assembly, and the foot drive mechanism is used to drive the foot assembly to swing.

[0032] The embodiment of the present application also provides a humanoid robot, and the humanoid robot includes the leg device as above.

[0033] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the embodiments of the present application. Other features of the embodiments of the present application will become easily understood through the following description. Description of the Drawings

[0034] By referring to the accompanying drawings and reading the following detailed description, the above and other purposes, features, and advantages of the exemplary embodiments of the present application will become easily understood. In the drawings, several embodiments of the present application are shown in an exemplary rather than restrictive manner, where:

[0035] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0036] Figure 1 Shows the structural schematic diagram of the thigh structure in the embodiment of the present application;

[0037] Figure 2 Shows Figure 1 The exploded structural schematic diagram of the humanoid thigh housing, the heat dissipation member and the rotating connector in

[0038] Figure 3 Shows Figure 1 The exploded structural schematic diagram of the thigh structure in

[0039] Figure 4 Shows Figure 1 The structural schematic diagram of the root housing, the left and right swing drive assembly and the front and back swing drive assembly in

[0040] Figure 5 shows Figure 1 a schematic structural view of the root housing in

[0041] Figure 6 shows Figure 1 a schematic structural view of the left - right swing drive assembly and the front - rear swing drive assembly in

[0042] Figure 7 a schematic structural view of the leg device in an embodiment of the present application;

[0043] Figure 8 shows Figure 5 a schematic structural view of the calf structure in

[0044] Among them, the reference numerals in the figure are explained as follows: 10, thigh structure; 11, humanoid thigh housing; 111, outer housing; 1111, main body part; 1112, annular part; 1113, second through - hole; 1114, fourth through - hole; 1115, avoidance hole; 112, inner housing; 1121, opening part; 1121a, first through - hole; 1121b, non - through area; 113, first covering body; 114, first accommodation cavity; 115, second accommodation cavity; 116, second covering body; 117, fourth accommodation cavity; 118, third covering body; 12, thigh drive assembly; 121, knee joint drive member; 122, thigh crank; 123, thigh connecting rod; 124, rotation drive member; 125, rotation adapter flange; 13, heat dissipation member; 14, root housing; 141, third accommodation cavity; 142, first housing; 143, second housing; 144, third through - hole; 15, left - right swing drive assembly; 151, left - right swing drive member; 152, left - right swing housing; 153, handle part; 16, front - rear swing drive assembly; 161, base; 162, front - rear swing drive member; 20, rotation connecting member; 21, crossed roller bearing; 22, rotation support shaft; 30, calf structure; 31, humanoid calf housing; 311, bearing bracket; 312, profiling housing; 32, foot drive mechanism; 321, first foot drive assembly; 3211, first actuator; 3212, first crank; 3213, first connecting rod; 322, second foot drive assembly; 3221, second actuator; 3222, second crank; 3223, second connecting rod; 40, foot assembly. Detailed implementation manners

[0045] To make the objectives, features, and advantages of the embodiments of this application more obvious and understandable, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the embodiments of this application.

[0046] Some embodiments of the present disclosure provide a thigh structure 10 of a humanoid robot. As Figure 1 , 3 , and shown in FIG. 4. The thigh structure 10 includes a thigh drive assembly 12, and the thigh drive assembly 12 is configured to drive the thigh structure 10 to rotate circumferentially around itself. Optionally, the thigh structure 10 further includes a left and right swing drive assembly for driving the thigh structure 10 to swing left and right. Optionally, the thigh structure 10 may further include a front and back swing drive assembly for driving the thigh structure 10 to swing back and forth. In this way, the thigh structure 10 of the humanoid robot has three degrees of freedom of circumferential rotation, front and back swing, and left and right swing, and can realize various movements of the thigh structure 10. It should be noted that the left and right directions, front and back directions, and circumferential rotation directions of the humanoid robot are the same as those of human perception, that is, the directions corresponding to the chest and back are the front and back directions, the directions corresponding to the left hand and the right hand are the left and right directions, and the direction of rotation of a single leg is the circumferential rotation direction.

[0047] Some embodiments of this application also provide a thigh structure 10 of a humanoid robot. Please refer to Figure 1 and Figure 2 . The thigh structure 10 includes a humanoid-like thigh housing 11 and a thigh drive assembly 12.

[0048] The humanoid thigh shell 11 adopts an anthropomorphic design, and its outer contour adopts a bionic curved surface design to maintain the anthropomorphic appearance. The humanoid thigh shell 11 includes an outer shell 111, an inner shell 112 and a first cover body 113. The inner shell 112 is detachably connected to the outer shell 111, and a first accommodating cavity 114 is formed between the inner shell 112 and the outer shell 111. An opening 1121 is provided on the outer surface of the inner shell 112, and the opening 1121 includes a first through hole 1121a and a non-through area 1121b. Specifically, the outer surface of the inner shell 112 is the surface of the inner shell 112 on the side away from the outer shell 111, and the first through hole 1121a is connected to the inside and outside of the first accommodating cavity 114. The first cover body 113 (or cover body, cover) is detachably covered on the opening 1121, and a second accommodating cavity 115 is formed between the first cover body 113 and the non-penetrating area 1121b. The thigh drive assembly 12 is installed in the first accommodating cavity 114, and the thigh drive assembly 12 is used to drive the thigh structure 10 to rotate circumferentially; wherein, the electrical wires of the thigh drive assembly 12 are arranged near the first through hole 1121a and arranged in the second accommodating cavity 115. When the first cover body 113 is removed from the thigh structure 10, the electrical wires of the thigh drive assembly 12 are exposed from the opening 1121.

[0049] It can be understood that the thigh structure 10 has two positions in the left and right directions, namely, the inner side and the outer side. Specifically, when the thigh structure 10 is the right leg of a person, the inner side of the thigh structure 10 is the left side and the outer side of the thigh structure 10 is the right side. When the thigh structure 10 is the left leg of a person, the inner side of the thigh structure 10 is the right side and the outer side of the thigh structure 10 is the left side.

[0050] In the embodiment of the present disclosure, the inner shell 112, the outer shell 111 and the first cover body 113 are used to form the peripheral structure of the humanoid thigh shell 11 to ensure the rigidity of the humanoid thigh shell 11. In addition, a first accommodating cavity 114 is formed between the inner shell 112 and the outer shell 111, and a second accommodating cavity 115 is formed between the inner shell 112 and the first cover body 113, and the first accommodating cavity 114 is connected to the second accommodating cavity 115. The first accommodating cavity 114 in the thigh structure 10 accommodates the thigh drive assembly 12, and the electrical wires of the drive assembly 12 are arranged in the second accommodating cavity 115. When the first cover body 113 is opened, the electrical wires of the drive assembly 12 are exposed to the outside, so as to facilitate the arrangement and maintenance of the electrical wires arranged in the second accommodating cavity 115. In this way, the appearance of the thigh structure 10 can be made highly anthropomorphic while ensuring structural rigidity; at the same time, the electrical wires of the thigh drive assembly 12 arranged inside the humanoid thigh shell 11 can be easily sorted and repaired.

[0051] Furthermore, both the outer shell and the inner shell adopt a double-layer structure, and a grid-shaped connecting rib is provided inside the double-layer structure to ensure that the outer shell and the inner shell have extremely high load-bearing strength, so as to avoid overload deformation and affect the service life.

[0052] Please refer to Figure 2 , in some embodiments, the outer shell 111 includes a main body portion 1111 and an annular portion 1112. The main body portion 1111 constitutes a partial wall of the first accommodating cavity 114. One side portion of the annular portion 1112 is connected to the main body portion 1111 and partially abuts against the inner shell 112. Specifically, in the up-and-down direction when the humanoid robot stands, a part of the lower end of the annular portion 1112 is connected to the main body portion 1111, another part of the lower end of the annular portion 1112 abuts against the top wall of the inner shell 112, and the through hole of the annular portion 1112 communicates with the first accommodating cavity 114.

[0053] In this way, after the inner shell 112 and the outer shell 111 are detachably connected together, the inner shell 112 abuts and contacts the annular portion 1112 and the main body portion 1111 of the outer shell 111. The connection between the outer shell 111 and the inner shell 112 is tight and stable, reducing the risk of misalignment between the inner shell 112 and the outer shell 111. While realizing the detachable of the humanoid thigh shell 11, the stability and load-bearing strength of the overall structure are ensured.

[0054] Furthermore, the annular portion 1112 and the main body portion 1111 are of an integral structure.

[0055] Furthermore, the side end of the inner shell 112 is detachably connected to the main body portion 1111, and the top end of the inner shell 112 is detachably connected to the annular portion 1112, so that the connection between the inner shell 112 and the outer shell 111 is more firm.

[0056] Specifically, the side end of the inner shell 112 is detachably connected to the main body portion 1111 through a first locking member, and the top end of the inner shell 112 is detachably connected to the annular portion 1112 through a second locking member. Exemplarily, the first locking portion can be a screw, and the first locking member passes through the main body portion 1111 in the left-right direction and is threadedly connected to the inner shell 112. The second locking member can be a screw, and the second locking member passes through the annular portion 1112 in the height direction and is threadedly connected to the inner shell 112.

[0057] Please refer to Figure 1, in some embodiments, a second through hole 1113 is formed in the outer shell 111, and the second through hole 1113 communicates with the inside and outside of the first accommodation cavity 114; the humanoid thigh shell 11 further includes a second covering body 116, and the second covering body 116 is detachably covered on the second through hole 1113, and the second through hole 1113 is used to allow some components of the thigh driving assembly 12 to be placed into the first accommodation cavity 114 from the outside.

[0058] In this way, the second through hole 1113 communicates with the inside and outside of the first accommodation cavity 114, and allows some components of the thigh driving assembly 12 to enter the inside of the first accommodation cavity 114 from outside the outer shell 111, which simplifies the installation of the thigh driving assembly 12 in the humanoid thigh shell 11 and improves the convenience of maintenance and replacement. The second covering body 116 is detachably covered on the second through hole 1113, which ensures the sealing of the humanoid thigh shell and improves the structural rigidity. At the same time, the effects of dust prevention, sealing and aesthetics are taken into account.

[0059] Please refer to Figure 3 , in this embodiment, the thigh driving assembly 12 includes a knee joint driving member 121, a thigh crank 122 and a thigh connecting rod 123. The knee joint driving member 121 enters the outer shell 111 from the second through hole 1113 and is installed in the first accommodation cavity 114. The thigh crank 122 is connected to the output end of the knee joint driving member 121, and one end of the thigh connecting rod 123 is rotatably connected to the thigh crank 122. As Figure 7 , 8 shown, when the thigh structure 10 is rotatably connected to the calf structure 30 (for example, rotatably connected through the rotating connecting member 20), the other end of the thigh connecting rod 123 is used to rotatably connect to the calf structure 30..

[0060] In this way, the knee joint driving member 121 drives the thigh crank 122 to rotate, so that the thigh crank 122 drives the calf structure 30 to rotate around the rotating connecting member 20 through the thigh connecting rod 123, so that the calf structure 30 makes a bending movement relative to the thigh structure 10.

[0061] Furthermore, an avoidance hole 115 is formed in the outer shell 111 to facilitate the thigh connecting rod 123 to be loaded into the first accommodation cavity 114 through the avoidance hole 115 and connected to the thigh crank 122. Optionally, joint bearings are installed at both ends of the thigh connecting rod 123, and the thigh connecting rod 123 is rotatably connected to the thigh crank 122 and the calf structure 30 through the joint bearings installed at both ends.

[0062] Please refer to Figure 2 , in some embodiments, at least one of the first covering body 113 and the second covering body 116 is provided with a heat dissipation member 13 for dissipating heat inside the humanoid thigh shell 11.

[0063] In this embodiment, the structure of the heat dissipation component is not limited. Exemplarily, the heat dissipation component 13 can be a fan or a heat sink. Specifically, the heat dissipation component 13 is installed on the first covering body 113, or the heat dissipation component 13 is installed on the second covering body 116, or the heat dissipation component 13 is installed on both the first covering body 113 and the second covering body 116.

[0064] Alternatively, the heat dissipation component 13 can also be configured as a heat dissipation through hole, and the heat dissipation through hole is formed in at least one of the first covering body 113 and the second covering body 116.

[0065] Alternatively, the heat dissipation component 13 can also be configured as a combination of a heat dissipation through hole and a fan, and the combination of the heat dissipation through hole and the fan is disposed in at least one of the first covering body 113 and the second covering body 116.

[0066] Please refer to Figure 4 and Figure 5 , in some embodiments, the thigh structure 10 further includes a humanoid root housing 14. One end of the root housing 14 is connected to the thigh drive assembly 12, and the root housing 14 forms a third accommodation cavity 141. The thigh structure 10 further includes a left - right swing drive assembly 15. The left - right swing drive assembly 15 is installed in the third accommodation cavity 141 to ensure the anthropomorphic degree of the appearance of the thigh structure 10 and to accommodate and protect the left - right swing drive assembly 15 through the third accommodation cavity 141. The left - right swing drive assembly 15 is used to drive the thigh structure 10 to swing left and right. Please refer to Figure 4 , in some embodiments, the root housing 14 includes a first housing 142 and a second housing 143 that enclose to form the third accommodation cavity 141. The first housing 142 is detachably connected to the second housing 143. Specifically, the first housing 142 and the second housing 143 are connected by screws.

[0067] Furthermore, the left - right swing drive assembly 15 is rotatably installed on the first housing 142 through a bearing, and the output shaft of the left - right swing drive assembly 15 is fixedly connected to the second housing 143; or, the left - right swing drive assembly 15 is rotatably connected to the second housing 143 through a bearing, and the output shaft of the left - right swing drive assembly 15 is fixedly connected to the first housing 142.

[0068] Please refer to Figure 6, Further, the left - right swing driving assembly 15 includes a left - right swing driving member 151, a left - right swing housing 152, and a handle portion 153. The left - right swing housing 152 has a cylindrical structure. The left - right swing driving member 151 is installed in the left - right swing housing 152 through a flange. One end of the handle portion 153 is connected to the circumferential surface of the left - right swing housing 152, and the other end of the handle portion 153 is connected to the output shaft of the front - rear swing driving assembly 16. Moreover, the handle portion 153 is designed as a hollow structure, which not only reduces weight but also facilitates wire routing. Exemplarily, the left - right swing driving member 151 can be a motor.

[0069] Please refer to Figure 3 , In some embodiments, the thigh driving assembly 12 further includes a rotation driving member 124 and a rotation adapter flange 125. The rotation driving member 124 is used to drive the thigh structure 10 to rotate. The input end of the rotation driving member 124 is connected to the inner - ring mounting hole of the rotation connection flange 125, and the rotation connection flange 125 is connected to the annular portion 1112. A part of the rotation driving member 124 is installed in the first accommodation cavity 114 through the through - hole of the annular portion 1112. The output end of the rotation driving member 124 is located above the input end, extends out of the first accommodation cavity 114, and is connected to the bottom flange of the left - right swing driving member 15. Thus, when the rotation driving member 124 is driven, the main body of the rotation driving member 124 rotates relative to the root housing 14 to drive the humanoid - like thigh housing 11 to rotate circumferentially.

[0070] Please refer to together Figure 4 and Figure 5 , In some embodiments, the root housing 14 includes a third through - hole 144, and the third through - hole 144 communicates with the third accommodation cavity 141; the thigh structure 10 further includes a front - rear swing driving assembly 16. The front - rear swing driving assembly 16 passes through the third through - hole 144 and is connected to the left - right swing driving assembly 15 to drive the thigh structure 10 to swing back and forth.

[0071] Please refer to Figure 4, in some embodiments, the front-back swing assembly includes a base 161 and a front-back swing driving member 162. The base 161 is a hollow frame structure. Specifically, the front-back swing driving member 162 is installed inside the hollow frame structure of the base 161, so as to facilitate the storage and protection of the front-back swing driving member 162, and the frame structure has a good heat dissipation effect. The front-back swing driving member 162 is inclined with respect to the extending direction of the thigh structure 10 and is installed on the base 161. By arranging the front-back swing driving member 162 in an inclined manner, the front-back swing driving member 162 is more in line with the anthropomorphic design and can be closer to the leg movement mode of a human. Moreover, after the front-back swing driving member 162 is inclined, the space occupied by the front-back swing driving member 162 in the left-right direction can be further reduced, so that the space layout can be further optimized, and the axis of the front-back swing driving member 162 is perpendicularly intersected with the axis of the left-right swing driving assembly 15, so that the driving directions of the front-back swing driving member 162 and the left-right swing driving assembly 15 are perpendicular to each other.

[0072] Optionally, the hollow frame structure is distributed with special-shaped openings intersecting vertically and horizontally, so as to ensure the stiffness of the base 161 while reducing the weight of the base 161.

[0073] Furthermore, the axis of the driving shaft of the rotation driving member 124, the axis of the left-right swing driving assembly 15, and the axis of the front-back swing driving member 162 are coplanar, and the axis of the driving shaft of the rotation driving member 124 is perpendicular to the axis of the left-right swing driving assembly 15.

[0074] Some embodiments of the present application further provide a leg device.

[0075] Please refer to Figure 2 and Figure 7 , in some embodiments, the leg device includes a thigh structure 10, a rotation connecting member 20, and a calf structure 30 in the shape of a humanoid structure. Among them, the thigh structure 10 is rotationally connected to the calf structure 30 through the rotation connecting member 20. In this way, the calf structure can realize the front-back swing movement relative to the thigh structure, making the movement of the calf structure 30 more flexible, so as to facilitate imitating the front-back swing of a human calf.

[0076] Furthermore, the outer shell 111 and the inner shell 112 also enclose a fourth accommodation cavity 117, and the fourth accommodation cavity 117 communicates with the second accommodation cavity 115. The rotation connecting member 20 is arranged in the fourth accommodation cavity 117. The rotation connecting member 20 is provided with a wire routing opening. The calf structure 30 is rotationally connected to the thigh structure 10 through the rotation connecting member 20, and the thigh driving assembly 12 is further used to drive the calf structure 30 to rotate relative to the thigh structure 10. The electrical wires arranged in the second accommodation cavity 115 extend to the calf structure 30 through the wire routing opening.

[0077] Thus, by providing a wire routing opening on the rotary connector 20, it is convenient for the electrical wires in the second accommodation cavity 115 to extend into the calf structure 30 along the wire routing opening, and a specific wire routing space is provided for the electrical wires, reducing the risk of electrical wire entanglement and crossing, and improving the neatness and reliability of the overall electrical system.

[0078] Please refer to Figure 2 , further, the rotary connector 20 includes two crossed roller bearings 21 and a rotary support shaft 22. One end of the rotary support shaft 22 is rotatably mounted on the support nut of the inner housing 112 through the crossed roller bearing 21, and the other end of the rotary support shaft 22 is rotatably mounted on the outer housing 111 through the crossed roller bearing 21. A wire routing opening is provided on the rotary support shaft 22 along the axial direction; specifically, lug structures for mounting the crossed roller bearings 21 are provided on both the inner housing 112 and the outer housing 111.

[0079] Specifically, the other end of the thigh link 123 of the thigh drive assembly 12 is rotatably connected to the calf structure 30. Among them, the rotation axis between the other end of the thigh link 123 and the calf structure 30 is parallel to the rotation axis between the humanoid thigh housing 11 and the calf structure 30.

[0080] Further, a fourth through hole 1114 is also provided on the outer housing 111. The fourth through hole 1114 communicates with the fourth accommodation cavity 117. The humanoid thigh housing 11 further includes a third covering body 118. The third covering body 118 is detachably connected to the outer housing 111 and covers the fourth through hole 1114. The fourth through hole 1114 is used for some components of the rotary connector 20 to be placed into the fourth accommodation cavity 117.

[0081] Please refer to FIG. 7 and Figure 8 , in some embodiments, the leg device further includes a foot assembly 40; the calf structure 30 includes a humanoid calf housing 31 and a foot drive mechanism 32. The humanoid calf housing 31 includes a load-bearing bracket 311 and a contoured outer shell 312. The load-bearing bracket 311 is installed inside the contoured outer shell 312. The foot drive mechanism 32 is disposed inside the contoured outer shell 312 and installed on the load-bearing bracket 311. The foot drive mechanism 32 is rotatably connected to the foot assembly 40, and the foot assembly 40 is also rotatably connected to the load-bearing bracket 311. The foot drive mechanism 32 is used to drive the foot assembly 40 to swing.

[0082] Thus, first install the foot drive mechanism 32 onto the load-bearing bracket 311 to facilitate the load-bearing function through the load-bearing bracket 311, and then install the load-bearing bracket 311 with the foot drive mechanism 32 installed therein into the humanoid calf housing 31, so that the humanoid calf housing 31 with a humanoid design can accommodate and protect the foot drive mechanism 32, and the calf structure 30 has an anthropomorphic appearance.

[0083] In addition, by making the supporting bracket 311 and the contoured shell 312 functionally independent, it is helpful to reduce the complexity of the contoured shell 312 and to adjust the foot driving mechanism 32 to the center position of the contoured shell 312 through the supporting bracket 311, thereby improving the stability of the humanoid robot.

[0084] See also Figure 7 Further, the foot driving mechanism 32 includes a first foot driving component 321 and a second foot driving component 322. Optionally, the first foot driving component 321 and the second foot driving component 322 have the same structure. The first foot driving component 321 may include a first actuator 3211, a first crank 3212 and a first connecting rod 3213, the first actuator 3211 is mounted on the supporting bracket 311, the first crank 3212 is connected to the first actuator 3211; one end of the first connecting rod 3213 is rotatably connected to the first crank 3212. The second foot driving assembly 322 may include a second actuator 3221, a second crank 3222 and a second connecting rod 3223. The second actuator 3221 is mounted on the supporting bracket 311. The second crank 3222 is connected to the second actuator 3221. One end of the second connecting rod 3223 is rotatably connected to the second crank 3222. The first crank 3212 and the first connecting rod 3213 are located on one side of the supporting bracket 311. The second crank 3222 and the second connecting rod 3223 are located on the other side of the supporting bracket 311. Exemplarily, the first actuator 3211 may be a motor, and the second actuator 3221 may be a motor.

[0085] Thus, the first foot driving assembly 321 and the second foot driving assembly 322 adopt the same structure, so that the weight of the first foot driving assembly 321 and the second foot driving assembly 322 are close to each other, so as to further balance the gravity distribution of the supporting bracket 311, thereby further improving the stability of the supporting bracket 311. At the same time, the crank structure formed by the first actuator 3211, the first crank 3212 and the first connecting rod 3213, and the crank structure formed by the second actuator 3221, the second crank 3222 and the second connecting rod 3223 have a compact structure, and can directly convert the rotational motion into the linear motion, so that the motion is smooth and continuous, so that the stability of the copy robot is better when it moves continuously.

[0086] Some embodiments of the present application also provide a humanoid robot.

[0087] In some embodiments, the humanoid robot comprises the above-mentioned leg devices. Exemplarily, the number of the leg devices is two groups, and the two groups of leg devices are symmetrically arranged.

[0088] In this way, the anthropomorphism of the leg device of the humanoid robot can be improved while maintaining the movement performance of the legs.

[0089] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the embodiments of this application can be achieved, and no limitations are imposed herein.

[0090] In addition, the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the embodiments of this application, "a plurality" means two or more, unless otherwise specifically defined.

[0091] As described above, the above are only the specific implementation manners of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the embodiments of this application can easily think of changes or substitutions, which should all be covered within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application shall be subject to the protection scope of the claims.

Claims

1. A thigh structure of a humanoid robot, characterized in that: The thigh structure comprises: A humanoid thigh shell, the humanoid thigh shell comprising: Outer shell; An inner shell, wherein the inner shell is detachably connected to the outer shell and a first accommodating cavity is formed between the inner shell and the outer shell, and an opening is formed on the outer surface of the inner shell, wherein the opening includes a first through hole and a non-through area, and the first through hole communicates with the inside and outside of the first accommodating cavity; A first covering body, which is detachably covered on the opening and surrounds the non-penetrating area to form a second accommodating cavity; A thigh drive assembly is installed in the first accommodating cavity, and is used to drive the thigh structure to rotate circumferentially; wherein the electrical wire of the thigh drive assembly is arranged close to the first through hole and arranged in the second accommodating cavity.

2. The thigh structure according to claim 1, wherein: The outer shell comprises: A main body portion, the main body portion constituting a portion of a cavity wall of the first accommodating cavity; An annular portion, one side of which is partially connected to the main body and partially abuts against the inner shell, and a through hole of the annular portion is communicated with the first accommodating cavity.

3. The thigh structure according to claim 1, wherein: The outer shell is provided with a second through hole, and the second through hole is connected to the inside and outside of the first accommodating cavity; The humanoid thigh shell also includes a second covering body, which is detachably covered on the second through hole, and the second through hole is used to allow some components of the thigh driving assembly to be placed into the first accommodating cavity from the outside.

4. The thigh structure according to claim 3, wherein: At least one of the first cover body and the second cover body is provided with a heat dissipation member.

5. The thigh structure according to claim 1, wherein: The thigh structure further comprises a humanoid root shell, one end of which is connected to the thigh drive assembly, and the root shell is formed with a third accommodating cavity; The thigh structure also includes a left-right swing driving component, which is installed in the third accommodating cavity and is used to drive the thigh structure to swing left-right.

6. The thigh structure according to claim 5, wherein: The root shell includes a third through hole, and the third through hole is connected to the third accommodating cavity; The thigh structure also includes a front-to-back swing driving assembly, which passes through the third through hole and is connected to the left-right swing driving assembly to drive the thigh structure to swing back and forth.

7. The thigh structure according to claim 6, wherein: The front and rear swing assembly comprises: A base, wherein the base is a hollow frame structure; A front-to-back swing driving member is arranged obliquely relative to the extension direction of the thigh structure and is installed on the base, and the axis of the front-to-back swing driving member intersects perpendicularly with the axis of the left-right swing driving assembly.

8. A leg device, characterized in that: The leg device comprises: The thigh structure according to any one of claims 1 to 7, wherein the outer shell and the inner shell further surround and form a fourth accommodating cavity, and the fourth accommodating cavity is communicated with the second accommodating cavity; A rotating connector, the rotating connector is arranged in the fourth accommodating cavity, and the rotating connector is provided with a wiring opening; A calf structure of a humanoid structure, wherein the calf structure is rotatably connected to the thigh structure through the rotating connecting member; wherein, The thigh drive assembly is also used to drive the calf structure to rotate relative to the thigh structure; the electrical wire arranged in the second accommodating cavity extends to the calf structure through the wiring opening.

9. The leg device according to claim 8, wherein: The leg device also includes a foot assembly; the lower leg structure includes: A humanoid calf shell, comprising a bearing bracket and a contoured shell, wherein the bearing bracket is installed in the contoured shell and is rotatably connected to the foot assembly; The foot driving mechanism is arranged in the contoured shell and installed on the bearing bracket. The foot driving mechanism is rotatably connected to the foot assembly and is used to drive the foot assembly to swing.

10. A humanoid robot, characterized in that: The humanoid robot comprises the leg device according to claim 9.

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