Shank structure, leg device and humanoid robot

Abstract

The invention provides a shank structure, a leg device and a humanoid robot. The shank structure comprises a humanoid shank shell, a bearing support and a foot driving mechanism. The human-like shank shell has an external shape similar to a human shank, and a cavity is formed in the human-like shank shell; the bearing support is installed in the cavity in the height direction of the humanoid shank shell. The foot driving mechanism is used for driving the feet to act, and the foot driving mechanism is arranged in the cavity and installed on the bearing support. In this way, the humanoid effect is achieved through the humanoid shank shell, the main supporting effect is achieved through the bearing support, and the stability and attractiveness of the structure are both considered.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular, to a calf structure, a leg device, and a humanoid robot. Background Art

[0002] In the calf structure of existing humanoid robots, in order to ensure convenient movement and control, the drive joints are usually made large and arranged at symmetric or specific positions on the mechanical structure, so that the external shape of the joints is directly reflected in the external structure of the robot. As a result, the final structural form is very different from the external shape ratio of the human body, and the aesthetics of the robot that can be achieved is poor, and only a humanoid effect can be achieved. In addition, in the calf structure of existing humanoid robots, the foot drive joints used to drive the movement of the feet are usually directly installed on the humanoid calf housing, which easily exceeds the load-bearing limit of the humanoid calf housing and affects the service life of the calf structure. Summary of the Invention

[0003] Embodiments of the present disclosure provide a calf structure, a leg device, and a humanoid robot to at least solve the above technical problems existing in the prior art.

[0004] Embodiments of the present disclosure provide a calf structure of a humanoid robot, the calf structure comprising:

[0005] A humanoid calf housing, a cavity being formed inside the humanoid calf housing;

[0006] A load-bearing bracket, the load-bearing bracket being installed in the cavity along the height direction of the humanoid calf housing, the load-bearing bracket comprising:

[0007] A load-bearing body, the load-bearing body being in a grid shape;

[0008] A protruding edge, the protruding edge being formed on at least part of the outer periphery of the load-bearing body, the protruding edge protruding from the load-bearing body in the left-right direction of the humanoid calf housing;

[0009] A foot drive mechanism, disposed in the cavity and installed on the load-bearing body.

[0010] In an implementable embodiment, the foot drive mechanism comprises:

[0011] A first foot drive assembly, comprising:

[0012] A first actuator, the first actuator being installed on the load-bearing body;

[0013] A first crank, the first crank being connected to the first actuator;

[0014] A first connecting rod, one end of the first connecting rod being rotatably connected to the first crank;

[0015] A second foot drive assembly, comprising:

[0016] A second actuator, which is mounted on the carrier;

[0017] A second crank, which is connected to the second actuator;

[0018] A second connecting rod, one end of which is rotatably connected to the second crank;

[0019] Wherein, the first crank and the first connecting rod are located on one side of the carrier, and the second crank and the second connecting rod are located on the other side of the carrier.

[0020] In an implementable embodiment, the first connecting rod and the second connecting rod have a sweeping range on the carrier, and the thickness of the carrier within the sweeping range is less than the thickness of the carrier outside the sweeping range, and the thickness is the dimension of the carrier in the left - right direction of the humanoid calf housing.

[0021] In an implementable embodiment, a first reinforcing rib is formed at the boundary of the sweeping range of the carrier.

[0022] In an implementable embodiment, the humanoid calf housing includes:

[0023] A first profiling housing, which is detachably covered on one side of the bearing bracket in the left - right direction and forms a first accommodating cavity with the bearing bracket;

[0024] A second profiling housing, which is detachably covered on the other side of the bearing bracket in the left - right direction and encloses a second accommodating cavity with the bearing bracket; wherein,

[0025] A first foot driving assembly is arranged in the first accommodating cavity, and a second foot driving assembly is arranged in the second accommodating cavity.

[0026] The embodiment of the present disclosure further provides a leg device, which includes:

[0027] The above - mentioned calf structure;

[0028] A foot component, which is rotatably connected to the calf structure and the foot driving mechanism.

[0029] In an implementable embodiment, the foot component includes:

[0030] An ankle support, provided with a first rotation axis extending in the left - right direction, and rotatably connected between the foot driving mechanism and the ankle support;

[0031] An ankle support shaft, arranged along a second rotation axis, the second rotation axis extends in the left - right direction and is spaced from the first rotation axis in the front - back direction, and the ankle support shaft is connected to the bearing bracket;

[0032] The first spherical plain bearing, the inner ring of the first spherical plain bearing is assembled and connected to the ankle support shaft, and the outer ring of the first spherical plain bearing is assembled and connected to the ankle support member.

[0033] In one possible implementation, the leg device further includes:

[0034] A thigh structure, the thigh structure is rotatably connected to the calf structure through a knee rotation shaft;

[0035] A knee shield, the knee shield is fixedly connected to the thigh structure and slidably connected to the calf structure; wherein, when the leg device is in a straight state, the knee shield is hidden in the thigh structure, and when the calf structure rotates relative to the thigh structure to change the leg device from the straight state to the bent state, the knee shield is exposed between the thigh structure and the calf structure.

[0036] In one possible implementation, the knee shield includes:

[0037] An outer shield piece, one end of the outer shield piece is fixedly connected to the thigh structure;

[0038] An inner shield piece, the inner shield piece is arranged inside the outer shield piece and slidably connected to the outer shield piece, and the inner shield piece is slidably connected to the calf structure; wherein, when the calf structure rotates relative to the thigh structure to change the leg device from the straight state to the bent state, the calf structure drives the inner shield piece and the outer shield piece to perform an arched rotation around the knee rotation shaft.

[0039] The embodiments of the present disclosure also provide a humanoid robot, and the humanoid robot includes the leg device as described above.

[0040] 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 disclosure, nor is it used to limit the scope of the embodiments of the present disclosure. Other features of the embodiments of the present disclosure will become easily understood through the following description. Description of the Drawings

[0041] 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 disclosure will become easily understood. In the drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, wherein:

[0042] In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0043] Figure 1 Shows a schematic structural diagram of the calf structure and the foot assembly of the embodiments of the present disclosure;

[0044] Figure 2 Shows Figure 1 The exploded structural diagram of the calf structure in

[0045] Figure 3 shows the Figure 2 structural schematic diagram of the load-bearing bracket in

[0046] Figure 4 shows the Figure 1 structural schematic diagram of the foot assembly in

[0047] Figure 5 shows the Figure 1 schematic diagram of a perspective view of the cross-section of the calf structure and the foot assembly in along the I-I direction;

[0048] Figure 6 shows the Figure 1 schematic diagram of another perspective view of the cross-section of the calf structure and the foot assembly in along the I-I direction;

[0049] Figure 7 shows the structural schematic diagram of the leg device in the straight state in an embodiment of the present disclosure;

[0050] Figure 8 shows the structural schematic diagram of the leg device in the bent state in an embodiment of the present disclosure.

[0051] Among them, the reference numerals in the figure are explained as follows: 10, calf structure; 11, humanoid calf housing; 111, first profiling housing; 112, second profiling housing; 113, cavity; 12, load-bearing bracket; 121, carrier; 122, protruding edge; 123, first reinforcing rib; 124, second reinforcing rib; 125, first mounting hole; 126, second mounting hole; 13, foot driving mechanism; 131, first foot driving component; 1311, first actuator; 1312, first crank; 1313, first connecting rod; 1314, second joint bearing; 132, second foot driving component; 1321, second actuator; 1322, second crank; 1323, second connecting rod; 1324, third joint bearing; 20, foot assembly; 21, ankle support; 22, first joint bearing; 23, joint ankle support shaft; 24, second rotation axis; 25, first rotation axis; 26, foot body; 30, thigh structure; 40, knee shield; 41, outer shield; 42, inner shield. Detailed implementation manners

[0052] To make the objectives, features, and advantages of the embodiments of the present disclosure more apparent and understandable, the following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the embodiments of the present disclosure.

[0053] It can be understood that in this embodiment, the left-right direction, the front-back direction, and the height direction are the sensing directions of the humanoid robot. That is, when the humanoid robot stands, the directions corresponding to the chest and the back are the front-back direction, the directions corresponding to the left hand and the right hand are the left-right direction, and the direction of gravity is the height direction.

[0054] Figure 1 Some embodiments of the present disclosure are shown to provide a calf structure of a humanoid robot, including: a humanoid calf housing 11, a bearing bracket 12, and a foot driving mechanism 13. The humanoid calf housing 11 has an external shape similar to that of a human calf, and a cavity 113 is formed inside it; the bearing bracket 12 is installed in the cavity 113 along the height direction of the humanoid calf housing; the foot driving mechanism 13 is used to drive the foot to move, and the foot driving mechanism 13 is arranged in the cavity 113 and installed on the bearing bracket 12. In the embodiments of the present disclosure, the humanoid calf housing 11 achieves the humanoid effect, and the bearing bracket 12 plays a main supporting role, taking into account the structural stability and aesthetics. Figures 2-3 Some embodiments of the present disclosure are shown to provide a calf structure 10 of a humanoid robot. The calf structure 10 of the humanoid robot includes a humanoid calf housing 11, a bearing bracket 12, and a foot driving mechanism 13.

[0055] A cavity 113 is formed inside the humanoid calf housing 11, and the bearing bracket 12 is installed in the cavity 113 along the height direction of the humanoid calf housing 11.

[0056] The bearing bracket 12 includes a carrier 121 and a protruding edge 122. The carrier 121 is in a grid shape, as Figure 3 shown. The carrier 121 of the bearing bracket 12 is generally in a grid shape as a whole, which is convenient for reducing the weight of the bearing bracket 12. It can be understood that a grid mesh is formed on the carrier 121. Optionally, the grid mesh can be hollowed out and runs through the carrier 121 in the left-right direction; the grid mesh can also be non-hollowed out. The protruding edge 122 is formed on at least part of the outer periphery of the carrier 121, and the protruding edge 122 protrudes from the carrier 121 in the left-right direction of the humanoid calf housing 11. From a mechanical point of view, the setting of the protruding edge 122 makes the bearing bracket 12 generally in an I-shaped, improving the bearing strength of the bearing bracket 12.

[0057] The foot driving mechanism 13 is disposed within the cavity 113 and mounted on the carrier 121, and the foot driving mechanism is used to drive the foot to move.

[0058] In an alternative embodiment, the carrier 121 includes a grille portion and a mounting portion. The grille portion of the carrier 121 is generally in a grille shape, which is convenient for reducing the weight of the load-bearing bracket 12, and the foot driving mechanism 13 is mounted on the mounting portion of the carrier 121.

[0059] In the calf structure 10 of the humanoid robot according to the embodiment of the present disclosure, the foot driving mechanism 13 is mounted on the load-bearing bracket 12, and the load-bearing function of the foot driving mechanism 13 is achieved through the load-bearing bracket 12. The load-bearing bracket 12 is convexly provided with a protruding edge 122 in the left-right direction to ensure the load-bearing strength of the load-bearing bracket 12; at the same time, the carrier 121 is designed in a grille shape to facilitate reducing the weight of the load-bearing bracket 12. In this way, the load-bearing bracket 12 designed in a grille shape and having the protruding edge 122 can reduce the weight while having a certain load-bearing strength, so that the calf structure 10 is strong and durable, has a long service life, and is light in self-weight; the load-bearing bracket 12 and the foot driving mechanism 13 are mounted within the humanoid calf housing 11, and the humanoid calf housing 11 designed in a humanoid shape can accommodate and protect the foot driving mechanism 13, and make the calf structure 10 have an aesthetic function.

[0060] In addition, the load-bearing bracket 12 and the humanoid calf housing 11 are functionally independent of each other, which is beneficial to reducing the design complexity of the humanoid calf housing 11, and adjusting the foot driving mechanism 13 to an appropriate position of the humanoid calf housing 11 through the load-bearing bracket 12, which is beneficial to improving the stability of the humanoid robot.

[0061] In an alternative embodiment, the protruding edge 122 is formed on a part of the outer periphery of the carrier 121, or the protruding edge 122 is a closed-loop structure and is formed on the entire outer periphery of the carrier 121.

[0062] In an alternative embodiment, the materials used for the load-bearing bracket 12 and the humanoid calf housing 11 may be the same or different. Optionally, the materials used for the load-bearing bracket 12 and the humanoid calf housing 11 are both made of metal materials. After the humanoid calf housing 11 is mounted on the load-bearing bracket 12, the load-bearing strength of the calf structure 10 can be further enhanced. Or, the load-bearing bracket 12 and the humanoid calf housing 11 may be made of different materials. Specifically, the load-bearing bracket 12 is made of a high-strength material. For example, carbon fiber material, titanium alloy material, aluminum alloy material or high-strength steel material, so that the load-bearing bracket 12 has a higher load-bearing strength. The humanoid calf housing 11 is made of a material that is easy to process and form. For example, plastic material, so that the humanoid calf housing 11 is easy to process and form, which is beneficial to improving the aesthetic feeling of the housing.

[0063] In an alternative embodiment, the carrier 121 and the protruding edge 122 are an integral structure, so that the connection strength between the carrier 121 and the protruding edge 122 is higher, thereby further improving the load-bearing strength of the load-bearing bracket 12.

[0064] In some embodiments, the foot driving mechanism 13 includes a first foot driving component 131 and a second foot driving component 132. The first foot driving component 131 is installed on one side of the carrier 121, and the second foot carrier 121 component is installed on the other side of the carrier 121.

[0065] Thus, by installing the first foot driving component and the second foot driving component 132 on the opposite sides of the carrier 121 respectively, it helps to balance the gravity distribution of the carrier 121 and avoid instability caused by the overweight of one side of the carrier 121, which is particularly important for a humanoid robot during walking. The scientific nature of the spatial layout of this structure, for example, makes the spatial structure more compact and can reduce the crossing and interference between the components on both sides of the carrier 121 (such as the cables on both sides of the carrier 121, the first foot driving component 131 and the second foot driving component 132 on both sides of the carrier 121), thereby effectively reducing the failure rate of the calf structure 10.

[0066] In this embodiment, the structures of the first foot driving component 131 and the second foot component 20 are not limited. Exemplarily, the first foot driving component 131 and the second foot driving component 132 can be an electric driving structure, a pneumatic driving structure or a hybrid driving structure (a combination of an electric driving structure and a pneumatic driving structure).

[0067] Optionally, the structures of the first foot driving component 131 and the second foot driving component 132 can be different or the same.

[0068] In some embodiments of the present disclosure, such as Figure 2As shown, the foot driving mechanism 13 includes a first foot driving component 131 and a second foot driving component 132. The first foot driving component 131 and the second foot driving component 132 have the same constitution. The first foot driving component 131 includes a first actuator 1311, a first crank 1312 and a first connecting rod 1313. The first actuator 1311 is installed on the carrier 121, and the first crank 1312 is connected to the first actuator 1311; one end of the first connecting rod 1313 is rotatably connected to the first crank 1312. The second foot driving component 132 includes a second actuator 1321, a second crank 1322 and a second connecting rod 1323. The second actuator 1321 is installed on the carrier 121, the second crank 1322 is connected to the second actuator 1321, and one end of the second connecting rod 1323 is rotatably connected to the second crank 1322. The first crank 1312 and the first connecting rod 1313 are located on one side of the carrier 121, and the second crank 1322 and the second connecting rod 1323 are located on the other side of the carrier 121. Exemplarily, the first actuator 1311 can be a motor, and the second actuator 1321 can be a motor.

[0069] Thus, the first foot driving component 131 and the second foot driving component 132 adopt the same structure, so that the weights of the first foot driving component 131 and the second foot driving component 132 are close, which is convenient for further balancing the gravity distribution of the carrier 121, thereby further improving the stability of the carrier 121. At the same time, the crank structures formed by the first actuator 1311, the first crank 1312 and the first connecting rod 1313, and the crank structures formed by the second actuator 1321, the second crank 1322 and the second connecting rod 1323 are structurally compact and can directly convert rotational motion into linear motion, making the motion smooth and continuous, so that the stability of the anthropomorphic robot during continuous walking is better.

[0070] In some embodiments of the present disclosure, the first connecting rod 1313 and the second connecting rod 1323 have a sweeping range on the carrier 121, and the thickness of the carrier 121 within the sweeping range is smaller than the thickness of the carrier 121 outside the sweeping range. The thickness is the dimension of the carrier 121 in the left-right direction of the humanoid calf housing 11. It can be understood that the sweeping range of the first connecting rod 1313 and the second connecting rod 1323 on the carrier 121 refers to the maximum area swept by the first connecting rod 1313 and the second connecting rod 1323 on the carrier 121 when they swing.

[0071] Thus, by setting the sweeping ranges of the first link 1313 and the second link 1323 on the carrier 121, when the first actuator drives the first crank 1312 to rotate and drives the first link 1313 to move, the first link 1313 has an avoidance space on the carrier 121 to avoid kinematic interference between the first link 1313 and the carrier 121. At the same time, when the second actuator drives the second crank 1322 to rotate and drives the second link 1323 to move, the second link 1323 has an avoidance space on the carrier 121 to avoid kinematic interference between the second link 1323 and the carrier 121. Moreover, the first foot driving mechanism 13 and the second foot driving assembly 132 can be more compactly installed on the bearing bracket 12, saving the space of the inner cavity of the calf structure 10, so that the humanoid calf housing 11 can be more beautifully and easily designed to be closer to the shape of the human calf.

[0072] In some embodiments, as Figure 3 shown, the carrier 121 is formed with a first reinforcing rib 123 at the boundary of the sweeping range, so as to improve the strength of the sweeping range of the carrier 121, thereby ensuring that the load-bearing strength of the carrier 121 is not reduced due to the thinning of the sweeping range, making the carrier 121 more reliable and durable and having a longer service life.

[0073] In some embodiments of the present disclosure, as Figure 3 shown, the carrier 121 is further provided with a first mounting hole 125 and a second mounting hole 126. The first mounting hole 125 and the second mounting hole 126 are adjacent to each other. The first mounting hole 125 and the second mounting hole 126 form a mounting portion of the carrier 121. The first actuator 1311 is mounted in the first mounting hole 125, the second actuator 1321 is mounted in the second mounting hole 126, and the sweeping range of the first link 1313 on the carrier 121 communicates with the first mounting hole 125, and the sweeping range of the second link 1323 on the carrier 121 communicates with the second mounting hole 126.

[0074] Please refer to Figure 3 , optionally, the hole walls of the first mounting hole 125 and the second mounting hole 126 are formed with a second reinforcing rib 124, so as to improve the load-bearing strength of the carrier 121, thereby making the carrier 121 more reliable and durable and having a longer service life.

[0075] In the embodiments of the present disclosure, the positions of the sweeping range of the first link 1313 on the carrier 121 and the sweeping range of the second link 1323 on the carrier 121 are not limited.

[0076] In some embodiments, please refer to Figure 2, the humanoid calf housing 11 includes a first contoured housing 111 and a second contoured housing 112. The first contoured housing 111 is detachably covered on one side of the carrier bracket 12 in the left - right direction, and a first accommodation cavity is formed between the first contoured housing 111 and the carrier bracket 12. The second contoured housing 112 is detachably covered on the other side of the carrier bracket 12 in the left - right direction, and a second accommodation cavity is formed by surrounding the carrier bracket 12. The first foot driving assembly 131 is disposed in the first accommodation cavity, and the second foot driving assembly 132 is disposed in the second accommodation cavity.

[0077] In this way, the first accommodation cavity formed by surrounding the first contoured housing and the carrier bracket 12 houses and protects the first foot driving assembly 131, and also has the functions of contouring and aesthetics. The second accommodation cavity formed by surrounding the second contoured housing and the carrier bracket 12 houses and protects the second foot driving assembly 132, and also has the functions of contouring and aesthetics. Moreover, the first contoured housing 111 and the second contoured housing 112 are also used to increase the section modulus of the carrier bracket 12, thereby further increasing the load - bearing strength of the calf structure 10. When the first contoured housing 111, the second contoured housing 112, and the carrier bracket 12 are all made of high - strength materials, the load - bearing strength of the calf structure 10 can be greatly improved, and further the load - carrying capacity of the humanoid robot with the calf structure 10 can be improved.

[0078] In some embodiments, at least one of the first contoured housing 111 and the second contoured housing is equipped with a heat - dissipating component. Exemplarily, the heat - dissipating component can be a fan or a heat sink.

[0079] Specifically, the heat - dissipating component is installed on the first contoured housing, or on the second contoured housing 112, or on both the first contoured housing 111 and the second contoured housing 112.

[0080] Furthermore, at least one of the first contoured housing 111 and the second housing in the second direction is provided with heat - dissipating holes; specifically, the first contoured housing 111 is provided with heat - dissipating holes, or the second contoured housing 112 is provided with heat - dissipating holes, or both the first contoured housing 111 and the second contoured housing 112 are provided with heat - dissipating holes.

[0081] In some embodiments, the first contoured housing 111 is detachably connected to the carrier bracket 12 through a first locking member, and the second contoured housing 112 is detachably connected to the carrier bracket 12 through a second locking member. Exemplarily, the first locking member can be a screw; correspondingly, a threaded hole adapted to the screw is provided on the first carrier bracket 12. The second locking member can be a screw, and correspondingly, a threaded hole adapted to the screw is provided on the second carrier bracket 12.

[0082] Some embodiments of the present disclosure also provide a leg device, which includes the above-mentioned calf structure 10 and a foot component 20. The foot component 20 is rotatably connected to the calf structure 10 and a foot driving mechanism 13, and the foot driving mechanism 13 is used to drive the movement of the foot component 20.

[0083] In this way, by rotatably connecting the foot component 20 and the calf structure 10, and enabling the foot component 20 to have the ability to rotate around an axis relative to the calf structure 10, the degree of freedom of the foot component 20 is increased, thereby improving the walking stability of the leg device and the naturalness of the gait during walking. At the same time, the angle of the foot component 20 can also be actively adjusted by the foot driving mechanism 13 to facilitate adaptation to different ground slopes or obstacle heights (for example, going up and down stairs) to adapt to complex road conditions.

[0084] In some alternative embodiments, the foot component 20 is provided with a first rotation axis 25 and a second rotation axis 24, and the second rotation axis 24 and the first rotation axis 24 are arranged at intervals in the front-rear direction. The calf structure 10 is rotatably connected to the foot component 20 around the second rotation axis 24. The other end of the first link 1313 of the first foot driving component 131 is rotatably connected to the foot component 20 around the first axis 25, and the other end of the second link 1323 of the second foot driving component 132 is rotatably connected to the foot component 20 around the first axis 25.

[0085] In some embodiments, please refer to Figure 4 , the foot component 20 includes an ankle support 21, a first joint bearing 22 and an ankle support shaft joint 23. The ankle support shaft 23 is arranged along the second rotation axis 24, and the second rotation axis 24 extends in the left-right direction. The ankle support 21 is provided with a first rotation axis 25 extending in the left-right direction, and the second rotation axis 24 and the first rotation axis 24 are arranged at intervals in the front-rear direction. The foot driving mechanism 13 and the ankle support 21 are rotatably connected around the first rotation axis 25. Specifically, the other end of the first link 1313 of the first foot driving component 131 is rotatably connected to the ankle support 21 around the first rotation axis 25, and the other end of the second link 1323 of the second foot driving component 132 is rotatably connected to the ankle support 21 around the first rotation axis 25. The ankle support shaft 23 is connected to the carrier bracket 12. The inner ring of the first joint bearing 22 is assembled and connected to the ankle support shaft 23, and the outer ring of the first joint bearing 22 is assembled and connected to the foot driving mechanism 13. The outer ring of the first joint bearing 22 can rotate relative to the inner ring.

[0086] Please refer to Figure 5 , a reverse parallelogram structure is formed among the first crank 1312, the first link 1313 and the ankle support 21; please refer to Figure 6, a second crank 1322, a second connecting rod 1323, and the ankle support 21 also form an anti-parallel quadrilateral structure; the two sets of anti-parallel quadrilateral structures are connected in parallel. In this way, the first actuator 1311 and the second actuator 1321 can drive the foot assembly 20 to achieve forward and backward pitching motion around the ankle support axis 23; the first actuator 1311 and the second actuator 1321 can also drive the outer ring of the first joint bearing 22 to rotate relative to the inner ring to achieve driving the left and right yaw motion of the foot assembly 20, thereby improving the flexibility of the movement of the foot assembly 20.

[0087] Further, a second joint bearing 1314 is installed at the other end of the first connecting rod 1313, a third joint bearing 1324 is installed at the other end of the second connecting rod 1323, and the second joint bearing 1314 and the third joint bearing 1324 are installed on the ankle support 21 through a bearing shaft, wherein the bearing shaft is fixedly connected to the ankle support 21. Specifically, the fixing method between the bearing shaft and the ankle support 21 can be thread fixing or welding fixing.

[0088] Further, please refer to Figure 4 , the foot assembly 20 further includes a foot main body 26, the foot main body 26 includes a shoe sole plate, a shoe sole pad, and a shoe upper cover plate, the shoe sole pad is stacked on the shoe sole plate, the shoe upper cover plate is covered on the shoe sole pad, and the ankle support 21 is connected to the shoe sole pad.

[0089] In some embodiments, please refer to Figure 7 and Figure 8 , the leg device further includes a thigh structure 30 and a knee shield 40, the thigh structure 30 is rotatably connected to the calf structure 10 through a knee rotation shaft, the knee shield 40 is fixedly connected to the thigh structure 30, the knee shield 40 is slidably connected to the calf structure 10, when the leg device is in a straight state, the knee shield 40 is hidden in the thigh structure 30, and when the calf structure 10 rotates relative to the thigh structure 30 to change the leg device from a straight state to a bent state, the knee shield 40 is exposed between the thigh structure 30 and the calf structure 10.

[0090] In this way, the thigh structure 30 and the calf structure 10 are rotatably connected through the knee rotation shaft to simulate the straightening and bending actions of the calf structure 10. When the leg device is in a straight state, the knee shield 40 is hidden inside the thigh structure 30 and the calf structure 10. When the leg device is bent, the knee shield 40 slides along the calf structure 10 and is exposed between the thigh structure 30 and the calf structure 10 to be used for shielding and protecting the components inside the knee part (i.e., the connection part of the thigh structure 30 and the calf structure 10) (such as, the knee rotation shaft or electrical cables, etc.) and improving the aesthetics of the leg device. At the same time, when the leg device is shielded or bent, the shielding state of the knee part can be automatically switched, which is more convenient.

[0091] In some embodiments, see Figure 8 The knee shielding member 40 includes an outer shielding piece 41 and an inner shielding piece 42. One end of the outer shielding piece 41 is fixedly connected to the thigh structure 30. The inner shielding piece 42 is arranged on the inner side of the outer shielding piece 41 and is slidably connected to the outer shielding piece 41. The inner shielding piece 42 is slidably connected to the calf structure 10. When the calf structure 10 rotates relative to the thigh structure 30 to change the leg device from a straight state to a bent state, the calf structure 10 drives the inner shielding piece 42 and the outer shielding piece 41 to perform an arched rotation around the knee rotation axis.

[0092] In this way, when the leg device is straightened, the inner shielding sheet 42 can be stacked on the inner side of the outer shielding sheet 41, and the outer shielding sheet 41 is hidden inside the thigh structure 30 and the calf structure 10. After the inner shielding sheet 42 and the outer shielding sheet 41 are stacked in the front-to-back direction, the space occupied in the height direction will be significantly reduced, so as to reduce the space occupied by the knee shielding member 40, thereby optimizing the internal space layout of the leg device. When the leg device is bent, the outer shielding sheet 41 gradually emerges from the gap between the thigh structure 30 and the calf structure 10, and the inner shielding sheet 42 slides along the outer shielding sheet 41 and the calf structure 10, and gradually emerges from the gap between the outer shielding sheet 41 and the calf structure 10, thereby achieving the wrapping and protection of the internal components of the knee (for example, the knee shaft or electrical cables, etc.), and the wrapping is more complete, which improves the aesthetics of the leg device and greatly improves the safety of human-computer interaction.

[0093] Some embodiments of the present disclosure also provide a humanoid robot. In some embodiments, the humanoid robot includes the above-mentioned leg device. Optionally, the number of the leg devices is two groups, and the two groups of leg devices are symmetrically arranged.

[0094] In this way, the leg device of the humanoid robot has an anthropomorphic appearance design and has multi-degree-of-freedom movement capabilities.

[0095] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in the embodiments of this disclosure can be achieved, and this document does not limit this.

[0096] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the embodiments of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0097] As described above, this is only the specific implementation manner of the embodiments of the present disclosure. However, the protection scope of the embodiments of the present disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed by the embodiments of the present disclosure can easily think of changes or substitutions, which should all be covered within the protection scope of the embodiments of the present disclosure. Therefore, the protection scope of the embodiments of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A calf structure of a humanoid robot, characterized in that: The lower leg structure comprises: A humanoid calf shell, wherein a cavity is formed inside the humanoid calf shell; A load-bearing bracket, which is installed in the cavity along the height direction of the humanoid calf shell, and includes: A carrier, wherein the carrier is in a grid shape; A protruding edge, the protruding edge is formed on at least a portion of the outer periphery of the carrier, and the protruding edge protrudes from the carrier in the left-right direction of the humanoid calf shell; The foot driving mechanism is arranged in the cavity and installed on the carrier.

2. The calf structure according to claim 1, wherein: The foot drive mechanism comprises: The first foot drive assembly comprises: A first actuator, wherein the first actuator is mounted on the carrier; a first crank, the first crank being connected to the first actuator; a first connecting rod, one end of which is rotatably connected to the first crank; The second foot drive assembly includes: a second actuator, the second actuator being mounted on the carrier; a second crank, the second crank connected to the second actuator; a second connecting rod, one end of which is rotatably connected to the second crank; Wherein, the first crank and the first connecting rod are located on one side of the carrier, and the second crank and the second connecting rod are located on the other side of the carrier.

3. The calf structure according to claim 2, wherein: The first connecting rod and the second connecting rod have a sweep range on the carrier, and the thickness of the carrier within the sweep range is less than the thickness of the carrier outside the sweep range. The thickness is the dimension of the carrier in the left-right direction of the humanoid calf shell.

4. The calf structure according to claim 3, wherein: The carrier is formed with a first reinforcing rib at a boundary of the sweeping range.

5. The calf structure according to any one of claims 2 to 4, wherein: The humanoid calf shell comprises: A first contoured shell, which is detachably covered on one side of the bearing bracket along the left-right direction and forms a first accommodating cavity between the first contoured shell and the bearing bracket; A second contoured shell, the second contoured shell is detachably covered on the other side of the supporting bracket along the left-right direction, and is surrounded by the supporting bracket to form a second accommodating cavity; wherein, The first foot driving assembly is disposed in the first accommodating cavity, and the second foot driving assembly is disposed in the second accommodating cavity.

6. A leg device, characterized in that: The leg device comprises: The calf structure according to any one of claims 1 to 5; A foot component is rotatably connected to the calf structure and the foot driving mechanism.

7. The leg device according to claim 6, wherein: The foot assembly comprises: The ankle support is provided with a first rotation axis extending in the left-right direction, and the foot drive mechanism and the ankle support are rotationally connected around the first rotation axis; An ankle support shaft is arranged along a second rotation axis, the second rotation axis extends in the left-right direction and is spaced apart from the first rotation axis in the front-back direction, and the ankle support shaft is connected to the bearing bracket; A first joint bearing, wherein the inner ring of the first joint bearing is assembled and connected with the ankle support shaft, and the outer ring of the first joint bearing is assembled and connected with the ankle support member.

8. The leg device according to claim 6, characterized in that: The leg device also includes: A thigh structure, wherein the thigh structure is rotatably connected to the calf structure via a knee shaft; A knee shield, the knee shield is fixedly connected to the thigh structure, and the knee shield is slidably connected to the calf structure; When the leg device is in a straightened state, the knee cover is hidden in the thigh structure, and when the calf structure rotates relative to the thigh structure to transform the leg device from a straightened state to a bent state, the knee cover is exposed between the thigh structure and the calf structure.

9. The leg device according to claim 8, wherein: The knee shield comprises: An outer shielding sheet, one end of which is fixedly connected to the thigh structure; An inner shielding sheet, which is arranged on the inner side of the outer shielding sheet and is slidably connected to the outer shielding sheet, and the inner shielding sheet is slidably connected to the calf structure; When the calf structure rotates relative to the thigh structure to transform the leg device from a straight state to a bent state, the calf structure drives the inner shielding sheet and the outer shielding sheet to perform an arched rotation around the knee rotation axis.

10. A humanoid robot, characterized in that: The humanoid robot comprises the leg device as claimed in claim 6.

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