Leg and foot structure and humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, in particular to a leg and foot structure and a humanoid robot, the leg and foot structure comprises a base, and the base is connected with a plurality of leg assemblies; the leg assembly comprises a thigh part and a shank part, and the upper end of the thigh part is matched with the base through a movable connecting assembly and can pitch in the longitudinal direction and swing laterally in the transverse direction; the shank part is connected to the lower end of the thigh part and tilts and deflects in the longitudinal direction; a first driving assembly is arranged on the base and used for driving the thigh part to pitch and laterally swing, and a second driving assembly is arranged at the thigh part and used for driving the shank part to pitch. According to the leg and foot structure and the humanoid robot, the leg and foot structure is improved, the first driving assembly drives the thigh part to achieve pitching adjustment and side-sway adjustment of the thigh part, meanwhile, the second driving assembly drives the shank part to be matched with the leg and foot structure to achieve coordination and stability of actions, and through the improvement, the leg and foot structure is more stable. The leg-foot structure is more flexible to control and adjust, and more coordinated walking actions can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and particularly to a leg-foot structure and a humanoid robot. Background Art

[0002] A humanoid robot is an intelligent machine that simulates the human form and behavior. A humanoid robot has structures such as a head, a torso, and limbs, and can walk upright, operate tools, and adapt to complex environments through perception and learning capabilities.

[0003] The leg and foot of a humanoid robot are the core components for realizing the dynamic movement of the humanoid robot. In related technologies, usually, the human leg and foot are simulated, and parts such as the hip joint, knee joint, ankle joint, thigh, calf, and foot sole are simulated. When controlling the movement of the whole leg, usually, multiple motors are installed inside the thigh, and according to the rotation requirements of the leg and foot, the motors performing different actions are controlled to operate, so as to respectively control the swing of the thigh in different directions. Since the movement control between the motors is separate, each motor must be able to provide the power to separately rotate the whole leg and foot, resulting in insufficient control sensitivity of the leg and foot of the humanoid robot.

[0004] It should be understood that the leg and foot of a humanoid robot can be controlled by two or four motors respectively, and each motor controls the rotation of the thigh in the front, back, left, and right four directions respectively. When only the pitching movement of the thigh is required, the motors in the front and back directions need to be controlled to separately control the thigh. Therefore, the motor must provide sufficient power to separately support the pitching movement of the thigh. At this time, since only the pitching movement is performed, the motors controlling the left and right (side swing) directions do not exert force, resulting in low utilization rate of the motor power in some thigh control processes.

[0005] It can be seen that the current structure of the humanoid robot still has room for urgent improvement. Especially in the leg-foot structure, it should be adjusted and optimized to improve the control coordination at the leg and foot, and enhance the sensitivity of the humanoid robot to perform walking actions. Therefore, a more reasonable technical solution needs to be proposed to solve the technical problems existing in the prior art. Summary of the Invention

[0006] To at least overcome one of the above-mentioned defects, the present invention proposes a leg-foot structure and a humanoid robot. By optimizing and improving the leg-foot structure, adjusting the positions of the motors, and using the action difference degree of the motor group, the pitching control and side swing control of the robot leg and foot are realized. Without additionally increasing the components of the robot leg-foot structure, the control sensitivity of the robot leg-foot structure is improved, and further the flexibility of the movement of the humanoid robot is improved.

[0007] To achieve the above object, the leg-foot structure disclosed by the present invention can adopt the following technical solutions: A leg-foot structure includes a base, and a number of leg components are connected to the base; each leg component includes a thigh member and a calf member. The upper end of the thigh member is cooperated with the base through a movable connection component and can pitch longitudinally and swing laterally; the calf member is connected to the lower end of the thigh member and can pitch and deflect longitudinally. A first driving component is arranged on the base and is used to drive the thigh member to pitch and swing. The first driving component includes a number of drivers arranged oppositely on both sides of the thigh member. When the drivers act synchronously, they drive the thigh member to pitch, and when the drivers act asynchronously, they drive the thigh member to swing; a second driving component is arranged on the thigh member and is used to drive the calf member to pitch.

[0008] For the above disclosed leg-foot structure, the first driving component is arranged on the base, reducing the overall load of the thigh member and the calf member, facilitating the reduction of the load at the leg-foot structure, and being able to provide more flexible control during the leg movement process; at the same time, the first driving component can be used to complete the pitching and swinging of the thigh member, and the control is more streamlined and flexible.

[0009] Furthermore, the first driving component can adopt various schemes, and its structure is not uniquely defined. Here, an optimization is carried out and one feasible option is proposed: the first driving component includes a first driver and a second driver symmetrically arranged on both sides of the thigh member. The first driver and the second driver drive a first deflection drive shaft and a second deflection drive shaft respectively. The first deflection drive shaft is cooperatively connected to a first deflection link, and the second deflection drive shaft is cooperatively connected to a second deflection link. The first deflection link and the second deflection link are symmetrically arranged on both sides of the thigh member and are respectively hinged to the thigh member. When adopting the above scheme, the first driver and the second driver are symmetrically arranged. When the first driver and the second driver act synchronously, the acting forces on both sides of the thigh member are the same, realizing the pitching switching; if there are deviations in the acting speeds and angles of the first driver and the second driver, the acting forces on both sides of the thigh member are different, and the thigh member realizes the swinging action.

[0010] Furthermore, the first driver and the second driver can adopt various driving components. For example, in some schemes, pneumatic driving components can be adopted, and in some schemes, hydraulic driving components can be adopted. This requires adapting the corresponding deflection drive shafts and deflection connecting rod structures, so their structures are not uniquely defined. Here, an optimization is carried out and one feasible option is proposed: the first driver includes a first motor, and the second driver includes a second motor. The first motor and the second motor drive the first deflection drive shaft and the second deflection drive shaft to deflect circumferentially through the motor output shafts respectively. The first deflection drive shaft and the second deflection drive shaft drive the first deflection link and the second deflection link to act respectively to realize the pitching or swinging of the thigh member. When adopting the above scheme, the first motor and the second motor rotate, driving the corresponding actions of the first deflection drive shaft, the first deflection link, the second deflection drive shaft, and the second deflection connecting rod.

[0011] Further, when the first motor and the second motor are adopted, the structure of driving the first deflection drive shaft and the second deflection drive shaft through their motor output shafts can also be constructed in different forms, and its structure is not uniquely defined. Here, an optimization is carried out and a feasible option is proposed: the motor output shafts of the first motor and the second motor are connected with a rotary seat, and the rotary seat rotates synchronously with the motor output shafts. The first deflection drive shaft and the second deflection drive shaft are respectively connected to the rotary seat and rotate with the rotary seat. When the above scheme is adopted, the rotary seat can adopt a circular seat and rotate synchronously with the motor output shaft, and the first deflection drive shaft and the second deflection drive shaft are arranged on the circumference of the rotary seat.

[0012] Further, the movable connection assembly is used to cooperate with the lower leg assembly and meet the movement freedoms of pitching and yawing. Its structure is not uniquely defined. Here, an optimization is carried out and a feasible option is proposed: the movable connection assembly includes a bearing seat arranged on the base, the bearing seat is connected with a cross joint, and the cross joint is rotationally matched with the bearing seat; the thigh member is connected to the cross joint, and the cross joint cooperates with the bearing seat to provide the freedom of the thigh member in pitching and yawing. When the above scheme is adopted, the cross joint is rotationally matched with both the bearing seat and the thigh member.

[0013] Further, the cooperation between the cross joint and the bearing seat, one is to realize the deflection adjustment in the pitching direction, and the other is to realize the deflection adjustment in the yawing direction. Its cooperation structure can be constructed in various forms and is not uniquely defined. Here, an optimization is carried out and a feasible option is proposed: a bearing hole is arranged on the bearing seat, the pitching shaft of the cross joint is fitted into the bearing hole, and the yawing shaft is fitted into the thigh member; or the yawing shaft of the cross joint is fitted into the bearing hole, and the pitching shaft is fitted into the thigh member. When the above scheme is adopted, the pitching shaft and the yawing shaft of the cross joint are in a rotational matching relationship. By adopting any of the above connection methods, the pitching and yawing of the thigh member can be satisfied.

[0014] Further, for the cooperation between the thigh member and the calf member, when the thigh member pitches or yaws, the calf member can perform pitching adjustment to coordinate and stabilize the leg and foot movements. The cooperation structure here can adopt various schemes and is not uniquely defined. Here, an optimization is carried out and a feasible option is proposed: the calf member is hinged to the thigh member, and a free end is formed at the front end of the calf member and is hinged and matched with the second drive assembly. When the above scheme is adopted, the hinge between the calf member and the thigh member forms a lever structure, and after the free end of the calf member is hinged to the second drive assembly, it can deflect around the axis through the pushing and pulling force of the second drive assembly.

[0015] Further, there can be multiple solutions adopted, as long as they can drive the calf member to deflect. Its structure is not uniquely defined. Here, an optimization is carried out and one feasible option is proposed: The second driving assembly includes a third driver, which is transmitted to a third deflection link. The third deflection link is hinged to the free end of the calf member. When the third deflection link pushes or pulls the free end of the calf member, the calf member deflects. When adopting the above solution, the third driver can be a motor, or a pneumatic driving member, a hydraulic driving member, etc. The pushing force or pulling force transmitted by the third driver to the third deflection link enables the calf member to deflect reciprocally.

[0016] Furthermore, when the second driving assembly drives the calf member, multiple cooperation solutions can be adopted. Its structure is not uniquely defined. Here, an optimization is carried out and one feasible option is proposed: The second driving assembly includes a third deflection driving shaft, which is driven by a third driver and deflects on the circumference. The third deflection driving shaft is hinged and cooperates with the third deflection link to drive the third deflection link to act synchronously. When adopting the above solution, the third deflection driving shaft can also be arranged on the circumference of the rotary seat, and the rotation of the rotary seat drives the third deflection driving shaft to rotate along the circumference.

[0017] Further, the calf member can also perform pitching and yawing motions. Specifically, it can be realized by multiple structures. Its structure is not uniquely defined. Here, an optimization is carried out and one feasible option is proposed: The second driving assembly further includes a fourth driver symmetrically arranged with the third driver on both sides of the thigh member, a fourth deflection link symmetrically arranged with the third deflection link on both sides of the thigh member, and a fourth deflection driving shaft symmetrically arranged with the fourth deflection driving shaft on both sides of the thigh member. When adopting the above solution, the third driver and the fourth driver are respectively located on both sides of the thigh member. When the third driver and the fourth driver act synchronously, the forces acting on both sides of the calf member are the same, and the pitching motion is performed; when the third driver and the fourth driver do not act synchronously, the forces acting on both sides of the calf member are different, and the calf member swings laterally inward or outward.

[0018] The above content discloses the leg-foot structure. The present invention also discloses a humanoid robot, specifically as follows: A humanoid robot includes the leg-foot structure described above.

[0019] Compared with the prior art, some beneficial effects of the disclosed technical solution of the present invention include: The leg-foot structure and humanoid robot disclosed by the present invention improve the leg-foot structure. The first driving component drives the thigh component to achieve the pitch adjustment and lateral swing adjustment of the thigh component. At the same time, the second driving component drives the calf component to cooperate with the leg-foot structure to achieve the coordination and stability of movements. After improvement, the control and adjustment of the leg-foot structure are more flexible, and more coordinated walking movements can be achieved. Brief Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic cross-sectional structure diagram of the leg-foot structure.

[0022] Figure 2 It is a front view schematic diagram of the leg-foot structure.

[0023] Figure 3 It is a side view schematic diagram of the leg-foot structure.

[0024] Figure 4 It is a schematic overall diagram of the leg-foot structure.

[0025] Figure 5 It is a disassembled schematic diagram of the leg-foot structure.

[0026] Figure 6 It is a schematic overall diagram of the leg-foot structure from another perspective.

[0027] Figure 7 It is a schematic structure diagram when the leg-foot structure makes a lateral swing.

[0028] In the above drawings, the meanings of the various marks are as follows: 1. Base; 2. Pin; 3. First driving component; 301. First motor; 302. Second motor; 4. Bearing seat; 5. Cross joint; 6. First deflection link; 7. Thigh component; 8. Third deflection drive shaft; 9. Third deflection link; 10. Calf component; 11. First deflection drive shaft; 12. Second driving component; 13. Motor mounting flange; 14. Second deflection drive shaft; 15. Second deflection link. Detailed Embodiments

[0029] The following further explains this embodiment in combination with the drawings and specific embodiments.

[0030] In view of the deficiencies in the mechanisms of existing humanoid robots, the following are the optimizations and one feasible option proposed in the embodiments.

[0031] Embodiment 1 As Figures 1 to 7 shown, this embodiment is a leg-foot structure, including a base 1, and a number of leg components are connected to the base 1; the leg components include a thigh member 7 and a calf member 10. The upper end of the thigh member 7 is cooperated with the base 1 through a movable connection component and can pitch longitudinally and swing laterally; the calf member 10 is connected to the lower end of the thigh member 7 and can pitch and deflect longitudinally; a first driving component 3 is arranged on the base 1 and is used to drive the thigh member 7 to pitch and swing. The first driving component 3 includes a number of drivers oppositely arranged on both sides of the thigh member 7. When the drivers act synchronously, they drive the thigh member 7 to pitch, and when the drivers act asynchronously, they drive the thigh member 7 to swing; a second driving component 12 is arranged at the thigh member 7 and is used to drive the calf member 10 to pitch.

[0032] For the leg-foot structure disclosed in this embodiment, the first driving component 3 is arranged on the base 1, reducing the overall load of the thigh member 7 and the calf member 10, facilitating the reduction of the load at the leg-foot structure, and enabling more flexible control during the leg movement process; at the same time, the first driving component 3 can be used to complete the pitching and swinging of the thigh member 7, making the control more concise and flexible.

[0033] Specifically, by placing the motor controlling the thigh movement on the base 1, the mass and moment of inertia of the leg are reduced, thereby reducing the demand for the motor power. And in this embodiment, the motor driving component composed of two motors cooperates to control the thigh member 7 in the pitching and swinging directions. Thus, no matter what angle the thigh member 7 moves, the power of the two motors can be combined through the joint parallel structure, and the two motors cooperate to control the movement of the thigh member 7, improving the utilization rate of power, improving the control precision, control speed, and control sensitivity.

[0034] In an example, as Figure 2 shown, the advantage of the joint parallel structure is that two motors act on the front-back and left-right control of the thigh member 7 at the same time, and the motor output of the joint series structure of the same specification will be a little larger. In other words, the joint parallel structure can reduce the power demand of the motor: for example, the series structure requires two motors with a rated torque of 30 N·m to control the front-back and left-right respectively, while the parallel connection only requires two motors with a rated torque of 15 N·m to jointly control the front-back and left-right.

[0035] In some embodiments, the first driving assembly 3 can adopt various solutions, and its structure is not uniquely defined. In this embodiment, optimization is carried out and one feasible option is adopted: the first driving assembly 3 includes a first driver and a second driver symmetrically arranged on both sides of the thigh member 7. The first driver and the second driver respectively drive the first deflection drive shaft 11 and the second deflection drive shaft 14. The first deflection drive shaft 11 is connected to the first deflection link 6 in a mating manner, and the second deflection drive shaft 14 is connected to the second deflection link 15 in a mating manner. The first deflection link 6 and the second deflection link 15 are symmetrically arranged on both sides of the thigh member 7 and are respectively hinged to the thigh member 7. When the above solution is adopted, the first driver and the second driver are symmetrically arranged. When the first driver and the second driver act synchronously, the acting forces on both sides of the thigh member 7 are the same, realizing pitch switching; if there are deviations in the action speed and angle of the first driver and the second driver, the acting forces on both sides of the thigh member 7 are different, and the thigh member 7 realizes a side-sway action. In one example, if the rotation directions of the first driver and the second driver are the same and the rotation speeds are the same, the thigh member 7 realizes a pitch action. For example, if both the first driver and the second driver rotate in the clockwise direction and at the same rotation speed, the thigh member 7 can realize the pitch action of the thigh forward; if both the first driver and the second driver rotate in the counterclockwise direction and at the same rotation speed, the thigh member 7 can realize the pitch action of the thigh backward. In another example, if the rotation directions of the first driver and the second driver are the same but the rotation speeds are different, the thigh member 7 realizes a side-sway action. For example, if both the first driver and the second driver rotate in the clockwise direction and the rotation speed of the first driver is greater than that of the second driver, the thigh member 7 can realize a side-sway in the direction of the driver with a slower rotation speed, that is, a side-sway in the direction of the second driver; similarly, if both the first driver and the second driver rotate in the clockwise direction and the rotation speed of the first driver is less than that of the second driver, the thigh member 7 can realize a side-sway in the direction of the driver with a slower rotation speed, that is, a side-sway in the direction of the first driver.

[0036] Preferably, in this embodiment, the first deflection drive shaft 11 and the first deflection link 6 are hinged and mated through a pin 2.

[0037] The first driver and the second driver can adopt a variety of driving components. For example, in some solutions, a pneumatic driving component can be adopted, and in some solutions, a hydraulic driving component can be adopted. This requires adapting the corresponding deflection drive shaft and deflection connecting rod structure, so its structure is not uniquely defined. In this embodiment, optimization is carried out and one of the feasible options is adopted: the first driver includes a first motor 301, the second driver includes a second motor 302, and the first motor 301 and the second motor 302 drive the first deflection drive shaft 11 and the second deflection drive shaft 14 to deflect circumferentially through the motor output shafts respectively. The first deflection drive shaft 11 and the second deflection drive shaft 14 drive the first deflection link 6 and the second deflection link 15 to act respectively to realize the pitch or side swing of the thigh member 7. When the above solution is adopted, the first motor 301 and the second motor 302 rotate, driving the corresponding actions of the first deflection drive shaft 11, the first deflection link 6, the second deflection drive shaft 14, and the second deflection connecting rod.

[0038] Preferably, as Figure 4 shown, in this embodiment, the first deflection drive shaft 11 and the first deflection link 6 are connected and matched for transmission, transmitting from the motor output shaft of the first motor 301 to the thigh member 7, forming a parallelogram structure. Among them, the first deflection link 6 can adopt an arc-shaped rod or a straight rod. Similarly, the second deflection drive shaft 14 and the second deflection connecting rod can also adopt the same structure correspondingly.

[0039] Preferably, as Figure 5 shown, the first motor 301 and the second motor 302 are respectively installed and fixed through motor mounting flanges 13.

[0040] Preferably, in some embodiments, for example, as Figure 3As shown in the side view, the first motor 301, the first deflection drive shaft 11, the first deflection link 6, and the thigh member 7 are combined to form a parallelogram linkage mechanism. Among them, the connection line between the first motor 301 and the cross joint member 5, the connection line between the cross joint member 5 and the connection point between the thigh member 7 and the first deflection link 6, the connection line between the first motor 301 and the connection point between the first deflection link 6 and the first deflection drive shaft 11, and the connection line of the first deflection link 6 itself constitute the four sides of the parallelogram linkage mechanism. Thus, the first motor 301 can accurately control the rotation of the thigh member 7. The output end of the first motor 301, both ends of the first deflection drive shaft 11, and the connection end between the thigh member 7 and the cross joint member 5 can serve as the four vertices of the parallelogram. The second motor 302, the second deflection drive shaft 14, and the second deflection connecting rod can form a parallelogram linkage mechanism in the same way. Based on this, the output forces of the first motor 301 and the second motor 302 are the same, and a resultant force can be formed to control the thigh member 7 through the first deflection drive shaft 11 and the second deflection drive shaft 14, so that the thigh member 7 performs a pitching motion (i.e., swings the thigh member 7 forward and backward). The first motor 301 and the second motor 302 can provide different outputs in terms of the output direction and output magnitude, so that the resultant force of the first motor 301 and the second motor 302 controls the thigh member 7, enabling the thigh member 7 to perform a side swing motion, that is, swing inward or outward. Similarly, the first motor 301 and the second motor 302 can adjust the output direction and output magnitude to make the thigh member 7 swing in the desired direction.

[0041] As Figure 7 shown, it is a schematic diagram when the thigh member 7 performs a side swing.

[0042] In some feasible solutions, the first motor 301 and the second motor 302 can be connected at the left and right ends of the motor mounting flange 13, and the first drive assembly 3 is fixed to the base 1 through the motor mounting flange 13. The first deflection drive shaft 11 can be installed on the output end face of the first motor 301. For example, one end of the first deflection drive shaft 11 can be connected to the output end face of the first motor 301 with screws, and the other end of the first deflection drive shaft 11 can be connected to one end of the first deflection link 6 through a spherical bearing and a set screw. The other end of the first deflection link 6 can also be connected to the thigh member 7 through a spherical bearing and a set screw, so that the first motor 301 controls the thigh member 7 through the first deflection drive shaft 11 and the first deflection link 6.

[0043] As Figure 6As shown, there is a second motor 302 symmetric to the first motor 301, as well as a second deflection drive shaft 14 and a second deflection link 15. The second motor 302 is also connected to the thigh member 7 through the second deflection drive shaft 14 and the second deflection link 15. That is, the thigh member 7 can be controlled jointly by the first motor 301 and the second motor 302. The structure formed by the above-mentioned first motor 301, second motor 302, first deflection drive shaft 11, first deflection link 6, second deflection drive shaft 14, and second deflection link 15 can be a parallel link mechanism. In summary, in some solutions, a parallel link mechanism can be adopted at the hip joint of the robot, and the first motor 301 and the second motor 302 are used to control the thigh member 7 together.

[0044] When the first motor 301 and the second motor 302 are adopted, the structure of driving the first deflection drive shaft 11 and the second deflection drive shaft 14 through their motor output shafts can also be constructed in different forms, and its structure is not uniquely limited. In this embodiment, it is optimized and one feasible option is adopted: a rotary seat is connected to the motor output shafts of the first motor 301 and the second motor 302. The rotary seat rotates synchronously with the motor output shafts. The first deflection drive shaft 11 and the second deflection drive shaft 14 are respectively connected to the rotary seat and rotate with the rotary seat. When the above solution is adopted, the rotary seat can be a circular seat that rotates synchronously with the motor output shaft, and the first deflection drive shaft 11 and the second deflection drive shaft 14 are arranged on the circumference of the rotary seat.

[0045] The movable connection assembly is used to cooperate with the leg assembly below and meet the degrees of freedom of pitching and yawing. Its structure is not uniquely limited. In this embodiment, it is optimized and one feasible option is adopted: the movable connection assembly includes a bearing seat 4 arranged on the base 1. The bearing seat 4 is connected with a cross joint member 5. The cross joint member 5 is rotationally matched with the bearing seat 4. The thigh member 7 is connected to the cross joint member 5. The cross joint member 5 cooperates with the bearing seat 4 and is used to provide the degrees of freedom of the thigh member 7 in pitching and yawing. When the above solution is adopted, the cross joint member 5 is rotationally matched with both the bearing seat 4 and the thigh member 7.

[0046] The cooperation between the cross joint 5 and the bearing block 4 realizes the deflection adjustment in the pitching direction and the deflection adjustment in the yaw direction. Its cooperation structure can be constructed in various forms and is not uniquely limited. In this embodiment, it is optimized and one feasible option is adopted: a bearing hole is provided on the bearing block 4, the pitching axis of the cross joint 5 is fitted into the bearing hole, and the yaw axis is fitted into the thigh member 7; or the yaw axis of the cross joint 5 is fitted into the bearing hole, and the pitching axis is fitted into the thigh member 7. When the above scheme is adopted, the pitching axis and the yaw axis of the cross joint 5 are in a rotational cooperation relationship. By adopting any of the above connection methods, the pitching and yaw of the thigh member 7 can be satisfied.

[0047] Preferably, in this embodiment, the cross joint 5 is composed of a yaw axis, a pitching axis perpendicular to each other, and parts such as a joint head and a joint socket connecting them, resembling a cross. This structure allows the joint to perform rotational movements in two mutually perpendicular planes, thus realizing relatively complex multi-angle movements. The cross joint 5 is used to connect with the thigh member 7, enabling the thigh member 7 to perform multi-angle rotations based on the axis direction of the cross joint 5, providing a rotatable environment for the yaw and pitch of the thigh member 7.

[0048] For the cooperation between the thigh member 7 and the calf member 10, when the thigh member 7 pitches or yaws, the calf member 10 can perform pitching adjustment to coordinate and stabilize the leg and foot movements. The cooperation structure of this embodiment can adopt various schemes and is not uniquely limited. In this embodiment, it is optimized and one feasible option is adopted: the calf member 10 is hinged to the thigh member 7, and a free end is formed at the front end of the calf member 10 and is hinged to the second drive assembly 12. When the above scheme is adopted, the hinge between the calf member 10 and the thigh member 7 forms a lever structure, and the free end of the calf member 10 can be deflected around the axis by the pushing and pulling force of the second drive assembly after being hinged to the second drive assembly 12.

[0049] The adopted scheme can be various, as long as it can drive the calf member 10 to deflect, and its structure is not uniquely limited. In this embodiment, it is optimized and one feasible option is adopted: the second drive assembly 12 includes a third driver, the third driver is transmitted to the third deflection link 9, and the third deflection link 9 is hinged to the free end of the calf member 10. When the third deflection link 9 pushes and pulls the free end of the calf member 10, the calf member 10 deflects. When the above scheme is adopted, the third driver can adopt a motor, a pneumatic drive component, a hydraulic drive component, etc. The pushing force or pulling force transmitted by the third driver to the third deflection link 9 enables the calf member 10 to perform reciprocating deflection.

[0050] In some embodiments, the calf member 10 only undergoes pitching motion. When the second driving assembly 12 drives the calf member 10, various cooperation schemes can be adopted, and its structure is not uniquely defined. In this embodiment, optimization is carried out and one feasible option is adopted: the second driving assembly 12 includes a third deflection driving shaft 8, which is driven by a third driver and deflects on the circumference. The third deflection driving shaft 8 is hinged with a third deflection link 9 and drives the third deflection link 9 to move synchronously. When the above scheme is adopted, the third deflection driving shaft 8 can also be arranged on the circumference of the slewing base, and the slewing of the slewing base drives the third deflection driving shaft 8 to rotate along the circumference.

[0051] In some embodiments, the calf member 10 can also perform pitching motion and side-sway motion. Specifically, it can be realized by various structures, and its structure is not uniquely defined. In this embodiment, optimization is carried out and one feasible option is adopted: the second driving assembly 12 further includes a fourth driver symmetrically arranged with the third driver on both sides of the thigh member 7, a fourth deflection link symmetrically arranged with the third deflection link 9 on both sides of the thigh member 7, and a fourth deflection driving shaft symmetrically arranged with the third deflection driving shaft 8 on both sides of the thigh member 7. When the above scheme is adopted, the third driver and the fourth driver are respectively located on both sides of the thigh member 7. When the third driver and the fourth driver move synchronously, the forces acting on both sides of the calf member 10 are the same, and pitching motion is performed; when the third driver and the fourth driver move asynchronously, the forces acting on both sides of the calf member 10 are different, and the calf member 10 undergoes lateral swing inward or outward.

[0052] Embodiment 2 The content of the above Embodiment 1 discloses a leg-foot structure. This embodiment also discloses a humanoid robot, specifically as follows: A humanoid robot includes the leg-foot structure described above.

[0053] Preferably, a corresponding torso structure can be arranged above the leg-foot structure of the humanoid robot. For example, parts such as a body, a head, and hands can be arranged on the base 1.

[0054] The robot in this embodiment can be a wheel-foot robot, a palm-foot robot, a biped robot, or a quadruped robot.

[0055] Each leg-foot of the robot can adopt the structure in the above Embodiment 1. By controlling multiple legs of the humanoid robot, the thighs and calves can be controlled to rotate, so as to support actions such as walking and jumping.

[0056] In the embodiments of the present application, it can be a biped robot. One leg can include 3 motors, and the left and right legs together include 6 motors. The swing of the thigh member 7 can be controlled cooperatively by the first motor 301 and the second motor 302, and the swing of the calf member 10 can be controlled by the third motor. The same applies to the other leg.

[0057] The above are the implementation manners listed in this embodiment. However, this embodiment is not limited to the above optional implementation manners. Those skilled in the art can obtain many other implementation manners by arbitrarily combining the above manners. Anyone can obtain other various forms of implementation manners under the inspiration of this embodiment. The above specific implementation manners should not be construed as limiting the protection scope of this embodiment. The protection scope of this embodiment should be defined by the claims.

Claims

1. A leg-foot structure, characterized in that: It includes a base (1), and several leg components are connected to the base (1); each of the leg components includes a thigh member (7) and a calf member (10). The upper end of the thigh member (7) is cooperated with the base (1) through a movable connection component and pitches longitudinally and swings laterally; the calf member (10) is connected to the lower end of the thigh member (7) and pitches and deflects longitudinally; a first driving component (3) is arranged on the base (1) and is used to drive the thigh member (7) to pitch and swing. The first driving component (3) includes several drivers arranged oppositely on both sides of the thigh member (7). When the drivers act synchronously, the thigh member (7) is driven to pitch, and when the drivers act asynchronously, the thigh member (7) is driven to swing. A second driving component (12) is arranged at the thigh member (7) and is used to drive the calf member (10) to pitch.

2. The leg and foot structure according to claim 1, wherein: The first driving component (3) includes a first driver and a second driver symmetrically arranged on both sides of the thigh member (7). The first driver and the second driver drive a first deflection driving shaft (11) and a second deflection driving shaft (14) respectively. The first deflection driving shaft (11) is cooperatively connected to a first deflection connecting rod (6), and the second deflection driving shaft (14) is cooperatively connected to a second deflection connecting rod (15). The first deflection connecting rod (6) and the second deflection connecting rod (15) are symmetrically arranged on both sides of the thigh member (7) and are respectively hinged to the thigh member (7).

3. The leg and foot structure according to claim 2, characterized in that: The first driver includes a first motor (301), and the second driver includes a second motor (302). The first motor (301) and the second motor (302) drive the first deflection driving shaft (11) and the second deflection driving shaft (14) to deflect circumferentially through the motor output shafts respectively. The first deflection driving shaft (11) and the second deflection driving shaft (14) drive the first deflection connecting rod (6) and the second deflection connecting rod (15) to act respectively to realize the pitching or swinging of the thigh member (7).

4. The leg and foot structure according to claim 3, wherein: The motor output shafts of the first motor (301) and the second motor (302) are connected with a rotary seat. The rotary seat rotates synchronously with the motor output shafts. The first deflection driving shaft (11) and the second deflection driving shaft (14) are respectively correspondingly connected to the rotary seat and rotate with the rotary seat.

5. The leg and foot structure according to claim 1, characterized in that: The movable connection component includes a bearing seat (4) arranged on the base (1). The bearing seat (4) is connected with a cross joint (5). The cross joint (5) is rotationally fitted to the bearing seat (4); the thigh member (7) is connected to the cross joint (5). The cross joint (5) is cooperated with the bearing seat (4) and is used to provide the degree of freedom for the thigh member (7) in pitching and swinging.

6. The leg and foot structure according to claim 5, characterized in that: A bearing hole is arranged on the bearing seat (4). The pitching shaft of the cross joint (5) is fitted to the bearing hole, and the swinging shaft is fitted to the thigh member (7); or the swinging shaft of the cross joint (5) is fitted to the bearing hole, and the pitching shaft is fitted to the thigh member (7).

7. The leg and foot structure according to claim 1, wherein: The described calf member (10) is hinged to the thigh member (7), and a free end is formed at the front end of the calf member (10) and is hinged and cooperated with the second drive assembly (12); the described second drive assembly (12) includes a third driver, the third driver is transmitted to the third deflection link (9), the third deflection link (9) is hinged to the free end of the calf member (10), and when the third deflection link (9) pushes or pulls the free end of the calf member (10), the calf member (10) deflects.

8. The leg and foot structure according to claim 7, wherein: The described second drive assembly (12) includes a third deflection drive shaft (8), the third deflection drive shaft (8) is driven by the third driver and deflects on the circumference, the third deflection drive shaft (8) is hinged and cooperated with the third deflection link (9) and drives the third deflection link (9) to move synchronously.

9. The leg and foot structure according to claim 8, wherein: The described second drive assembly (12) further includes a fourth driver symmetrically arranged on both sides of the thigh member (7) with respect to the third driver, a fourth deflection link symmetrically arranged on both sides of the thigh member (7) with respect to the third deflection link (9), and a fourth deflection drive shaft symmetrically arranged on both sides of the thigh member (7) with respect to the fourth deflection driver.

10. A humanoid robot, characterized in that: It includes the leg-foot structure according to any one of claims 1 to 9.

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